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dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_a/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Walk to the red cart, then head toward the bike near the 'U' bollard.",
+    "Type": 3,
+    "Start_Pose": [
+        -468.027,
+        -1695.783,
+        -931.85,
+        0,
+        35.52,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -468.027,
+            -1695.783,
+            -931.85,
+            0,
+            35.52,
+            0
+        ],
+        [
+            -468.027,
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+            0.0,
+            10.52,
+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
+            274.434,
+            -1557.908,
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+            0.0,
+            -14.48,
+            0.0
+        ],
+        [
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+            0.0,
+            -14.48,
+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            -1683.788,
+            -931.85,
+            0.0,
+            -14.48,
+            0.0
+        ],
+        [
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+            -1683.788,
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+            0.0,
+            -14.48,
+            0.0
+        ],
+        [
+            761.878,
+            -1683.788,
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+            0.0,
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+        ],
+        [
+            761.878,
+            -1683.788,
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+            0.0,
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+        ],
+        [
+            761.878,
+            -1683.788,
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+            0.0,
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+        ],
+        [
+            761.878,
+            -1683.788,
+            -931.85,
+            0.0,
+            85.52,
+            -0.0
+        ],
+        [
+            771.709,
+            -1558.314,
+            -931.85,
+            0.0,
+            85.52,
+            -0.0
+        ],
+        [
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+            -931.85,
+            0.0,
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+            -0.0
+        ],
+        [
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+            -931.85,
+            0.0,
+            85.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the street runs away to my left, and the red hand cart I need to reach sits far down that lane near the shop fronts, well left of my current heading. I will turn left to swing the roadway ahead of me so I can walk straight toward it.",
+        "The lane now opens straight ahead with the small red cart standing beside the shop on the left side, still a long way off. Nothing blocks the open pavement between us, so I will walk forward to close the gap.",
+        "The red cart by the storefront has grown slightly larger, confirming my heading is carrying me toward it. The roadway ahead is clear, so I will keep walking.",
+        "I can now make out the red cart's frame beside the shuttered shop, but it is still several strides away down the lane. I continue forward along the open street to close on it.",
+        "I see the red cart ahead on the left, parked at the curb by the shop, and it is noticeably nearer than before. The way in front of me remains clear, so I will step forward again.",
+        "The red cart now stands out clearly against the storefront on my left, close enough that I can see its handle and wheels. I will keep advancing along the lane to bring myself alongside it.",
+        "The red cart with its load sits just ahead and off to my left, but my path is angled slightly past it toward the right side of the lane. Another step forward should bring me level with it before I adjust.",
+        "The red cart is now close but sits off to my left while my heading points down the right side of the lane. I will turn left to square up on it so my remaining steps carry me directly to it.",
+        "The red hand cart now sits squarely ahead of me in the middle of the lane, with the shuttered shopfronts running along my left. My heading lines up with it, so I will walk forward to close the remaining gap.",
+        "The red cart and the metal keg beside it have grown noticeably larger and stay near the center of my view. Nothing blocks the roadway between us, so another step forward should keep shrinking the distance.",
+        "The cart's red frame and wheels are clearly resolved just ahead of me, slightly right of center. I am not yet close enough to call it reached, so I will keep walking straight toward it.",
+        "The red cart now towers in the near part of my view with its keg and crate at its base, only a short distance off. One more step forward should bring me right up beside it.",
+        "The red hand cart with its keg and crate stands directly beside me, filling the middle of my view at arm's reach. I have reached it. I mark arriving here before setting off toward the bike parked at the yellow U bollard.",
+        "Standing at the red cart, my heading still points up the lane past the shopfronts, while the bollards and bikes belong to the far side of the street on my right. I will turn right to begin swinging my view across the roadway toward them.",
+        "The turn has brought the far curb and the round no U turn sign into view, but the yellow bollard and its bike are still off beyond my right edge. I will turn right again to keep bringing that side of the street around.",
+        "A green bicycle is just creeping into the right edge of my view against the brick wall under the elevated structure. Another turn to the right should center it and the yellow U bollard ahead of me.",
+        "The green bicycle and the yellow U-shaped bollard sit ahead but still off to my right, near the edge of my view. One more turn to the right should center them so I can walk straight in.",
+        "The green bicycle leaning by the yellow U-shaped bollard now sits squarely ahead of me across the curb. My heading looks right, so I will walk forward to close the remaining gap.",
+        "The bike and the yellow bollard now fill much of my view, but a short stretch of road and curb still separates us. I will take another step forward to stand right beside them.",
+        "The green bicycle and its yellow U bollard are directly in front of me, an arm's length away. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_b/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Approach the green bench, then move to the yellow U-shaped bollard near the bike.",
+    "Type": 3,
+    "Start_Pose": [
+        -468.027,
+        -1695.783,
+        -931.85,
+        0,
+        35.52,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -468.027,
+            -1695.783,
+            -931.85,
+            0,
+            35.52,
+            0
+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
+            -173.342,
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+            0.0,
+            60.52,
+            -0.0
+        ],
+        [
+            -173.342,
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+        ],
+        [
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+        ],
+        [
+            -78.367,
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+            0.0,
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+            0.0
+        ],
+        [
+            43.495,
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+            0.0,
+            -14.48,
+            0.0
+        ],
+        [
+            165.356,
+            -1374.322,
+            -931.768,
+            0.0,
+            -14.48,
+            0.0
+        ],
+        [
+            287.217,
+            -1405.792,
+            -931.768,
+            0.0,
+            -14.48,
+            0.0
+        ],
+        [
+            287.217,
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+            0.0,
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+            -0.0
+        ],
+        [
+            410.96,
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+            -931.768,
+            0.0,
+            10.52,
+            -0.0
+        ],
+        [
+            534.704,
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+            0.0,
+            10.52,
+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            -922.355,
+            0.0,
+            10.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the road I can see the green bench set against the grey block wall on the far side, past the yellow bollards and the payphones. I will walk forward to close the wide gap of open pavement between us.",
+        "The bench sits off to my right along the wall while my heading still points down the street. I will turn right to put the bench squarely ahead before continuing toward it.",
+        "The green bench now sits near the middle of my view beneath the map board, with clear paving between me and the kerb. I will step forward to shorten that distance.",
+        "The bench and the map board above it fill more of my view, so my heading is still good. I will keep walking forward to reach the bench.",
+        "I am now close enough to make out the slatted seat and the legs of the green bench against the brick wall. I will advance again to stand right at it.",
+        "The green bench is right in front of me at the lower left, with the wall close behind it. One more short step forward should bring me alongside it.",
+        "The green bench is right beside me at arm's length, its seat and frame filling the lower part of my view against the brick wall. I have reached it. I mark arriving at the bench before setting off for the yellow U-shaped bollard by the bike.",
+        "I am pressed close to the brick wall with the bench crowding my left, so there is no room here to swing around toward the yellow bollards by the bike. I will back up along the paving to open space before reorienting.",
+        "The green bench is right beside me and the block wall fills my view, so that destination is behind me now. The open sidewalk and roadway run off to my left, where the yellow U-shaped bollards and the parked bike stand. I will turn left to bring that stretch into view.",
+        "A yellow bollard has swung into the left edge of my view and the bike is further along past it, still too far to my side. My heading is angled at the wall rather than down the sidewalk. I will turn left again to bring the bollards nearer the center.",
+        "The yellow bollard now sits left of center with the road curving past it and the bike parked ahead near the wall. My facing is still a bit too far right for a straight walk down the sidewalk. One more left turn should line my heading up with that route.",
+        "The yellow U-shaped bollard now stands ahead of me on the sidewalk, with the bike leaning further down the block beside the wall. My heading runs straight along this walkway. I will step forward to close the gap toward the bollard by the bike.",
+        "One yellow bollard is now large in my right foreground and a second stands further ahead, with the bike beyond it at the curb. Nothing blocks the walkway between us. I will keep walking forward to reach the bollard next to the bike.",
+        "The bike is clearer now, standing against the wall further along the curb, and a yellow bollard rises just to my right. There is still a stretch of open sidewalk between me and them. I will continue walking forward to shorten it.",
+        "The parked bike is noticeably closer along the right-hand curb, with the yellow bollard at its base still some distance off. My heading keeps me on the walkway beside the wall. I will take another step forward to close in.",
+        "The bike and the yellow bollard beside it now sit to my right against the wall, while my heading points down the open road toward the left. I will turn right to face the bollard directly so my remaining steps carry me straight to it.",
+        "The turn has put the sidewalk ahead of me, with the leaning bicycle and the yellow bollard beside it centered down the walkway. They are still several paces off, so I will walk forward along the curb to close that gap.",
+        "The bicycle now fills a larger part of my view and the yellow post at its base is showing just left of the front wheel. I am not yet beside them, so I keep walking straight along the curb.",
+        "The bicycle is only a step or two away against the block wall, and the yellow U-shaped post stands right at its front wheel. One more short advance should bring me alongside that post.",
+        "The yellow U-shaped bollard stands directly in front of me at the curb, with the bicycle leaning right beside it. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_c/infos.json

@@ -0,0 +1,306 @@
+{
+    "Instruction": "Navigate to the parked bicycle near the yellow U-shaped bollard, then reach the base of the red traffic light.",
+    "Type": 3,
+    "Start_Pose": [
+        -468.027,
+        -1695.783,
+        -931.85,
+        0.0,
+        35.52,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -468.027,
+            -1695.783,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
+            391.667,
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+            160.52,
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+        ],
+        [
+            272.306,
+            -1340.867,
+            -923.653,
+            0.0,
+            160.52,
+            -0.0
+        ],
+        [
+            186.751,
+            -1327.082,
+            -922.385,
+            0.0,
+            160.52,
+            -0.0
+        ],
+        [
+            79.693,
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+            -922.416,
+            0.0,
+            160.52,
+            -0.0
+        ],
+        [
+            -37.352,
+            -1305.97,
+            -923.866,
+            0.0,
+            160.52,
+            -0.0
+        ],
+        [
+            -155.068,
+            -1284.033,
+            -922.851,
+            0.0,
+            160.52,
+            -0.0
+        ],
+        [
+            -273.723,
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+            -922.32,
+            0.0,
+            160.52,
+            -0.0
+        ],
+        [
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+            -1242.062,
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+            0.0,
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+        ]
+    ],
+    "Rationale": [
+        "Down the open street I can pick out a bicycle leaning near the block wall where the yellow bollards stand, but it is still far off. The roadway in front of me is clear of obstacles, so I will walk forward to close some of that distance before judging my heading.",
+        "After advancing, the parked bicycle sits left of my current heading while the bollards and wall crowd the right edge of my path. A turn to the left should swing the open lane and that bicycle into the center of my view so I can walk straight at it.",
+        "The turn has lined the long open lane up ahead of me, with the bicycle now leaning against the wall on the right side of that lane. Nothing stands in the roadway, so I will walk forward along it.",
+        "The bicycle by the wall is still small in my view, so a good stretch of pavement remains between us. My heading is already good and the lane stays empty, so I keep walking straight.",
+        "The bicycle and the yellow hoop bollards beside it are noticeably larger now on my right, which tells me the walk is closing the gap. I will step forward again rather than adjust a heading that is already carrying me toward them.",
+        "From here I can make out the bicycle's frame and wheels where it rests against the block wall, but it is still several strides off. The lane ahead remains open, so I continue forward.",
+        "The green bicycle and the yellow hoop bollard in front of it are clearly separated now on my right, so my line of travel is right. Another step forward should bring me nearly alongside them.",
+        "The bicycle now stands out plainly beside the yellow U-shaped bollard on the raised walk to my right, though I am not yet level with it. I will walk forward to draw up beside that spot.",
+        "The green bicycle propped against the yellow U-shaped bollard is now clearly visible ahead on the right kerb, but still several paces off. I will keep walking straight along the roadway to shorten that gap before turning toward it.",
+        "The bicycle and its yellow bollard have grown large on my right, though they still sit slightly ahead of me along the kerb. Another step forward should bring me level with them so a turn faces them squarely.",
+        "I am now essentially abreast of the parked bicycle, which sits at the edge of my view on the right against the block wall. Turning right should swing my heading onto the bicycle and its yellow bollard instead of down the street.",
+        "The bicycle and the yellow bollard now sit centred ahead of me across the kerb, only a short gap away. I will step forward to close onto them and stand at the parking spot itself.",
+        "The green bicycle and the yellow U-shaped bollard are right in front of me at arm's reach, filling the sidewalk against the block wall. I have arrived at the parked bicycle, so I mark reaching it before setting off for the red traffic light standing back along the street.",
+        "I am pressed up against the bicycle and the block wall, with almost no space around me to swing my heading round. Stepping back should open enough clearance to turn away from this wall and head for the red traffic light back along the street.",
+        "With a little space regained from the bicycle, I can begin reorienting. The traffic light lies back along the street behind me, so I will turn right to start swinging my heading around toward it.",
+        "My view is still filled by the bicycle and the blank block wall, so I am not yet facing the direction I need. I will keep rotating right to continue bringing my heading around toward the traffic light back down the street.",
+        "My view is still filled by the blank block wall with only the green bicycle's wheel at the left edge, so nothing ahead points me anywhere useful. I will keep pivoting right to sweep the wall aside and bring the open street back into view, where the red traffic light should stand.",
+        "The pivot has swung the wall of payphones into view along with the map board and benches further along the sidewalk, but the roadway I need is still off to the right. I will turn right again to keep opening the view down the street toward the traffic signal.",
+        "Now the curved roadway, the yellow bollards and, far down the sidewalk, a red signal head beside the overpass column have come into the right half of my view. One more turn right should put that signal near the center of my heading before I start walking.",
+        "The sidewalk now runs straight ahead of me with the benches and bollards along the wall, and the red traffic light on its post is visible down the street beside the overpass. The path is clear, so I will walk forward to close the distance to it.",
+        "The map board and benches are sliding past on my left, confirming I am making ground along this sidewalk. The red signal ahead is still some way off, so I will keep walking straight toward it.",
+        "The benches beside the wall are now level with me and the striped post carrying the red lamp is growing larger ahead, with a bicycle leaning near its base. I will continue forward along the sidewalk to close in on that post.",
+        "The tall pole with the red lamp and its yellow and black striped base is clearly ahead of me, just past the last bench and beside the leaning bicycle. Nothing blocks the walkway, so I will step forward again to reach that base.",
+        "The red lamp now hangs high in my view and its striped pole stands only a few paces ahead on the sidewalk edge. I will keep walking forward to bring myself right up to the base of that pole.",
+        "The red lamp glows at the top of the striped pole directly ahead of me, with bicycles leaning against its base on the sidewalk edge. My heading is already lined up on that pole, so I will keep walking forward to shorten the remaining gap.",
+        "The striped pole now stands close on my right with the red lamp high above the frame, but its base is still a few paces off. Continuing straight ahead should bring me level with the foot of that pole.",
+        "The yellow and black striped shaft of the signal pole fills the middle of my view and its foot is only a short step away beside the parked bicycles. One more forward step should put me right at that base.",
+        "The striped base of the red traffic light pole is directly in front of me, within arm's reach. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_d/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Move to the green bench, then walk to the yellow-black striped pillar with the red traffic light.",
+    "Type": 3,
+    "Start_Pose": [
+        -468.027,
+        -1695.783,
+        -931.85,
+        0.0,
+        35.52,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -468.027,
+            -1695.783,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -365.589,
+            -1622.66,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -263.151,
+            -1549.538,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -263.151,
+            -1549.538,
+            -931.85,
+            0.0,
+            60.52,
+            -0.0
+        ],
+        [
+            -201.213,
+            -1439.974,
+            -931.85,
+            0.0,
+            60.52,
+            -0.0
+        ],
+        [
+            -139.275,
+            -1330.411,
+            -931.85,
+            0.0,
+            60.52,
+            -0.0
+        ],
+        [
+            -127.901,
+            -1249.557,
+            -922.252,
+            0.0,
+            60.52,
+            -0.0
+        ],
+        [
+            -127.901,
+            -1249.557,
+            -922.252,
+            0.0,
+            60.52,
+            -0.0
+        ],
+        [
+            -127.901,
+            -1249.557,
+            -922.252,
+            0.0,
+            85.52,
+            -0.0
+        ],
+        [
+            -127.901,
+            -1249.557,
+            -922.252,
+            0.0,
+            110.52,
+            -0.0
+        ],
+        [
+            -127.901,
+            -1249.557,
+            -922.252,
+            0.0,
+            135.52,
+            -0.0
+        ],
+        [
+            -127.901,
+            -1249.557,
+            -922.252,
+            0.0,
+            160.52,
+            -0.0
+        ],
+        [
+            -246.556,
+            -1207.586,
+            -922.252,
+            0.0,
+            160.52,
+            -0.0
+        ],
+        [
+            -246.556,
+            -1207.586,
+            -922.252,
+            0.0,
+            160.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The green bench sits ahead on the right, against the grey block wall under the elevated structure, still well across the road. I will walk forward along the street to close that gap before angling toward it.",
+        "The green bench and the notice board behind it are noticeably larger now, so my heading is carrying me toward them. I will keep walking forward to shorten the remaining distance across the road.",
+        "The green bench now lies off to my right, while my heading points down the empty street past it. I will turn right to place the bench squarely ahead before continuing toward it.",
+        "The turn has put the green bench near the middle of my view, backed by the map board and the block wall. I will walk forward toward it across the remaining stretch of road.",
+        "The bench is directly ahead and its green frame and slats are now clearly resolved, though I am still out on the roadway. I will step forward again to reach the paved area right beside it.",
+        "The green bench fills much of my view and the map board above it is close enough to read, so only a short gap remains. I will take one more step forward to stand right at the bench.",
+        "The green bench is right in front of me, its slatted seat within arm's reach against the block wall. I have arrived at the green bench, so I mark reaching it and now set off for the yellow and black striped pillar carrying the red traffic light.",
+        "Standing at the bench, my view is filled by the block wall and the map board, with no sign of the striped pillar and its red light. I will turn right to sweep my heading back toward the roadside where that pillar stands.",
+        "Only blank brickwork and the underside of the stairway fill my view, with the bench now slipping off to my lower left. The striped pillar carrying the red signal stands further around to my right, so I will keep pivoting right to sweep it into view.",
+        "The wall and the diagonal underside of the stairs still block most of my view, and the striped pillar has not come into it yet. I will turn right once more to continue swinging my heading toward the open street where that pillar stands.",
+        "The yellow and black striped pillar has just appeared at the right edge of my view, with a bicycle leaning beside it. Another right turn should bring that pillar toward the middle of my view so I can walk straight at it.",
+        "The striped pillar now stands squarely ahead of me on the sidewalk, the bicycle propped against it and the signs mounted up its shaft. With my heading set on it, I will step forward to close the remaining gap.",
+        "The yellow and black striped pillar with its signal head is right beside me, filling the near right of my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t0_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Walk to the yellow cleaning bucket near the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -949.258,
+        1649.059,
+        -922.252,
+        0.0,
+        148.8,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -949.258,
+            1649.059,
+            -922.252,
+            0.0,
+            148.8,
+            -0.0
+        ],
+        [
+            -1056.913,
+            1714.257,
+            -931.85,
+            0.0,
+            148.8,
+            -0.0
+        ],
+        [
+            -1164.569,
+            1779.456,
+            -931.85,
+            0.0,
+            148.8,
+            -0.0
+        ],
+        [
+            -1272.224,
+            1844.654,
+            -931.85,
+            0.0,
+            148.8,
+            -0.0
+        ],
+        [
+            -1272.224,
+            1844.654,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1397.347,
+            1858.247,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1522.47,
+            1871.839,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1647.592,
+            1885.432,
+            -922.281,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1741.656,
+            1898.838,
+            -922.281,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1741.656,
+            1898.838,
+            -922.281,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1741.656,
+            1898.838,
+            -922.281,
+            0.0,
+            173.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can already spot the small yellow cleaning bucket sitting against the pale block wall beside the glass storefront doors on the right side of my view. It is still far off across the open paved area, so I will step forward along my current heading to begin closing that gap.",
+        "The bucket by the wall is slightly larger now and the storefront doors are more clearly resolved, so my heading is still carrying me usefully toward that side of the building. I will continue advancing straight before worrying about fine alignment.",
+        "The yellow bucket is now clearly recognizable beside the doorway, but it sits off to my right of straight ahead while the concrete column edge dominates the center of my view. Another forward step should bring me nearer the sidewalk in front of that wall before I correct my heading.",
+        "The bucket sits to the right of my current heading, so walking straight would carry me past the building corner instead of toward it. I will make a small turn to the right to place the bucket and the wall behind it more centrally in my view.",
+        "After the slight rotation, the yellow bucket and the glass doors are laid out ahead of me along the block wall with clear pavement in between. I will step forward to keep shrinking the remaining distance.",
+        "The bucket has grown noticeably larger and I can now make out its wheels and yellow wringer, confirming it is the cleaning bucket I want. It is still a few paces off, so I will keep moving forward toward it.",
+        "I am now on the paved area right in front of the block wall with the bucket a short distance ahead and slightly left of center. One more step forward should bring me close enough to stand directly beside it.",
+        "The bucket now occupies a large part of the lower left of my view, only about a pace away against the wall. I will take one short final step to close the last bit of distance and stand right at it.",
+        "I am now right up against the block wall, with only the top edge of the yellow bucket showing at the bottom of my view while the wall and glass door fill most of what I can see. Tilting my gaze downward should bring the bucket at my feet fully into view so I can confirm I am standing beside it.",
+        "The yellow cleaning bucket is directly at my feet against the block wall, centered in my downward view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t0_b/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Head toward the gray utility pole with yellow-and-black stripes around its base.",
+    "Type": 0,
+    "Start_Pose": [
+        -949.258,
+        1649.059,
+        -922.252,
+        0.0,
+        148.8,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -949.258,
+            1649.059,
+            -922.252,
+            0.0,
+            148.8,
+            -0.0
+        ],
+        [
+            -1056.913,
+            1714.257,
+            -931.85,
+            0.0,
+            148.8,
+            -0.0
+        ],
+        [
+            -1164.569,
+            1779.456,
+            -931.85,
+            0.0,
+            148.8,
+            -0.0
+        ],
+        [
+            -1272.224,
+            1844.654,
+            -931.85,
+            0.0,
+            148.8,
+            -0.0
+        ],
+        [
+            -1272.224,
+            1844.654,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ],
+        [
+            -1342.239,
+            1949.241,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ],
+        [
+            -1412.254,
+            2053.828,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ],
+        [
+            -1482.268,
+            2158.415,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ],
+        [
+            -1552.283,
+            2263.002,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ],
+        [
+            -1622.298,
+            2367.588,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ],
+        [
+            -1692.313,
+            2472.175,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ],
+        [
+            -1762.328,
+            2576.762,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ],
+        [
+            -1832.342,
+            2681.349,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ],
+        [
+            -1832.342,
+            2681.349,
+            -931.85,
+            0.0,
+            123.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see a gray utility pole with overhead wires standing across the street to my left, near the curb by the low buildings. Its base is still too far away for me to confirm the yellow-and-black striping, so I will step forward across the open pavement to close distance and get a clearer look.",
+        "The pole on the far side of the street is a little larger in my view now, and the route ahead over the crosswalk remains clear of obstacles. I will keep advancing to shorten the gap before I adjust my heading toward it.",
+        "The pole sits off to my left while my heading still carries me along the concrete corner on the right, so I am not yet aimed at it. Another step forward should bring me past this corner wall and open up the street where the pole stands.",
+        "The utility pole is clearly to the left of where I am facing, and the corner structure on my right blocks that whole side. I will turn left to bring the pole and the street it stands on nearer the center of my view so I can walk straight at it.",
+        "After the turn, the utility pole with its crossarm and wires now sits close to the center of my view with open road between us. I will move forward along this heading to close the distance.",
+        "The pole is growing taller and more centered ahead of me, confirming my heading is good. I will continue stepping forward along the street toward it.",
+        "I can now make out the base of the pole where it meets the sidewalk beside the buildings, with a hint of dark and yellow banding low on it. I will keep advancing to reach it and verify the striped base.",
+        "The yellow-and-black striping around the lower part of the pole is becoming distinct, so this is the target described in the task. I will continue forward to bring myself close alongside it.",
+        "The gray utility pole stands slightly left of center ahead, and I can now make out the yellow-and-black striped band low on its shaft. My heading is already lined up with it along this open street, so I will step forward again to close the remaining gap.",
+        "The pole is noticeably larger now and its striped base is clearly readable near the curb line to my left of center. Nothing blocks the pavement between me and it, so continuing straight ahead should keep shrinking the distance.",
+        "The striped section of the pole is now plainly visible at close range, though I am still a few paces short of standing beside it. I will advance again to bring myself right up to its base.",
+        "The pole now towers directly to my left with the striped band at my own height, so I am nearly at it. One more step forward should place me immediately alongside the base and complete the approach.",
+        "The gray pole with its yellow-and-black striped base stands right beside me, filling the near left of my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t5_a_p/infos.json

@@ -0,0 +1,202 @@
+{
+    "Instruction": "Pick up the green bell pepper beside the yellow cleaning bucket near the wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -949.258,
+        1649.059,
+        -922.252,
+        0,
+        148.8,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -1736.529,
+        1804.941,
+        -977.485,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -949.258,
+            1649.059,
+            -922.252,
+            0,
+            148.8,
+            0
+        ],
+        [
+            -1056.913,
+            1714.257,
+            -931.85,
+            0.0,
+            148.8,
+            -0.0
+        ],
+        [
+            -1056.913,
+            1714.257,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1182.036,
+            1727.85,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1307.159,
+            1741.443,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1432.282,
+            1755.035,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1557.405,
+            1768.628,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1557.405,
+            1768.628,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ],
+        [
+            -1557.405,
+            1768.628,
+            -931.85,
+            0.0,
+            173.8,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -1736.529,
+            1804.941,
+            -977.485,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1736.529,
+            1804.941,
+            -977.485,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1736.529,
+            1804.941,
+            -977.485,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1736.529,
+            1804.941,
+            -977.485,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1736.529,
+            1804.941,
+            -977.485,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1736.529,
+            1804.941,
+            -977.485,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1736.529,
+            1804.941,
+            -977.485,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1559.104,
+            1747.333,
+            -961.744,
+            -28.202,
+            -136.055,
+            1.862
+        ],
+        [
+            -1559.104,
+            1747.333,
+            -961.744,
+            -28.202,
+            -136.055,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        802.6,
+        685.6,
+        685.6,
+        559.8,
+        434.0,
+        308.3,
+        182.8,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the green bell pepper far ahead on the sidewalk beside the wall, right next to the small yellow bucket. It is well across the open intersection, so I will walk forward to close that gap before worrying about fine alignment.",
+        "After moving up, the pepper and its bucket sit off to my right, partly hidden behind the concrete corner column of the building. I will turn right to bring the pepper toward the center of my view so my next steps head straight at it.",
+        "The pepper and yellow bucket are now centered in front of me against the wall with a clear stretch of pavement between us. I will walk forward to shorten that distance.",
+        "The pepper has grown noticeably larger and stays centered, so my heading is good. It is still several strides away near the curb, so I will keep walking forward.",
+        "I am close to the curb now and the pepper sits just beyond it beside the yellow bucket. It is still too far to reach, so another step forward should bring me over the curb line and nearer to it.",
+        "The pepper now fills a large part of my lower view, slightly left of center, with the bucket beside it. One more step should put it directly within grasping range.",
+        "The green bell pepper is right in front of me at the base of my view, close beside the yellow cleaning bucket against the wall. It appears within reach, so I will attempt to pick it up now.",
+        "The green bell pepper is now held in my hands and no longer resting by the bucket. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-000987_y-000228_z000098_t1_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Search for the billboard displaying a transit map on this platform; after locating it, proceed toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -986.514,
+        -228.129,
+        98.15,
+        0.0,
+        -2.4,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -986.514,
+            -228.129,
+            98.15,
+            0.0,
+            -2.4,
+            0.0
+        ],
+        [
+            -986.514,
+            -228.129,
+            98.15,
+            0.0,
+            22.6,
+            -0.0
+        ],
+        [
+            -986.514,
+            -228.129,
+            98.15,
+            0.0,
+            47.6,
+            -0.0
+        ],
+        [
+            -986.514,
+            -228.129,
+            98.15,
+            0.0,
+            72.6,
+            -0.0
+        ],
+        [
+            -986.514,
+            -228.129,
+            98.15,
+            0.0,
+            97.6,
+            -0.0
+        ],
+        [
+            -986.514,
+            -228.129,
+            98.15,
+            0.0,
+            122.6,
+            -0.0
+        ],
+        [
+            -986.514,
+            -228.129,
+            98.15,
+            0.0,
+            147.6,
+            -0.0
+        ],
+        [
+            -986.514,
+            -228.129,
+            98.15,
+            0.0,
+            172.6,
+            -0.0
+        ],
+        [
+            -1111.325,
+            -211.919,
+            98.15,
+            0.0,
+            172.6,
+            -0.0
+        ],
+        [
+            -1236.135,
+            -195.709,
+            98.15,
+            0.0,
+            172.6,
+            -0.0
+        ],
+        [
+            -1360.946,
+            -179.499,
+            98.15,
+            0.0,
+            172.6,
+            -0.0
+        ],
+        [
+            -1360.946,
+            -179.499,
+            98.15,
+            0.0,
+            147.6,
+            -0.0
+        ],
+        [
+            -1360.946,
+            -179.499,
+            98.15,
+            0.0,
+            122.6,
+            -0.0
+        ],
+        [
+            -1428.755,
+            -74.067,
+            98.15,
+            0.0,
+            122.6,
+            -0.0
+        ],
+        [
+            -1428.755,
+            -74.067,
+            98.15,
+            0.0,
+            122.6,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot I only see the platform stretching ahead with an overhead departure board and the track on my left, and no billboard carrying a transit map. I will turn right to begin a steady scan across the sheltered side of the platform where such signage is usually mounted. This should reveal parts of the platform currently outside my field of view.",
+        "The rotation has brought a stairwell enclosure and the far platform under the canopy into view, but there is still no billboard with a route map. I will keep turning right in the same direction so the scan stays consistent and does not miss a sector. More of the covered platform area should come into view.",
+        "This sector shows the descending stairs and the empty facing platform, with only hanging light fixtures and a small suspended sign overhead. Nothing here resembles a large map billboard, so I will continue the rightward sweep. The next sector of the platform should become visible.",
+        "A thick support column now blocks much of the center of my view and the rest is the far platform and track area, with no transit map in sight. I will turn right again to look past the column and inspect the platform surface beyond it. Continuing in the same direction keeps the search systematic.",
+        "Past the column I can now see benches on the sheltered part of the platform, which is the kind of waiting area where a map board is usually posted, but no map panel is framed yet. I will keep turning right toward that waiting area to check it properly. A signboard may appear just beyond the pillar.",
+        "A large flat panel on a frame is just entering the right edge of my view beside the benches, which looks like a mounted board rather than a wall. I will continue turning right to bring that panel fully into view and confirm whether it carries a transit map. This is the strongest candidate I have seen so far.",
+        "The large freestanding board is now clearly in view beside the benches and a parked bicycle, standing on its own posts like platform map signage. It sits some distance down the platform, so I will turn right to line up with the open tactile walkway that runs toward it. That heading should give me a clear path to close the distance.",
+        "I am now facing along the platform with the yellow tactile strip running straight ahead and the large map board standing to my left front, showing faint colored route lines. The walkway is clear of obstacles, so I will step forward to close the distance to that board. Advancing should also let me read its content more clearly.",
+        "The large panel on the left of the platform now clearly shows colored transit lines and station markers, so it is the billboard with the route map I was told to find. It still sits some distance ahead beside the benches, so I will keep walking forward along the open tactile paving to close the gap.",
+        "The transit map board has grown noticeably larger on my left, confirming I am closing in on it. It is still slightly ahead of my shoulder, so another step forward should bring me level with it before I turn.",
+        "I have advanced far enough that the transit map board is now off to my left rather than ahead, with only its edge in view while my heading points down the empty platform. I will turn left to bring the map billboard back into the center of my view and face it directly.",
+        "The transit map is now clearly in view but still sits toward the left side of my field of view rather than squarely in front. One more turn to the left should center the board so I can walk straight at it.",
+        "The transit map billboard is now centered in front of me with its route lines and station labels plainly readable. The floor between us is clear, so I will step forward to come right up to it.",
+        "The transit map board fills my view at arm's length, its lines and station names directly in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Search for the staircase within this corridor; after locating it, proceed toward its base.",
+    "Type": 1,
+    "Start_Pose": [
+        -1037.981,
+        815.782,
+        -931.85,
+        0.0,
+        91.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1037.981,
+            815.782,
+            -931.85,
+            0.0,
+            91.52,
+            -0.0
+        ],
+        [
+            -1037.981,
+            815.782,
+            -931.85,
+            0.0,
+            116.52,
+            -0.0
+        ],
+        [
+            -1037.981,
+            815.782,
+            -931.85,
+            0.0,
+            141.52,
+            -0.0
+        ],
+        [
+            -1037.981,
+            815.782,
+            -931.85,
+            0.0,
+            166.52,
+            -0.0
+        ],
+        [
+            -1160.373,
+            845.12,
+            -931.85,
+            0.0,
+            166.52,
+            -0.0
+        ],
+        [
+            -1282.764,
+            874.459,
+            -931.85,
+            0.0,
+            166.52,
+            -0.0
+        ],
+        [
+            -1405.156,
+            903.797,
+            -931.85,
+            0.0,
+            166.52,
+            -0.0
+        ],
+        [
+            -1527.548,
+            933.136,
+            -931.85,
+            0.0,
+            166.52,
+            -0.0
+        ],
+        [
+            -1649.94,
+            962.474,
+            -922.295,
+            0.0,
+            166.52,
+            -0.0
+        ],
+        [
+            -1649.94,
+            962.474,
+            -922.295,
+            0.0,
+            -168.48,
+            0.0
+        ],
+        [
+            -1741.648,
+            937.685,
+            -922.281,
+            0.0,
+            -168.48,
+            0.0
+        ],
+        [
+            -1741.648,
+            937.685,
+            -922.281,
+            0.0,
+            -168.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot under the overpass I see the open roadway and shopfronts on my left, but no staircase anywhere in front of me. The tall wall and shuttered openings on my right side are still largely out of view, so I will turn right to begin a steady scan of that side of the corridor.",
+        "Turning has brought the right-hand wall with its row of metal-framed doors and vents into view, but I still see no steps there. I will keep rotating in the same direction to reveal the section of the corridor further to my right.",
+        "A flight of lit steps with a handrail has now appeared at the right edge of my view, set into the recess beside the brick wall with the bicycle. That matches the staircase I am searching for, so I will turn right once more to bring it toward the center of my heading before advancing.",
+        "The staircase now sits near the middle of my view, framed between the concrete column and the brick wall with the poster. The road ahead of me is clear, so I will walk forward to close the distance toward its base.",
+        "The steps and their handrail have grown larger and the curb in front of the stairwell is clearly visible, so my heading is still good. I will keep stepping forward to shorten the remaining gap.",
+        "I can now make out the individual treads and the door at the top of the flight, and nothing blocks the path across the roadway. Another step forward should bring me closer to the foot of the stairs.",
+        "The stairwell now fills a large part of my view and the lowest step sits just beyond the curb ahead. I will continue walking forward to reach that bottom step.",
+        "I am right at the mouth of the stairwell, with the concrete column on my left and the base of the flight opening just ahead and slightly right. I will step forward again to move into the stairwell landing at the foot of the steps.",
+        "The staircase now fills my view but it sits slightly right of my heading, with the flight running up and away rather than straight ahead of me. I will turn right to square my body with the stair axis so the bottom step is centered before I close the last bit of distance.",
+        "With the flight now centered ahead of me, the lowest step is still a short walk away across the paved landing area. I will step forward to close that remaining gap and stand at the base of the staircase.",
+        "The lowest step and handrail are directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_b/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Identify the bicycle parked beside the stairs within this corridor, then head over to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1037.981,
+        815.782,
+        -931.85,
+        0.0,
+        91.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1037.981,
+            815.782,
+            -931.85,
+            0.0,
+            91.52,
+            -0.0
+        ],
+        [
+            -1037.981,
+            815.782,
+            -931.85,
+            0.0,
+            116.52,
+            -0.0
+        ],
+        [
+            -1037.981,
+            815.782,
+            -931.85,
+            0.0,
+            141.52,
+            -0.0
+        ],
+        [
+            -1037.981,
+            815.782,
+            -931.85,
+            0.0,
+            166.52,
+            -0.0
+        ],
+        [
+            -1160.373,
+            845.12,
+            -931.85,
+            0.0,
+            166.52,
+            -0.0
+        ],
+        [
+            -1160.373,
+            845.12,
+            -931.85,
+            0.0,
+            -168.48,
+            0.0
+        ],
+        [
+            -1283.696,
+            819.985,
+            -931.85,
+            0.0,
+            -168.48,
+            0.0
+        ],
+        [
+            -1407.02,
+            794.85,
+            -931.85,
+            0.0,
+            -168.48,
+            0.0
+        ],
+        [
+            -1530.343,
+            769.715,
+            -931.85,
+            0.0,
+            -168.48,
+            0.0
+        ],
+        [
+            -1653.667,
+            744.579,
+            -922.482,
+            0.0,
+            -168.48,
+            0.0
+        ],
+        [
+            -1653.667,
+            744.579,
+            -922.482,
+            0.0,
+            -168.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot under the overpass I only see the shop fronts on my left and open roadway ahead, with no stairway or parked bicycle anywhere in view. The tiled wall and shuttered service doors on my right side suggest the covered corridor continues that way, so I will turn right to begin a steady scan in that direction.",
+        "The rotation has brought more of the right-hand wall with its metal double doors and vents into view, but there is still no stairway or bicycle here. I will keep turning right in the same direction to reveal the remaining part of this covered corridor.",
+        "A lit stairway has appeared on the right side of my view, and a bicycle is leaning against the wall right beside it at the very edge of my field of view. I will turn right once more to bring that stairway and bicycle toward the center of my heading before approaching.",
+        "The staircase and the bicycle parked against the brick wall next to it are now clearly ahead of me, matching the target described in the task. They are still across the width of the roadway, so I will walk forward to close that distance.",
+        "After stepping closer, the bicycle beside the stairs now sits right of my current heading, partly behind the concrete pillar in the middle of my view. I will turn right to put the bicycle squarely in front of me and clear that pillar from my path.",
+        "The bicycle and the staircase behind it are now unobstructed and centered ahead of me under the advertising board. I am still out on the roadway, so I will keep walking forward toward it.",
+        "The bicycle leaning against the brick wall beside the steps is noticeably larger now, and the cabinets and poster around it are resolving clearly. There is still a gap of open pavement between us, so I will continue advancing toward it.",
+        "The parked bicycle now fills much of my view with the staircase directly to its left, confirming this is the target beside the stairs. I will step forward once more to close the last short stretch and stand right at it.",
+        "The bicycle propped against the brick wall beside the stairs now fills much of my view, with the handrail and steps just to its left confirming this is the bicycle described in the task. Still, a short stretch of sidewalk separates me from it, so I will step forward once more to close that remaining gap. The path ahead of the front wheel looks clear, so this step should bring me right up beside the bicycle.",
+        "The bicycle beside the stairs is now directly in front of me, filling the near view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_a/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Walk to the metal roller shutter door, then head toward the parked bicycle.",
+    "Type": 3,
+    "Start_Pose": [
+        -1048.07,
+        -1091.21,
+        -931.85,
+        0.0,
+        -164.16,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1048.07,
+            -1091.21,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1169.15,
+            -1125.563,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1290.23,
+            -1159.917,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1411.309,
+            -1194.27,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1532.389,
+            -1228.624,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1653.469,
+            -1262.977,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1774.549,
+            -1297.331,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1895.629,
+            -1331.684,
+            -922.398,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1895.629,
+            -1331.684,
+            -922.398,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1895.629,
+            -1331.684,
+            -922.398,
+            0.0,
+            -139.16,
+            0.0
+        ],
+        [
+            -1895.629,
+            -1331.684,
+            -922.398,
+            0.0,
+            -114.16,
+            0.0
+        ],
+        [
+            -1895.629,
+            -1331.684,
+            -922.398,
+            0.0,
+            -89.16,
+            0.0
+        ],
+        [
+            -1893.784,
+            -1457.53,
+            -927.473,
+            0.0,
+            -89.16,
+            0.0
+        ],
+        [
+            -1891.939,
+            -1583.375,
+            -931.836,
+            0.0,
+            -89.16,
+            0.0
+        ],
+        [
+            -1891.939,
+            -1583.375,
+            -931.836,
+            0.0,
+            -64.16,
+            0.0
+        ],
+        [
+            -1837.082,
+            -1696.65,
+            -931.836,
+            0.0,
+            -64.16,
+            0.0
+        ],
+        [
+            -1782.225,
+            -1809.925,
+            -931.836,
+            0.0,
+            -64.16,
+            0.0
+        ],
+        [
+            -1729.457,
+            -1914.044,
+            -931.85,
+            0.0,
+            -64.16,
+            0.0
+        ],
+        [
+            -1729.457,
+            -1914.044,
+            -931.85,
+            0.0,
+            -64.16,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The corrugated metal roller shutter sits ahead on the pale building at the corner, roughly straight along my heading. Nothing blocks the open pavement between me and it, so I will walk forward to close that gap.",
+        "The shutter has grown larger and stayed near the centre of my view, confirming my heading is good. I will keep walking straight toward it rather than adjust my facing.",
+        "The metal shutter and its neighbouring door now fill much more of the frame, so distance is still the only thing separating us. Another step forward should bring me closer without any change of direction.",
+        "The ribbed shutter is clearly resolved now, its housing box and frame visible just left of my centre line. I am still several paces short of it, so I will continue walking straight ahead.",
+        "The shutter now dominates the left portion of my view and the curb in front of it is close. A further step should put me right at the face of the door.",
+        "I am nearly against the shutter, with its full width and frame filling most of what I can see. One more step forward should place me directly at it.",
+        "The corrugated metal panel is now immediately in front of me, close enough that individual slats span the whole view. A final short step should bring me flush against the doorway.",
+        "The corrugated metal roller shutter is right against me, its slats and corner pillar filling my view at arm's length. I have arrived at this shuttered door. I mark reaching it, then turn my attention to the parked bicycle along the street.",
+        "The corrugated metal shutter fills nearly my whole view, so I am right up against it and there is nothing more to gain facing this wall. The open street shows only as a narrow gap on my right, so I will turn right to swing my heading off the panel and out toward the roadway where the parked bicycle should be.",
+        "The turn has pulled the shutter to the left half of my view and opened the street with the red storefront shutters ahead on my right. I still cannot see the bicycle, so I will turn right again to sweep more of the roadside into view.",
+        "Bicycles are now showing at the far right edge of my view, parked against the curb beyond the red-shuttered shopfront. Another right turn should bring them nearer the center of my heading so I can walk straight at them.",
+        "The parked bicycles sit ahead and slightly right, leaning by the bins under the awning across the road. My heading is clear of the corner wall and the pavement in front is open, so I will walk forward to close the gap.",
+        "The bicycles have grown noticeably larger against the tiled wall, so my line of travel is bringing me toward them. Nothing blocks the roadway between me and that curb, so I will keep walking forward.",
+        "The bicycles now sit right of center in my view while the pole and shopfront take up the middle. I will turn right to put the bikes squarely in front of me before covering the last stretch of road.",
+        "The parked bicycles are now centered ahead against the tiled wall, with the open road and curb between us. I will step forward to close on them.",
+        "The bicycles fill much more of my view now, their frames and the yellow guard rail clearly in front of me at the curbside. I am close but not yet beside them, so I will keep walking forward.",
+        "The parked bicycles now fill much of my view, with the blue frame and yellow stand directly ahead of me at the kerb. A short step forward should bring me right up beside them rather than leaving me a pace short.",
+        "The parked bicycles are directly beside me, close enough to touch their handlebars and saddles. The task is complete, so there is no reason to keep moving."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_b/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Approach the gray entrance door, then move to the parked bicycle.",
+    "Type": 3,
+    "Start_Pose": [
+        -1048.07,
+        -1091.21,
+        -931.85,
+        0.0,
+        -164.16,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1048.07,
+            -1091.21,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1169.15,
+            -1125.563,
+            -931.85,
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+        [
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+        [
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+        [
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+        [
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+            0.0
+        ],
+        [
+            -1662.992,
+            -1099.81,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1784.072,
+            -1134.163,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1905.151,
+            -1168.517,
+            -922.191,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1905.151,
+            -1168.517,
+            -922.191,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1905.151,
+            -1168.517,
+            -922.191,
+            0.0,
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+            0.0
+        ],
+        [
+            -1905.151,
+            -1168.517,
+            -922.191,
+            0.0,
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+            0.0
+        ],
+        [
+            -1905.151,
+            -1168.517,
+            -922.191,
+            0.0,
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+            0.0
+        ],
+        [
+            -1903.306,
+            -1294.362,
+            -922.191,
+            0.0,
+            -89.16,
+            0.0
+        ],
+        [
+            -1901.461,
+            -1420.207,
+            -922.249,
+            0.0,
+            -89.16,
+            0.0
+        ],
+        [
+            -1899.616,
+            -1546.053,
+            -931.85,
+            0.0,
+            -89.16,
+            0.0
+        ],
+        [
+            -1899.616,
+            -1546.053,
+            -931.85,
+            0.0,
+            -64.16,
+            0.0
+        ],
+        [
+            -1844.759,
+            -1659.328,
+            -931.85,
+            0.0,
+            -64.16,
+            0.0
+        ],
+        [
+            -1789.902,
+            -1772.603,
+            -931.85,
+            0.0,
+            -64.16,
+            0.0
+        ],
+        [
+            -1735.046,
+            -1885.878,
+            -931.85,
+            0.0,
+            -64.16,
+            0.0
+        ],
+        [
+            -1735.046,
+            -1885.878,
+            -931.85,
+            0.0,
+            -64.16,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open corner I can see the plain gray entrance door set in the pale tiled wall beside the metal roller shutter, still well across the street. Nothing blocks the pavement between us, so I will walk straight ahead to cut down that distance before refining my heading.",
+        "The gray entrance door now sits noticeably left of my heading, with the road and far shops filling the center of my view. Turning left should swing that doorway toward the middle of my view so my next steps carry me straight at it.",
+        "The gray door is now comfortably within my forward view, framed between the tiled wall and the shutter. The asphalt in front of me is clear, so I will step forward to close on it.",
+        "The doorway and its handle are becoming clearer as the facade grows in my view, confirming my heading is still good. The dumpsters stay off to the left of my path, so another step forward should bring me appreciably nearer the entrance.",
+        "The gray door stands close on the raised sidewalk ahead, but I am still out on the road with several strides to cover. I will keep walking forward to reach the curb line in front of it.",
+        "At this range the gray door has drifted to the right half of my view while the dumpster alcove takes up the left. A turn to the right should put the doorway squarely in front of me for a clean final approach.",
+        "The gray door and its shutter neighbor now sit centered ahead of me, with the sidewalk edge just short of them. Walking forward should carry me over the curb and up to the entrance.",
+        "The gray door fills much of my view now, its handle and hinges plainly visible only a couple of paces off. I will step forward again to stand directly at the entrance.",
+        "The gray entrance door now fills most of my view with its handle clearly at arm height beside the metal shutter, so only a short gap remains. I will step forward once more to close that last bit of distance and stand directly at the door.",
+        "The gray entrance door is right in front of me, its lever handle within reach and the shutter beside it filling the rest of my view. I have reached this door, so I mark arriving here before turning away toward the bicycle parked across the street.",
+        "The door face is all I can see, which gives me no view of the street where the bicycle stands. I will turn right to swing my heading off the wall and open up the roadway on that side.",
+        "The shutter still dominates my view, but the street has begun to appear at the right edge with red shopfronts beyond. I will keep turning right so that open crossing, and the parking area along it, come properly in front of me.",
+        "Across the road I can now pick out bicycles standing at the far curb by the red shutters, but they sit off to my right while the shutter wall still blocks my left. One more turn right should place them near the center of my path.",
+        "The bicycles by the red shutters are now roughly ahead of me across the open road, with clear pavement between us. I will walk forward to begin closing that distance.",
+        "The bicycles at the far curb have grown larger and stay comfortably ahead of me, the yellow rack beside them now easy to make out. Nothing blocks the road, so I keep walking straight toward them.",
+        "I am partway across the road and the parked bicycles are clearly visible against the shutters, still slightly to my right. Another step forward should bring me close to their curb before I fine-tune my heading.",
+        "The parked bicycles sit off to my right, propped by the yellow rack near the dumpster shelter, while my heading points straight along the shuttered storefront. Turning right should swing them toward the middle of my view so I can walk directly at them.",
+        "The two bicycles at the yellow rack now sit ahead of me with clear pavement between us. I will step forward along the street to close that gap.",
+        "The bicycles have grown noticeably larger and their frames and wheels are now clearly resolved beside the covered bin area. Another step forward should bring me close alongside them.",
+        "The bicycles are directly in front of me now, close enough to see the saddles and spokes in detail, though I am still out on the roadway edge. One more step should place me right at them.",
+        "The parked bicycles are right in front of me, their saddles and wheels within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_d/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Navigate to the utility pole base, then walk to the metal roller shutter door.",
+    "Type": 3,
+    "Start_Pose": [
+        -1048.07,
+        -1091.21,
+        -931.85,
+        0.0,
+        -164.16,
+        0.0
+    ],
+    "Action": [
+        "LookUp",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1048.07,
+            -1091.21,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1048.07,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
+            -139.16,
+            0.0
+        ],
+        [
+            -1264.367,
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+            0.0,
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+            0.0
+        ],
+        [
+            -1359.584,
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+            0.0,
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+            0.0
+        ],
+        [
+            -1454.801,
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+            0.0,
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+            0.0
+        ],
+        [
+            -1550.019,
+            -1454.785,
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+            0.0,
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+            0.0
+        ],
+        [
+            -1645.236,
+            -1537.09,
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+            0.0,
+            -139.16,
+            0.0
+        ],
+        [
+            -1740.453,
+            -1619.396,
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+            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
+        ],
+        [
+            -1956.201,
+            -1805.887,
+            -931.85,
+            0.0,
+            -139.16,
+            0.0
+        ],
+        [
+            -1956.201,
+            -1805.887,
+            -931.85,
+            0.0,
+            -164.16,
+            0.0
+        ],
+        [
+            -1956.201,
+            -1805.887,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1956.201,
+            -1805.887,
+            -931.85,
+            0.0,
+            145.84,
+            -0.0
+        ],
+        [
+            -1956.201,
+            -1805.887,
+            -931.85,
+            0.0,
+            120.84,
+            -0.0
+        ],
+        [
+            -1956.201,
+            -1805.887,
+            -931.85,
+            0.0,
+            95.84,
+            -0.0
+        ],
+        [
+            -1969.007,
+            -1680.681,
+            -931.85,
+            0.0,
+            95.84,
+            -0.0
+        ],
+        [
+            -1981.813,
+            -1555.475,
+            -925.859,
+            0.0,
+            95.84,
+            -0.0
+        ],
+        [
+            -1978.155,
+            -1435.558,
+            -921.831,
+            0.0,
+            95.84,
+            -0.0
+        ],
+        [
+            -1978.155,
+            -1435.558,
+            -921.831,
+            0.0,
+            120.84,
+            -0.0
+        ],
+        [
+            -1978.155,
+            -1435.558,
+            -921.831,
+            0.0,
+            120.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "My view is tipped down onto the road markings, so the poles carrying the overhead lines are cut off at the top of my sight. I will look up to take in the wires and trace them to the pole I need to reach before choosing a direction.",
+        "Raising my gaze reveals the web of overhead cables converging on a pole standing across the junction, beside the red shopfront shutters. The open road ahead is clear, so I will walk forward to close the gap toward that pole.",
+        "From the mouth of the junction the pole with the wires sits off to my right, along the street lined with the red shutters, while my heading still points at the building corner ahead. I will turn right to put that street and the pole in front of me.",
+        "The turn has lined me up with the street running past the red shutters, and the utility pole with its cables now sits near the middle of my view. The road between us is empty, so I will walk forward toward its base.",
+        "The pole and the striped guard at its foot are growing larger but are still well down the street. Nothing blocks the lane in front of me, so I will keep walking to shorten the remaining distance.",
+        "I am now close enough to see the parked bicycles at the kerb beside the pole, but its base is still several strides away on my right side of the street. I will continue forward along this open lane.",
+        "The striped pole ahead keeps filling more of my view as the shopfront with the red shutters comes alongside on my right. There is still open road between me and its base, so I will walk on.",
+        "The pole with its yellow and black striped foot now stands clearly on the kerb ahead to my right, though I am not yet beside it. I will step forward again to bring myself level with its base.",
+        "The concrete utility pole with the yellow and black striped guard on its base stands ahead along the right kerb, still a fair distance off. Nothing blocks the roadway between us, so I will keep walking straight toward it.",
+        "The pole and its striped base have grown noticeably larger and sit just right of my heading, confirming I am closing correctly. I will step forward again to shorten the remaining gap.",
+        "The striped guard at the foot of the pole is now clearly readable against the kerb only a short way ahead on my right. I am still a couple of paces short of standing at it, so I will advance again.",
+        "The pole now fills much of the right side of my view and its base is nearly level with me at the kerb. One more step forward should bring me alongside the foot of the pole.",
+        "The striped foot of the utility pole rises directly beside me at the kerb, close enough to touch. I have reached the base of the pole. I mark arriving here before setting off for the metal roller shutter door back along the street.",
+        "Standing right against the pole and the kerb leaves me almost no room to swing my heading around. Backing up a pace should open enough clearance to turn freely toward the street that leads to the metal roller shutter door.",
+        "With the pole no longer pressed against me, I can rotate away from the shuttered shopfront wall on my right. Turning left swings my view toward the open roadway I need to follow to reach the metal roller shutter door.",
+        "The road now opens straight ahead with the pole pushed to my right edge, but my heading still points down this stretch rather than back toward the metal shutter door. I will keep rotating left to bring that return direction into view.",
+        "Having marked the pole, I am now swinging my heading toward the pale metal shutters that line the left-hand building further down this street. They still sit off to my left, so another left turn should bring that frontage closer to the center of my view.",
+        "The wide metal roller shutters are now large on the left side of my view, but my heading still points down the street past them. One more left turn should put that shuttered frontage squarely in front of me before I start walking.",
+        "The shuttered corner of the building now faces me, but a raised curb and the building edge sit directly between me and those panels. Turning left again should aim me along the walkway that runs past their faces rather than straight into the wall.",
+        "My heading now runs along the paved walkway with the corrugated metal shutter on my right and open space under the overpass to my left. Walking forward should carry me alongside that shutter door and close the remaining distance.",
+        "The shutter face on my right has grown noticeably wider, so the walkway is taking me directly along it. I will keep stepping forward to draw level with the door panels.",
+        "I am nearly beside the shutter now, its ribbed metal running the full height of the wall to my right. Another step forward should bring me level with the door itself rather than its outer edge.",
+        "I am standing right beside the metal roller shutter, but it lies along my right shoulder instead of in front of me. Turning right should bring the door face on so I am properly placed at it.",
+        "The ribbed metal roller shutter door stands directly before me, close enough to touch. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Walk to the doorway under the red awning.",
+    "Type": 0,
+    "Start_Pose": [
+        -1120.784,
+        2098.544,
+        -931.85,
+        0.0,
+        95.04,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1120.784,
+            2098.544,
+            -931.85,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1131.841,
+            2223.916,
+            -931.85,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1142.898,
+            2349.289,
+            -931.85,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1153.955,
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+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1165.012,
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+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1165.012,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1122.048,
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+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -1079.084,
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+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -1036.12,
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+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -993.157,
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+            -931.85,
+            0.0,
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+            -0.0
+        ],
+        [
+            -950.193,
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+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -907.229,
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+            -922.324,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -907.229,
+            3309.826,
+            -922.324,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -916.14,
+            3323.941,
+            -922.324,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -916.14,
+            3323.941,
+            -922.324,
+            0.0,
+            95.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the open paved street I can see the row of shopfronts, and the red awning with a doorway beneath it sits left of center, past the green awning storefront. Nothing blocks the open ground in front of me, so I will step forward to begin closing the gap toward that building face.",
+        "The storefronts now sit noticeably larger in my view and the red awning is clearly distinguishable from the green one beside it. The crossing remains clear, so I will keep advancing straight to reduce the remaining distance.",
+        "The far curb and sidewalk in front of the shops are now well defined, with the red awning and its pink shopfront toward my left. I will continue forward since straight motion still shortens the route to that entrance.",
+        "I am most of the way across the open street, and the crates and sidewalk details under the awnings are becoming clear. Another forward step should bring me close enough to the facade to refine my heading onto the red awning entrance.",
+        "From this close position the red awning and the doorway under it lie off to my left, while my current heading points at the green awning storefront instead. I will turn left to bring that red awning entrance toward the center of my view before advancing further.",
+        "The red awning with its glass double doors is now positioned ahead of me rather than off to the side, and the sidewalk in front of it is open. I will step forward along this heading to keep closing on that entrance.",
+        "The doorway beneath the red awning is clearly centered ahead and the surrounding crates sit off to either side of it. Continuing forward should carry me over the curb line and nearer to that entrance.",
+        "The red awning now spans much of the upper part of my view and the pink shopfront doors are close and clearly aligned with my path. I will advance again to bring myself right up in front of the doorway.",
+        "The pink storefront with the red awning is close on my right, and its glass double doors sit near the center of my view above the sidewalk. I will step forward again to keep closing the remaining gap toward that doorway, since the walkway ahead is clear apart from the stacked crates off to the sides.",
+        "The doorway under the red awning is now clearly the largest feature ahead, with its twin glass panels and handles becoming distinct. I will advance once more, as I am still a few steps out from the entrance and the paving in front of me is unobstructed.",
+        "I am now on the walkway right in front of the pink wall, with the glass doors under the red awning slightly to my right and the awning edge overhead. Another forward step should bring me within arm's reach of the entrance.",
+        "At this close range the doorway has drifted toward the right side of my view, with the neighboring window taking up the left. I will turn right to square my heading with the double doors so the entrance sits centered before I close the last bit of distance.",
+        "The double doors and their handles are now centered directly in front of me, with only a short stretch of paving left between us. I will take one small step forward to settle right at the doorway threshold.",
+        "I am standing directly at the glass double doors beneath the red awning, handles within reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Head toward the doorway under the green awning.",
+    "Type": 0,
+    "Start_Pose": [
+        -1120.784,
+        2098.544,
+        -931.85,
+        0.0,
+        95.04,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1120.784,
+            2098.544,
+            -931.85,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1131.841,
+            2223.916,
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+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
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+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1153.955,
+            2474.661,
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+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1153.955,
+            2474.661,
+            -931.85,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -1216.96,
+            2583.614,
+            -931.85,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -1279.966,
+            2692.567,
+            -931.85,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -1342.971,
+            2801.521,
+            -931.85,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -1405.977,
+            2910.474,
+            -922.483,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -1468.983,
+            3019.427,
+            -922.483,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -1531.988,
+            3128.38,
+            -922.483,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -1594.994,
+            3237.333,
+            -931.85,
+            0.0,
+            120.04,
+            -0.0
+        ],
+        [
+            -1594.994,
+            3237.333,
+            -931.85,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1605.245,
+            3323.941,
+            -931.85,
+            0.0,
+            95.04,
+            -0.0
+        ],
+        [
+            -1605.245,
+            3323.941,
+            -931.85,
+            0.0,
+            95.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the open road I can see the green awning over the storefront on the far side, with a glass doorway set beneath it slightly right of my heading. Nothing blocks the paved stretch between me and that frontage, so I will move forward to begin closing the gap.",
+        "The green awning and the doors under it now fill more of my view, confirming I am gaining ground on the right building. The roadway ahead is still clear of traffic and obstacles, so another forward step should keep shrinking the distance.",
+        "The awning target is clearly separated now from the neighboring pink-fronted shop on the left, and its doorway sits just right of my heading. The curb line is still some distance off, so I will keep pushing forward across the road.",
+        "Straight ahead my path runs obliquely into the sidewalk edge and the crates stacked along the shop fronts, while the open paved area toward the awning building lies off to my right. Swinging my heading right should put me on that clear approach lane running alongside the green awning frontage.",
+        "From this heading the green awning and its lettering sit on my left with wide open pavement running forward past the dumpster. I will move ahead along this clear lane to draw level with the doorway under the awning.",
+        "The awning's shop windows and the pale double doors beneath it are noticeably nearer on my left, and the ground ahead is unbroken paving. Continuing forward should bring me alongside those doors.",
+        "I have stepped up onto the flat paved frontage, and the glass double doors under the green awning are now clearly to my left, still a few paces ahead of my shoulder line. Another forward move should carry me level with that entrance.",
+        "The doorway under the awning is large in my left view but still slightly forward of me, and the dumpster and crates sit well clear to the right. I will advance again to close the remaining short gap before facing the doors.",
+        "The green awning and the glass double doors beneath it now fill the left portion of my view, so the target entrance is clearly identified and only a short stretch of open pavement lies between us. I will keep moving forward along the sidewalk to close that remaining distance before I need to swing my heading toward the doors.",
+        "The doorway under the awning has grown noticeably larger and is drifting toward my left as I advance, which confirms I am closing on it rather than drifting past. The pavement directly in front remains clear, so another forward step should bring me nearly abreast of the entrance.",
+        "The interior lights behind the frosted glass of the target doors are now visible, so I am close to the entrance but still slightly short of standing in front of it. I will take one more forward step to bring my body level with the doorway before reorienting toward it.",
+        "I have drawn level with the entrance, and the double doors are now pushed out to the far left edge of my view while my heading points along the building facade. Turning left should rotate the doorway back into the center of my view so I can face it directly.",
+        "The glass double doors are now squarely centered in my view with the frame and lit interior clearly visible, so my heading is aligned with the target entrance. A short forward step should place me right at the doorway threshold.",
+        "The glass door handles and frame fill my view at arm's length under the awning. The task is complete, so I stop here at the doorway."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_c/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Approach the metal roller shutter door.",
+    "Type": 0,
+    "Start_Pose": [
+        -1120.784,
+        2098.544,
+        -931.85,
+        0.0,
+        95.04,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "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,
+            70.04,
+            -0.0
+        ],
+        [
+            -1077.82,
+            2216.843,
+            -931.85,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -1034.857,
+            2335.142,
+            -931.85,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -991.893,
+            2453.44,
+            -931.85,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -948.929,
+            2571.739,
+            -931.85,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -905.965,
+            2690.038,
+            -931.85,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -863.002,
+            2808.337,
+            -931.85,
+            0.0,
+            70.04,
+            -0.0
+        ],
+        [
+            -863.002,
+            2808.337,
+            -931.85,
+            0.0,
+            45.04,
+            -0.0
+        ],
+        [
+            -774.068,
+            2897.395,
+            -931.85,
+            0.0,
+            45.04,
+            -0.0
+        ],
+        [
+            -685.134,
+            2986.453,
+            -931.85,
+            0.0,
+            45.04,
+            -0.0
+        ],
+        [
+            -596.201,
+            3075.51,
+            -931.85,
+            0.0,
+            45.04,
+            -0.0
+        ],
+        [
+            -507.267,
+            3164.568,
+            -931.85,
+            0.0,
+            45.04,
+            -0.0
+        ],
+        [
+            -418.334,
+            3253.626,
+            -922.324,
+            0.0,
+            45.04,
+            -0.0
+        ],
+        [
+            -329.85,
+            3323.858,
+            -922.252,
+            0.0,
+            45.04,
+            -0.0
+        ],
+        [
+            -329.85,
+            3323.858,
+            -922.252,
+            0.0,
+            45.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this street corner I can see a ribbed metal roller shutter at the far left edge of my view, partly cut off by the building line. My current heading points across the open pavement rather than down that shopfront row, so I will turn left to bring the shutter side of the street into the center of my view. That should give me a usable heading before I start closing distance.",
+        "The turn has opened up the row of shopfronts, and a pale corrugated shutter now sits in the left-center of my view beside the taller storefront. The road ahead is clear asphalt with no obstacles between me and that facade, so I will move forward to close distance along the street.",
+        "The shuttered bays and the awning next to them have grown noticeably larger, confirming this heading is taking me toward the target facade. Nothing blocks the roadway in front of me, so I will continue forward to keep shortening the gap.",
+        "Two adjacent metal roller shutters are now clearly resolved to the left of the pink storefront, along with the utility box standing between them. I am still well out on the road, so I will keep moving forward toward that facade.",
+        "The shutter slats and the raised sidewalk curb in front of them are becoming distinct, so my approach line is good. There is still a clear stretch of pavement between me and the shutter, and I will press forward to close it.",
+        "The shuttered bays fill much more of the left side of my view and the crates on the sidewalk are clearly separated now, so I am definitely nearer. The target is still several strides away, so another forward step is appropriate.",
+        "The pair of corrugated shutters and the small cabinet beside them are close on my left, with the curb running just ahead of them. I have not yet reached a position alongside the shutter, so I will advance again.",
+        "The metal shutter has drifted toward the left portion of my view while my heading still runs along the storefront row rather than into it. I will turn left so the shutter sits ahead of me, which should let the remaining distance be closed on a straight line.",
+        "With my heading now down the open street, the corrugated metal roller shutter sits on the building face ahead and slightly right of center, unobstructed by traffic or parked objects. I will move forward along the clear roadway to close the still considerable distance to it.",
+        "The shutter panel and the small utility box beside it have grown slightly larger, confirming my forward motion is closing distance along this street. I will continue straight since the target remains ahead and the lane in front of me is clear.",
+        "The ribbed shutter is now clearly resolved ahead on the right, with the stacked crates on the sidewalk beside it also drawing nearer. My heading still points along the target facade, so another forward step should keep shrinking the gap.",
+        "The roller shutter now occupies a large part of the right side of my view, but I am still out on the roadway rather than beside it. I will advance again to bring myself alongside the shutter face.",
+        "The metal shutter is close now, filling the right half of my view at a steep angle, and the sidewalk beside it is directly ahead. One more forward step should place me right at the door surface.",
+        "The corrugated shutter slats now span nearly my whole field of view and I am almost touching the facade. I will take one short final step to settle directly in front of the door.",
+        "The metal roller shutter fills my view at arm's length, its slats clearly resolved. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001145_y-000359_z000098_t1_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Search the train platform for a parked bicycle near the benches and information board; once you spot it, navigate over to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1144.665,
+        -359.003,
+        98.15,
+        0.0,
+        77.6,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1144.665,
+            -359.003,
+            98.15,
+            0.0,
+            77.6,
+            -0.0
+        ],
+        [
+            -1144.665,
+            -359.003,
+            98.15,
+            0.0,
+            102.6,
+            -0.0
+        ],
+        [
+            -1144.665,
+            -359.003,
+            98.15,
+            0.0,
+            127.6,
+            -0.0
+        ],
+        [
+            -1144.665,
+            -359.003,
+            98.15,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -1256.405,
+            -301.083,
+            98.15,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -1368.144,
+            -243.162,
+            98.15,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -1368.144,
+            -243.162,
+            98.15,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -1493.893,
+            -237.892,
+            98.15,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -1619.641,
+            -232.622,
+            98.15,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -1619.641,
+            -232.622,
+            98.15,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -1731.381,
+            -174.701,
+            98.15,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -1839.39,
+            -119.635,
+            98.15,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -1839.39,
+            -119.635,
+            98.15,
+            0.0,
+            152.6,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot under the canopy I can see the platform edge markings and one green bench, but no parked bicycle and no information board yet. I will turn right to begin a steady scan along the platform in a single direction, since the bench line continues that way and the target is likely near it.",
+        "Turning has brought a row of benches and a large lit information board into view, exactly the cue area the task describes, but no bicycle is visible beside them yet. I will keep rotating right in the same direction to reveal the platform stretch hidden past the board.",
+        "A bicycle is now visible parked past the benches and to the right of the information board, so the search can commit to it. I will turn right once more to bring it closer to the center of my heading before walking.",
+        "The parked bicycle sits ahead near the benches, with open tiled floor and yellow tactile paving between us. I will step forward along this clear stretch to cut down the distance to it.",
+        "The information board has passed to my left and the bicycle is noticeably larger ahead, so my heading is still good. I will continue walking forward to close more of the remaining gap.",
+        "The bicycle is close now, but the benches and the board post sit directly along my current line of travel. I will turn right to pick up the open walking lane beside the tactile paving, which should let me continue past the bench row while keeping the bicycle in sight.",
+        "The platform corridor ahead is clear along the tactile strip, and the bicycle now stands off to my left near the bench and the painted bicycle marking. I will walk forward down this open lane to draw level with it.",
+        "The bicycle is much nearer on my left, leaning by the pillar above the painted bicycle symbol. I will step forward once more to come alongside it rather than stopping short.",
+        "The parked bicycle now sits far over on my left edge, close beside the bench and the platform pillar, so continuing straight ahead would carry me past it. I will turn left to bring the bicycle back toward the center of my view and line my heading up with it. That should give me a clean straight path to close the remaining distance.",
+        "The bicycle is now centered in front of me, leaning near the pillar with the benches and the painted bicycle marking around it, confirming this is the parking spot described in the task. Nothing blocks the tiled floor between us, so I will walk forward to close the gap. A couple of steps should bring me right up beside it.",
+        "The bicycle has grown much larger and now fills the lower left of my view, but I am still a step short of standing right at it. I will take one more step forward to finish closing that small remaining distance. That should place me directly alongside the parked bicycle.",
+        "The parked bicycle is right beside me, its saddle and wheel within arm's reach at the platform pillar. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001158_y-000328_z-000932_t1_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Identify the red hand truck stationed outside the soup shop entrance; after locating it, proceed to where it stands.",
+    "Type": 1,
+    "Start_Pose": [
+        -1158.265,
+        -327.697,
+        -931.841,
+        0.0,
+        111.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1158.265,
+            -327.697,
+            -931.841,
+            0.0,
+            111.52,
+            -0.0
+        ],
+        [
+            -1158.265,
+            -327.697,
+            -931.85,
+            0.0,
+            136.52,
+            -0.0
+        ],
+        [
+            -1158.265,
+            -327.697,
+            -931.85,
+            0.0,
+            161.52,
+            -0.0
+        ],
+        [
+            -1158.265,
+            -327.697,
+            -931.85,
+            0.0,
+            -173.48,
+            0.0
+        ],
+        [
+            -1283.31,
+            -341.988,
+            -931.85,
+            0.0,
+            -173.48,
+            0.0
+        ],
+        [
+            -1408.355,
+            -356.28,
+            -931.85,
+            0.0,
+            -173.48,
+            0.0
+        ],
+        [
+            -1533.4,
+            -370.571,
+            -931.85,
+            0.0,
+            -173.48,
+            0.0
+        ],
+        [
+            -1658.445,
+            -384.862,
+            -922.972,
+            0.0,
+            -173.48,
+            0.0
+        ],
+        [
+            -1658.445,
+            -384.862,
+            -922.972,
+            0.0,
+            -148.48,
+            0.0
+        ],
+        [
+            -1741.786,
+            -449.757,
+            -922.282,
+            0.0,
+            -148.48,
+            0.0
+        ],
+        [
+            -1741.786,
+            -449.757,
+            -922.282,
+            0.0,
+            -173.48,
+            0.0
+        ],
+        [
+            -1741.786,
+            -449.757,
+            -922.282,
+            0.0,
+            -173.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing in the middle of the covered street and no red hand truck is visible ahead. On the right side I can see a lit storefront with crates and stacked goods on the sidewalk, which suggests a shop frontage worth inspecting. I will turn right to bring that storefront into view.",
+        "The sign reading best soup in town is now visible on the right, confirming the soup shop is the area I need. Its entrance and the goods stacked beside it are still angled off to the right of my view. I will keep turning right to face the shop frontage squarely.",
+        "The soup shop frontage is now clearly in front of me, and beside the entrance I can make out a red upright frame among the metal kegs on the far right. That red object matches the hand truck I am looking for, but it sits near the edge of my view. I will turn right once more to center it before moving.",
+        "The red hand truck is now clearly identifiable beside the kegs against the brick wall to the left of the corner, standing outside the soup shop entrance. It is across the road and still far off, so I need to close the distance. I will walk forward toward it.",
+        "The hand truck has grown larger and sits ahead and slightly left, with its red frame and wheels now distinct against the brick. I am still out on the roadway and short of the curb in front of the shop. I will continue walking forward to close in.",
+        "I am nearly at the raised sidewalk and the hand truck stands just beyond the kegs, close to the center of my view. There is still a few steps of gap between me and its position by the wall. I will step forward again to reach it.",
+        "The hand truck now fills much of my view with its handle, frame and wheels plainly visible against the brick wall. A short remaining gap still separates me from the spot where it stands. I will advance once more to arrive beside it.",
+        "I am right up against the hand truck, and it currently sits left of center with the brick wall and kegs crowding my forward path. Turning slightly right should open the sidewalk gap along the corner so I can settle into the spot where the truck stands. I will turn right to adjust my heading before the last step.",
+        "The red hand truck stands right in front of me against the brick wall beside the stacked kegs, clearly the target parked outside the soup shop. I still have a short gap to close before I am standing where it stands, so I will step forward. This advance should bring me directly alongside it.",
+        "I am now right up against the shop wall, with only a keg and the corner masonry filling my view, so the hand truck has slipped just past my left edge. Turning left should swing my heading back onto it and confirm I am standing at its position.",
+        "The red hand truck stands directly before me at arm's length beside the kegs. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_a/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Walk to the bicycle leaning near the sign post on the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -1172.574,
+        -1122.469,
+        -931.85,
+        0.0,
+        11.52,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1172.574,
+            -1122.469,
+            -931.85,
+            0.0,
+            11.52,
+            -0.0
+        ],
+        [
+            -1049.25,
+            -1097.334,
+            -931.85,
+            0.0,
+            11.52,
+            -0.0
+        ],
+        [
+            -925.927,
+            -1072.198,
+            -922.456,
+            0.0,
+            11.52,
+            -0.0
+        ],
+        [
+            -925.927,
+            -1072.198,
+            -922.456,
+            0.0,
+            -13.48,
+            0.0
+        ],
+        [
+            -803.535,
+            -1101.537,
+            -922.123,
+            0.0,
+            -13.48,
+            0.0
+        ],
+        [
+            -681.143,
+            -1130.875,
+            -922.123,
+            0.0,
+            -13.48,
+            0.0
+        ],
+        [
+            -681.143,
+            -1130.875,
+            -922.123,
+            0.0,
+            -13.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two bicycles are parked along this street, one green against the grey wall on my right and one propped by the pole carrying the triangular sign on the left sidewalk, and that left one beside the sign post is my target. The stretch of open pavement ahead of me is clear, so I will walk straight on to close the gap before angling toward it.",
+        "The bicycle by the signed pole on the left is larger in my view now, but still well ahead of me down the sidewalk. Nothing blocks the flat pavement between me and the foot of the stairs, so I will keep walking forward to shorten the remaining distance.",
+        "My heading is aimed at the staircase and the tactile paving straight ahead, while the bicycle leaning against the sign post sits off to my left edge. I will turn left so that bicycle comes into the middle of my view and I can walk directly at it.",
+        "The turn has put the bicycle at the sign post squarely in front of me, resting against the pole on the left side of the walkway. The sidewalk between us is open, so I will step forward toward it.",
+        "The bicycle leaning at the sign post now fills much of my view, but a couple of paces of pavement still separate us. I will advance once more to stand right beside it.",
+        "The bicycle propped against the signed pole stands directly beside me, close enough to touch. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_b/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Head toward the rightmost bicycle parked by the stairs.",
+    "Type": 2,
+    "Start_Pose": [
+        -1172.574,
+        -1122.469,
+        -931.85,
+        0.0,
+        11.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1172.574,
+            -1122.469,
+            -931.85,
+            0.0,
+            11.52,
+            -0.0
+        ],
+        [
+            -1172.574,
+            -1122.469,
+            -931.85,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -1071.427,
+            -1047.57,
+            -931.85,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -970.281,
+            -972.671,
+            -922.33,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -869.135,
+            -897.772,
+            -922.33,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -767.988,
+            -822.873,
+            -922.725,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -666.842,
+            -747.973,
+            -922.725,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -666.842,
+            -747.973,
+            -922.725,
+            0.0,
+            36.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Along the stair frontage I count three parked bicycles, two clustered at the far left near the crosswalk and one green one standing alone against the wall by the trash bin on the right, so that green bike beside the bin is my target. It sits well right of my current heading, which points at the middle of the staircase. I will turn right to bring it into the center of my view.",
+        "The green bicycle by the trash bin is now ahead of me, near the right edge of the staircase, with clear open pavement between us. Nothing blocks the line, so I will walk forward to close the distance.",
+        "The green bicycle against the wall is larger and closer in my view, but I am still several paces short of it. The paving stays clear, so I will keep walking straight toward it.",
+        "The green bicycle now fills a good part of my view, leaning against the wall just past the yellow tactile strip, with the trash bin beside it on my right. I am still not close enough to count as arrived, so I will continue forward.",
+        "I am nearly level with the trash bin and the green bicycle stands just ahead against the brick wall at the foot of the stairs. A couple more paces should bring me right up beside it, so I will step forward again.",
+        "The green bicycle now dominates my view, its frame and saddle within arm's reach against the wall beside the stair railing. One more step should place me directly at it, so I will advance.",
+        "The green bicycle stands immediately in front of me at the foot of the stairs, its handlebar and saddle within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_c/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Move to the black trash bin on the far right.",
+    "Type": 2,
+    "Start_Pose": [
+        -1172.574,
+        -1122.469,
+        -931.85,
+        0.0,
+        11.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1172.574,
+            -1122.469,
+            -931.85,
+            0.0,
+            11.52,
+            -0.0
+        ],
+        [
+            -1172.574,
+            -1122.469,
+            -931.85,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -1071.427,
+            -1047.57,
+            -931.85,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -970.281,
+            -972.671,
+            -922.33,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -869.135,
+            -897.772,
+            -922.33,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -869.135,
+            -897.772,
+            -922.33,
+            0.0,
+            61.52,
+            -0.0
+        ],
+        [
+            -809.118,
+            -787.144,
+            -922.33,
+            0.0,
+            61.52,
+            -0.0
+        ],
+        [
+            -809.118,
+            -787.144,
+            -922.33,
+            0.0,
+            61.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From my opening view, two matching dark bins stand together against the grey brick wall off to my right, and the outer one nearest the building corner beyond the bicycle is my target. They look alike, so I hold it by that corner rather than by a shape. Turning right swings my heading toward them.",
+        "The dark bins now sit ahead of me beside the parked bicycle at the foot of the stairs, with open pavement between us. Nothing blocks that lane, so I will walk forward to cut the distance.",
+        "The two bins have grown larger just ahead and slightly right, still tucked against the brick wall past the bicycle. I am not close enough to stand at the outer one yet, so I keep walking straight on.",
+        "From this near angle the pair no longer reads as two separate bins, so I simply stay with the one standing against the brick corner. It is still a few paces off to my right front. I will advance again to close that gap.",
+        "The bin is close now but sits off to the right of my heading, with the bicycle and stairs filling the left of my view. A small turn to the right should put it squarely in front of me before my last step.",
+        "The bin against the brick wall is now centered ahead of me with only a short stretch of pavement left. One more step forward should bring me right up beside it.",
+        "The black bin stands directly in front of me, filling my view at arm's length. I have reached it, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Approach the trash bin, then move to the yellow U-shaped bollard.",
+    "Type": 3,
+    "Start_Pose": [
+        -1253.522,
+        -1298.14,
+        -931.85,
+        0.0,
+        60.48,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "LookDown",
+        "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
+        ],
+        [
+            -1129.494,
+            -1079.099,
+            -931.85,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -1027.004,
+            -1006.048,
+            -922.264,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -924.515,
+            -932.997,
+            -922.264,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -924.515,
+            -932.997,
+            -922.264,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -862.501,
+            -823.477,
+            -922.264,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -815.197,
+            -716.791,
+            -922.252,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -815.197,
+            -716.791,
+            -922.252,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -860.725,
+            -797.196,
+            -922.252,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -860.725,
+            -797.196,
+            -922.252,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -860.725,
+            -797.196,
+            -922.252,
+            0.0,
+            110.48,
+            -0.0
+        ],
+        [
+            -860.725,
+            -797.196,
+            -922.252,
+            0.0,
+            135.48,
+            -0.0
+        ],
+        [
+            -860.725,
+            -797.196,
+            -922.252,
+            0.0,
+            160.48,
+            -0.0
+        ],
+        [
+            -860.725,
+            -797.196,
+            -922.252,
+            0.0,
+            -174.52,
+            0.0
+        ],
+        [
+            -986.009,
+            -809.215,
+            -922.252,
+            0.0,
+            -174.52,
+            0.0
+        ],
+        [
+            -986.009,
+            -809.215,
+            -922.252,
+            0.0,
+            -174.52,
+            0.0
+        ],
+        [
+            -986.009,
+            -809.215,
+            -922.252,
+            0.0,
+            -174.52,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The dark trash bin stands ahead against the brick wall near the foot of the staircase, still some distance off. I will walk forward along the open pavement to close that gap before dealing with the yellow bollard by the curb.",
+        "The bin and the parked bicycle have grown larger, so my heading is carrying me toward them. The pavement stays clear, so I will keep walking forward to reduce the remaining distance.",
+        "The trash bin now sits left of my heading, with the wall and the curb edge running off to my right. I will turn left so the bin lies straight ahead before continuing toward it.",
+        "With the staircase and the bin now spread across the view ahead, my heading points into the open forecourt. I will step forward to bring the bin within close range.",
+        "The bin is clearly ahead beside the bicycle, still a few paces away against the brick pillar. I will advance again to draw close to it.",
+        "The bin has drifted toward the right side of my view as I closed in, sitting near the corner of the brick wall. I will turn right to bring it back in front of me for a straight approach.",
+        "The bin now stands squarely ahead against the brick corner with clear ground between us. I will walk forward to reach it.",
+        "The bin fills much of my view now, close by the pipes and the brick wall, but I am not yet standing at it. I will take one more step forward to arrive right beside it.",
+        "The dark lid and side panel of the trash bin fill my lower left at arm's length against the brick wall. I have arrived at the trash bin. I mark reaching it, then set off for the yellow U-shaped bollard out by the open roadway.",
+        "I am pressed up against the bin and the brick corner, with almost nothing visible except wall and pipework. Backing up a step should open clearance so I can swing around toward the roadway where the yellow bollard stands.",
+        "With a little distance regained, the bin and the wall still fill most of my view and the open street lies off to my right. I will turn right to begin swinging my heading away from this alcove toward the roadway.",
+        "The brick corner still blocks most of my view, though open road and daylight are opening at the right edge. Another turn right should carry my heading further out toward the roadway where the yellow bollard sits.",
+        "The wall now covers only the left half and the open street with shopfronts is coming into view. I will keep turning right to clear the corner completely and bring the kerbside area into the center of my view.",
+        "The roadway and the shopfront under the overpass now dominate my view, but I still do not see the yellow bollard. Turning right again should sweep my heading further along the kerb toward where it should stand.",
+        "A yellow U-shaped bollard has just appeared at the lower right corner of my view, still well off my heading. One more turn right should bring it near the center so I can walk straight at it.",
+        "The yellow U-shaped bollard now sits squarely ahead of me, a short distance across the open pavement. I will step forward to close the remaining gap and stand beside it.",
+        "My forward step has brought me right up beside the yellow U-shaped bollard, but at this range it has dropped out of my level gaze, which now shows only open pavement and the shuttered building ahead. I will look down to bring the bollard at my feet back into view and confirm how close I am standing to it.",
+        "The yellow U-shaped bollard stands directly at my feet in the lower right of my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_c/infos.json

@@ -0,0 +1,246 @@
+{
+    "Instruction": "Head toward the bicycle parked against the wall near the trash bin, then proceed to the glass storefront door under the red illuminated sign.",
+    "Type": 3,
+    "Start_Pose": [
+        -1253.522,
+        -1298.14,
+        -931.85,
+        0.0,
+        60.48,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "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
+        ],
+        [
+            -1129.494,
+            -1079.099,
+            -931.85,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -1027.004,
+            -1006.048,
+            -922.264,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -924.515,
+            -932.997,
+            -922.264,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -822.026,
+            -859.946,
+            -922.264,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -719.537,
+            -786.895,
+            -922.725,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -719.537,
+            -786.895,
+            -922.725,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -794.78,
+            -840.526,
+            -922.187,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -794.78,
+            -840.526,
+            -922.187,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -794.78,
+            -840.526,
+            -922.187,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -794.78,
+            -840.526,
+            -922.187,
+            0.0,
+            110.48,
+            -0.0
+        ],
+        [
+            -794.78,
+            -840.526,
+            -922.187,
+            0.0,
+            135.48,
+            -0.0
+        ],
+        [
+            -884.518,
+            -752.279,
+            -922.187,
+            0.0,
+            135.48,
+            -0.0
+        ],
+        [
+            -978.102,
+            -677.733,
+            -922.252,
+            0.0,
+            135.48,
+            -0.0
+        ],
+        [
+            -978.102,
+            -677.733,
+            -922.252,
+            0.0,
+            110.48,
+            -0.0
+        ],
+        [
+            -1022.138,
+            -559.829,
+            -922.252,
+            0.0,
+            110.48,
+            -0.0
+        ],
+        [
+            -1022.138,
+            -559.829,
+            -922.252,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -1022.138,
+            -559.829,
+            -922.252,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -960.123,
+            -450.309,
+            -922.252,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -949.286,
+            -344.171,
+            -922.252,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -949.286,
+            -344.171,
+            -922.252,
+            0.0,
+            60.48,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The green bicycle leans against the wall at the foot of the stairs, with the dark trash bin right beside it, well ahead on my left. Nothing blocks the open pavement between us, so I will walk forward to close that distance.",
+        "The bicycle and the bin beside it have grown larger in view, confirming I am closing on them. The paving stays clear ahead, so another step forward should bring me nearer to that wall.",
+        "The bicycle and trash bin now sit off to my left against the wall, while my heading points along the roadway past them. I will turn left to put them squarely in front of me before continuing.",
+        "After turning, the bicycle propped against the wall and the tall bin next to it sit near the middle of my view. The stretch of pavement between us is empty, so I will walk straight toward them.",
+        "The bin and the green bicycle fill more of my view now, so my heading is carrying me right at them. I will keep walking to reach the wall where they stand.",
+        "The trash bin is now close on my right and the bicycle's frame is clearly resolved against the wall ahead. A further step should bring me right up beside them.",
+        "The bicycle spans most of my view with the bin's edge just at my right shoulder, so I am nearly at the wall. One more step forward should place me directly at the bicycle.",
+        "The green bicycle leans right in front of me against the wall at the stair foot, with the trash bin at my shoulder. I have arrived at the bicycle by the bin. I mark reaching it, and now I set off for the glass storefront door beneath the red glowing sign.",
+        "The green bicycle leaning by the stairs and the bin fills my whole view, so I am pressed right up against it with almost no room to pivot. Backing up a step should give me the clearance I need to swing my heading away from this wall and set off for the lit storefront.",
+        "With a little space opened up, I am still facing the stairs and the parked bicycle against the wall, which is not where I am going now. Turning right starts swinging my view off this wall toward the open roadway side, where the shopfronts are.",
+        "My view is still filled by the bin and the brickwork beside the bicycle, with no sight of the street yet. I will keep rotating right to carry my heading further around this corner toward the open passage.",
+        "Flat brick still occupies most of what I can see, so I have not yet cleared the building corner with my gaze. A further turn right should bring the roadway beyond that corner into view.",
+        "Past the brick corner I can now see the road and, across it, an illuminated pink shop sign glowing over a lit frontage. One more turn right should put that side of the street more squarely ahead of me before I walk out.",
+        "The underpass road and the glowing shopfront sign now sit ahead of me, with only the brick pillar edging my left. Walking forward should carry me clear of this corner and close some of the distance to the storefronts.",
+        "I have come out from behind the pillar and the whole covered street is opening up, with the lit frontage still some way off on the far side. I will keep walking forward to reach the middle of this passage where I can judge the shopfronts properly.",
+        "The frontage straight ahead on my right is a shuttered service counter with crates, not a glass entrance, and the walkway continues along the side I cannot currently see. Turning left should bring the left-hand shopfronts and their signs into view.",
+        "The lit pink and red sign over the glass shopfront glows along the left side of this covered street, but its doors are still well down the block. My path along the roadway edge is clear, so I will walk forward to close that distance.",
+        "The glass frontage with the illuminated sign now sits close on my left, while my heading still points straight down the empty roadway. I will turn left to bring that lit shopfront and its doorway into the middle of my view.",
+        "The turn brought the red sign and the frosted glass doors into view, but they still run away at a sharp angle to my left rather than facing me. Another left turn should square my heading onto that doorway before I step toward it.",
+        "I am now facing along the sidewalk with the glass doors beneath the glowing red sign directly ahead of me. The walkway in front is clear, so I will walk forward to reach that entrance.",
+        "The frosted glass doors and their handles are close now, with the red sign lit directly above them. A short step forward should bring me right up to the entrance.",
+        "I stand at the glass storefront doors, handles within reach beneath the lit red sign. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t5_a_pd/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Lift the plate beside the yellow U-shaped bollard, then place it near the trash bin.",
+    "Type": 5,
+    "Start_Pose": [
+        -1253.522,
+        -1298.14,
+        -931.85,
+        0,
+        60.48,
+        0
+    ],
+    "PD_ID": 16,
+    "PD_Size": 3.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -1158.381,
+        -875.575,
+        -981.85,
+        90,
+        90,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1253.522,
+            -1298.14,
+            -931.85,
+            0,
+            60.48,
+            0
+        ],
+        [
+            -1191.508,
+            -1188.62,
+            -931.85,
+            0.0,
+            60.48,
+            -0.0
+        ],
+        [
+            -1191.508,
+            -1188.62,
+            -931.85,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -1181.589,
+            -1063.152,
+            -931.85,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -1171.671,
+            -937.684,
+            -931.85,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -1171.671,
+            -937.684,
+            -931.85,
+            0.0,
+            85.48,
+            -0.0
+        ],
+        [
+            -1171.671,
+            -937.684,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -1109.657,
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+            60.48,
+            -0.0
+        ],
+        [
+            -1109.657,
+            -828.163,
+            -931.85,
+            0.0,
+            35.48,
+            -0.0
+        ],
+        [
+            -1109.657,
+            -828.163,
+            -931.85,
+            0.0,
+            10.48,
+            -0.0
+        ],
+        [
+            -1035.364,
+            -784.463,
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+            0.0,
+            10.48,
+            -0.0
+        ],
+        [
+            -911.604,
+            -761.569,
+            -922.327,
+            0.0,
+            10.48,
+            -0.0
+        ],
+        [
+            -805.404,
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+            0.0,
+            10.48,
+            -0.0
+        ],
+        [
+            -876.203,
+            -762.458,
+            -922.252,
+            0.0,
+            10.48,
+            -0.0
+        ],
+        [
+            -876.203,
+            -762.458,
+            -922.252,
+            0.0,
+            10.48,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -1158.381,
+            -875.575,
+            -981.85,
+            90.0,
+            90.0,
+            0.0
+        ],
+        [
+            -1158.381,
+            -875.575,
+            -981.85,
+            90.0,
+            90.0,
+            0.0
+        ],
+        [
+            -1158.381,
+            -875.575,
+            -981.85,
+            90.0,
+            90.0,
+            0.0
+        ],
+        [
+            -1158.381,
+            -875.575,
+            -981.85,
+            90.0,
+            90.0,
+            0.0
+        ],
+        [
+            -1158.381,
+            -875.575,
+            -981.85,
+            90.0,
+            90.0,
+            0.0
+        ],
+        [
+            -1193.006,
+            -936.61,
+            -961.744,
+            -28.202,
+            135.625,
+            1.862
+        ],
+        [
+            -1189.727,
+            -928.168,
+            -961.471,
+            -28.189,
+            110.637,
+            1.872
+        ],
+        [
+            -1128.742,
+            -818.526,
+            -961.16,
+            -28.193,
+            110.629,
+            1.872
+        ],
+        [
+            -1121.842,
+            -811.322,
+            -962.325,
+            -28.202,
+            85.622,
+            1.858
+        ],
+        [
+            -1113.309,
+            -809.253,
+            -961.124,
+            -28.198,
+            60.625,
+            1.865
+        ],
+        [
+            -1039.58,
+            -763.522,
+            -962.258,
+            -28.195,
+            60.627,
+            1.863
+        ],
+        [
+            -915.804,
+            -740.632,
+            -962.269,
+            -28.209,
+            60.618,
+            1.853
+        ],
+        [
+            -810.08,
+            -728.518,
+            -952.429,
+            -28.222,
+            60.608,
+            1.843
+        ],
+        [
+            -807.371,
+            -749.726,
+            -952.252,
+            90.0,
+            10.48,
+            0.0
+        ],
+        [
+            -807.371,
+            -749.726,
+            -952.252,
+            90.0,
+            10.48,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        433.1,
+        314.8,
+        314.8,
+        189.0,
+        63.5,
+        21.4,
+        20.4,
+        21.4,
+        20.8,
+        19.3,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The white plate is lying on the road ahead of me, just past the yellow U-shaped bollard at the curb, so it matches the target described in the task. It is still far off, well beyond arm's reach. I will walk forward to close that gap before worrying about alignment.",
+        "After stepping closer, the plate now sits off to the right of my heading, near the edge of my view, while my body still faces the curb and the stairs. Walking straight would carry me past it along the sidewalk. I will turn right to put the plate in front of me.",
+        "The plate is now roughly centered in front of me with open roadway between us, and the yellow bollard sits clearly to its left. Nothing blocks the straight line to it. I will walk forward to shorten the remaining distance.",
+        "The plate has grown much larger and now sits low in front of me, but it is still a step or two away rather than at my feet. Reaching from here would likely fall short. I will take one more step forward to stand directly over it.",
+        "The plate now fills the bottom of my view immediately in front of me, so it is within reach. This is the target object named in the task, lying on the roadway near the bollard. I will attempt to pick it up.",
+        "The grasp worked and the plate is now held in my hands rather than resting on the road. The trash bin belongs back toward the building corner by the stairs, which lies to my left rather than down the road ahead. I will turn left to face that direction.",
+        "I am carrying the plate and the dark trash bins stand ahead on my left, tucked against the brick corner near the foot of the stairs. They are still some distance off across the pavement. I will walk forward to bring myself near that corner.",
+        "The brick corner of the building now dominates my view and the trash bin has slipped to the far left edge, nearly out of sight behind it. Continuing straight would take me down the shopfront side instead of to the bin. I will turn left to bring the bin back in front of me.",
+        "I am carrying the plate and the dark trash bin now sits ahead beside the building corner, but it is still off to my left with the brick pillar crowding my heading. I will turn left again to bring the bin and the open pavement in front of it into the center of my view.",
+        "The trash bin beside the stairs is now squarely ahead of me with clear paving between us, and I still hold the plate. I will walk forward to close that gap so the bin comes within placing range.",
+        "The bin has grown larger and shifted slightly right against the wall, so I am closer but not yet alongside it. Another step forward should bring me next to the bin where the plate can be set down nearby.",
+        "The trash bin now fills the right side of my view at close range, though I am still slightly short of standing beside it. I will take one more step forward so the ground next to the bin is directly within reach for setting the plate down.",
+        "I am standing right alongside the trash bin, its body filling the near right of my view with open paving at my feet. The plate is still in my hands, so I will release it here to place it near the bin as the task requires.",
+        "The plate now rests on the ground directly beside the trash bin and my hands are empty. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001288_y-001256_z-000932_t2_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Walk to the leftmost bicycle parked by the wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -1288.489,
+        -1256.134,
+        -931.773,
+        0.0,
+        -87.36,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1288.489,
+            -1256.134,
+            -931.773,
+            0.0,
+            -87.36,
+            0.0
+        ],
+        [
+            -1282.692,
+            -1381.859,
+            -931.85,
+            0.0,
+            -87.36,
+            0.0
+        ],
+        [
+            -1282.692,
+            -1381.859,
+            -931.85,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1330.572,
+            -1498.255,
+            -931.85,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1378.452,
+            -1614.651,
+            -931.85,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1426.332,
+            -1731.047,
+            -931.85,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1474.211,
+            -1847.443,
+            -931.85,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1474.211,
+            -1847.443,
+            -931.85,
+            0.0,
+            -137.36,
+            0.0
+        ],
+        [
+            -1566.796,
+            -1932.699,
+            -922.438,
+            0.0,
+            -137.36,
+            0.0
+        ],
+        [
+            -1566.796,
+            -1932.699,
+            -922.438,
+            0.0,
+            -137.36,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two pairs of bicycles stand against walls across the street, and the leftmost of them all is the dark blue bike leaning beside a yellow one at the red rolling shutters on the far left. The other pair sits by the glass storefront and is not my target. I will walk forward across the road to close the distance.",
+        "The pair of bicycles at the red shutters sits well off to my left while my heading still points at the storefront ahead. Turning left should swing that shuttered frontage and its bikes toward the center of my view so I can walk straight at them.",
+        "The turn has brought the red shutters and the bicycles parked against them into the middle of my view, roughly along my heading. They are still across the road and some distance off. I will step forward to keep closing on them.",
+        "The bicycles leaning against the shuttered wall are noticeably larger and lower in my view now, so my heading is carrying me toward them. There is clear pavement between me and that curb. I will keep walking forward.",
+        "The blue and yellow bicycles are now clearly resolved against the red shutters slightly to my left, and the sidewalk in front of them is open. I am still a few paces short of them. I will advance again.",
+        "The bicycles against the shutters fill the left part of my view and their wheels are close to my level, so only a short gap remains. Nothing blocks the walkway between us. I will move forward once more to reach them.",
+        "I am now beside the bicycles, but they have slid to the far left edge of my view while my heading points at the fenced bin enclosure ahead. Turning left should bring the blue bike at the shutters back in front of me for a final step in.",
+        "The turn has centered the blue bicycle and its yellow neighbor along the shuttered wall directly ahead of me. Only a short stretch of sidewalk separates us. I will step forward to stand right at that bike.",
+        "The blue bicycle at the shutters stands within arm's reach, filling my view. I have arrived at it, so there is nothing further to walk toward."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001288_y-001256_z-000932_t2_b/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Head toward the tall lamp post on the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -1288.489,
+        -1256.134,
+        -931.773,
+        0.0,
+        -87.36,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1288.489,
+            -1256.134,
+            -931.773,
+            0.0,
+            -87.36,
+            0.0
+        ],
+        [
+            -1282.692,
+            -1381.859,
+            -931.85,
+            0.0,
+            -87.36,
+            0.0
+        ],
+        [
+            -1276.895,
+            -1507.585,
+            -931.85,
+            0.0,
+            -87.36,
+            0.0
+        ],
+        [
+            -1276.895,
+            -1507.585,
+            -931.85,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1324.775,
+            -1623.981,
+            -931.85,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1372.655,
+            -1740.377,
+            -931.85,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1420.534,
+            -1856.773,
+            -931.85,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1468.037,
+            -1945.885,
+            -922.252,
+            0.0,
+            -112.36,
+            0.0
+        ],
+        [
+            -1468.037,
+            -1945.885,
+            -922.252,
+            0.0,
+            -112.36,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the street I can pick out the tall lamp post standing on the left, its shaft rising past the corner building with the lamp head arching out over the road, clearly taller than the shop fronts beside it. Nothing blocks the roadway ahead, so I walk forward to close the distance.",
+        "The storefront and its awning have grown larger, confirming I am closing on the far sidewalk, and the lamp post's shaft still stands to the left near the gap between the two buildings. The way across remains clear, so I keep walking forward.",
+        "I am now close to the curb in front of the shop, but the lamp post has drifted to the edge of my view on the left as I advanced straight. Turning left should swing my heading onto the post so I can walk directly at it instead of past the storefront.",
+        "The turn has brought the lamp post back into the middle of my view, standing at the mouth of the narrow gap between the tiled shop and the shuttered building. With the road ahead of me open, I step forward toward it.",
+        "The lamp post remains lined up ahead of me, and the curb and shuttered frontage have swollen in view, so my heading is still carrying me at it. I continue walking forward to shorten the remaining gap.",
+        "I am nearly at the sidewalk now, with the parked bicycles off to my left and the recessed alcove opening ahead, and the lamp post's shaft rises just right of that opening. Another step forward should put me within a pace of it.",
+        "The lamp post now runs floor to ceiling through the middle of my view, thick and close, with the alcove and its bin just beyond. One more short step should bring me right up beside the post.",
+        "The lamp post's shaft stands directly in front of me, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001288_y-001256_z-000932_t2_c/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Approach the rightmost bicycle near the storefront.",
+    "Type": 2,
+    "Start_Pose": [
+        -1288.489,
+        -1256.134,
+        -931.773,
+        0.0,
+        -87.36,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1288.489,
+            -1256.134,
+            -931.773,
+            0.0,
+            -87.36,
+            0.0
+        ],
+        [
+            -1282.692,
+            -1381.859,
+            -931.85,
+            0.0,
+            -87.36,
+            0.0
+        ],
+        [
+            -1276.895,
+            -1507.585,
+            -931.85,
+            0.0,
+            -87.36,
+            0.0
+        ],
+        [
+            -1276.895,
+            -1507.585,
+            -931.85,
+            0.0,
+            -62.36,
+            0.0
+        ],
+        [
+            -1218.507,
+            -1619.081,
+            -931.85,
+            0.0,
+            -62.36,
+            0.0
+        ],
+        [
+            -1160.119,
+            -1730.577,
+            -931.85,
+            0.0,
+            -62.36,
+            0.0
+        ],
+        [
+            -1113.17,
+            -1824.792,
+            -931.85,
+            0.0,
+            -62.36,
+            0.0
+        ],
+        [
+            -1113.17,
+            -1824.792,
+            -931.85,
+            0.0,
+            -62.36,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Three bicycles stand along this block: two leaning together by the red shutter on the left, and one further right parked at the yellow U-rack under the storefront awning. That rack-locked bicycle by the glass shop doors is my target, so I will walk forward across the road toward it.",
+        "The bicycle at the yellow U-rack beneath the awning is larger now but still across the street, with the curb and sidewalk between us. Nothing blocks the straight path, so I will keep walking forward to close the remaining distance.",
+        "The bicycle at the yellow rack now sits well off to the right side of my view, so walking straight ahead would carry me past it toward the shop doors instead. I will turn right to bring it back in front of me before advancing again.",
+        "After the turn, the bicycle locked to the yellow rack is centered ahead of me under the awning, with clear pavement between us. I will step forward along that heading to close in on it.",
+        "The bicycle at the yellow rack fills much more of my view now, its frame and saddle clearly resolved against the shop windows. I am still a few paces short of standing beside it, so I will keep walking forward.",
+        "The bicycle and its yellow rack now dominate my view, but the handlebars are still a short step beyond arm's reach. One more advance should bring me right up alongside it at the storefront.",
+        "The bicycle at the yellow rack is directly beside me, its handlebars and frame filling my view at the shop window. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001392_y000841_z-000932_t1_a/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Locate the yellow mop bucket sitting along the passageway's sidewalk, then navigate to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1392.382,
+        840.728,
+        -931.85,
+        0.0,
+        11.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            11.52,
+            -0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            -13.48,
+            0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            -38.48,
+            0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            -63.48,
+            0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            -88.48,
+            0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            -113.48,
+            0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            -138.48,
+            0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            -163.48,
+            0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            171.52,
+            -0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            146.52,
+            -0.0
+        ],
+        [
+            -1392.382,
+            840.728,
+            -931.85,
+            0.0,
+            121.52,
+            -0.0
+        ],
+        [
+            -1458.181,
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+            -931.85,
+            0.0,
+            121.52,
+            -0.0
+        ],
+        [
+            -1523.979,
+            1055.307,
+            -931.85,
+            0.0,
+            121.52,
+            -0.0
+        ],
+        [
+            -1589.778,
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+            -931.85,
+            0.0,
+            121.52,
+            -0.0
+        ],
+        [
+            -1655.576,
+            1269.886,
+            -922.42,
+            0.0,
+            121.52,
+            -0.0
+        ],
+        [
+            -1721.375,
+            1377.175,
+            -922.42,
+            0.0,
+            121.52,
+            -0.0
+        ],
+        [
+            -1721.375,
+            1377.175,
+            -922.42,
+            0.0,
+            96.52,
+            -0.0
+        ],
+        [
+            -1735.666,
+            1502.22,
+            -922.42,
+            0.0,
+            96.52,
+            -0.0
+        ],
+        [
+            -1741.883,
+            1627.132,
+            -922.281,
+            0.0,
+            96.52,
+            -0.0
+        ],
+        [
+            -1741.883,
+            1751.931,
+            -922.281,
+            0.0,
+            96.52,
+            -0.0
+        ],
+        [
+            -1741.883,
+            1751.931,
+            -922.281,
+            0.0,
+            121.52,
+            -0.0
+        ],
+        [
+            -1741.883,
+            1854.401,
+            -922.281,
+            0.0,
+            121.52,
+            -0.0
+        ],
+        [
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+            0.0,
+            121.52,
+            -0.0
+        ],
+        [
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+            121.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, I only see a brick wall with a plain door, a mobile phone poster, and a used clothes storefront, with no yellow mop bucket anywhere along this stretch of sidewalk. The passageway clearly continues beyond the edge of my view, so I will turn left to begin a steady scan of the surroundings for the bucket.",
+        "The rotation has brought a coffee shop frontage and some stacked crates into the left of my view, but the sidewalk here still shows no yellow mop bucket. I will keep turning left in the same direction to sweep further along the walkway rather than stopping on this blank wall section.",
+        "A covered passageway now opens up on the left with a lit shop entrance and daylight beyond, which looks like the sidewalk corridor described in the task. The bucket is still not visible among the crates and doors, so I will continue the same leftward scan to expose more of that passage.",
+        "Looking under the overpass I can see the roadway running out toward a bright intersection, with sidewalks on both sides that are still bare of any yellow bucket. Keeping a consistent scan direction, I will turn left again to reveal the remaining walkway on that side.",
+        "Facing straight down the passage I see shopfronts, crates and railings on either side, but nothing resembling the yellow mop bucket along either curb. I will turn left once more to bring the nearer left-hand sidewalk fully into view.",
+        "The near wall with its large advertisement and the vending machines beside the shop entrance is now in front of me, and this stretch of pavement holds no bucket. Continuing the same rotation, I will turn left to check the section of sidewalk still hidden behind me.",
+        "A parked bicycle, vending machines and another wall advertisement occupy this part of the walkway, but there is still no yellow mop bucket here. I will keep rotating left so the scan stays consistent and uncovers the remaining unseen part of the passage.",
+        "Now I am facing a stairway with a parking sign and the bicycle beside it, a dead end for the sidewalk rather than a place where the bucket sits. I will turn left again to swing past this recess and back toward the open passage where the walkway continues.",
+        "The view in front of me is filled with a stairwell, a parked bicycle and utility cabinets against the brick wall, with no yellow mop bucket anywhere along this stretch of sidewalk. I will keep rotating left in the same consistent direction to sweep the remaining covered walkway that is still hidden past the corner on my left. Holding one scan direction should let me cover the surroundings without rechecking ground I have already inspected.",
+        "Rotating has opened up a long covered sidewalk with a row of glass shop doors, and near the base of that wall in the distance I can make out a small pale object sitting on the pavement. It is too far away to identify as the mop bucket, so I will turn left once more to bring that passageway and the object closer to the center of my view. That should give me a straight heading down the walkway if the object is worth approaching.",
+        "The covered passageway with its glass doors now runs straight ahead of me, and a small tan object sits on the sidewalk beside those doors partway down. That is the most likely candidate for the yellow mop bucket, so instead of scanning further I will commit and walk forward along the passage. Closing distance should let me confirm whether it really is the bucket.",
+        "The step forward has brought the glass storefront doors noticeably nearer, and the small tan object beside them still holds its position on the sidewalk. It remains too small to read clearly, so I will continue walking straight down the passage. Each step should sharpen its shape and color.",
+        "The object ahead now clearly reads as a small tub or bucket sitting low against the wall near the doors, with a yellowish tint. I will keep advancing along the covered walkway toward it since nothing blocks my path. Closer range should confirm it is the yellow mop bucket.",
+        "The bucket-shaped object is now plainly yellow and sitting on the sidewalk just beyond the row of glass doors on my right. It is still several strides away, so I will continue walking straight toward it. This should keep shrinking the gap without needing a heading change yet.",
+        "The yellow mop bucket is clearly identifiable now, resting against the wall a short way ahead and slightly to my left. I will take another step forward along the walkway to close the remaining distance. The pavement between us is open, so this advance should bring me near the target.",
+        "My forward motion has carried me close along the shopfronts, and the yellow mop bucket now sits off to my left rather than straight ahead, with the glass doors crowding the right of my view. I will turn left to swing my heading onto the bucket. That should place it near the center so I can walk directly to it.",
+        "The yellow mop bucket is now clearly visible ahead on the covered sidewalk, resting against the wall beside the glass doors. My heading is lined up with the walkway that leads straight to it, so I will step forward to close the remaining distance.",
+        "The bucket has grown noticeably larger and sits slightly right of my path along the wall, confirming I am closing in on it. The paved walkway ahead is still clear, so I will keep walking toward it.",
+        "The mop bucket is now close, sitting on the pavement to my right beside the storefront glass. A few more steps should bring me within arm's reach, so I continue advancing along the sidewalk.",
+        "The bucket now sits low on my right side, near the edge of what I can see, while my heading points down the open street. I will turn right to bring it back to the center of my view and face it directly before the final step.",
+        "The mop bucket is now centered in front of me against the wall, with clear pavement between us. One more step forward should place me right beside it.",
+        "I am standing right over the bucket, so only its upper rim shows at the bottom edge of my view. Tilting my head down should bring the whole yellow bucket into view and confirm I have reached it.",
+        "The yellow mop bucket sits directly at my feet, fully in view against the sidewalk wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Within this passageway, discover the plain white door set into the brick wall beside the \"OK! mobile\" poster, then approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1552.983,
+        615.722,
+        -931.85,
+        0.0,
+        -148.48,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -148.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -123.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -98.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -73.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -48.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -23.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            1.52,
+            -0.0
+        ],
+        [
+            -1427.168,
+            619.061,
+            -931.85,
+            0.0,
+            1.52,
+            -0.0
+        ],
+        [
+            -1301.354,
+            622.399,
+            -931.85,
+            0.0,
+            1.52,
+            -0.0
+        ],
+        [
+            -1301.354,
+            622.399,
+            -931.85,
+            0.0,
+            26.52,
+            -0.0
+        ],
+        [
+            -1188.738,
+            678.596,
+            -931.85,
+            0.0,
+            26.52,
+            -0.0
+        ],
+        [
+            -1076.122,
+            734.794,
+            -931.85,
+            0.0,
+            26.52,
+            -0.0
+        ],
+        [
+            -1076.122,
+            734.794,
+            -931.85,
+            0.0,
+            1.52,
+            -0.0
+        ],
+        [
+            -950.307,
+            738.132,
+            -922.367,
+            0.0,
+            1.52,
+            -0.0
+        ],
+        [
+            -950.307,
+            738.132,
+            -922.367,
+            0.0,
+            1.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The wall in front of me carries only a phone advert and utility cabinets, with no plain white door and no \"OK! mobile\" poster anywhere in sight. I will turn right to sweep my view along the passageway and open up the stretch of frontage I cannot currently see.",
+        "This heading shows the soup shop front and the open roadway beyond, still without any plain door or the poster I am after. I will keep turning right to continue scanning the walls farther around the passageway.",
+        "Ahead is mostly open roadway under the overpass, and the brick frontage to my right is only just entering the edge of my view. Turning right again should bring that far wall properly into sight where a plain service door is likely to sit.",
+        "The coffee shopfront and the brick wall beside it are now on the right side of my view, but I still see no white door or colourful poster. One more turn right should center that brick stretch and reveal what lies further along it.",
+        "A plain pale door has appeared at the right edge of the brick wall, though it is cut off and I cannot yet see whether the \"OK! mobile\" poster sits beside it. I will turn right once more to bring that section fully into view and confirm the match.",
+        "Now the brick wall is squarely ahead with a plain white door and the bright \"OK! mobile\" poster right beside it, which is exactly the target described. A final turn right should settle the door near the center of my heading before I start walking toward it.",
+        "The plain white door and the \"OK! mobile\" poster beside it are clearly identified ahead across the roadway, so the search is over. I will walk forward to close the gap and commit to approaching the door.",
+        "The door and poster have grown larger, confirming I am closing on them, but the kerb and wall are still some distance away. I will keep walking forward to draw nearer to the door.",
+        "The plain white door in the brick wall, with the OK! mobile poster right beside it, now sits just right of my heading. I will turn right to swing that doorway toward the middle of my view before committing to the approach.",
+        "The target doorway and its adjacent poster are clearly identified on the brick facade ahead of me, so the search is over. I will walk forward across the roadway to close the sizable gap to that wall.",
+        "The door and poster have grown noticeably larger, confirming my heading is carrying me toward them. I will step forward again to reach the sidewalk in front of that doorway.",
+        "I am now close enough that the white door fills the left side of my view and its frame runs off the edge. Turning left should bring the door back to the center of my heading for a straight final step.",
+        "The plain white door is squarely centered ahead, its handle and frame fully visible against the brick. I will take one more step forward to stand directly at it.",
+        "The pale door panel now fills my view at arm's length, with its wall lamp at the edge. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_b/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Search inside the passageway for the black chalkboard standing on the ground in front of the coffee shop entrance; once found, navigate to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -1552.983,
+        615.722,
+        -931.85,
+        0.0,
+        -148.48,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -148.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -123.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -98.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -73.48,
+            0.0
+        ],
+        [
+            -1552.983,
+            615.722,
+            -931.85,
+            0.0,
+            -48.48,
+            0.0
+        ],
+        [
+            -1469.553,
+            521.488,
+            -931.85,
+            0.0,
+            -48.48,
+            0.0
+        ],
+        [
+            -1386.124,
+            427.255,
+            -931.85,
+            0.0,
+            -48.48,
+            0.0
+        ],
+        [
+            -1302.694,
+            333.021,
+            -931.85,
+            0.0,
+            -48.48,
+            0.0
+        ],
+        [
+            -1302.694,
+            333.021,
+            -931.85,
+            0.0,
+            -23.48,
+            0.0
+        ],
+        [
+            -1187.256,
+            282.875,
+            -931.85,
+            0.0,
+            -23.48,
+            0.0
+        ],
+        [
+            -1071.819,
+            232.729,
+            -931.85,
+            0.0,
+            -23.48,
+            0.0
+        ],
+        [
+            -1071.819,
+            232.729,
+            -931.85,
+            0.0,
+            1.52,
+            -0.0
+        ],
+        [
+            -976.567,
+            226.03,
+            -922.485,
+            0.0,
+            1.52,
+            -0.0
+        ],
+        [
+            -976.567,
+            226.03,
+            -922.485,
+            0.0,
+            1.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, I only see a soup shop front with metal panels and barrels along the wall, and no black chalkboard anywhere in view. Since the passageway seems to continue toward the brighter opening on my right, I will turn right to begin a consistent scan for the coffee shop entrance.",
+        "The rotation has opened up a view under the overpass toward a street, but the shopfront in sight is still the soup place and no chalkboard stands on the ground. I will keep turning in the same direction to sweep more of the passageway rather than stopping on an area without the target.",
+        "The passageway under the overpass is now mostly in front of me, showing empty road, a traffic signal and distant buildings, with no board standing on any sidewalk. Continuing the same rightward sweep should bring the opposite side of the passageway into view where another storefront may sit.",
+        "On the right side of the passageway I can now read a COFFEE sign above a glass entrance, with a dark board shape leaning near it on the raised sidewalk. I will turn right once more to bring that storefront and the board toward the center of my view before approaching.",
+        "The coffee shop entrance is now ahead and slightly to my right, with a large dark board standing on the ground beside its glass doors next to the crates. Since the target appears identified, I will walk forward along the passageway to close the distance instead of scanning further.",
+        "The step forward has enlarged the coffee shop front, and the standing board now clearly shows chalk writing on a dark surface. I am still several meters short of it, so I will continue walking straight toward the entrance.",
+        "The black chalkboard with its menu artwork is clearly resolved beside the coffee shop doors, sitting on the raised sidewalk to my right front. I will take another step forward to keep closing in before adjusting my heading.",
+        "I am now close to the coffee shop frontage, but the chalkboard sits off to the right of my heading while I am still aimed down the roadway. I will turn right to face the board and the entrance directly so my remaining steps lead straight to it.",
+        "The black chalkboard sign is now clearly standing on the pavement in front of the glass doors under the COFFEE sign, just right of my heading. It is still several paces away across the roadway, so I will walk forward to close that gap while keeping it in view.",
+        "The chalkboard has grown noticeably larger and its menu lettering is now readable, confirming this is the board standing at the coffee shop entrance. I am still out on the road with the curb between us, so I will step forward again to keep closing the distance.",
+        "The chalkboard is close now but sits toward the right side of my view, while my heading points along the shopfront rather than at the board. I will turn right to bring the board into the center of my path before advancing further.",
+        "The chalkboard now fills the center of my view with the crates and the wall behind it, so my heading is squarely on the target. A short step forward should bring me right up to it and complete the approach.",
+        "The coffee shop chalkboard fills my view at arm's length, its menu lettering directly before me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001649_y-000781_z-000932_t2_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Head toward the leftmost glass door under the red sign.",
+    "Type": 2,
+    "Start_Pose": [
+        -1649.259,
+        -780.88,
+        -931.85,
+        0.0,
+        35.52,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1649.259,
+            -780.88,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -1546.821,
+            -707.758,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -1444.383,
+            -634.635,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -1341.944,
+            -561.513,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -1239.506,
+            -488.39,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -1137.068,
+            -415.268,
+            -931.85,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -1034.63,
+            -342.145,
+            -923.717,
+            0.0,
+            35.52,
+            -0.0
+        ],
+        [
+            -1034.63,
+            -342.145,
+            -923.717,
+            0.0,
+            10.52,
+            -0.0
+        ],
+        [
+            -949.331,
+            -320.7,
+            -922.252,
+            0.0,
+            10.52,
+            -0.0
+        ],
+        [
+            -949.331,
+            -320.7,
+            -922.252,
+            0.0,
+            10.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the roadway I can see the red sign on the storefront, with a run of glass doors beneath it; the one at the far left end, where the red panel begins beside the plain wall, is my target. The pavement ahead is open, so I walk forward to close the distance.",
+        "The storefront is larger in front of me now and the red sign with its glass doors sits slightly to my left front. I am still well short of the frontage, so I keep walking straight ahead toward it.",
+        "The lettering on the red sign is becoming readable and the glass doors beneath it are clearly separated. The far left door of that run remains my goal, and it is still several paces off, so I continue forward.",
+        "The red sign now reads clearly, and the darker blue sign farther right belongs to the neighbouring frontage, so my door stays at the left end of the run under the red panel. I advance again to reach the kerb in front of it.",
+        "I am close enough now that the frontage fills much of my view, and the leftmost door under the red panel sits ahead on my left. Continuing forward should bring me level with that end of the row.",
+        "At this range the doorway line is stretching out beside me and the left end of the run is passing out of easy view, so I hold to the door standing directly under the start of the red panel. One more step forward should bring me alongside it.",
+        "The door I want, the one beneath the red panel with its paired handles, now lies to the left of my heading while I am facing along the frontage. Turning left should square me up with that doorway instead of skimming past it.",
+        "The glass door under the red panel is now centred in front of me, with both handles and the frosted panes squarely in view. A short step forward should place me right at it.",
+        "The paired handles of the glass door under the red panel are an arm's length in front of me. I have arrived at it, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Walk to the left double door.",
+    "Type": 2,
+    "Start_Pose": [
+        -1687.058,
+        2660.331,
+        -931.85,
+        0.0,
+        73.92,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1687.058,
+            2660.331,
+            -931.85,
+            0.0,
+            73.92,
+            -0.0
+        ],
+        [
+            -1687.058,
+            2660.331,
+            -931.85,
+            0.0,
+            48.92,
+            -0.0
+        ],
+        [
+            -1604.354,
+            2755.203,
+            -931.85,
+            0.0,
+            48.92,
+            -0.0
+        ],
+        [
+            -1521.651,
+            2850.074,
+            -922.265,
+            0.0,
+            48.92,
+            -0.0
+        ],
+        [
+            -1438.948,
+            2944.946,
+            -922.265,
+            0.0,
+            48.92,
+            -0.0
+        ],
+        [
+            -1356.244,
+            3039.818,
+            -922.265,
+            0.0,
+            48.92,
+            -0.0
+        ],
+        [
+            -1273.541,
+            3134.689,
+            -922.265,
+            0.0,
+            48.92,
+            -0.0
+        ],
+        [
+            -1273.541,
+            3134.689,
+            -922.265,
+            0.0,
+            23.92,
+            -0.0
+        ],
+        [
+            -1158.491,
+            3185.72,
+            -922.265,
+            0.0,
+            23.92,
+            -0.0
+        ],
+        [
+            -1043.442,
+            3236.751,
+            -922.265,
+            0.0,
+            23.92,
+            -0.0
+        ],
+        [
+            -1043.442,
+            3236.751,
+            -922.265,
+            0.0,
+            48.92,
+            -0.0
+        ],
+        [
+            -961.265,
+            3323.846,
+            -922.265,
+            0.0,
+            48.92,
+            -0.0
+        ],
+        [
+            -961.265,
+            3323.846,
+            -922.265,
+            0.0,
+            48.92,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From my opening view I can pick out two glazed double doors along this row: the near one set in the cream shopfront under the pale green awning, and further down the street the left one belonging to the shop with the pink and red striped awning. That pink awning door is the one I want, so I turn left to swing my heading off the near shopfront and open up the street running toward it.",
+        "The turn has opened the length of the street, and the shop with the pink striped awning and its glazed door now sits well ahead of me on this side. The sidewalk in front is clear, so I step forward to close that distance.",
+        "The pink awning and the door beneath it have grown noticeably larger, so my heading down this row is good. Nothing blocks the pavement between me and it, so I keep walking forward.",
+        "The glass double door under the pink awning is clearly resolved now, with the blue crates stacked on the pavement beside it. I am still some way short of it, so I continue forward along the sidewalk.",
+        "My target door under the pink awning is closer but still off to my forward left, and the pavement ahead is wide and clear. I step forward again to keep closing on it.",
+        "The pink awning shopfront and its glazed door now fill much of the frame ahead, with the crates sitting just short of the entrance. I advance once more to bring myself level with that stretch of pavement.",
+        "My heading is angled into the building face, and the crates sit right in the line I am walking, so pressing straight on would carry me into the shopfront rather than up to its door. I turn left to line myself back up with the sidewalk running past the frontage.",
+        "With the sidewalk now straight ahead of me, the glazed double door under the pink awning stands just off to my right. I walk forward along the pavement to draw level with its frontage.",
+        "The glazed double door on the pink frontage is now to my right, but I am still a little short of standing square in front of it. The pavement ahead is open, with only the bin and crates hugging the wall, so I step forward once more.",
+        "I have drawn level with the glazed double door, which now sits directly off my right shoulder while my heading still runs on down the street. Turning right should put the entrance squarely in front of me so I can walk straight up to it.",
+        "The double door is now centred ahead of me, its two glazed leaves and handles fully in view, with the bin standing off to the side of the threshold. A short strip of pavement still separates me from it, so I walk forward to close that last gap.",
+        "The pink shopfront's glazed double door stands right in front of me, close enough to touch its handles. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_c/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Move to the green dumpster on the far right.",
+    "Type": 2,
+    "Start_Pose": [
+        -1687.058,
+        2660.331,
+        -931.85,
+        0.0,
+        73.92,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1687.058,
+            2660.331,
+            -931.85,
+            0.0,
+            73.92,
+            -0.0
+        ],
+        [
+            -1687.058,
+            2660.331,
+            -931.85,
+            0.0,
+            98.92,
+            -0.0
+        ],
+        [
+            -1706.573,
+            2784.668,
+            -922.252,
+            0.0,
+            98.92,
+            -0.0
+        ],
+        [
+            -1726.088,
+            2909.005,
+            -922.252,
+            0.0,
+            98.92,
+            -0.0
+        ],
+        [
+            -1726.088,
+            2909.005,
+            -922.252,
+            0.0,
+            123.92,
+            -0.0
+        ],
+        [
+            -1796.322,
+            3013.445,
+            -922.252,
+            0.0,
+            123.92,
+            -0.0
+        ],
+        [
+            -1866.556,
+            3117.885,
+            -931.85,
+            0.0,
+            123.92,
+            -0.0
+        ],
+        [
+            -1936.789,
+            3222.325,
+            -931.85,
+            0.0,
+            123.92,
+            -0.0
+        ],
+        [
+            -2006.058,
+            3323.889,
+            -931.85,
+            0.0,
+            123.92,
+            -0.0
+        ],
+        [
+            -2066.667,
+            3323.957,
+            -931.85,
+            0.0,
+            123.92,
+            -0.0
+        ],
+        [
+            -2066.667,
+            3323.957,
+            -931.85,
+            0.0,
+            123.92,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "At the far right edge of my view, a green dumpster stands against the pale tiled wall with blue crates stacked beside it, and that pairing is what marks my target. It sits too far off my heading to walk toward directly, so I will turn right to bring it into the middle of my view.",
+        "The green dumpster with its blue crates now sits ahead and slightly right, backed against the tiled wall, with open pavement between us. Nothing blocks that stretch, so I will walk forward to close the distance.",
+        "The dumpster and its crates have grown larger and stay comfortably in view, confirming my heading is carrying me toward them. The paving ahead remains empty, so I will keep walking forward.",
+        "The green dumpster has drifted toward the right side of my view while the building corner crowds the left, so walking straight would carry me past it. I will turn right to put it back near the center of my heading.",
+        "The dumpster now sits squarely ahead against the tiled wall, its crates and bin clustered at the near end. The open ground in front of me is clear, so I will step forward toward it.",
+        "The dumpster's panels and wheels are becoming distinct, so I am still several strides short of it. My heading remains true, so I will continue walking forward.",
+        "The green dumpster fills much more of my view now, with the crates and small bin gathered at its near corner. There is still open floor between us, so I will keep advancing.",
+        "The dumpster's side is close enough that its ribbed panels and lid edge dominate my view, though a short stretch of floor still separates me from the crates in front of it. I will take another step forward to stand right beside it.",
+        "The dumpster's flank and lid now span nearly my whole view, with the crates crowding my lower left, so I am almost against it. A short gap of floor remains along its side, so I will take one more measured step to draw level with it.",
+        "The green dumpster is right beside me, its flank filling my view at arm's length. I have reached it, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Walk to the door under the blue light.",
+    "Type": 0,
+    "Start_Pose": [
+        -1727.457,
+        -1477.651,
+        -931.85,
+        0.0,
+        56.64,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1727.457,
+            -1477.651,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1658.247,
+            -1372.53,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1589.038,
+            -1267.408,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1519.828,
+            -1162.287,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1450.619,
+            -1057.165,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1381.409,
+            -952.044,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1312.2,
+            -846.922,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1242.99,
+            -741.801,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1173.78,
+            -636.679,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1104.571,
+            -531.558,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1104.571,
+            -531.558,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1086.272,
+            -407.036,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1067.973,
+            -282.515,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1067.973,
+            -282.515,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -998.763,
+            -177.393,
+            -922.301,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -949.292,
+            -73.767,
+            -922.252,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -949.292,
+            -73.767,
+            -922.252,
+            0.0,
+            56.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand the covered street opens straight ahead beneath the overpass, and along its left side I can make out a row of shopfronts with small lit signs. None of them is close enough for me to tell which one carries the blue light, so I will walk forward along the roadway to close distance and get a better look.",
+        "The shopfronts on my left have grown a little larger, and I can now separate a reddish sign from a darker, bluish one just beyond it. That cooler bluish signage is my best candidate for the door under the blue light, so I keep my heading and step forward again.",
+        "I can now see the left-hand shopfront row more clearly, with glass entrance doors under the pink sign and a dimmer blue panel further along the same wall. Since that blue-lit section is still well ahead of me, I hold this heading and advance straight.",
+        "The doors beneath the pink sign are becoming distinct on my left, but the blue-lit sign I am aiming for sits past them along the wall. I keep walking forward without turning so that further stretch of the storefront comes within reach.",
+        "The nearest glass doors under the pink sign are almost beside me on the left, so those are clearly not the blue-lit entrance. I step forward again to bring the darker blue sign and its doorway, further along the same wall, closer.",
+        "The pink shopfront is passing along my left shoulder while the blue panel with pale lettering comes next in the row. I continue straight ahead to shorten the remaining distance to that blue-lit doorway.",
+        "From here the pink sign and the adjoining blue sign are both close on my left, with lit strips above their glass doors. The blue one is still a few paces further along, so I advance once more while keeping the wall on my left.",
+        "The blue sign with its illuminated strip is now clearly the next entrance along the wall to my left, just beyond the pink one beside me. I keep my heading parallel to the shopfronts and step forward to draw level with that blue-lit door.",
+        "The lit storefronts run along my left, and past the pink Teppanyaki panel I can see the blue illuminated sign with glass doors beneath it, which matches the door I was told to reach. I will step forward along this passage to close the remaining distance toward that blue-lit entrance.",
+        "I am now very close to the shopfront wall on my left, so the frontage crowds my view and the blue-lit sign sits near the upper left edge. I will turn right to face along the passage again, which should give me a clear line to walk parallel to the storefronts instead of into them.",
+        "With my heading now running along the passage, the blue COFFEE sign and its glass doors are clearly on my left and still a few paces ahead. I will move forward along the open pavement to bring myself level with that blue-lit entrance.",
+        "The blue COFFEE signboard and the doorway beneath it are noticeably larger and closer on my left, with the chalkboard sign standing just outside it. Another step forward should place me right beside that entrance so I can turn in to face it.",
+        "I am now abreast of the blue-lit COFFEE frontage, and its glass double door lies to my left rather than ahead of me. I will turn left to bring that door toward the center of my view so I can walk straight into it.",
+        "The turn has brought the blue-lit COFFEE sign and the glass doors beneath it into the center left of my view. I will step forward onto the sidewalk to close the last of the gap to that entrance.",
+        "The blue-lit sign is now directly overhead on my left and the glass door with its handle is just a step away. I will take one short step forward to stand squarely in front of that doorway.",
+        "I am standing directly at the glass double door beneath the blue-lit shop sign. The task is complete, so no further movement is needed."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Head toward the door under the red light.",
+    "Type": 0,
+    "Start_Pose": [
+        -1727.457,
+        -1477.651,
+        -931.85,
+        0.0,
+        56.64,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1727.457,
+            -1477.651,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1658.247,
+            -1372.53,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1589.038,
+            -1267.408,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1519.828,
+            -1162.287,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1450.619,
+            -1057.165,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1381.409,
+            -952.044,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1312.2,
+            -846.922,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1242.99,
+            -741.801,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1173.78,
+            -636.679,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1104.571,
+            -531.558,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1035.361,
+            -426.436,
+            -922.426,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1035.361,
+            -426.436,
+            -922.426,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -949.451,
+            -361.32,
+            -922.252,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -949.322,
+            -304.865,
+            -922.252,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -949.322,
+            -304.865,
+            -922.252,
+            0.0,
+            31.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open space under the elevated deck, the only reddish glow over an entrance is on the storefront row ahead to my left, past the brick corner of the building; the round red traffic sign on the pole to my right is a road marking, not the light over a door. My heading already points down the covered passage toward that storefront row, so I will step forward to close distance and get a clearer look at the lit doorway.",
+        "The corner of the grey brick building has shifted left in my view and the row of glass shop doors beneath the reddish sign is now more exposed. The lane ahead is clear pavement, so I continue forward along it to keep shrinking the gap to that entrance.",
+        "The lit reddish signboard above the glass doors on my left is growing larger and its spotlights are now distinguishable, confirming this is the entrance described in the task. Nothing blocks the roadway in front of me, so I keep walking forward rather than turning this early, since a turn now would face me at the blank brick wall instead of the doors.",
+        "The storefront with the red-lit sign now sits along the left side of my view, slightly ahead of my shoulder line, so I still have ground to cover before I am level with its doors. I advance again to bring the entrance alongside me before committing to any turn.",
+        "The glass doors under the pink-red illuminated sign are clearly resolved now on my left, with the neighbouring darker sign beside them. I keep moving forward along the open lane to reduce the remaining distance to that doorway.",
+        "I am close to the shopfront wall on my left, and the lettering on the red-lit sign is starting to read out, so the target doorway is only a short stretch ahead of my current position. I step forward once more along the curb to draw level with the doors.",
+        "The illuminated red sign reading like a shop name sits directly over the glass doors on my left, and I am nearly abreast of them. I continue forward so the entrance ends up beside me, which should let me turn in and face it squarely.",
+        "The red sign above the entrance is now fully lit and legible at close range on my left, with the paired glass doors and their handles plainly visible. A little more forward travel should place me squarely opposite those doors, so I advance rather than turning while they are still off to the side.",
+        "The glass double doors beneath the glowing red sign are now clearly visible ahead on my left along this covered walkway. I will keep walking forward to close the remaining gap before I need to turn in toward them.",
+        "The doors under the red sign have grown noticeably larger on my left, so I am nearly level with them but not yet alongside. Another step forward should bring me even with the entrance before I reorient.",
+        "I am now standing beside the entrance, with the glass doors and the red sign filling the left side of my view while my heading still runs along the street. Turning left should point me squarely at the doors so I can step straight toward them.",
+        "After the turn, the paired glass doors under the red sign sit centered ahead of me with clear pavement in between. I will walk forward to close on the entrance.",
+        "The two door handles are directly in front of me and the glass panels fill most of my view, so only a short step remains. I will advance slightly to stand right at the doorway.",
+        "I am standing directly at the glass double doors beneath the red-lit sign, handles within reach. The task is complete, so no further movement is needed."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_c/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Approach the red do-not-enter sign on the pole.",
+    "Type": 0,
+    "Start_Pose": [
+        -1727.457,
+        -1477.651,
+        -931.85,
+        0.0,
+        56.64,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1727.457,
+            -1477.651,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1727.457,
+            -1477.651,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1709.158,
+            -1353.129,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1690.859,
+            -1228.608,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1672.56,
+            -1104.086,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1654.261,
+            -979.564,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1635.962,
+            -855.043,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1635.962,
+            -855.043,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ],
+        [
+            -1635.962,
+            -855.043,
+            -931.85,
+            0.0,
+            81.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the red do-not-enter sign on its pole well off to my right, near the curb at the edge of the underpass. My current heading points across the open pavement instead of toward it, so I will turn right to bring the sign closer to the center of my view before advancing.",
+        "The do-not-enter sign now sits near the middle right of my view with clear flat pavement between me and it. I will move forward along this line to start closing the sizable gap.",
+        "The sign and its pole have grown noticeably larger, confirming my heading is carrying me toward the target. The route ahead is still open road, so I will continue forward.",
+        "The red sign is clearly bigger and drifting toward the upper right as I close in, which is what I expect while approaching a raised sign. There is still distance to cover, so another step forward is appropriate.",
+        "The sign now looms high on my right with its pole running down to the sidewalk beside me, so I am getting close but not yet alongside it. I will advance once more to reduce the remaining distance.",
+        "The sign is very large at the top right edge of my view, meaning the pole is nearly beside me. One more forward step should place me directly at the pole rather than short of it.",
+        "I am now right beside the pole, and only its lower shaft is visible at my right while the sign itself has risen above my field of view. I will tilt my view upward to bring the red do-not-enter face back into sight and confirm I am at the target.",
+        "The red do-not-enter sign fills the upper right of my view directly overhead on its pole. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_d/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Move to the bicycle parked near the staircase.",
+    "Type": 0,
+    "Start_Pose": [
+        -1727.457,
+        -1477.651,
+        -931.85,
+        0.0,
+        56.64,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1727.457,
+            -1477.651,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1658.247,
+            -1372.53,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1589.038,
+            -1267.408,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1589.038,
+            -1267.408,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1481.886,
+            -1201.385,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1374.735,
+            -1135.362,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1267.584,
+            -1069.339,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1160.432,
+            -1003.315,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1053.281,
+            -937.292,
+            -927.084,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -958.205,
+            -902.518,
+            -922.291,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -851.054,
+            -836.495,
+            -922.291,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -743.903,
+            -770.472,
+            -922.663,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -645.023,
+            -741.859,
+            -922.725,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -645.023,
+            -741.859,
+            -922.725,
+            0.0,
+            31.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open paved area under the elevated structure I can already pick out the concrete staircase to my left, with a bicycle parked at its base beside a trash bin. The distance is still large, so I will step forward across the open pavement to begin closing on that staircase area.",
+        "The staircase and the bicycle leaning near its lower steps are clearly larger now, confirming I am getting nearer to the target. The route ahead is still clear open pavement, so I will keep advancing before adjusting my heading.",
+        "My current heading points down the roadway under the overpass, while the staircase and the parked bicycle sit off to my left near the yellow barrier. I will turn left to bring that staircase and the bicycle toward the center of my view so my forward path leads straight to them.",
+        "After the turn the staircase with its canopy and the bicycle beside the steps sit much closer to the middle of my view. With this heading pointing at the target, I will move forward to reduce the remaining distance.",
+        "The steps, the yellow tactile strip at their base, and the bicycle parked against the wall are all growing steadily larger, so my heading is still good. I will continue forward toward the foot of the staircase.",
+        "I am close to the curb line now, with the staircase filling the left portion of my view and the bicycle standing between the steps and the trash bin. Nothing blocks the walkway on this line, so I will keep stepping forward.",
+        "I have reached the wide paved area at the foot of the stairs, and the green bicycle is plainly visible leaning near the bottom steps just past the yellow post. A few more forward steps should bring me alongside it.",
+        "The staircase now dominates the left of my view and the bicycle sits just beyond the trash bin, only a short walk away. I will advance again to close that last gap and stand next to the bicycle.",
+        "The green bicycle is clearly visible ahead on the left, leaning against the tiled wall at the foot of the staircase, with the dark trash bin standing just to its right. My heading already points along the open paving toward it, so I will step forward to keep closing the remaining gap.",
+        "The bicycle and the adjacent bin now appear larger and lower in my view, confirming that my previous step reduced the distance. Still several paces short of standing beside it, so I will advance again on this same heading.",
+        "The parked bicycle is now plainly close, its wheel and green frame resting against the wall beside the stair steps, while the bin passes along the right side of my view. I will keep moving forward to bring myself right up to the bicycle.",
+        "The bicycle now occupies much of the lower part of my view, with its saddle and handlebars within a pace or two and the stair handrail just to my left. One more forward step should place me directly alongside it at the staircase.",
+        "The green bicycle's handlebars are within arm's reach beside the staircase steps. The task is complete, so I stop here rather than move past the target."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_e/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Navigate to the yellow U-shaped metal safety barrier beside the curb.",
+    "Type": 0,
+    "Start_Pose": [
+        -1727.457,
+        -1477.651,
+        -931.85,
+        0.0,
+        56.64,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1727.457,
+            -1477.651,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1658.247,
+            -1372.53,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1589.038,
+            -1267.408,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1519.828,
+            -1162.287,
+            -931.85,
+            0.0,
+            56.64,
+            -0.0
+        ],
+        [
+            -1519.828,
+            -1162.287,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1412.677,
+            -1096.263,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1305.525,
+            -1030.24,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1198.374,
+            -964.217,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1091.223,
+            -898.194,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1091.223,
+            -898.194,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ],
+        [
+            -1091.223,
+            -898.194,
+            -931.85,
+            0.0,
+            31.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the open pavement I can already pick out a small yellow U-shaped barrier ahead on the left, standing on the raised curb next to the stairway. It is still far off, so I will step forward along the open road surface to begin closing that gap.",
+        "The yellow barrier by the curb near the foot of the stairs is a bit larger now, confirming I am gaining ground on it. The way ahead is still clear pavement, so I will keep advancing.",
+        "The barrier beside the curb keeps growing as I close in, but it sits off to my left rather than straight ahead. I will take another step forward on this clear stretch before adjusting my heading.",
+        "My heading is carrying me past the target, since the yellow barrier now sits well to my left along the curb by the stairs. I will turn left to point myself at it so the remaining distance can be closed in a straight line.",
+        "After turning, the yellow U-shaped barrier on the curb is much better centered in front of me, with a second one further left near the bicycles. I will move forward along this heading to shorten the distance to the nearer barrier.",
+        "The nearer yellow barrier stands clearly ahead of me at the corner of the curb and is noticeably bigger than before. Nothing blocks the pavement between us, so I will continue stepping toward it.",
+        "The yellow barrier now stands prominently just ahead of me beside the raised curb, but I am still a couple of steps short of standing next to it. I will advance again to bring myself right up beside it.",
+        "The yellow U-shaped barrier is now very close in the lower part of my view, right at the curb line. One more short step forward should place me directly beside it.",
+        "I have closed the distance so much that the yellow U-shaped barrier now sits below my level line of sight, near my feet by the curb edge. Tilting my head down should bring the barrier and the adjacent curb back into clear view so I can confirm I am standing right beside it.",
+        "The yellow U-shaped metal barrier is directly at my feet, right beside the curb. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_a/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Walk to the yellow mop bucket near the wall, then head toward the door of the pink shuttered storefront.",
+    "Type": 3,
+    "Start_Pose": [
+        -2116.007,
+        -1636.277,
+        -922.691,
+        0.0,
+        -156.48,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2116.007,
+            -1636.277,
+            -922.691,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2116.007,
+            -1636.277,
+            -922.515,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2199.371,
+            -1730.569,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2282.735,
+            -1824.861,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2366.098,
+            -1919.153,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2366.098,
+            -1919.153,
+            -931.85,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2481.501,
+            -1969.379,
+            -931.85,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2596.904,
+            -2019.606,
+            -922.329,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2596.904,
+            -2019.606,
+            -922.329,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2596.904,
+            -2019.606,
+            -922.329,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2596.904,
+            -2019.606,
+            -922.329,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2596.904,
+            -2019.606,
+            -922.329,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -2596.904,
+            -2019.606,
+            -922.329,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2675.287,
+            -1921.135,
+            -931.85,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2753.671,
+            -1822.664,
+            -931.85,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2832.054,
+            -1724.193,
+            -931.85,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2910.438,
+            -1625.722,
+            -922.258,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2985.827,
+            -1557.653,
+            -922.252,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2985.827,
+            -1557.653,
+            -922.252,
+            0.0,
+            128.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the middle of the street I can pick out a small yellow mop bucket sitting against the wall on the right side, below the pink shopfront signage. My body is aimed straight down the road, so I will turn right to put that bucket and the sidewalk it stands on in front of me.",
+        "The yellow bucket now sits ahead of me at the base of the wall, past the white service door, but it is still a long stretch of pavement away. I will walk forward along the road to cut that distance down.",
+        "The bucket and the white door beside it have grown noticeably larger, so my heading is carrying me toward them. There is still clear roadway ahead of me, so I will keep walking forward.",
+        "The yellow bucket is clearly resolved now, tucked against the wall next to the drainpipes and the white door. I am still out on the road rather than beside it, so another step forward should bring me nearly level with it.",
+        "I am right up against the building face, and the yellow bucket has slid to the left of my view beside the drainpipes. Turning left should swing my heading back along the wall so the bucket sits ahead of me instead of off to the side.",
+        "The turn worked: the yellow bucket now sits ahead of me at the foot of the wall, just past the downpipes, with the sidewalk running clear toward it. I will step forward to close the last of that gap.",
+        "The bucket is close now, filling the lower right of my view against the pale wall. One more step forward should put me directly alongside it.",
+        "I am now hard against the wall with the drainpipes right beside me, and the bucket has dropped out of my forward view, which suggests it is at my feet. I will look down to bring it back into sight and confirm I am standing at it.",
+        "The yellow mop bucket sits right at my feet against the building wall, close enough to touch. I have arrived at it, so I mark reaching this bucket by the wall before setting off for the door of the pink shuttered storefront down the street.",
+        "The mop bucket is already reached and the wall on my right blocks any useful heading. Turning left should swing me away from this wall and open the street where the pink storefront lies, so I can start toward its door.",
+        "The street now stretches ahead, but the pink shopfront with its awnings is still at the far left edge of my view. Another left turn should bring that frontage closer to the centre of my heading.",
+        "The pink storefront with its row of awnings and glass doors is clearly on my left, still off my current heading. I will turn left once more to put that frontage squarely in front of me before walking to it.",
+        "The pink shuttered frontage is now centred ahead with its glass double doors set between the shutters, but still a good distance off across the pavement. I will walk forward to close that gap.",
+        "The storefront's glass doors sit slightly left of centre and are growing larger as I close in. Another step forward should carry me nearer to that entrance.",
+        "The pink shop's glass doors and its handle are clearly visible ahead, with clear pavement between us apart from a bin and crates to the side. I will keep walking toward the entrance.",
+        "The pink storefront's double glass doors are close now, lit interior showing through them just ahead of me. One more step forward should bring me right up to the doorway.",
+        "The glass double doors set into the pink storefront front now fill the left side of my view, but I am still a stride short of standing squarely at their threshold. I will step forward along the sidewalk to close that last bit of distance, keeping clear of the bin and stacked crates on my right.",
+        "I am standing right at the glass double doors of the pink storefront, close enough to touch their handles. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_b/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Approach the blue crates near the pink shuttered storefront, then move to the white door beside the red awning.",
+    "Type": 3,
+    "Start_Pose": [
+        -2116.007,
+        -1636.277,
+        -922.691,
+        0,
+        -156.48,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2116.007,
+            -1636.277,
+            -922.691,
+            0,
+            -156.48,
+            0
+        ],
+        [
+            -2116.007,
+            -1636.277,
+            -922.515,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2241.824,
+            -1633.026,
+            -922.262,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2367.641,
+            -1629.776,
+            -922.262,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2493.458,
+            -1626.525,
+            -922.262,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2493.458,
+            -1626.525,
+            -922.262,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -2606.113,
+            -1570.406,
+            -922.262,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -2606.113,
+            -1570.406,
+            -922.262,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -2606.113,
+            -1570.406,
+            -922.262,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2606.113,
+            -1570.406,
+            -922.262,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2606.113,
+            -1570.406,
+            -922.262,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2606.113,
+            -1570.406,
+            -922.262,
+            0.0,
+            -106.48,
+            0.0
+        ],
+        [
+            -2606.113,
+            -1570.406,
+            -922.262,
+            0.0,
+            -81.48,
+            0.0
+        ],
+        [
+            -2587.467,
+            -1694.876,
+            -931.85,
+            0.0,
+            -81.48,
+            0.0
+        ],
+        [
+            -2568.82,
+            -1819.346,
+            -931.85,
+            0.0,
+            -81.48,
+            0.0
+        ],
+        [
+            -2550.173,
+            -1943.816,
+            -931.85,
+            0.0,
+            -81.48,
+            0.0
+        ],
+        [
+            -2531.783,
+            -2055.047,
+            -922.252,
+            0.0,
+            -81.48,
+            0.0
+        ],
+        [
+            -2531.783,
+            -2055.047,
+            -922.252,
+            0.0,
+            -81.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The blue crates sit on the left sidewalk further up the street, beneath the shuttered storefronts, while my heading runs down the middle of the roadway. I will turn left so that sidewalk and its stacked crates line up ahead of me before I start walking.",
+        "The left sidewalk with its blue crates now runs straight out in front of me and the pavement ahead is clear. I will walk forward to close the distance toward those crates by the shuttered fronts.",
+        "The crates against the shuttered wall on my left have grown noticeably larger, so my line of travel is right. I will keep walking forward to draw nearer to them.",
+        "The nearest blue crates are now close on my left, but I am still out on the roadway rather than beside them. Another step forward should bring me level with the crated stretch of sidewalk.",
+        "The blue crates have slid into the bottom left corner and the pink shopfront runs away from me on that side. I will turn left to bring the crates and the pink shuttered frontage squarely in front of me.",
+        "I am now facing along the sidewalk with the pink shopfront on my left and a group of blue crates sitting against its base just ahead. I will step forward to pull up right beside those crates.",
+        "A blue crate is right at my feet against the pink shuttered frontage, with more of the same stacked a little further along the wall. I have reached the crates by this pink shopfront. I mark reaching them and now set off for the white door beside the red awning.",
+        "Standing at the crates, my view is filled by the pink shop windows, and the white door under the red awning lies back across the street to my right. I will turn right to begin swinging my heading off this wall and out toward the opposite frontage.",
+        "The pink shutters and their stacked blue crates are behind my shoulder now, and my heading still runs down the street rather than across it. The white door with the red awning must lie on the opposite frontage, so I will keep pivoting right to bring that side of the road into view.",
+        "Swinging right has brought the opposite frontage into frame, with an ATM sign and a small awning near the right edge. The white door I want is still beyond that edge, so another right pivot should carry it toward the center of my view.",
+        "A pale pink signboard and a downpipe wall are creeping in at the right margin, which is the stretch of frontage I need. I will turn right once more to bring that section square in front of me.",
+        "The white door under the pink lettered sign is now visible, sitting left of center with the red shuttered DVD front and its awning beside it. One more right pivot should place the door closer to the middle of my heading before I cross the road.",
+        "The white door sits just left of my heading with the red awning right beside it, and the roadway between us is clear and empty. I will step forward to begin crossing toward that doorway.",
+        "The sign above the door is legible now and the yellow bucket at its threshold is clearly separated from the drainpipes, so I have closed part of the gap. I keep walking forward toward the doorway.",
+        "The white door now fills much of my view with its handle plainly visible and the red shutters to the right. There is still a kerb and a short stretch of pavement between me and it, so I advance again.",
+        "The white door panel and its handle occupy nearly my whole view, with the meter box on the wall to its right. A short final step should bring me right up against the doorway.",
+        "The pale door panel fills my view at arm's length, its handle just off frame. I have arrived at it, so the task is complete and stopping here is correct."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_c/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Head toward the yellow mop bucket near the wall, then proceed to the red rolling shutter.",
+    "Type": 3,
+    "Start_Pose": [
+        -2116.007,
+        -1636.277,
+        -922.691,
+        0.0,
+        -156.48,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2116.007,
+            -1636.277,
+            -922.691,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2231.41,
+            -1686.503,
+            -931.85,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2231.41,
+            -1686.503,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2314.774,
+            -1780.795,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2398.137,
+            -1875.087,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2481.501,
+            -1969.379,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2564.347,
+            -2055.051,
+            -922.252,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2564.347,
+            -2055.051,
+            -922.252,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2564.347,
+            -2055.051,
+            -922.252,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2503.145,
+            -1985.826,
+            -925.377,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2503.145,
+            -1985.826,
+            -925.377,
+            0.0,
+            -106.48,
+            0.0
+        ],
+        [
+            -2503.145,
+            -1985.826,
+            -925.377,
+            0.0,
+            -81.48,
+            0.0
+        ],
+        [
+            -2503.145,
+            -1985.826,
+            -925.377,
+            0.0,
+            -56.48,
+            0.0
+        ],
+        [
+            -2503.145,
+            -1985.826,
+            -925.377,
+            0.0,
+            -31.48,
+            0.0
+        ],
+        [
+            -2395.81,
+            -2051.55,
+            -922.3,
+            0.0,
+            -31.48,
+            0.0
+        ],
+        [
+            -2395.81,
+            -2051.55,
+            -922.3,
+            0.0,
+            -31.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the middle of this narrow street I can pick out the small yellow mop bucket sitting against the pale wall on the right sidewalk, with the red rolling shutter on the same frontage. It is still far off, so I will walk forward along the road to close the distance.",
+        "The yellow bucket now sits noticeably off to my right, tucked beside the doorway on the near sidewalk, while my heading still runs straight down the street past it. I will turn right to put that wall and the bucket in front of me before advancing further.",
+        "My heading now points at the white wall where the yellow bucket rests beneath the pink shop banner, and the red shutter stands just to its right. The road ahead of me is clear, so I will walk forward to shorten the gap to the bucket.",
+        "The yellow bucket has grown larger against the wall and its handle is now distinct, but I am still out in the roadway with the curb between us. Another step forward should bring me close to the sidewalk where it stands.",
+        "The bucket with its wringer and grey handle is close now, resting against the wall beside the drainpipes and the white door. I am not yet beside it, so I will keep walking forward toward that spot on the sidewalk.",
+        "The yellow bucket is right in front of me at the base of the wall, low in my view and only a short step away. I will move forward once more to stand beside it at the wall.",
+        "My view is now filled by the textured white wall and the edge of the door handle, so the bucket has dropped out of sight below my gaze. I will look down to bring the ground at my feet into view and confirm the bucket is beside me.",
+        "The yellow mop bucket is right at my feet against the base of the white wall, close enough to touch. I have reached it. I mark reaching it, then set off along this frontage for the red rolling shutter.",
+        "The yellow mop bucket is right at my feet and the rendered wall fills almost everything in front of me, so I have no clearance to swing my heading around here. I will step back from the wall to open up room before setting my course along the frontage toward the red rolling shutter.",
+        "Backing off has restored some distance, with the bucket and drainpipe now low on my left and the building face still directly ahead. The shuttered storefront lies further along this wall to my right, so I will turn right to start bringing my heading off the wall toward it.",
+        "Only the plain white service door and its handle fill my view, so I am still squared against the building rather than aimed down the frontage. Another turn to the right should carry my heading further around toward the red shutter.",
+        "The door has slipped to my left edge and the grey panelled corner is entering the right of my view, so my heading is still short of the storefront. I will turn right again to bring the red shutter into frame.",
+        "The red rolling shutter has come into view along the right side, but it still sits well off my centre with the corner pillar between us. One more turn right should place it squarely in front of me for a straight approach.",
+        "The red rolling shutter now runs ahead of me along the storefront with clear sidewalk beside it and a bicycle parked further down. I will walk forward to close the remaining gap to the shutter.",
+        "The red rolling shutter is immediately beside me, its ribbed panels filling my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_d/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Navigate to the white door beside the red awning, then walk to the base of the globe lamp on the left.",
+    "Type": 3,
+    "Start_Pose": [
+        -2116.007,
+        -1636.277,
+        -922.691,
+        0.0,
+        -156.48,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2116.007,
+            -1636.277,
+            -922.691,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2116.007,
+            -1636.277,
+            -922.515,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2199.371,
+            -1730.569,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2282.735,
+            -1824.861,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2366.098,
+            -1919.153,
+            -931.85,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2449.462,
+            -2013.445,
+            -922.277,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2449.462,
+            -2013.445,
+            -922.277,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2449.462,
+            -2013.445,
+            -922.277,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2449.462,
+            -2013.445,
+            -922.277,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2575.279,
+            -2010.194,
+            -922.277,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2697.82,
+            -2000.018,
+            -922.277,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2697.82,
+            -2000.018,
+            -922.277,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -2810.475,
+            -1943.899,
+            -931.67,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -2923.131,
+            -1887.78,
+            -931.67,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -3035.786,
+            -1831.661,
+            -931.67,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -3148.441,
+            -1775.543,
+            -931.67,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -3261.096,
+            -1719.424,
+            -931.67,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -3373.751,
+            -1663.305,
+            -931.67,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -3373.751,
+            -1663.305,
+            -931.67,
+            0.0,
+            153.52,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Down the right side of the street I can see the red shopfront awning with a plain white door set into the wall beneath it. My body is aimed straight along the roadway instead of at that frontage, so I will turn right to bring the door and its awning into the middle of my view before walking.",
+        "The white door beneath the red awning now sits ahead of me on the right, with the yellow bucket and utility cabinet flanking it. The roadway between us is clear, so I will walk forward to close the gap toward that doorway.",
+        "The doorway and the pink signboard above it have grown larger, confirming my heading takes me toward that entrance. Nothing blocks the pavement in front, so I keep walking forward to shorten the remaining distance.",
+        "The white door with its handle is now clearly resolved just right of center, the awning lettering readable above it. I am still a couple of paces out on the road, so I advance again toward the base of that doorway.",
+        "The door panel and the grey cabinet beside it now fill most of my view, and the yellow bucket sits close on the left. One more step forward should bring me right up against the doorway.",
+        "The white door is directly in front of me, close enough that its handle and frame fill my view under the red awning. I have arrived at this doorway. I mark reaching it, then I head for the globe lamp standing on the left side of the street.",
+        "Standing this close, the door and blank wall block everything else from view, so I cannot see the street where the globe lamp stands. I will turn left to swing my heading off the wall and open up the sidewalk running back along the road.",
+        "The street has opened on my left, but the wall and drainpipe still crowd the right half of my view and my heading remains skewed into the building. I will turn left again to face along the sidewalk toward the lamps standing on the far side.",
+        "I am now facing back along the open street with the sidewalk clear ahead and the lamp standards rising on the left side. With the white door behind me, I will walk forward to start closing the distance toward the globe lamp.",
+        "The curved lamp standard over the left sidewalk has grown noticeably nearer, so my heading down the street is still good. I will keep walking forward to close more of the gap before I need to angle toward it.",
+        "The globe-topped lamp standard sits off to my left, above the awning on that side of the street, while my current heading carries me straight past it. I will turn left to bring its base into the middle of my view before advancing further.",
+        "The turn has put the tall lamp standard ahead of me on the left, its curved arm reaching over the road. I will walk forward along this line to close on its base.",
+        "The lamp standard and its overhanging arm are noticeably larger and still centred slightly left in my view, confirming my line is right. I will continue walking forward toward the foot of the post.",
+        "The pole now rises through much of my view with its base on the raised sidewalk just ahead-left. I will step forward again to shorten the remaining distance to that base.",
+        "The lamp post stands close ahead, its shaft cutting vertically through my view and its foot on the walkway just in front of me. I will keep advancing so I can stand right at its base.",
+        "I am nearly beside the lamp standard now, with its base just short of my feet on the raised walkway. One more step forward should bring me level with the foot of the post.",
+        "The tall lamp post on the left sidewalk now stands close ahead, its shaft filling the middle of my view. I am still a short stretch short of its footing, so I will step forward once more to bring myself level with the base.",
+        "The lamp post rises directly beside me, its base at my feet on the left sidewalk. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t5_a_pd/infos.json

@@ -0,0 +1,335 @@
+{
+    "Instruction": "Pick up the ceramic pot at the yellow mop bucket near the wall, then leave it near the pink storefront.",
+    "Type": 5,
+    "Start_Pose": [
+        -2116.007,
+        -1636.277,
+        -922.691,
+        0,
+        -156.48,
+        0
+    ],
+    "PD_ID": 8,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -2642.39,
+        -1964.706,
+        -1016.85,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2116.007,
+            -1636.277,
+            -922.691,
+            0,
+            -156.48,
+            0
+        ],
+        [
+            -2231.41,
+            -1686.503,
+            -931.85,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2346.813,
+            -1736.73,
+            -931.85,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2462.215,
+            -1786.956,
+            -931.85,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2577.618,
+            -1837.183,
+            -931.85,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2577.618,
+            -1837.183,
+            -931.85,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2577.618,
+            -1837.183,
+            -931.85,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2577.618,
+            -1837.183,
+            -931.85,
+            0.0,
+            178.52,
+            -0.0
+        ],
+        [
+            -2577.618,
+            -1837.183,
+            -931.85,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -2690.273,
+            -1781.065,
+            -931.85,
+            0.0,
+            153.52,
+            -0.0
+        ],
+        [
+            -2690.273,
+            -1781.065,
+            -931.85,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2768.657,
+            -1682.594,
+            -931.85,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2847.041,
+            -1584.123,
+            -922.445,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2919.581,
+            -1557.634,
+            -922.252,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2874.74,
+            -1613.965,
+            -922.252,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2874.74,
+            -1613.965,
+            -922.252,
+            0.0,
+            128.52,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -2642.39,
+            -1964.706,
+            -1016.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2642.39,
+            -1964.706,
+            -1016.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2642.39,
+            -1964.706,
+            -1016.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2642.39,
+            -1964.706,
+            -1016.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2642.39,
+            -1964.706,
+            -1016.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2642.39,
+            -1964.706,
+            -1016.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2568.537,
+            -1856.519,
+            -961.744,
+            -28.202,
+            -106.335,
+            1.862
+        ],
+        [
+            -2577.53,
+            -1857.594,
+            -961.471,
+            -28.189,
+            -131.323,
+            1.872
+        ],
+        [
+            -2586.753,
+            -1855.17,
+            -962.138,
+            -28.215,
+            -156.352,
+            1.849
+        ],
+        [
+            -2699.534,
+            -1800.309,
+            -962.325,
+            -28.202,
+            -156.338,
+            1.858
+        ],
+        [
+            -2705.601,
+            -1794.271,
+            -961.124,
+            -28.198,
+            178.665,
+            1.865
+        ],
+        [
+            -2784.867,
+            -1696.518,
+            -961.407,
+            -28.2,
+            178.665,
+            1.865
+        ],
+        [
+            -2863.439,
+            -1597.818,
+            -952.814,
+            -28.194,
+            178.669,
+            1.865
+        ],
+        [
+            -2935.929,
+            -1571.382,
+            -952.728,
+            -28.203,
+            178.662,
+            1.859
+        ],
+        [
+            -2918.335,
+            -1559.198,
+            -942.252,
+            0.0,
+            128.52,
+            -0.0
+        ],
+        [
+            -2918.335,
+            -1559.198,
+            -942.252,
+            0.0,
+            128.52,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        620.4,
+        496.3,
+        373.3,
+        253.1,
+        143.0,
+        143.0,
+        21.4,
+        20.4,
+        20.2,
+        21.4,
+        20.2,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The ceramic pot sits far down the street on the right, beside the yellow mop bucket against the building wall. Nothing blocks the roadway between me and it, so I will walk straight ahead to close that long gap.",
+        "The pot and the yellow bucket beside it now appear noticeably larger ahead on my right, confirming my heading is good. I am still well out of reach, so I will keep walking forward along the same line.",
+        "The pot is clearly resolved at the curb with the yellow mop bucket right behind it, but it remains several paces off to my right front. The lane stays clear, so another step forward should bring it near enough to handle.",
+        "The pot now sits low and large in the lower right of my view, close to the curb beside the yellow bucket. One more step should place it directly at my feet for grasping.",
+        "I have stepped up beside the mop bucket, and the pot has dropped out of my forward view because it is now very close to my feet. I will tilt my gaze downward so the pot is framed and reachable before I try to grasp it.",
+        "With my gaze lowered, the ceramic pot is fully visible at the curb on my right, well within arm's reach. This is the target named in the task, so I will attempt to pick it up now.",
+        "The grasp worked: the ceramic pot is now held in my hands and no longer resting on the pavement. The pink storefront where it belongs lies back along the street behind my current facing, so I will turn left to begin swinging onto that heading.",
+        "I am carrying the pot and now face back down the street, with a pink shopfront facade edging into the left side of my view. I will turn left again to bring that storefront squarely ahead before walking toward it.",
+        "The ceramic pot is in my hands, so now I only need to carry it to the drop site. My heading is set along the street with the pink shopfront and its green awning running down the left side ahead. I will walk forward to close that distance.",
+        "I am now level with the pink shopfront, which sits to my left across the sidewalk rather than in front of me. Turning left should square my heading to its glass doors so I can step straight in with the pot.",
+        "The pink shopfront with its glass doors and crates now fills the left and center of my view, so my heading points at the drop area. I am still out on the roadway with the curb between us. I will step forward to reach the sidewalk in front of it.",
+        "The pink wall and its glass entry doors are close ahead, but I am still short of the frontage where the pot should rest. Another step forward should bring me right up beside the doorway.",
+        "The glass doors and pink trim now dominate my view, so I am nearly at the storefront frontage. A last short step should place me directly in front of the entrance where leaving the pot clearly counts as near this shop.",
+        "I am standing right at the pink storefront's glass doors with the pot still in my hands, and the paved frontage beside the bin is clear. This is the delivery spot the task names, so I will release the pot here.",
+        "The ceramic pot now rests on the sidewalk in front of the pink storefront's glass doors, and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Walk to the green dumpster against the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -2359.364,
+        2452.385,
+        -931.85,
+        0.0,
+        106.56,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2359.364,
+            2452.385,
+            -931.85,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2359.364,
+            2452.385,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2340.891,
+            2576.881,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2322.418,
+            2701.377,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2303.946,
+            2825.873,
+            -922.766,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2285.473,
+            2950.369,
+            -922.373,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2267.0,
+            3074.865,
+            -922.373,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2248.527,
+            3199.361,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2230.054,
+            3323.857,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2215.828,
+            3323.943,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2215.828,
+            3323.943,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the green dumpster sitting against the tiled wall on the far side of the street, but it lies well to the left of my current heading. I will turn left so the dumpster moves toward the center of my view before I start walking straight at it.",
+        "The dumpster now sits near the middle of my view across the open street, with clear pavement and a low curb between us. I will step forward along this heading to begin closing that distance.",
+        "The dumpster and the blue crates beside it have grown larger and remain slightly left of center, so my heading is still usable. The route across the roadway stays clear, so I will keep advancing.",
+        "I am over the curb line and onto the wide paved area, with the green dumpster clearly ahead against the wall. There is still a good stretch of empty ground between us, so another forward step is the right move.",
+        "The dumpster's ribbed side and lid are now clearly resolved, and the metal door in the wall to its right helps me confirm I am aimed at the right spot. I will continue straight ahead to shrink the remaining gap.",
+        "The dumpster occupies a large part of my view and sits just left of center, still a few strides away from the wall it rests against. Nothing blocks the ground between us, so I will take another step forward.",
+        "I am close enough now to read the panel seams and side pockets on the green dumpster, though there is still open ground before I reach it. I will move forward again to close in to arm's length of the target.",
+        "The dumpster now dominates my view, its lid edge and side rail plainly in front of me, but a short stretch of ground still separates us. One more forward step should bring me right up against the dumpster at the wall.",
+        "The green dumpster's ribbed side and lid rail now fill most of my view with the tiled wall directly behind it, so I am nearly at the target. I will take one more short step forward to close the last bit of the gap and stand right at the dumpster.",
+        "The green dumpster is directly in front of me at arm's length, set against the tiled wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_b/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Head toward the base of the concrete staircase.",
+    "Type": 0,
+    "Start_Pose": [
+        -2359.364,
+        2452.385,
+        -931.85,
+        0.0,
+        106.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2359.364,
+            2452.385,
+            -931.85,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2395.236,
+            2573.024,
+            -931.85,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2431.108,
+            2693.662,
+            -931.85,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2466.981,
+            2814.301,
+            -926.365,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2466.981,
+            2814.301,
+            -926.365,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2550.476,
+            2908.476,
+            -922.349,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2633.971,
+            3002.652,
+            -922.349,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2717.467,
+            3096.827,
+            -923.446,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2800.962,
+            3191.003,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2884.458,
+            3285.178,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2884.458,
+            3285.178,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From across the road I can see the concrete staircase with its pale railing rising along the gray block wall, roughly ahead and slightly to my right. Nothing blocks the open pavement between me and that building, so I will step forward to begin closing the gap toward the stair's base.",
+        "The staircase and the awning beside it now sit noticeably larger in my view, confirming my heading is carrying me toward the building. The curb and paved apron ahead look clear, so I will keep walking forward to shorten the remaining distance.",
+        "I am close to the curb now, with the staircase's lower stringer and its bottom step visible to the right of center against the block wall. Continuing straight ahead should bring me onto the open apron in front of the building.",
+        "Standing on the apron, the staircase and the drainpipe beside it sit off to the right of my heading, while the empty paving fills the middle of my view. I will turn slightly right to place the stair's base near the center of my view before advancing again.",
+        "After the slight turn, the staircase and its base at the bottom of the sloping railing are now roughly centered in my view along the block wall. The paving in front of me is unobstructed, so I will advance straight toward it.",
+        "The stair's tiled parapet and the lowest step are clearly larger and still centered, so my heading remains good. I will keep stepping forward since I am still several paces short of the base.",
+        "The bottom of the staircase, the drainpipe, and the doorway under the small awning now dominate the middle of my view at close range. A little more forward movement should bring me right up to the base of the steps.",
+        "The tiled stair wall and its lowest step are only a step or two away, angling down toward the pavement just left of the drainpipe. I will move forward once more to stand directly at the foot of the staircase.",
+        "The concrete staircase with its white tiled side wall now dominates the left of my view, and its lowest step sits just ahead near the base of the wall. A short gap of pavement still separates me from that bottom step, so I will advance one more step forward to close it and stand at the staircase base.",
+        "The staircase's tiled side wall and its lowest step are directly in front of me at arm's reach. The task is complete, so I stop here at the staircase base."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_c/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Approach the blue crate beside the dumpster.",
+    "Type": 0,
+    "Start_Pose": [
+        -2359.364,
+        2452.385,
+        -931.85,
+        0.0,
+        106.56,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2359.364,
+            2452.385,
+            -931.85,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2359.364,
+            2452.385,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2340.891,
+            2576.881,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2322.418,
+            2701.377,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2303.946,
+            2825.873,
+            -922.766,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2285.473,
+            2950.369,
+            -922.373,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2267.0,
+            3074.865,
+            -922.373,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2267.0,
+            3074.865,
+            -922.373,
+            0.0,
+            56.56,
+            -0.0
+        ],
+        [
+            -2197.644,
+            3179.89,
+            -931.85,
+            0.0,
+            56.56,
+            -0.0
+        ],
+        [
+            -2128.287,
+            3284.914,
+            -931.85,
+            0.0,
+            56.56,
+            -0.0
+        ],
+        [
+            -2064.693,
+            3323.956,
+            -931.85,
+            0.0,
+            56.56,
+            -0.0
+        ],
+        [
+            -2064.693,
+            3323.956,
+            -931.85,
+            0.0,
+            56.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the green dumpster set against the tiled wall across the open pavement, with small blue crates stacked at its left side, and both sit well to the left of my current heading. I will turn left to bring that dumpster and the blue crates toward the center of my view before I start closing the distance on foot.",
+        "The dumpster with the blue crates beside it now sits near the middle of my view, straight across the roadway from me. With my heading pointed at the target, I will step forward to begin closing the large gap of open pavement.",
+        "The dumpster and the blue crates at its left side have grown slightly larger and remain near the center of my path, so my heading is still good. The curb and open pavement ahead look clear, so I will keep walking forward.",
+        "I have crossed onto the flat open surface and the blue crates beside the dumpster are now clearly distinguishable ahead of me. Nothing blocks the way, so I will continue advancing toward them.",
+        "The dumpster and the blue crates tucked against its left end keep growing as I close in, confirming I am on a good line. There is still a fair stretch of pavement between us, so I will take another step forward.",
+        "The dumpster and the blue crates beside it are now close enough that I can see their surface detail, but I am not yet within arm's reach of the crates. I will move forward again to shorten the remaining distance.",
+        "From here the dumpster fills the middle of my view while the blue crates I need to reach sit off to its left, slightly left of my heading. I will turn left so the crates come toward the center of my view and my final steps lead directly to them rather than into the dumpster's side.",
+        "The blue crates beside the dumpster now sit ahead of me with clear pavement in between, and the dumpster body extends to my right. I will step forward to close the last part of the gap and stand right beside the crates.",
+        "The stacked blue crates sit against the wall just left of the dumpster, now low and near the bottom of my view, so my heading is already on them. I will step forward again to close the remaining gap of a couple of paces.",
+        "The crates are now cut off at the bottom edge of my view with the dumpster's flank looming to my right, so I am nearly beside the target. One more short step forward should place me directly at the crate rather than a stride short of it.",
+        "The blue crate stands within arm's reach at my lower right, immediately beside the dumpster. The approach task is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_d/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Navigate to the orange-paneled doorway on the building.",
+    "Type": 0,
+    "Start_Pose": [
+        -2359.364,
+        2452.385,
+        -931.85,
+        0.0,
+        106.56,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2359.364,
+            2452.385,
+            -931.85,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2359.364,
+            2452.385,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2442.859,
+            2546.56,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2526.355,
+            2640.736,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2609.85,
+            2734.911,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2693.345,
+            2829.087,
+            -922.508,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2776.841,
+            2923.262,
+            -922.252,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2860.336,
+            3017.438,
+            -922.252,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -2943.832,
+            3111.613,
+            -930.306,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -3027.327,
+            3205.789,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -3110.822,
+            3299.964,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ],
+        [
+            -3110.822,
+            3299.964,
+            -931.85,
+            0.0,
+            131.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the roadway I can see the tan-orange paneled doorway with its small white awning tucked to the right of the exterior staircase on the building ahead. It sits right of my current heading, so I will turn right to bring it closer to the center of my view before starting to advance.",
+        "The orange-paneled doorway now sits near the middle of my view, past the curb and along the building facade, with clear open pavement between us. I will move forward along this heading to begin closing the large remaining distance.",
+        "The doorway and its awning have grown slightly larger and stay near the center of my view, confirming my heading points at the target. I will keep moving forward since nothing blocks the path across the street.",
+        "I am now closer to the curb line, and the orange panel around the glass door is clearly visible beside the drainpipe and stair. Another forward step should continue reducing the gap without needing any heading change.",
+        "The doorway occupies more of my view and the brick-toned panel is now distinct against the gray block wall. The route ahead is still open pavement, so I will advance again.",
+        "I am on the paved area in front of the facade with the awning and glass door slightly left of center, still several steps away. I will move forward to keep closing that remaining distance.",
+        "The orange-paneled entrance and its awning now fill a large part of my view, but I am not yet directly in front of the door. One more forward step should bring me nearly to the threshold.",
+        "The glass door in the orange brick panel is directly ahead with the drainpipe just to its left, close enough that the wall dominates my view. I will step forward once more to close the last bit of distance to the doorway.",
+        "The orange brick panel with its glass door and white awning now fills the left half of my view, so I am nearly at the target facade. I will step forward again to close the remaining gap and bring the doorway directly in front of me.",
+        "The glass door in the orange brick panel is close ahead and slightly right of center, with its handle clearly visible. One more forward step should place me right at the doorway threshold.",
+        "The orange-paneled doorway fills my view at arm's length, its glass panel and handle directly before me. The task is complete, so I stop here rather than move closer."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t5_a_p/infos.json

@@ -0,0 +1,259 @@
+{
+    "Instruction": "Pick up the tomato beside the green dumpster against the wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -2359.364,
+        2452.385,
+        -931.85,
+        0,
+        106.56,
+        0
+    ],
+    "PD_ID": 0,
+    "PD_Size": 8.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -2372.857,
+        3400.622,
+        -966.85,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2359.364,
+            2452.385,
+            -931.85,
+            0,
+            106.56,
+            0
+        ],
+        [
+            -2395.236,
+            2573.024,
+            -931.85,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2431.108,
+            2693.662,
+            -931.85,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2466.981,
+            2814.301,
+            -926.365,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2502.853,
+            2934.939,
+            -922.291,
+            0.0,
+            106.56,
+            -0.0
+        ],
+        [
+            -2502.853,
+            2934.939,
+            -922.291,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2484.38,
+            3059.435,
+            -922.291,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2465.907,
+            3183.931,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2447.435,
+            3308.427,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2447.435,
+            3308.427,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2447.435,
+            3308.427,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ],
+        [
+            -2447.435,
+            3308.427,
+            -931.85,
+            0.0,
+            81.56,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2372.857,
+            3400.622,
+            -966.85,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -2468.647,
+            3310.958,
+            -961.744,
+            -28.202,
+            131.705,
+            1.862
+        ],
+        [
+            -2468.647,
+            3310.958,
+            -961.744,
+            -28.202,
+            131.705,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        948.3,
+        827.9,
+        709.4,
+        593.8,
+        483.5,
+        483.5,
+        359.0,
+        235.8,
+        118.6,
+        118.6,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the red tomato sitting on the pavement right beside the green dumpster against the far building wall. It is still far off across the open lot, so I will walk forward along my current heading to close that distance.",
+        "The tomato and the green dumpster have grown slightly larger and sit a bit left of center, confirming my heading is carrying me toward them. The gap is still large, so I will keep stepping forward.",
+        "The curb is now behind me and the tomato stands out clearly on the pavement beside the dumpster, but it is still several strides away. Nothing blocks the open ground between us, so I continue walking forward.",
+        "The tomato is noticeably bigger and drifting toward the left side of my view as I close in on the wall. I am still too far to reach it, so another forward step should bring me closer.",
+        "The tomato and the dumpster have slid well toward the left edge of my view, so walking straight ahead would carry me past them. I will turn left to bring the tomato back near the center of my heading before advancing again.",
+        "The tomato now sits close to the middle of my view with the green dumpster beside it against the tiled wall, so my heading is good. It remains a few paces off, so I will step forward to close in.",
+        "The tomato fills more of my view and stays centered slightly left, so I am tracking straight at it. I am still outside grasping range, so I keep walking forward.",
+        "The tomato is now large and low in my view near the bottom edge, just short of arm's reach on the pavement by the dumpster. One more forward step should place it directly at my feet for a grasp.",
+        "I have closed in on the wall beside the green dumpster, and the tomato has dropped out of my forward view because it now lies very near my feet. I will look down to bring it back into view and confirm it is within reach before grasping.",
+        "With my gaze lowered, the tomato fills the lower part of my view on the ground right beside the green dumpster against the tiled wall. It is close enough that no further stepping is needed, so I will attempt to pick it up now.",
+        "The tomato is now held in my hands and no longer resting on the ground. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Walk to the yellow bucket, then head toward the street utility post.",
+    "Type": 3,
+    "Start_Pose": [
+        -3227.642,
+        -1723.918,
+        -931.85,
+        0,
+        -6.72,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "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
+        ],
+        [
+            -3102.648,
+            -1738.646,
+            -931.85,
+            0.0,
+            -31.72,
+            0.0
+        ],
+        [
+            -2995.589,
+            -1804.818,
+            -931.85,
+            0.0,
+            -31.72,
+            0.0
+        ],
+        [
+            -2888.529,
+            -1870.991,
+            -931.85,
+            0.0,
+            -31.72,
+            0.0
+        ],
+        [
+            -2781.47,
+            -1937.164,
+            -931.85,
+            0.0,
+            -31.72,
+            0.0
+        ],
+        [
+            -2781.47,
+            -1937.164,
+            -931.85,
+            0.0,
+            -31.72,
+            0.0
+        ],
+        [
+            -2781.47,
+            -1937.164,
+            -931.85,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -2656.476,
+            -1951.891,
+            -931.85,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -2531.482,
+            -1966.619,
+            -931.85,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -2406.487,
+            -1981.347,
+            -927.511,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -2281.493,
+            -1996.075,
+            -922.377,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -2281.493,
+            -1996.075,
+            -922.377,
+            0.0,
+            -6.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "A small yellow bucket sits far up the left sidewalk against the pale building wall, and the alley in front of me is clear and open. I will walk straight ahead to close that distance before worrying about lining up with it.",
+        "The yellow bucket now sits noticeably off to my left, tucked against the wall beside the white door, while my heading still points down the middle of the street. Turning left should bring it into the center of my view so I can walk straight at it.",
+        "The yellow bucket is now ahead of me on the raised sidewalk beside the shuttered storefront, with nothing blocking the pavement between us. I will walk forward to cut down the remaining distance.",
+        "The bucket has grown larger and sits just ahead beside the pipes and the white door, but I am still several paces short of it. Another step forward should bring me alongside it.",
+        "The yellow bucket is close now, low on the kerb at the base of the drainpipes, though not yet right beside me. I will take one more step forward to stand at it.",
+        "The yellow bucket sits right at my feet against the wall, filling the near corner of my view. I have arrived at it. I mark reaching the yellow bucket, and now I am setting off toward the tall utility post standing at the street edge.",
+        "The wall and the bucket crowd my left, while the tall utility post rises further along the street off to my right. Turning right should swing that post and the open sidewalk ahead of me so I can walk toward it.",
+        "The utility post now stands ahead of me at the kerb edge, with the sidewalk running clear toward it past the shuttered fronts. I will walk forward to close on the post.",
+        "The tall utility post rises from the curb edge ahead of me, still several strides down the sidewalk. My heading runs straight along the shuttered storefronts toward it, so nothing needs adjusting. I will walk forward to close that remaining gap.",
+        "The post has grown noticeably thicker in front of me, confirming my line of travel is taking me right to it. The pavement beside the shutters stays open with no obstruction. I will keep walking forward to shorten the distance further.",
+        "The post now dominates the middle of my view, its banded shaft only a short walk away at the curb. One more step forward should bring me right alongside it. I will advance again.",
+        "The utility post stands directly before me at arm's reach, filling the center of my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_c/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Move to the gray utility pole base, then approach the yellow bucket.",
+    "Type": 3,
+    "Start_Pose": [
+        -3227.642,
+        -1723.918,
+        -931.85,
+        0.0,
+        -6.72,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3227.642,
+            -1723.918,
+            -931.85,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -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
+        ],
+        [
+            -2352.682,
+            -1827.012,
+            -931.85,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -2352.682,
+            -1827.012,
+            -931.85,
+            0.0,
+            -31.72,
+            0.0
+        ],
+        [
+            -2245.623,
+            -1893.185,
+            -931.85,
+            0.0,
+            -31.72,
+            0.0
+        ],
+        [
+            -2245.623,
+            -1893.185,
+            -931.85,
+            0.0,
+            -31.72,
+            0.0
+        ],
+        [
+            -2324.221,
+            -1844.604,
+            -931.85,
+            0.0,
+            -31.72,
+            0.0
+        ],
+        [
+            -2324.221,
+            -1844.604,
+            -931.85,
+            0.0,
+            -56.72,
+            0.0
+        ],
+        [
+            -2324.221,
+            -1844.604,
+            -931.85,
+            0.0,
+            -81.72,
+            0.0
+        ],
+        [
+            -2324.221,
+            -1844.604,
+            -931.85,
+            0.0,
+            -106.72,
+            0.0
+        ],
+        [
+            -2324.221,
+            -1844.604,
+            -931.85,
+            0.0,
+            -131.72,
+            0.0
+        ],
+        [
+            -2407.979,
+            -1938.545,
+            -931.85,
+            0.0,
+            -131.72,
+            0.0
+        ],
+        [
+            -2491.737,
+            -2032.487,
+            -922.451,
+            0.0,
+            -131.72,
+            0.0
+        ],
+        [
+            -2491.737,
+            -2032.487,
+            -922.451,
+            0.0,
+            -156.72,
+            0.0
+        ],
+        [
+            -2491.737,
+            -2032.487,
+            -922.451,
+            0.0,
+            -156.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "A tall gray utility pole stands ahead on the left edge of the street, well down the block from me. The lane in front is clear and open, so I will walk forward to begin closing that distance.",
+        "The pole on the left side of the street has grown slightly larger, confirming I am headed the right way. Nothing blocks the roadway between us, so I keep walking straight toward its base.",
+        "The gray pole ahead on my left continues to grow in view as I close on it, but it is still several strides away. I will keep advancing along the open lane.",
+        "The pole's shaft now rises through the upper left of my view, so its base is drawing closer along the curb. Continuing straight is the most direct way to reach it.",
+        "I am nearly level with the shuttered storefronts and the gray pole stands just ahead beside the sidewalk. Another step forward should bring me alongside its base.",
+        "The pole is now thick and close on my left, its base near the raised sidewalk edge. I will advance once more to draw level with it.",
+        "The pole with its yellow and black striped band stands very near on my left, but I am still slightly short of its base. One more step forward should place me beside it.",
+        "The gray pole is now immediately to my left, close enough that its base sits just off my shoulder rather than in front of me. I will turn left so I face it squarely before closing the last bit of distance.",
+        "The gray utility pole now stands just ahead on my left, tall in the near part of my view with its yellow banded base still a few paces off. I walk forward along the curb to close the remaining gap to that base.",
+        "The gray utility pole fills my view at arm's length, its yellow and black banded base right at the curb beside me. I have arrived at the pole base. I mark reaching it and now set off for the yellow bucket along this shopfront.",
+        "Standing this close, the pole and the shuttered wall crowd almost my whole view, leaving me little sight of the sidewalk where the yellow bucket sits. I step back to open some space so that turning toward the bucket should give me a usable view instead of bare metal and shutters.",
+        "With a little clearance from the pole, I can see the shopfront running away to my left, but the yellow bucket is not yet in view. I turn left to swing my heading along that shopfront and bring the bucket into sight.",
+        "My view is now filled by the red shutters and the pole, with the sidewalk stretching further left than I am facing. I keep turning left to carry my heading along the storefront toward where the yellow bucket should stand.",
+        "The shutters and the store signage still occupy the whole frame and no yellow bucket has appeared yet. I continue rotating left, since the sidewalk beyond this storefront is the direction I still need to face.",
+        "The yellow bucket has just come into the far left edge of my view, sitting on the pavement beside the white door. One more left turn should bring it near the center so I can walk straight at it.",
+        "The yellow bucket now sits clearly ahead of me on the sidewalk next to the white door and downpipes. With my heading pointed down that stretch of pavement, I walk forward to close the distance to it.",
+        "The yellow mop bucket sits just ahead on the sidewalk beside the drainpipe and the white door, only a couple of paces away. I will step forward again to close that last bit of distance and stand right beside it.",
+        "I am now right up against the wall, and the yellow bucket has slipped to the very edge of my view on the left while the plain white door fills most of it. Turning left should swing the bucket back into the center of my view.",
+        "The yellow bucket stands directly in front of me at arm's length against the wall. The task is complete, so there is no reason to move further."
+    ]
+}