diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f8c4bbe2e8de76a1fc90ac1e4952f6c2b37bee7 --- /dev/null +++ b/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, + -1695.783, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + -344.284, + -1672.804, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + -220.54, + -1649.825, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + -96.797, + -1626.845, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 26.947, + -1603.866, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 150.69, + -1580.887, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 274.434, + -1557.908, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 274.434, + -1557.908, + -931.85, + 0.0, + -14.48, + 0.0 + ], + [ + 396.295, + -1589.378, + -931.85, + 0.0, + -14.48, + 0.0 + ], + [ + 518.156, + -1620.848, + -931.85, + 0.0, + -14.48, + 0.0 + ], + [ + 640.017, + -1652.318, + -931.85, + 0.0, + -14.48, + 0.0 + ], + [ + 761.878, + -1683.788, + -931.85, + 0.0, + -14.48, + 0.0 + ], + [ + 761.878, + -1683.788, + -931.85, + 0.0, + -14.48, + 0.0 + ], + [ + 761.878, + -1683.788, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 761.878, + -1683.788, + -931.85, + 0.0, + 35.52, + -0.0 + ], + [ + 761.878, + -1683.788, + -931.85, + 0.0, + 60.52, + -0.0 + ], + [ + 761.878, + -1683.788, + -931.85, + 0.0, + 85.52, + -0.0 + ], + [ + 771.709, + -1558.314, + -931.85, + 0.0, + 85.52, + -0.0 + ], + [ + 781.54, + -1432.839, + -931.85, + 0.0, + 85.52, + -0.0 + ], + [ + 781.54, + -1432.839, + -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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a96c15a48a25d3061aae0c3021241d9572eaa03b --- /dev/null +++ b/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 + ], + [ + -365.589, + -1622.66, + -931.85, + 0.0, + 35.52, + -0.0 + ], + [ + -365.589, + -1622.66, + -931.85, + 0.0, + 60.52, + -0.0 + ], + [ + -303.651, + -1513.097, + -931.85, + 0.0, + 60.52, + -0.0 + ], + [ + -241.713, + -1403.533, + -931.85, + 0.0, + 60.52, + -0.0 + ], + [ + -179.776, + -1293.969, + -927.546, + 0.0, + 60.52, + -0.0 + ], + [ + -127.87, + -1184.604, + -922.252, + 0.0, + 60.52, + -0.0 + ], + [ + -127.87, + -1184.604, + -922.252, + 0.0, + 60.52, + -0.0 + ], + [ + -173.342, + -1265.041, + -922.252, + 0.0, + 60.52, + -0.0 + ], + [ + -173.342, + -1265.041, + -922.252, + 0.0, + 35.52, + -0.0 + ], + [ + -173.342, + -1265.041, + -922.252, + 0.0, + 10.52, + -0.0 + ], + [ + -173.342, + -1265.041, + -922.252, + 0.0, + -14.48, + 0.0 + ], + [ + -78.367, + -1311.382, + -929.092, + 0.0, + -14.48, + 0.0 + ], + [ + 43.495, + -1342.852, + -931.768, + 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, + -1405.792, + -931.768, + 0.0, + 10.52, + -0.0 + ], + [ + 410.96, + -1382.812, + -931.768, + 0.0, + 10.52, + -0.0 + ], + [ + 534.704, + -1359.833, + -924.176, + 0.0, + 10.52, + -0.0 + ], + [ + 647.756, + -1342.967, + -922.355, + 0.0, + 10.52, + -0.0 + ], + [ + 647.756, + -1342.967, + -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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..87dc17972b7e8a66e9e2e1223207764e4d3ae4ea --- /dev/null +++ b/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 + ], + [ + -365.589, + -1622.66, + -931.85, + 0.0, + 35.52, + -0.0 + ], + [ + -365.589, + -1622.66, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + -241.845, + -1599.681, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + -118.102, + -1576.702, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 5.642, + -1553.723, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 129.385, + -1530.744, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 253.129, + -1507.765, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 376.872, + -1484.785, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 500.616, + -1461.806, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 624.359, + -1438.827, + -931.85, + 0.0, + 10.52, + -0.0 + ], + [ + 624.359, + -1438.827, + -931.85, + 0.0, + 35.52, + -0.0 + ], + [ + 704.181, + -1391.761, + -931.85, + 0.0, + 35.52, + -0.0 + ], + [ + 704.181, + -1391.761, + -931.85, + 0.0, + 35.52, + -0.0 + ], + [ + 628.976, + -1445.444, + -931.85, + 0.0, + 35.52, + -0.0 + ], + [ + 628.976, + -1445.444, + -931.85, + 0.0, + 60.52, + -0.0 + ], + [ + 628.976, + -1445.444, + -931.85, + 0.0, + 85.52, + -0.0 + ], + [ + 628.976, + -1445.444, + -931.85, + 0.0, + 110.52, + -0.0 + ], + [ + 628.976, + -1445.444, + -931.85, + 0.0, + 135.52, + -0.0 + ], + [ + 628.976, + -1445.444, + -931.85, + 0.0, + 160.52, + -0.0 + ], + [ + 510.321, + -1403.473, + -931.85, + 0.0, + 160.52, + -0.0 + ], + [ + 391.667, + -1361.502, + -928.224, + 0.0, + 160.52, + -0.0 + ], + [ + 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, + -1312.313, + -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, + -1242.062, + -922.32, + 0.0, + 160.52, + -0.0 + ], + [ + -273.723, + -1242.062, + -922.32, + 0.0, + 160.52, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..efe3f426add74e4058155c2475b9efaebf199d33 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t0_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..405c72510316607cf7f959937da5e269cb3108f9 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t0_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d1fc22ce4aa2319c56b9891e8d0a5c97ffc8830f --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t5_a_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1bc8409ec6d238263a18da8adcd6cce8732935ce --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-000987_y-000228_z000098_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-000987_y-000228_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bbc46b63422b0576f3c6800a827f588dd1775060 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0ef0d6b639ee8260b60a5aa1417ae3606e757964 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e7882b4304696bfe6ecfad3540992bd82319316 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2a7905283e4bfb94fa2e55586f35d21d72104857 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef2e3e860e4ebdb8be7ff9c48b47249d82bb4dc --- /dev/null +++ b/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, + 0.0, + -164.16, + 0.0 + ], + [ + -1169.15, + -1125.563, + -931.85, + 0.0, + 170.84, + -0.0 + ], + [ + -1293.404, + -1105.528, + -931.85, + 0.0, + 170.84, + -0.0 + ], + [ + -1417.658, + -1085.492, + -931.85, + 0.0, + 170.84, + -0.0 + ], + [ + -1541.912, + -1065.456, + -931.85, + 0.0, + 170.84, + -0.0 + ], + [ + -1541.912, + -1065.456, + -931.85, + 0.0, + -164.16, + 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, + -139.16, + 0.0 + ], + [ + -1905.151, + -1168.517, + -922.191, + 0.0, + -114.16, + 0.0 + ], + [ + -1905.151, + -1168.517, + -922.191, + 0.0, + -89.16, + 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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d382e7ba9a1ba7a2c614a4dce51dd90f3baf7843 --- /dev/null +++ b/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, + -1091.21, + -931.85, + 0.0, + -164.16, + 0.0 + ], + [ + -1169.15, + -1125.563, + -931.85, + 0.0, + -164.16, + 0.0 + ], + [ + -1169.15, + -1125.563, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1264.367, + -1207.869, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1359.584, + -1290.174, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1454.801, + -1372.479, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1550.019, + -1454.785, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1645.236, + -1537.09, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1740.453, + -1619.396, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1835.67, + -1701.701, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -1930.888, + -1784.006, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -2026.105, + -1866.312, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -2026.105, + -1866.312, + -931.85, + 0.0, + -139.16, + 0.0 + ], + [ + -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, + -931.85, + 0.0, + 170.84, + -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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53424485b47f5ec0e377dacd28a529b510cf4678 --- /dev/null +++ b/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, + 2474.661, + -931.85, + 0.0, + 95.04, + -0.0 + ], + [ + -1165.012, + 2600.033, + -931.85, + 0.0, + 95.04, + -0.0 + ], + [ + -1165.012, + 2600.033, + -931.85, + 0.0, + 70.04, + -0.0 + ], + [ + -1122.048, + 2718.332, + -931.85, + 0.0, + 70.04, + -0.0 + ], + [ + -1079.084, + 2836.631, + -931.85, + 0.0, + 70.04, + -0.0 + ], + [ + -1036.12, + 2954.93, + -931.85, + 0.0, + 70.04, + -0.0 + ], + [ + -993.157, + 3073.229, + -931.85, + 0.0, + 70.04, + -0.0 + ], + [ + -950.193, + 3191.528, + -922.324, + 0.0, + 70.04, + -0.0 + ], + [ + -907.229, + 3309.826, + -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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d5f6d9eb34d8914cb3c87470e24b8bb79e0bb8c8 --- /dev/null +++ b/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, + -931.85, + 0.0, + 95.04, + -0.0 + ], + [ + -1142.898, + 2349.289, + -931.85, + 0.0, + 95.04, + -0.0 + ], + [ + -1153.955, + 2474.661, + -931.85, + 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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..117d8dfcb7de609fc452db385fb8d52d5b60b857 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001145_y-000359_z000098_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001145_y-000359_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6413b0d3fd6bbc552f0cd6496fe96e41b62a7405 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001158_y-000328_z-000932_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001158_y-000328_z-000932_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6115573536c6a39ea9132f3cfb0b0c7341423b5c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dc49e5c1369422d05c77146456a5b33b23265f51 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e32890ef202dbab4d8f33f047f0dcd25b822cd5 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f09c5f9575eff97b340848915eef90b13cc6def --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db45215398f0754e83f33d0c4bd953ed31d9c2c9 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a5f0dd8c262d788e8ebb8fb950c065d7a50eec9 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t5_a_pd/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce9789084f054488385b1bc617085c49d0b84ec --- /dev/null +++ b/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, + -931.85, + 0.0, + 60.48, + -0.0 + ], + [ + -1109.657, + -828.163, + -931.85, + 0.0, + 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, + -922.327, + 0.0, + 10.48, + -0.0 + ], + [ + -911.604, + -761.569, + -922.327, + 0.0, + 10.48, + -0.0 + ], + [ + -805.404, + -749.361, + -922.252, + 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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001288_y-001256_z-000932_t2_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001288_y-001256_z-000932_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f0156e4e9ce4397367960378671d31d6f0730ae3 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001288_y-001256_z-000932_t2_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001288_y-001256_z-000932_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23173f0aa385f22d4057e18e09c95605dbd8ab0b --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001288_y-001256_z-000932_t2_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001288_y-001256_z-000932_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3dc1b594e1dfac8208f18a1494b4c538431c8806 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001392_y000841_z-000932_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001392_y000841_z-000932_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..832835f11839a129994f61c6a90ba9dc655bac9f --- /dev/null +++ b/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, + 948.018, + -931.85, + 0.0, + 121.52, + -0.0 + ], + [ + -1523.979, + 1055.307, + -931.85, + 0.0, + 121.52, + -0.0 + ], + [ + -1589.778, + 1162.596, + -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 + ], + [ + -1741.883, + 1854.401, + -922.281, + 0.0, + 121.52, + -0.0 + ], + [ + -1741.883, + 1854.401, + -922.281, + 0.0, + 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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..baa94679dffaa46af002cd665fbfc2796f1093f1 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..55166562b003b945da24af4a2fdf842bde1629dc --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001649_y-000781_z-000932_t2_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001649_y-000781_z-000932_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d3c1276efb3eb427577733ecbfc93ad54960c53c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..48e5a806993bdf83318d104c121b5ac8c98cfabe --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..843e147a5817e4c401762049f6b51f61ac22af57 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be9e4c40a0ce97f894dd00bddb1a91a4318fbacb --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..84c6c8fecf403b9dac8a866e94bd0a3d61d95ce7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c411ab9399bfe0eaa10b68214790245201b03048 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b61a163715ba4d0582ddadd3b1e63c2ce3fa246a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_e/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..139d05665db0d2fae514aa390922d1f804473ef8 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..de6744089a68df87137a72675c554e0d7b983d46 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23701feddb5c29c4416e470b53bbc09c1545104c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6748e0da011a3b9cd026b4ea55c5c0e850a5b14 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a3ec3e47e937433cfecd2c84f0d083d4f3e7321 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t5_a_pd/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5cc0b0c4a49e5644bca4cad12f6a2ee2698e5065 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..738ad32611bf7b267965c62395b7b89dab887ea6 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..697cfb1a12cfc47f9be3dd6f6a60e73efbf06777 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..772124ca3061f8d9aa2a95d5968d9c1b5a5a812f --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..92fb89d0cef6ff7cc5d3267208e5485c98ba4b3c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t5_a_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2cdc2ab0ff1498a04f7fe6074a6dc3467c014ef7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e29f1ba9c59e39ee508a3623290e54afa4882829 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a98291fb3bf49b952da5a1555acd67ee9293248 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_a_pd/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf268b226b7d8a56f49197288e24f20db953e637 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Lift the jerry can at the yellow bucket, then leave it near the street lamp post.", + "Type": 5, + "Start_Pose": [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2665.814, + -1957.084, + -1015.85, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ], + [ + -3102.648, + -1738.646, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2977.653, + -1753.373, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2977.653, + -1753.373, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2870.594, + -1819.546, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2763.535, + -1885.719, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2763.535, + -1885.719, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2656.476, + -1951.892, + -931.85, + 0.0, + -31.72, + 0.0 + ], + [ + -2656.476, + -1951.892, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2531.482, + -1966.62, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2406.487, + -1981.348, + -927.511, + 0.0, + -6.72, + 0.0 + ], + [ + -2281.493, + -1996.076, + -922.377, + 0.0, + -6.72, + 0.0 + ], + [ + -2211.175, + -2030.155, + -922.485, + 0.0, + -6.72, + 0.0 + ], + [ + -2211.175, + -2030.155, + -922.485, + 0.0, + 18.28, + -0.0 + ], + [ + -2211.175, + -2030.155, + -922.485, + 0.0, + 43.28, + -0.0 + ], + [ + -2266.804, + -2055.171, + -922.252, + 0.0, + 43.28, + -0.0 + ], + [ + -2266.804, + -2055.171, + -922.252, + 0.0, + 43.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2665.814, + -1957.084, + -1015.85, + 0.0, + 0.0, + 0.0 + ], + [ + -2665.814, + -1957.084, + -1015.85, + 0.0, + 0.0, + 0.0 + ], + [ + -2665.814, + -1957.084, + -1015.85, + 0.0, + 0.0, + 0.0 + ], + [ + -2665.814, + -1957.084, + -1015.85, + 0.0, + 0.0, + 0.0 + ], + [ + -2665.814, + -1957.084, + -1015.85, + 0.0, + 0.0, + 0.0 + ], + [ + -2665.814, + -1957.084, + -1015.85, + 0.0, + 0.0, + 0.0 + ], + [ + -2752.827, + -1867.234, + -961.744, + -28.202, + 18.424, + 1.862 + ], + [ + -2645.546, + -1933.538, + -962.231, + -28.195, + 18.428, + 1.862 + ], + [ + -2654.638, + -1929.483, + -961.16, + -28.193, + 43.428, + 1.872 + ], + [ + -2529.95, + -1945.3, + -961.162, + -28.198, + 43.43, + 1.868 + ], + [ + -2404.706, + -1960.053, + -961.525, + -28.196, + 43.427, + 1.865 + ], + [ + -2279.423, + -1974.815, + -962.063, + -28.193, + 43.436, + 1.869 + ], + [ + -2209.399, + -2008.857, + -961.616, + -28.195, + 43.433, + 1.862 + ], + [ + -2218.401, + -2009.28, + -961.968, + -28.188, + 68.435, + 1.871 + ], + [ + -2227.205, + -2013.316, + -961.318, + -28.199, + 93.425, + 1.867 + ], + [ + -2215.843, + -2007.182, + -972.252, + 0.0, + 43.28, + -0.0 + ], + [ + -2215.843, + -2007.182, + -972.252, + 0.0, + 43.28, + -0.0 + ] + ], + "PD_Dist_2D": [ + 608.3, + 488.4, + 372.5, + 372.5, + 246.7, + 121.0, + 21.4, + 21.4, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 22.1, + 23.2, + 70.0, + 70.0 + ], + "Rationale": [ + "Far down the left side of the alley I can make out the yellow bucket with a reddish jerry can standing beside it. That pair is my pickup target, and it is much too distant to reach for. I will walk forward along the street to close that gap.", + "The jerry can and the yellow bucket beside it are noticeably larger now, but they still sit well ahead near the curb. Nothing blocks the roadway between me and them. I will keep walking forward to shorten the remaining distance.", + "The jerry can and the yellow bucket now sit clearly off to my left against the sidewalk, while my heading still points straight down the middle of the street. Walking on would carry me past them. I will turn left so my path lines up with the can.", + "After the turn the jerry can and the yellow bucket are centered ahead of me along the curb. The stretch of pavement between us is clear. I will step forward to close in on the can.", + "The jerry can now stands large just ahead of me at the curb beside the yellow bucket, but it is still a stride or so out of grabbing range. Reaching from here would likely miss. I will advance once more to stand right over it.", + "The jerry can fills the lower center of my view, right at my feet beside the yellow bucket, and my hands are empty. This is the pickup the task asks for, and no closer approach is needed. I will attempt to grasp and lift the can.", + "The jerry can is now held in my hands, so the lift succeeded. With the can secured, the second half of the task is to carry it to a street lamp post, and none is within reach here beside the bucket. I will start walking forward to begin transporting it.", + "I am still carrying the jerry can, but the shop wall and its shutters now fill most of my view straight ahead on the left. The open roadway and the tall pole line along the curb lie to my right. I will turn right to face down that street and continue the carry.", + "The jerry can is secure in my hands, so the remaining job is transport. The sidewalk ahead along the shuttered storefronts is open, and tall poles line the curb further down the street. I will walk forward to bring a lamp post within placing range.", + "Still carrying the can, I am beside the red shutters with the pole line continuing ahead on my right along the curb. The nearest post is not yet close enough to set the can beside it. I will keep stepping forward down the walkway.", + "The tall post beside the curb now dominates the right of my view, so I am closing on a suitable drop spot with the can still held. I am not yet level with its base. Another step forward should place me alongside it.", + "The pole stands almost directly in front of me at the edge of the walkway, and the can remains in my hands. I need to be right at its base before releasing the load. I will advance the last short distance toward it.", + "I am level with the posts at the curb, but my heading runs straight down the sidewalk rather than at the lamp post standing to my right. Facing it will give me a clean spot to set the can. I will turn right to bring it into view.", + "The heavy lamp post has come into the right edge of my view, so my turn is going the correct way but is not finished. I want its base centred in front of me before releasing the can. I will turn right once more.", + "The banded lamp post now fills the space directly in front of me at arm's length, and the jerry can is still held. This is the spot the task asks for. I will release the can here so it comes to rest beside the post.", + "The jerry can is resting on the ground right against the lamp post. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_b_pd/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..77fce1f3963b4fae1910f0ed2235226c2e9a4984 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_b_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the wicker basket beside the street lamp post, then set it down near the blue crates on the right.", + "Type": 5, + "Start_Pose": [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2252.873, + -1938.296, + -991.85, + 90, + -26.72, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ], + [ + -3102.648, + -1738.646, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2977.653, + -1753.373, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2852.659, + -1768.101, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2727.665, + -1782.829, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2602.67, + -1797.556, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2477.676, + -1812.284, + -931.85, + 0.0, + -6.72, + 0.0 + ], + [ + -2352.682, + -1827.012, + -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, + 18.28, + -0.0 + ], + [ + -2352.682, + -1827.012, + -931.85, + 0.0, + 43.28, + -0.0 + ], + [ + -2352.682, + -1827.012, + -931.85, + 0.0, + 68.28, + -0.0 + ], + [ + -2352.682, + -1827.012, + -931.85, + 0.0, + 93.28, + -0.0 + ], + [ + -2352.682, + -1827.012, + -931.85, + 0.0, + 118.28, + -0.0 + ], + [ + -2352.682, + -1827.012, + -931.85, + 0.0, + 143.28, + -0.0 + ], + [ + -2453.566, + -1751.76, + -931.85, + 0.0, + 143.28, + -0.0 + ], + [ + -2554.45, + -1676.508, + -931.85, + 0.0, + 143.28, + -0.0 + ], + [ + -2655.334, + -1601.255, + -922.497, + 0.0, + 143.28, + -0.0 + ], + [ + -2597.621, + -1644.305, + -923.206, + 0.0, + 143.28, + -0.0 + ], + [ + -2597.621, + -1644.305, + -923.206, + 0.0, + 143.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2252.873, + -1938.296, + -991.85, + 90.0, + -26.72, + 0.0 + ], + [ + -2252.873, + -1938.296, + -991.85, + 90.0, + -26.72, + 0.0 + ], + [ + -2252.873, + -1938.296, + -991.85, + 90.0, + -26.72, + 0.0 + ], + [ + -2252.873, + -1938.296, + -991.85, + 90.0, + -26.72, + 0.0 + ], + [ + -2252.873, + -1938.296, + -991.85, + 90.0, + -26.72, + 0.0 + ], + [ + -2252.873, + -1938.296, + -991.85, + 90.0, + -26.72, + 0.0 + ], + [ + -2252.873, + -1938.296, + -991.85, + 90.0, + -26.72, + 0.0 + ], + [ + -2252.873, + -1938.296, + -991.85, + 90.0, + -26.72, + 0.0 + ], + [ + -2350.789, + -1805.733, + -961.744, + -28.202, + 43.424, + 1.862 + ], + [ + -2360.266, + -1806.019, + -961.471, + -28.189, + 68.437, + 1.872 + ], + [ + -2368.011, + -1810.509, + -962.138, + -28.215, + 93.407, + 1.849 + ], + [ + -2375.317, + -1812.11, + -962.084, + -14.092, + 110.623, + 6.87 + ], + [ + -2374.088, + -1828.676, + -962.068, + -28.208, + 143.422, + 1.851 + ], + [ + -2372.255, + -1838.139, + -961.4, + -28.198, + 168.426, + 1.867 + ], + [ + -2366.522, + -1845.288, + -961.753, + -28.195, + -166.575, + 1.865 + ], + [ + -2465.607, + -1769.419, + -961.343, + -28.195, + -166.571, + 1.87 + ], + [ + -2566.386, + -1694.244, + -961.116, + -28.197, + -166.577, + 1.87 + ], + [ + -2667.358, + -1618.922, + -961.252, + -28.211, + -166.582, + 1.853 + ], + [ + -2653.731, + -1602.452, + -958.206, + 90.0, + 143.28, + 0.0 + ], + [ + -2653.731, + -1602.452, + -958.206, + 90.0, + 143.28, + 0.0 + ] + ], + "PD_Dist_2D": [ + 998.1, + 872.9, + 748.0, + 623.5, + 499.6, + 377.0, + 257.7, + 149.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket is far down the alley, leaning against the curb near the pole on the left side of the street. Nothing blocks the roadway ahead, so I will walk straight forward to close that long gap.", + "The basket by the pole on the left is now noticeably larger, confirming my heading is carrying me toward it. The lane stays clear, so I will keep walking forward.", + "The basket rests against the curb ahead on my left, still too distant for reaching. I will continue advancing along the same line to shorten the remaining distance.", + "The basket and the lamp post beside it are clearly resolved now on the left edge of the road, but still beyond arm's reach. Another forward step should bring me closer without needing to change heading.", + "The basket now sits low and left in my view, close to the shopfront curb, which tells me my current heading passes right by it. I will step forward again to reach grasping range.", + "The basket is only a short distance ahead on my left, near the base of the post. One more forward step should place it within reach for a grasp.", + "The basket now fills the lower left of my view right at the post base, so I am almost on top of it but not yet centered for a grasp. I will take one more step forward to settle into reaching distance.", + "The wicker basket is directly at my feet by the lamp post, close enough that its rim edges into the bottom of my view. I will reach down and attempt to pick it up so I can carry it toward the blue crates.", + "The grasp worked: the wicker basket is now in my hands instead of resting on the pavement. The blue crates I need to reach sit off to my right, well outside my current heading down the alley. I will turn right to begin swinging my view toward that side of the street.", + "I am carrying the basket and now facing across the junction toward the elevated structure and a shuttered frontage. No blue crates are in this part of my view yet, so my heading is still short of the drop side. I will keep turning right to bring more of the right-hand street into view.", + "The view is now filled by a large rolling shutter and the curb curving away, with no crates in sight. Since the delivery spot lies further around to my right, this heading is not usable for approach. I will continue rotating right to sweep past this shutter frontage.", + "I still hold the basket, and my view remains on closed shutters and a raised sidewalk rather than the crate area. Turning further right should carry my gaze along the sidewalk toward the storefronts beyond. I will make another right rotation.", + "At the right edge of my view I can just catch dark blue crate shapes near the pink shopfront. My heading is still mostly squared onto the shutters, which is not a workable approach line. I will turn right again to bring those crates nearer the center of my view.", + "The blue crates on the sidewalk by the pink storefront are now clearly in view on my right, but still off to the side of my heading. One more right rotation should put them and the open sidewalk ahead of me. I will turn right again before walking.", + "The crates by the pink shopfront now lie ahead along the sidewalk in my path, so my heading is finally usable. I am still carrying the basket and the walkway between me and them is clear. I will step forward to close the distance.", + "The stacked blue crates have grown larger and sit just ahead on my left along the shopfront, so I am gaining on them. I am still too far back for a controlled placement beside them. I will keep walking forward along the sidewalk.", + "The basket is still in my hands, and the cluster of blue crates has drawn level with me at the lower left of my view along the pink storefront. I will step forward once more to bring myself just alongside that stack rather than behind it, so the release point sits right beside the crates.", + "I am still carrying the wicker basket, and the stacked blue crates are now immediately at my left along the sidewalk, with another pair a short way ahead. This is the position the task asked for, so I will release the basket here and it should come to rest right next to the crates.", + "The wicker basket now rests on the sidewalk beside the blue crates and my hands are empty. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c2fbbb01e9b836ffdcc355c0df054008465d1f72 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the yellow mop bucket with a wringer beside the metal railing.", + "Type": 0, + "Start_Pose": [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 32.64, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 32.64, + -0.0 + ], + [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 7.64, + -0.0 + ], + [ + -3205.045, + -1966.122, + -931.698, + 0.0, + 7.64, + -0.0 + ], + [ + -3080.304, + -1949.389, + -931.698, + 0.0, + 7.64, + -0.0 + ], + [ + -2955.562, + -1932.657, + -931.698, + 0.0, + 7.64, + -0.0 + ], + [ + -2955.562, + -1932.657, + -931.698, + 0.0, + -17.36, + 0.0 + ], + [ + -2835.436, + -1970.21, + -931.698, + 0.0, + -17.36, + 0.0 + ], + [ + -2715.31, + -2007.763, + -922.463, + 0.0, + -17.36, + 0.0 + ], + [ + -2715.31, + -2007.763, + -922.463, + 0.0, + -17.36, + 0.0 + ], + [ + -2715.31, + -2007.763, + -922.463, + 0.0, + -17.36, + 0.0 + ] + ], + "Rationale": [ + "Looking down this narrow street, I can pick out a small yellow object on the far left sidewalk near the metal railing, well left of my current heading. I will turn left to bring that side of the street and the candidate mop bucket more centrally into my view before advancing.", + "The left sidewalk with its metal railing now runs roughly along my heading, and the yellow bucket sits far ahead beside that railing. The path of open pavement in front of me looks clear, so I will step forward to close the large remaining distance.", + "The yellow bucket beside the left curb is noticeably larger than a moment ago, confirming I am closing on it along the correct side of the street. I will continue forward since it is still far from arm's reach.", + "I can now clearly see the yellow mop bucket with its wringer sitting on the left sidewalk against the wall, still several paces ahead of my position. Another forward step should bring me roughly abreast of it.", + "The mop bucket now sits clearly to the left of my straight-ahead heading, close against the building wall on the sidewalk. I will turn left so my heading points at the bucket instead of continuing down the street past it.", + "With the turn complete, the yellow bucket and wringer sit ahead on the sidewalk on my left-forward line, only a short distance away. I will step forward to close that last gap toward it.", + "The bucket is now large and low in my view, its wringer plainly visible just off my left side, so I am nearly beside it. One more short step forward should place me directly at it.", + "Only the top rim of the yellow bucket is showing at the very bottom of my view, which means it is now right at my feet. I will look down to confirm the mop bucket and its wringer are directly in front of me at this stopping position.", + "The yellow mop bucket with its wringer is directly at my feet, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c4774930c9b6d9f4b2b87f02bed23a47d625f82f --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the beige trash bin near the pink storefront.", + "Type": 0, + "Start_Pose": [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 32.64, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 32.64, + -0.0 + ], + [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 57.64, + -0.0 + ], + [ + -3262.423, + -1876.542, + -931.85, + 0.0, + 57.64, + -0.0 + ], + [ + -3195.058, + -1770.228, + -931.85, + 0.0, + 57.64, + -0.0 + ], + [ + -3195.058, + -1770.228, + -931.85, + 0.0, + 82.64, + -0.0 + ], + [ + -3178.935, + -1645.406, + -924.015, + 0.0, + 82.64, + -0.0 + ], + [ + -3163.945, + -1557.652, + -922.252, + 0.0, + 82.64, + -0.0 + ], + [ + -3163.945, + -1557.652, + -922.252, + 0.0, + 82.64, + -0.0 + ], + [ + -3163.945, + -1557.652, + -922.252, + 0.0, + 82.64, + -0.0 + ] + ], + "Rationale": [ + "From the middle of the street I can see the pink storefront with its pale awning off to my right, and a beige bin sits at the far right edge of my view near its frontage. I will turn right to bring that storefront and its bin into the center of my heading before advancing.", + "The pink storefront is now squarely ahead of me, with the beige bin standing on the sidewalk beside its glass doors and blue crates next to it. Nothing blocks the roadway in front, so I will move forward to close the distance to that bin.", + "The beige bin next to the storefront doors is larger and clearer now, sitting just beyond the curb to the right of center. I will continue forward to keep shrinking the gap between me and it.", + "The beige bin has drifted toward the right side of my view while the pink shopfront wall dominates the center, so my heading is angled slightly past the target. I will turn right to place the bin closer to the middle of my path before advancing again.", + "The beige bin now sits just right of the glass doors directly along my heading, with the blue crates beside it. I will move forward to bring myself up onto the frontage next to that bin.", + "The beige bin is close in the lower right of my view, filling much of the frontage beside the glass doors. A short additional step forward should bring me right up beside it.", + "At this range my view is filled by the storefront glass doors, so the low bin has slipped below my line of sight. I will look down to confirm the beige bin is right beside me at ground level.", + "The beige trash bin stands directly at my feet against the pink storefront wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c9d929d87190b9ab385f7ff590a6cfa6ee67a254 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the blue containers beside the pink wall.", + "Type": 0, + "Start_Pose": [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 32.64, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 32.64, + -0.0 + ], + [ + -3223.804, + -1914.972, + -931.85, + 0.0, + 32.64, + -0.0 + ], + [ + -3117.821, + -1847.089, + -931.85, + 0.0, + 32.64, + -0.0 + ], + [ + -3011.839, + -1779.205, + -931.85, + 0.0, + 32.64, + -0.0 + ], + [ + -2905.856, + -1711.322, + -931.85, + 0.0, + 32.64, + -0.0 + ], + [ + -2905.856, + -1711.322, + -931.85, + 0.0, + 57.64, + -0.0 + ], + [ + -2838.491, + -1605.009, + -922.404, + 0.0, + 57.64, + -0.0 + ], + [ + -2776.849, + -1557.621, + -922.252, + 0.0, + 57.64, + -0.0 + ], + [ + -2776.849, + -1557.621, + -922.252, + 0.0, + 57.64, + -0.0 + ] + ], + "Rationale": [ + "I can see the stack of blue crates sitting on the sidewalk ahead on my right, against the pink lower wall of the storefront. They are still far down the street, so I will move forward along the roadway to begin closing that distance.", + "The blue crates beside the pink wall have grown slightly larger and remain to my right front, confirming my heading is carrying me toward them. The path down the street is clear, so I will continue forward.", + "The crates are now clearly resolved as several blue containers on the raised sidewalk under the pink wall, but I am still a few strides short of them. Another forward step should bring me closer without needing a turn yet.", + "The blue containers are noticeably nearer and sitting slightly right of my forward direction along the pink storefront base. I will advance once more to shorten the remaining gap before adjusting my heading.", + "The blue containers now sit well off to my right against the pink wall, so continuing straight would carry me past them along the street. I will turn right to bring the crates and the pink wall into the center of my view before closing the last distance.", + "After the turn the three blue crates and the pink wall behind them are centered in front of me, so my heading is now aimed at the target. I will move forward to close the remaining short distance.", + "The blue containers now fill the lower part of my view with the pink wall directly beside them, so I am nearly at them. One more short forward step should place me right beside the crates.", + "A blue container is directly at my feet against the pink wall. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_a_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a27add0dd1b349c6d3ed00af785cdbf205b2e245 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the wicker basket near the yellow mop bucket by the railing.", + "Type": 5, + "Start_Pose": [ + -3329.787, + -1982.855, + -929.849, + 0, + 32.64, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2602.885, + -1996.768, + -983.85, + 90, + -7.36, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3329.787, + -1982.855, + -929.849, + 0, + 32.64, + 0 + ], + [ + -3223.804, + -1914.972, + -931.85, + 0.0, + 32.64, + -0.0 + ], + [ + -3223.804, + -1914.972, + -931.85, + 0.0, + 7.64, + -0.0 + ], + [ + -3099.063, + -1898.239, + -931.85, + 0.0, + 7.64, + -0.0 + ], + [ + -2974.321, + -1881.506, + -931.85, + 0.0, + 7.64, + -0.0 + ], + [ + -2849.579, + -1864.774, + -931.85, + 0.0, + 7.64, + -0.0 + ], + [ + -2849.579, + -1864.774, + -931.85, + 0.0, + -17.36, + 0.0 + ], + [ + -2729.453, + -1902.327, + -931.85, + 0.0, + -17.36, + 0.0 + ], + [ + -2729.453, + -1902.327, + -931.85, + 0.0, + -17.36, + 0.0 + ], + [ + -2729.453, + -1902.327, + -931.85, + 0.0, + -17.36, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2602.885, + -1996.768, + -983.85, + 90.0, + -7.36, + 0.0 + ], + [ + -2602.885, + -1996.768, + -983.85, + 90.0, + -7.36, + 0.0 + ], + [ + -2602.885, + -1996.768, + -983.85, + 90.0, + -7.36, + 0.0 + ], + [ + -2602.885, + -1996.768, + -983.85, + 90.0, + -7.36, + 0.0 + ], + [ + -2602.885, + -1996.768, + -983.85, + 90.0, + -7.36, + 0.0 + ], + [ + -2602.885, + -1996.768, + -983.85, + 90.0, + -7.36, + 0.0 + ], + [ + -2602.885, + -1996.768, + -983.85, + 90.0, + -7.36, + 0.0 + ], + [ + -2602.885, + -1996.768, + -983.85, + 90.0, + -7.36, + 0.0 + ], + [ + -2723.664, + -1881.763, + -961.744, + -28.202, + 32.784, + 1.862 + ], + [ + -2723.664, + -1881.763, + -961.744, + -28.202, + 32.784, + 1.862 + ] + ], + "PD_Dist_2D": [ + 727.0, + 626.3, + 626.3, + 505.9, + 388.9, + 279.8, + 279.8, + 157.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket sits far ahead on the left sidewalk, near a yellow bucket by the railing, still too distant to reach. The street ahead of me is clear and open. I will walk forward to close that gap before worrying about fine alignment.", + "After advancing, the basket has slid to the extreme left edge of my view and is nearly out of sight, while my heading points down the middle of the street. Turning left should bring the basket and the left sidewalk back into the center of my view for a direct approach.", + "The basket and the yellow bucket by the railing are now clearly framed ahead on my left, so my heading is usable. Nothing blocks the roadway between me and them. I will step forward to shorten the distance.", + "The basket is noticeably larger and lower in my view, confirming I am closing on it, but it is still several strides off along the raised sidewalk. The lane stays clear. I will keep walking forward on this heading.", + "The basket and the yellow bucket now stand out plainly at the left curb, yet the basket remains beyond arm's reach. Continuing straight keeps it within my forward field, so another step forward should bring me close enough to consider grasping.", + "Being closer has pushed the basket to the far left margin of my view, so walking straight would carry me past it along the road. Turning left should square my heading onto the basket at the curb before I close the final distance.", + "The basket now sits centered low in my view beside the yellow bucket against the building wall, with clear pavement between us. It is still a short distance out of reach. I will take one more step forward to bring it within grasping range.", + "The wicker basket now fills the near foreground directly in front of me, close enough that no further stepping is needed. My hands are empty and the basket is the task target. I will attempt to pick it up.", + "The wicker basket is now held in my hands rather than resting by the curb. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_b_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0d264a6145013351b9ab670642496c7c8924690e --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Lift the ceramic vase near the beige trash bin by the pink storefront.", + "Type": 5, + "Start_Pose": [ + -3329.787, + -1982.855, + -929.849, + 0, + 32.64, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3098.823, + -1511.664, + -992.252, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3329.787, + -1982.855, + -929.849, + 0, + 32.64, + 0 + ], + [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 57.64, + -0.0 + ], + [ + -3262.423, + -1876.542, + -931.85, + 0.0, + 57.64, + -0.0 + ], + [ + -3195.058, + -1770.228, + -931.85, + 0.0, + 57.64, + -0.0 + ], + [ + -3127.694, + -1663.915, + -931.85, + 0.0, + 57.64, + -0.0 + ], + [ + -3127.694, + -1663.915, + -931.85, + 0.0, + 82.64, + -0.0 + ], + [ + -3127.694, + -1663.915, + -931.85, + 0.0, + 82.64, + -0.0 + ], + [ + -3127.694, + -1663.915, + -931.85, + 0.0, + 82.64, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3098.823, + -1511.664, + -992.252, + 0.0, + 0.0, + 0.0 + ], + [ + -3098.823, + -1511.664, + -992.252, + 0.0, + 0.0, + 0.0 + ], + [ + -3098.823, + -1511.664, + -992.252, + 0.0, + 0.0, + 0.0 + ], + [ + -3098.823, + -1511.664, + -992.252, + 0.0, + 0.0, + 0.0 + ], + [ + -3098.823, + -1511.664, + -992.252, + 0.0, + 0.0, + 0.0 + ], + [ + -3098.823, + -1511.664, + -992.252, + 0.0, + 0.0, + 0.0 + ], + [ + -3149.754, + -1661.501, + -961.744, + -28.202, + 132.785, + 1.862 + ], + [ + -3149.754, + -1661.501, + -961.744, + -28.202, + 132.785, + 1.862 + ] + ], + "PD_Dist_2D": [ + 524.8, + 524.8, + 399.9, + 275.9, + 155.0, + 155.0, + 22.2, + 22.2 + ], + "Rationale": [ + "The pink storefront with its awning sits off to my right, and the tall patterned vase beside the beige bin is barely at the edge of my view. Turning right should swing that shopfront and its sidewalk clutter into the center of my heading so I can walk straight toward the vase.", + "The pink storefront is now centered ahead of me, with the slim ceramic vase and the beige bin standing on the sidewalk in front of its glass doors. They are still far off across the street, so I will walk forward to close that gap.", + "The vase and the beige bin are noticeably larger now, but the curb and roadway still separate me from the shopfront. Another step forward should bring me close enough that the vase falls within reach.", + "I can see the patterned ceramic vase clearly beside the beige bin in front of the glass doors, but from where I stand it is still a couple of paces away. I will step forward again to reach a comfortable grasping distance.", + "The vase now looms large but sits off to my right, partly cut by the edge of my view, while the shop windows fill the center. A short turn right should place the vase squarely in front of me for a clean grasp.", + "The ceramic vase now stands directly in front of me, with the beige trash bin right beside it against the storefront glass. It is within arm's reach and unobstructed, so I will attempt to pick it up.", + "The ceramic vase is now held in my hands and no longer resting on the sidewalk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..68f402b35d068c4846510ec9de2e09c6b50c876f --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Scout the street for a yellow bucket used for mopping or cleaning, and once you've identified it, head over to its location.", + "Type": 1, + "Start_Pose": [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -108.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -108.48, + 0.0 + ], + [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -83.48, + 0.0 + ], + [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -58.48, + 0.0 + ], + [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -33.48, + 0.0 + ], + [ + -3310.422, + -1627.06, + -922.252, + 0.0, + -33.48, + 0.0 + ], + [ + -3205.445, + -1696.489, + -931.85, + 0.0, + -33.48, + 0.0 + ], + [ + -3100.469, + -1765.919, + -931.85, + 0.0, + -33.48, + 0.0 + ], + [ + -2995.493, + -1835.348, + -931.85, + 0.0, + -33.48, + 0.0 + ], + [ + -2890.517, + -1904.778, + -931.85, + 0.0, + -33.48, + 0.0 + ], + [ + -2785.54, + -1974.208, + -930.854, + 0.0, + -33.48, + 0.0 + ], + [ + -2785.54, + -1974.208, + -930.854, + 0.0, + -33.48, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, my view is filled with a shop front, a pink awning, a bubble tea sign and a parked bicycle, and there is no yellow bucket anywhere in sight. I will turn right to begin a steady scan along the street in one consistent direction so I can uncover the parts of the sidewalk currently outside my view.", + "The new heading still shows the same storefront wall with awnings, a vending area and an ATM sign, but no yellow bucket stands out on this stretch of pavement. I will keep turning right in the same direction to extend the scan toward the open street beyond the building edge.", + "Past the corner of the pale building on the right side of my view, I can now make out a small bright yellow object sitting on the sidewalk that looks like it could be the cleaning bucket. I will turn right once more to bring that yellow object closer to the center of my view and get a clearer look at it before committing to an approach.", + "The turn has opened up the street ahead, and the yellow object now sits roughly ahead of me against the base of the light colored building on the left side of the road. It is still small and far away, so I will walk forward along the street to close the distance and confirm it is the mop bucket.", + "The yellow item near the wall ahead has grown slightly larger and stays in a stable position in front of me, which supports that I am heading straight toward it. The roadway remains clear of obstacles, so I will keep walking forward to continue closing in.", + "The yellow container beside the downpipe at the corner building is now clearly distinguishable from the nearby trash bin and crates, and it keeps its position ahead of me. I will continue walking forward since my current heading is still carrying me toward it.", + "The bucket is now plainly yellow and sits on the sidewalk at the foot of the white wall just ahead of me, with an unobstructed stretch of road between us. I will step forward again to shorten the remaining gap.", + "I can now see the ribbed yellow body and the mop wringer shape on top, so this is the cleaning bucket I was told to find. It is still a few paces away beside the downpipe, so I will walk forward again to arrive at its location.", + "The yellow mop bucket with its wringer sits clearly against the base of the white wall just ahead on the sidewalk, close to my left front. The path along the curb is clear, so one more step forward should close the last bit of distance and bring me right up beside it.", + "The yellow mop bucket with its wringer is directly beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a57c26d68359d2256ea33eb4cc210605b1d64138 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the chalkboard leaning below the shuttered window beside the light-blue plastic crates; once you spot it, move toward it.", + "Type": 1, + "Start_Pose": [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -108.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -108.48, + 0.0 + ], + [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -83.48, + 0.0 + ], + [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -58.48, + 0.0 + ], + [ + -3349.599, + -1664.919, + -931.85, + 0.0, + -58.48, + 0.0 + ], + [ + -3349.599, + -1664.919, + -931.85, + 0.0, + -33.48, + 0.0 + ], + [ + -3244.623, + -1734.349, + -931.85, + 0.0, + -33.48, + 0.0 + ], + [ + -3139.647, + -1803.779, + -931.85, + 0.0, + -33.48, + 0.0 + ], + [ + -3034.671, + -1873.208, + -931.85, + 0.0, + -33.48, + 0.0 + ], + [ + -2929.694, + -1942.638, + -931.85, + 0.0, + -33.48, + 0.0 + ], + [ + -2929.694, + -1942.638, + -931.85, + 0.0, + -58.48, + 0.0 + ], + [ + -2929.694, + -1942.638, + -931.85, + 0.0, + -83.48, + 0.0 + ], + [ + -2929.694, + -1942.638, + -931.85, + 0.0, + -108.48, + 0.0 + ], + [ + -2928.499, + -2027.026, + -922.252, + 0.0, + -108.48, + 0.0 + ], + [ + -2928.499, + -2027.026, + -922.252, + 0.0, + -108.48, + 0.0 + ] + ], + "Rationale": [ + "From here I face a storefront with a pink awning and a shuttered window, but I see no chalkboard and no light-blue crates along this stretch of railing. The street continues off to my right, so I will turn right to scan further down the shopfronts for the crates and board.", + "Turning has brought more of the shop frontage into view, and near the right end of the railing I can make out pale blue containers and a dark upright panel beside the shuttered windows. That cluster matches the crates and chalkboard described, so I will keep turning right to bring it toward the center of my view.", + "The light-blue crates and the dark framed board leaning against the railing are now in front of me, just past the bubble tea sign and the shuttered windows. They are still far down the sidewalk, so I will walk forward to close distance and confirm the board's markings.", + "The crates and the leaning board sit slightly right of my heading, and the sidewalk ahead is partly blocked by the railing on my left. I will turn right to face along the open roadway that runs past the corner, which should keep the target cluster reachable as I advance.", + "With the street ahead clear, the chalkboard and the pale blue crates are now on my left beside the shuttered window. I will step forward along the open road to draw level with them.", + "The chalkboard's written menu is now legible on my left, confirming it is the board leaning by the crates under the shuttered window. I am still off to the side of it, so I will continue walking forward to bring myself alongside.", + "The board has slid to the left edge of my view as I move up the street, with the crates and bins still beside it. I will take another step forward to reach the corner where I can turn back toward the board from a closer position.", + "Only the edge of the chalkboard remains at my far left while the crates sit near the building corner just ahead. I will advance once more to come even with that corner so the board and crates should fall cleanly to my left.", + "I have walked past the building corner and the chalkboard with its light-blue crates now sits behind me on the left edge of my view, with only the corner wall and a yellow bucket straight ahead. I will turn left to swing my heading back toward that sidewalk alcove so the board comes into the center of my view.", + "Turning has brought the chalkboard's written menu panel into the left side of my view along with the crates and bin, but the wall corner still splits the scene. I will continue turning left so the board sits squarely in front of me before I close the remaining distance.", + "The full chalkboard is now visible leaning against the wall, but it sits left of center while the blank white wall takes up the right half of my view. One more left turn should center the board and the shuttered window above it for a straight approach.", + "The chalkboard is now centered in my view, leaning below the shuttered window with the light-blue crates right beside it, so this is clearly the target described in the task. I will step forward to close the remaining gap and stand near it.", + "The chalkboard now fills my view at close range beside the light-blue crates. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7fb0cb1ae5e73f5542e580a7e43df09bbd46edab --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Walk to the parked bicycle, then head toward the yellow-black striped bollard.", + "Type": 3, + "Start_Pose": [ + -4475.538, + -1557.575, + -922.252, + 0.0, + -43.2, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4475.538, + -1557.575, + -922.252, + 0.0, + -43.2, + 0.0 + ], + [ + -4383.791, + -1643.731, + -926.4, + 0.0, + -43.2, + 0.0 + ], + [ + -4383.791, + -1643.731, + -926.4, + 0.0, + -18.2, + 0.0 + ], + [ + -4264.228, + -1683.042, + -931.85, + 0.0, + -18.2, + 0.0 + ], + [ + -4144.666, + -1722.352, + -931.85, + 0.0, + -18.2, + 0.0 + ], + [ + -4025.103, + -1761.662, + -931.85, + 0.0, + -18.2, + 0.0 + ], + [ + -4025.103, + -1761.662, + -931.85, + 0.0, + -43.2, + 0.0 + ], + [ + -3933.356, + -1847.818, + -931.85, + 0.0, + -43.2, + 0.0 + ], + [ + -3841.609, + -1933.975, + -931.85, + 0.0, + -43.2, + 0.0 + ], + [ + -3841.609, + -1933.975, + -931.85, + 0.0, + -43.2, + 0.0 + ], + [ + -3908.965, + -1870.723, + -931.85, + 0.0, + -43.2, + 0.0 + ], + [ + -3908.965, + -1870.723, + -931.85, + 0.0, + -68.2, + 0.0 + ], + [ + -3908.965, + -1870.723, + -931.85, + 0.0, + -93.2, + 0.0 + ], + [ + -3908.965, + -1870.723, + -931.85, + 0.0, + -118.2, + 0.0 + ], + [ + -3968.44, + -1981.643, + -931.85, + 0.0, + -118.2, + 0.0 + ], + [ + -3968.44, + -1981.643, + -931.85, + 0.0, + -118.2, + 0.0 + ] + ], + "Rationale": [ + "From here the bicycle leaning against the railing along the left-hand shopfront is still far down the block, and the striped bollard sits even further along that sidewalk. The lane in front of me is clear and open, so I will walk forward to cut the distance to the bicycle first.", + "My heading is angled into the building frontage on my left, and the open street that runs past the parked bicycle continues off to my right. Turning right should square me with that lane so I can keep advancing along it instead of walking into the wall.", + "The street now runs straight ahead of me with the parked bicycle standing at the railing on the left kerb. Nothing blocks the roadway, so I will step forward to draw level with it.", + "The bicycle at the railing is noticeably larger and closer on my left, so I am still short of it. Another step forward along this open lane should bring me nearly alongside it.", + "The bicycle sits just off my left shoulder now but is still slightly ahead of me. I will walk forward once more to close the last of that gap along the kerb.", + "The parked bicycle has slid to the left edge of my view while my heading still points down the empty street. Turning left should bring it back into the centre of my view so I can walk straight at it.", + "The bicycle is now centred ahead of me against the railing under the pink awning, with clear pavement between us. I will step toward it to close that remaining distance.", + "The bicycle now dominates the lower half of my view, its frame and handlebars only a short stride away at the railing. One more step forward should put me right beside it.", + "The parked bicycle is right beside me, its saddle and handlebar filling my view against the railing. I have arrived at the bicycle. I mark reaching it and now turn my attention to the yellow and black striped bollard.", + "The bicycle and the tiled wall are pressed right against me, leaving no room to swing my heading around toward the striped bollard. I will step back to open clearance from the bike and the railing so I can reorient freely.", + "With a little space regained from the bicycle, my view still faces the shop wall and railing, and the striped bollard is not in sight. Turning left should swing my heading back along the frontage where the striped post stands.", + "The rotation has brought a recessed gap and a doorway into view, but the yellow and black striped post is still outside my field of view to the left. I will keep turning left to bring it in.", + "The striped post now appears at the far left of my view, banded yellow and black against the shopfront glass. One more left turn should bring it near the center of my heading so I can walk straight at it.", + "The yellow and black striped pole is now roughly centered ahead of me on the pavement, with clear ground between us. I will walk forward to close the remaining distance to it.", + "The yellow and black striped bollard stands directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf70fc0cd0a8b0c3a2160b0e899c965ba2a03446 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the yellow-black striped bollard, then move to the parked bicycle.", + "Type": 3, + "Start_Pose": [ + -4475.538, + -1557.575, + -922.252, + 0.0, + -43.2, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4475.538, + -1557.575, + -922.252, + 0.0, + -43.2, + 0.0 + ], + [ + -4383.791, + -1643.731, + -926.4, + 0.0, + -43.2, + 0.0 + ], + [ + -4292.044, + -1729.888, + -931.85, + 0.0, + -43.2, + 0.0 + ], + [ + -4292.044, + -1729.888, + -931.85, + 0.0, + -68.2, + 0.0 + ], + [ + -4245.304, + -1846.746, + -931.85, + 0.0, + -68.2, + 0.0 + ], + [ + -4198.564, + -1963.604, + -931.85, + 0.0, + -68.2, + 0.0 + ], + [ + -4152.466, + -2055.18, + -922.252, + 0.0, + -68.2, + 0.0 + ], + [ + -4152.466, + -2055.18, + -922.252, + 0.0, + -68.2, + 0.0 + ], + [ + -4152.466, + -2055.18, + -922.252, + 0.0, + -43.2, + 0.0 + ], + [ + -4152.466, + -2055.18, + -922.252, + 0.0, + -18.2, + 0.0 + ], + [ + -4152.466, + -2055.18, + -922.252, + 0.0, + 6.8, + -0.0 + ], + [ + -4030.556, + -2034.969, + -922.439, + 0.0, + 6.8, + -0.0 + ], + [ + -3909.993, + -2019.225, + -922.252, + 0.0, + 6.8, + -0.0 + ], + [ + -3909.993, + -2019.225, + -922.252, + 0.0, + 6.8, + -0.0 + ] + ], + "Rationale": [ + "From the roadway I can pick out the yellow and black striped post standing against the building wall on the left sidewalk, with a bicycle parked at the railing beyond it. That striped post is my first destination, so I walk straight ahead to cut the distance to it.", + "The striped post ahead on the left has grown noticeably larger and its yellow and black bands are now clearly readable. Nothing blocks the open road surface between us, so I keep walking forward to close in on it.", + "The striped post sits left of my heading, at the base of the tall utility pole beside the shopfront, while my current course would carry me past it down the street. I turn left to bring it in front of me before advancing further.", + "The striped post is now squarely ahead of me at the foot of the utility pole, with the sidewalk and its low curb between us. I step forward along this heading to shorten the remaining gap.", + "The yellow and black bands fill a good part of my view now, and I can see the curb edge just in front of my feet. I keep walking so I can stand right beside the striped post.", + "I am up on the sidewalk with the striped post looming to my right and the glass shop doors directly ahead. One more short step forward should bring me level with the post rather than short of it.", + "The yellow and black striped post stands right at my shoulder, close enough to touch, with the shop's glass doors filling the rest of my view. I have arrived at the striped post. I mark reaching it, and now I set off for the bicycle parked at the sidewalk railing.", + "Facing the shop's glass doors leaves me looking at a wall of frontage with no path forward, and the bicycle stands back along the sidewalk to my right. I turn right to swing my heading off the doors and toward that stretch of sidewalk.", + "The yellow and black striped bollard now fills the right half of my view at arm's length, and past it the sidewalk opens toward the street. The parked bicycle lies further along that walkway, so I turn right again to swing my heading off the shopfront and out along the pavement.", + "My view has cleared the bollard enough that I can see the railing running down the sidewalk with the parked bicycle leaning against it toward the right edge. It sits too far off center for a straight walk, so I turn right once more to bring it in front of me.", + "The bicycle now sits ahead of me along the railing, close to the middle of my view, with the bollard fallen back to my left. The pavement between us looks clear, so I walk forward to close the gap toward the bicycle.", + "The bicycle has grown noticeably larger just ahead against the railing, but I am still a couple of paces short of standing beside it. Nothing blocks the walkway, so I step forward again to draw right up to it.", + "The parked bicycle stands immediately beside me at the railing, filling the near part of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t5_a_pd/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9d13546efbd5251e1e553a0c8a763ed2070fd7fe --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Lift the jerry can beside the parked bicycle, then place it near the yellow-black striped bollard.", + "Type": 5, + "Start_Pose": [ + -4475.538, + -1557.575, + -922.252, + 0, + -43.2, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -3737.75, + -1906.558, + -1011.85, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4475.538, + -1557.575, + -922.252, + 0, + -43.2, + 0 + ], + [ + -4383.791, + -1643.731, + -926.4, + 0.0, + -43.2, + 0.0 + ], + [ + -4292.044, + -1729.888, + -931.85, + 0.0, + -43.2, + 0.0 + ], + [ + -4292.044, + -1729.888, + -931.85, + 0.0, + -18.2, + 0.0 + ], + [ + -4172.481, + -1769.198, + -931.85, + 0.0, + -18.2, + 0.0 + ], + [ + -4052.918, + -1808.508, + -931.85, + 0.0, + -18.2, + 0.0 + ], + [ + -3933.356, + -1847.818, + -931.85, + 0.0, + -18.2, + 0.0 + ], + [ + -3813.793, + -1887.128, + -931.85, + 0.0, + -18.2, + 0.0 + ], + [ + -3813.793, + -1887.128, + -931.85, + 0.0, + -18.199, + 0.0 + ], + [ + -3813.793, + -1887.128, + -931.85, + 0.0, + -43.199, + 0.0 + ], + [ + -3813.793, + -1887.128, + -931.85, + 0.0, + -68.199, + 0.0 + ], + [ + -3813.793, + -1887.128, + -931.85, + 0.0, + -93.199, + 0.0 + ], + [ + -3813.793, + -1887.128, + -931.85, + 0.0, + -118.199, + 0.0 + ], + [ + -3813.793, + -1887.128, + -931.85, + 0.0, + -143.199, + 0.0 + ], + [ + -3914.572, + -1962.522, + -931.85, + 0.0, + -143.199, + 0.0 + ], + [ + -4015.35, + -2037.916, + -922.309, + 0.0, + -143.199, + 0.0 + ], + [ + -3957.698, + -1994.785, + -928.146, + 0.0, + -143.199, + 0.0 + ], + [ + -3957.698, + -1994.785, + -928.146, + 0.0, + -143.199, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3737.75, + -1906.558, + -1011.85, + 0.0, + 0.0, + 0.0 + ], + [ + -3737.75, + -1906.558, + -1011.85, + 0.0, + 0.0, + 0.0 + ], + [ + -3737.75, + -1906.558, + -1011.85, + 0.0, + 0.0, + 0.0 + ], + [ + -3737.75, + -1906.558, + -1011.85, + 0.0, + 0.0, + 0.0 + ], + [ + -3737.75, + -1906.558, + -1011.85, + 0.0, + 0.0, + 0.0 + ], + [ + -3737.75, + -1906.558, + -1011.85, + 0.0, + 0.0, + 0.0 + ], + [ + -3737.75, + -1906.558, + -1011.85, + 0.0, + 0.0, + 0.0 + ], + [ + -3737.75, + -1906.558, + -1011.85, + 0.0, + 0.0, + 0.0 + ], + [ + -3807.704, + -1866.652, + -961.744, + -28.202, + 31.945, + 1.862 + ], + [ + -3800.276, + -1871.835, + -961.471, + -28.189, + 6.957, + 1.872 + ], + [ + -3795.004, + -1879.782, + -962.138, + -28.215, + -18.072, + 1.849 + ], + [ + -3787.167, + -1894.052, + -961.957, + -14.175, + -51.007, + 6.959 + ], + [ + -3795.109, + -1896.699, + -962.068, + -28.208, + -68.057, + 1.851 + ], + [ + -3801.625, + -1902.849, + -961.4, + -28.198, + -93.053, + 1.867 + ], + [ + -3901.369, + -1979.316, + -961.93, + -28.198, + -93.054, + 1.862 + ], + [ + -4002.311, + -2054.829, + -962.317, + -28.202, + -93.058, + 1.86 + ], + [ + -4013.749, + -2036.718, + -978.146, + 0.0, + -143.199, + 0.0 + ], + [ + -4013.749, + -2036.718, + -978.146, + 0.0, + -143.199, + 0.0 + ] + ], + "PD_Dist_2D": [ + 816.2, + 697.5, + 581.8, + 581.8, + 455.9, + 330.1, + 204.2, + 78.5, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "I can see the red jerry can standing on the pavement beside the bicycle parked against the railing far down the street on my left. It is much too distant to reach, so I will walk forward along the road to close that gap.", + "The bicycle and the jerry can beside it have grown noticeably larger ahead of me, so my heading is good. I will keep walking forward to shorten the remaining distance before I need to correct my alignment.", + "The jerry can and bicycle now sit well to the left edge of my view because my path along the street curves past them, and a lamp post area crowds the left side. Turning right should swing my heading back down the open street lane so I can advance straight toward the can rather than into the building wall.", + "After the turn the street opens ahead and the jerry can sits just left of my centre line, clearly reachable by walking straight. I will step forward to keep closing on it.", + "The jerry can is holding a steady position slightly left of centre and is becoming clearly detailed, so my heading needs no correction. Another step forward should bring me within a stride or two of it.", + "The jerry can now fills a good part of the lower left view, close to the bicycle wheels, but it is still a step or so beyond arm's reach. I will advance again to get right up beside it.", + "The jerry can is directly in front of me at the kerb beside the bicycle and dominates the near view, yet it sits just past comfortable grasping range. One more step forward should place it immediately at my feet for the lift.", + "The jerry can is now right at the bottom of my view, immediately in front of me beside the parked bicycle. This is the closest I can stand, so I will attempt the lift and expect the can to come into my hands.", + "The jerry can is now in my hands rather than resting on the pavement beside the bicycle, so the grasp took hold. The yellow and black striped bollard stands back along the sidewalk I came from, well behind my current heading. I will turn left to begin swinging my facing around toward it.", + "Carrying the can, my view still shows only the parked bicycle, the railing and the tiled shopfront, with no striped bollard in sight. My rotation is not yet far enough around to face the way back down the sidewalk. I will turn left again to keep sweeping toward that direction.", + "I am still holding the jerry can, but the near wall and bicycle frame fill my view and block any sight line toward the striped bollard. Continuing the same rotation is the direct way to bring the sidewalk behind me into view. I will turn left once more.", + "The bicycle has slid to the edge of my view and the shop doors and open gap now sit ahead, so my facing is swinging past the storefront. The marked bollard should lie further around to my left along the walkway. I will turn left again to continue closing that angle.", + "The tiled building front and the tall pole with its yellow marking now sit ahead of me while I carry the jerry can. My heading is close but the walkway leading to it still runs off to my left. One more left turn should line my body up with that path.", + "The sidewalk now runs straight ahead with the post carrying the yellow and black striped marking a short way in front of me. Holding the can, I only need to close that remaining gap rather than adjust my facing. I will step forward along the walkway.", + "The striped post is noticeably larger ahead of me, its yellow band now clearly visible on the near side. I am still a stride away from being alongside it, which is too far to set the can down near its base. I will take another step forward.", + "The yellow and black striped bollard is now directly beside me, filling the near part of my view at arm's length. The jerry can is still in my hands and this spot at its base is where the task wants it placed. I will release the can here.", + "The jerry can now rests on the pavement right beside the yellow and black striped bollard post. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t5_b_pd/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d0dc0e9a092c25eed8220fc4cfce7b79933dd30f --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t5_b_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the wicker basket at the yellow-black striped bollard, then leave it near the parked bicycle.", + "Type": 5, + "Start_Pose": [ + -4475.538, + -1557.575, + -922.252, + 0, + -43.2, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4200.366, + -2060.244, + -982.252, + 90, + -30.2, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4475.538, + -1557.575, + -922.252, + 0, + -43.2, + 0 + ], + [ + -4383.791, + -1643.731, + -926.4, + 0.0, + -43.2, + 0.0 + ], + [ + -4383.791, + -1643.731, + -926.4, + 0.0, + -68.2, + 0.0 + ], + [ + -4337.051, + -1760.59, + -931.85, + 0.0, + -68.2, + 0.0 + ], + [ + -4290.311, + -1877.448, + -931.85, + 0.0, + -68.2, + 0.0 + ], + [ + -4243.571, + -1994.306, + -930.855, + 0.0, + -68.2, + 0.0 + ], + [ + -4243.571, + -1994.306, + -930.855, + 0.0, + -68.2, + 0.0 + ], + [ + -4243.571, + -1994.306, + -930.855, + 0.0, + -43.2, + 0.0 + ], + [ + -4243.571, + -1994.306, + -930.855, + 0.0, + -18.2, + 0.0 + ], + [ + -4243.571, + -1994.306, + -930.855, + 0.0, + 6.8, + -0.0 + ], + [ + -4118.597, + -1979.404, + -931.727, + 0.0, + 6.8, + -0.0 + ], + [ + -3993.623, + -1964.502, + -931.727, + 0.0, + 6.8, + -0.0 + ], + [ + -3868.65, + -1949.601, + -931.727, + 0.0, + 6.8, + -0.0 + ], + [ + -3940.143, + -1958.125, + -931.727, + 0.0, + 6.8, + -0.0 + ], + [ + -3940.143, + -1958.125, + -931.727, + 0.0, + 6.8, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4200.366, + -2060.244, + -982.252, + 90.0, + -30.2, + 0.0 + ], + [ + -4200.366, + -2060.244, + -982.252, + 90.0, + -30.2, + 0.0 + ], + [ + -4200.366, + -2060.244, + -982.252, + 90.0, + -30.2, + 0.0 + ], + [ + -4200.366, + -2060.244, + -982.252, + 90.0, + -30.2, + 0.0 + ], + [ + -4200.366, + -2060.244, + -982.252, + 90.0, + -30.2, + 0.0 + ], + [ + -4200.366, + -2060.244, + -982.252, + 90.0, + -30.2, + 0.0 + ], + [ + -4223.971, + -1985.81, + -961.744, + -28.202, + -18.056, + 1.862 + ], + [ + -4228.747, + -1977.619, + -961.471, + -28.189, + 6.957, + 1.872 + ], + [ + -4236.39, + -1972.958, + -962.138, + -28.215, + 31.927, + 1.849 + ], + [ + -4241.285, + -1967.303, + -962.084, + -14.092, + 49.144, + 6.87 + ], + [ + -4121.849, + -1958.286, + -961.518, + -28.198, + 56.945, + 1.865 + ], + [ + -3996.582, + -1943.346, + -962.055, + -28.191, + 56.958, + 1.871 + ], + [ + -3871.482, + -1928.439, + -962.336, + -28.214, + 56.93, + 1.852 + ], + [ + -3870.635, + -1949.837, + -966.727, + 90.0, + 6.8, + 0.0 + ], + [ + -3870.635, + -1949.837, + -966.727, + 90.0, + 6.8, + 0.0 + ] + ], + "PD_Dist_2D": [ + 573.1, + 455.1, + 455.1, + 329.4, + 203.7, + 78.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "I can see the wicker basket leaning against the wall beside the yellow and black striped bollard well ahead on the left sidewalk, and the parked bicycle further down the street. Nothing blocks the roadway in front of me, so I will walk forward to close that long gap before refining my heading.", + "The basket and its striped bollard now sit noticeably left of my heading, near the storefront windows, while my body still points straight down the street. I will turn left to bring the basket toward the center of my view so my next steps carry me directly to it.", + "The basket and striped bollard are now centered in front of me against the shopfront, so my heading is good. The sidewalk between us is clear, so I will step forward to shorten the remaining distance toward the basket.", + "The basket has grown larger against the glass door and the striped bollard stands right beside it, confirming I am on line. I am still too far to reach it, so I will keep walking forward.", + "I see the basket close in front of me at the base of the striped bollard, but it is still slightly beyond comfortable arm's reach. I will take one more step forward so it sits directly at my feet for a grasp attempt.", + "The basket is now right at the edge of my view beside the striped bollard, close enough that I should be able to reach it. I will attempt to pick it up so I can carry it toward the parked bicycle down the street.", + "The basket is now in my hands rather than resting by the bollard, so the grasp worked. The bicycle stands back down the street behind my current facing, so I will turn right to begin swinging my heading toward it.", + "I am still mostly facing the storefront glass with the striped bollard in front of me, and only the far edge of the street with a bicycle rack is entering view on the right. I will turn right again to bring the parked bicycle and the open lane into my heading.", + "The basket is in my hands and the striped bollard now sits at my left edge, with the parked bicycle leaning against the railing ahead but still crowded by the pole. One more turn to the right should clear the pole and put the open street and the bicycle squarely in front of me for the walk over.", + "My heading is now clear of the bollard and the street runs straight ahead with the parked bicycle at the railing on my left. Carrying the basket, I step forward to close the remaining gap toward that bicycle.", + "The bicycle is noticeably larger at my left, so my line of travel is right. I keep walking forward with the basket to draw level with where it stands against the railing.", + "The bicycle's frame and wheel now fill the near left of my view, but I am still slightly behind its resting spot. One more step forward should place me beside it, close enough to set the basket down nearby.", + "I am standing right alongside the parked bicycle, its wheel and frame immediately at my left against the railing. This is as close as the drop-off needs to be, so I release the basket here and expect it to come to rest beside the bicycle.", + "The wicker basket now rests on the pavement right beside the parked bicycle, and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..babd83098ad2f80fccb39ca85e50cebeeaad701b --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the green dumpster, then head toward the base of the staircase.", + "Type": 3, + "Start_Pose": [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ], + [ + -4510.596, + -1931.148, + -931.85, + 0.0, + 99.84, + -0.0 + ], + [ + -4532.105, + -1807.14, + -931.85, + 0.0, + 99.84, + -0.0 + ], + [ + -4532.105, + -1807.14, + -931.85, + 0.0, + 74.84, + -0.0 + ], + [ + -4499.191, + -1685.661, + -931.85, + 0.0, + 74.84, + -0.0 + ], + [ + -4466.277, + -1564.182, + -922.262, + 0.0, + 74.84, + -0.0 + ], + [ + -4466.277, + -1564.182, + -922.262, + 0.0, + 74.84, + -0.0 + ], + [ + -4466.277, + -1564.182, + -922.262, + 0.0, + 99.84, + -0.0 + ], + [ + -4466.277, + -1564.182, + -922.262, + 0.0, + 124.84, + -0.0 + ], + [ + -4466.277, + -1564.182, + -922.262, + 0.0, + 149.84, + -0.0 + ], + [ + -4466.277, + -1564.182, + -922.262, + 0.0, + 174.84, + -0.0 + ], + [ + -4591.583, + -1557.568, + -922.252, + 0.0, + 174.84, + -0.0 + ], + [ + -4716.777, + -1557.564, + -922.252, + 0.0, + 174.84, + -0.0 + ], + [ + -4841.972, + -1557.564, + -922.252, + 0.0, + 174.84, + -0.0 + ], + [ + -4967.166, + -1557.564, + -922.252, + 0.0, + 174.84, + -0.0 + ], + [ + -4967.166, + -1557.564, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -4967.166, + -1557.564, + -922.252, + 0.0, + 149.84, + -0.0 + ] + ], + "Rationale": [ + "The green dumpster sits ahead against the tiled wall on the far side of the road, well beyond reach from here. I will step forward to close the open gap toward it.", + "The dumpster and the stacked crates beside it have grown noticeably larger, so my heading is carrying me toward them. I will keep walking forward to cross the remaining stretch of road.", + "The dumpster has slid to the left edge of my view and is nearly leaving it, while the tiled wall fills the center. I will turn left to bring the green dumpster back in front of me before advancing further.", + "The green dumpster now sits squarely in front of me with the crates at its side, so my heading is good. I will walk forward to close the last of the distance to it.", + "The dumpster fills much of my view and the wall behind it is close, but a short gap of pavement still separates us. I will take one more step forward to stand right at it.", + "The green dumpster's ribbed side and lid fill my view from arm's length against the tiled wall. I have arrived at it. I mark reaching the dumpster and now set off for the base of the staircase.", + "Pressed up against the dumpster, I can see nothing of the street or any steps from this heading. I will turn right to sweep my view along the wall and look for the staircase.", + "The turn has cleared the dumpster to my left and revealed a doorway in the tiled wall, but still no steps. I will turn right again to keep swinging toward the corner where the street opens up.", + "The dumpster has slid off to my far left and the tiled wall now fills most of my view, with the corner of the neighboring building opening on the right. I still cannot see the staircase, so I will keep pivoting right to bring that corner and the sidewalk beyond it into view.", + "The turn has opened the street, and I can now see the concrete steps with a white handrail tucked against the far building corner ahead on my right. My heading still points too far toward the tiled wall, so one more pivot right should line the staircase up in front of me.", + "The staircase with its pale handrail now sits ahead along the left side of the sidewalk, and the walkway in front of me is clear and open. I will walk forward to close the gap toward the base of those steps.", + "The steps and their railing have grown larger and are now close on my left, but I am still short of the bottom tread. The sidewalk ahead remains unobstructed, so I will keep walking to draw level with the foot of the stairs.", + "The lowest treads and the sloped handrail are now clearly visible just ahead on my left, though I am still a stride or two from being beside them. Another step forward should bring me alongside the base of the staircase.", + "The bottom step is now close to my left, nearly at the edge of my view, so a little more forward travel should place me right at the foot of the stairs. The pavement ahead is still clear, so I will advance once more.", + "I am now standing level with the bottom of the staircase, but it lies off to my left while I face down the street. I will pivot left so the steps and their base are squarely in front of me.", + "The bottom step of the staircase lies directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ab007e307872772e76b121f66198fa9c45b8f927 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_b/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Approach the blue crates, then move to the base of the staircase.", + "Type": 3, + "Start_Pose": [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ], + [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 74.84, + -0.0 + ], + [ + -4456.173, + -1933.676, + -931.85, + 0.0, + 74.84, + -0.0 + ], + [ + -4423.259, + -1812.197, + -931.85, + 0.0, + 74.84, + -0.0 + ], + [ + -4390.345, + -1690.718, + -931.85, + 0.0, + 74.84, + -0.0 + ], + [ + -4357.431, + -1569.239, + -922.335, + 0.0, + 74.84, + -0.0 + ], + [ + -4357.431, + -1569.239, + -922.335, + 0.0, + 74.84, + -0.0 + ], + [ + -4357.431, + -1569.239, + -922.335, + 0.0, + 99.84, + -0.0 + ], + [ + -4357.431, + -1569.239, + -922.335, + 0.0, + 124.84, + -0.0 + ], + [ + -4357.431, + -1569.239, + -922.335, + 0.0, + 149.84, + -0.0 + ], + [ + -4357.431, + -1569.239, + -922.335, + 0.0, + 174.84, + -0.0 + ], + [ + -4482.78, + -1557.92, + -922.335, + 0.0, + 174.84, + -0.0 + ], + [ + -4607.974, + -1557.564, + -922.252, + 0.0, + 174.84, + -0.0 + ], + [ + -4733.168, + -1557.564, + -922.252, + 0.0, + 174.84, + -0.0 + ], + [ + -4858.362, + -1557.564, + -922.252, + 0.0, + 174.84, + -0.0 + ], + [ + -4983.557, + -1557.564, + -922.252, + 0.0, + 174.84, + -0.0 + ], + [ + -4983.557, + -1557.564, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -4983.557, + -1557.564, + -922.252, + 0.0, + 149.84, + -0.0 + ] + ], + "Rationale": [ + "The stack of blue crates sits against the far wall beside the green dumpster, offset to the left of where my body is pointed. I will turn left so the crates come toward the center of my view and give me a straight line to walk.", + "The blue crates now sit near the middle of my view, with open roadway and a curb between me and them. Nothing blocks that line, so I will walk forward to begin closing the gap.", + "The crates and the dumpster have grown noticeably larger and still sit straight ahead of me, so my heading remains good. I will keep walking forward toward them.", + "I have crossed onto the near pavement and the crates now stand clearly on this side of the curb, just a short stretch away. I will continue walking forward to reach them.", + "The dumpster now dominates my view and the blue crates sit low and close on my left. One more step forward should bring me right up beside them.", + "The blue crates are right at my feet at the lower left, with the green dumpster's flank filling my view an arm's length away. I have arrived at the crates. I mark reaching them and set off for the base of the staircase.", + "From here beside the crates I face only the dumpster's side and a blank tiled wall, with no staircase anywhere in my view. I will turn right to swing my view along the sidewalk toward the open street and look for the steps.", + "The dumpster has slid toward my left and a metal door on the tiled wall has come into view, but there is still no sign of a staircase. I will turn right again to bring more of the building frontage and the street ahead into view.", + "The green dumpster and the crates beside it now sit off to my left, and my view has opened onto the sidewalk running past a doorway toward the grey block building. I still cannot see the steps I need, so I will keep turning right to sweep further along that sidewalk.", + "A short flight of concrete steps with a pale railing has come into view against the grey building ahead on my right, past the doorway. One more turn to the right should line my heading up with the open sidewalk leading to those steps.", + "The sidewalk now runs straight ahead of me with the concrete steps and their pale railing set into the building wall on the left side of my path. With nothing blocking the pavement, I will walk forward to close the distance to those steps.", + "The steps have grown larger and the food posters on the wall beside them are now readable, so my heading down the sidewalk is good. I will keep walking forward toward the foot of that staircase.", + "The stair treads and the drainpipe beside them are clearly resolved a short way ahead on my left, and the pavement between us is empty. Another step forward should bring me close to where the lowest tread meets the sidewalk.", + "The staircase and its sloping parapet wall now fill much of the left side of my view, but the bottom step still lies a little ahead of me. I will continue walking forward along the sidewalk to draw level with it.", + "I am nearly alongside the staircase now, with its bottom tread and the grating in the pavement just ahead on my left. One more step forward should put me right at the foot of the stairs.", + "I have drawn level with the staircase, whose tiled parapet and lowest steps are right beside me on the left while my body still faces down the street. Turning left should square me up with the base of those stairs.", + "The staircase's bottom step and railing are directly beside me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db42c775f5644c086f9b17d512bbaa15bb003aed --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_c/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Move to the base of the staircase, then proceed to the blue crates.", + "Type": 3, + "Start_Pose": [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ], + [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 124.84, + -0.0 + ], + [ + -4560.988, + -1951.856, + -931.77, + 0.0, + 124.84, + -0.0 + ], + [ + -4632.89, + -1848.557, + -931.77, + 0.0, + 124.84, + -0.0 + ], + [ + -4704.792, + -1745.258, + -931.77, + 0.0, + 124.84, + -0.0 + ], + [ + -4704.792, + -1745.258, + -931.77, + 0.0, + 149.84, + -0.0 + ], + [ + -4813.613, + -1682.025, + -931.77, + 0.0, + 149.84, + -0.0 + ], + [ + -4922.433, + -1618.791, + -922.391, + 0.0, + 149.84, + -0.0 + ], + [ + -5031.047, + -1557.666, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -5031.047, + -1557.666, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -5031.047, + -1557.666, + -922.252, + 0.0, + 124.84, + -0.0 + ], + [ + -5031.047, + -1557.666, + -922.252, + 0.0, + 99.84, + -0.0 + ], + [ + -5031.047, + -1557.666, + -922.252, + 0.0, + 74.84, + -0.0 + ], + [ + -5031.047, + -1557.666, + -922.252, + 0.0, + 49.84, + -0.0 + ], + [ + -5031.047, + -1557.666, + -922.252, + 0.0, + 24.84, + -0.0 + ], + [ + -5031.047, + -1557.666, + -922.252, + 0.0, + -0.16, + 0.0 + ], + [ + -4905.188, + -1558.018, + -922.252, + 0.0, + -0.16, + 0.0 + ], + [ + -4779.33, + -1558.369, + -922.252, + 0.0, + -0.16, + 0.0 + ], + [ + -4653.471, + -1558.721, + -922.252, + 0.0, + -0.16, + 0.0 + ], + [ + -4527.613, + -1559.072, + -922.252, + 0.0, + -0.16, + 0.0 + ], + [ + -4401.754, + -1559.424, + -922.252, + 0.0, + -0.16, + 0.0 + ], + [ + -4401.754, + -1559.424, + -922.252, + 0.0, + 24.84, + -0.0 + ], + [ + -4290.755, + -1557.597, + -922.252, + 0.0, + 24.84, + -0.0 + ], + [ + -4290.755, + -1557.597, + -922.252, + 0.0, + 49.84, + -0.0 + ], + [ + -4290.755, + -1557.597, + -922.252, + 0.0, + 49.84, + -0.0 + ] + ], + "Rationale": [ + "The exterior staircase with its white railing sits against the gray building well off to my right, while the dumpster and blue crates are behind me to the left along this wall. Since the staircase is my first destination, I will turn right to bring it into the center of my view before walking.", + "The staircase against the gray corner building is now ahead of me and the sidewalk running toward it is clear and empty. I will walk forward along the pavement to close the distance to its base.", + "The stairway and its concrete steps are noticeably larger and the awnings beyond it have grown, so my heading is carrying me toward it. The walkway in front stays clear, so I will keep stepping forward.", + "The lower steps of the staircase are clearly resolved now, tucked under the railing at the gray building's face, but I am still several strides short of standing at them. I will advance again along the open sidewalk.", + "As I have closed in, the staircase has drifted toward the right side of my view and my current heading would carry me past its base into the passage on the left. A right turn should put the steps squarely in front of me before I continue.", + "The turn has lined the stairway and its lowest steps up ahead of me along the building wall. The pavement between us is open, so I will step forward to close on the base of the stairs.", + "The bottom treads of the staircase and the drainpipe beside it are close on my left front, but I am not yet level with the foot of the stairs. Another step forward should bring me alongside the base.", + "The stairway now fills the left of my view with its bottom steps just short of me at the building wall. One more stride should place me right at the foot of the staircase.", + "The tiled balustrade of the outdoor staircase rises right beside me and its lowest steps sit at my feet. I am at the base of the staircase. I mark reaching it, and now my heading has to swing around toward the blue crates by the dumpster.", + "Facing the stair wall this closely leaves me nothing to walk toward, and the blue crates lie back along the sidewalk well behind my shoulder. I will turn left to start swinging my heading off this wall and back down the walkway.", + "Only the lit window and the tiled flank of the stairs are in front of me, so I am still aimed into the building. Another left turn should keep rotating me toward the open sidewalk where the crates stand.", + "The brick wall and its window now sit square in front of me with the stairs pushed to the right edge, so my heading is still into masonry. I will continue turning left to bring the open ground past the corner into view.", + "Open paving and a doorway are appearing past the brick pier on my left, so the rotation is finally clearing the building face. Another left turn should carry that opening toward the center of my view.", + "A green dumpster with a small blue crate beside it has come into view at the far left, still well off my heading. I will turn left again to bring that spot closer to the middle of my view.", + "The dumpster with the blue crates beside it now sits left of center along the wall, with clear sidewalk running toward it. One more left turn should put that stretch of walkway straight ahead of me.", + "The blue crates stacked beside the green dumpster are now ahead along the right-hand wall, with open pavement the whole way. My heading is on them, so I will walk forward to close the gap.", + "The green dumpster sits ahead along the right-hand wall, and the stack of blue crates is tucked beside it. My heading down the sidewalk lines up with them, so I will keep walking to cut the remaining distance.", + "The crates have grown noticeably and now read clearly as a blue stack at the foot of the dumpster on my right. Nothing blocks the pavement between us, so another step forward should bring me closer.", + "The dumpster now fills much of my right side and the blue crates sit just in front of it, still a few paces off. I will continue walking along the wall to draw level with them.", + "The crates are close and low on my right now, sitting against the dumpster's front wheel. One more step should put me alongside them rather than still short of them.", + "My forward heading has carried the crates to the far right corner of my view, where I can barely keep them in sight. Turning right should swing the blue crates back toward the center so I can close on them directly.", + "The blue crates are now framed in front of me beside the dumpster, only a short gap away. I will step forward to bring myself right up beside them.", + "I am level with the crates, but my step has left them slipping off the right edge while I face down the empty sidewalk. A turn to the right should square me onto the blue crates beside the dumpster.", + "The blue crates stand directly before me at arm's reach beside the dumpster. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0d59e2e133cf3fe87592257e45ad373d69333bd --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_d/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Approach the base of the staircase, then walk to the green dumpster.", + "Type": 3, + "Start_Pose": [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ], + [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 124.84, + -0.0 + ], + [ + -4560.988, + -1951.856, + -931.77, + 0.0, + 124.84, + -0.0 + ], + [ + -4632.89, + -1848.557, + -931.77, + 0.0, + 124.84, + -0.0 + ], + [ + -4704.792, + -1745.258, + -931.77, + 0.0, + 124.84, + -0.0 + ], + [ + -4776.693, + -1641.96, + -928.198, + 0.0, + 124.84, + -0.0 + ], + [ + -4847.607, + -1557.671, + -922.252, + 0.0, + 124.84, + -0.0 + ], + [ + -4847.607, + -1557.671, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -4951.943, + -1557.605, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -4951.943, + -1557.605, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -4951.943, + -1557.605, + -922.252, + 0.0, + 124.84, + -0.0 + ], + [ + -4951.943, + -1557.605, + -922.252, + 0.0, + 99.84, + -0.0 + ], + [ + -4951.943, + -1557.605, + -922.252, + 0.0, + 74.84, + -0.0 + ], + [ + -4951.943, + -1557.605, + -922.252, + 0.0, + 49.84, + -0.0 + ], + [ + -4951.943, + -1557.605, + -922.252, + 0.0, + 24.84, + -0.0 + ], + [ + -4840.944, + -1557.597, + -922.252, + 0.0, + 24.84, + -0.0 + ], + [ + -4729.944, + -1557.597, + -922.252, + 0.0, + 24.84, + -0.0 + ], + [ + -4618.944, + -1557.597, + -922.252, + 0.0, + 24.84, + -0.0 + ], + [ + -4507.945, + -1557.597, + -922.252, + 0.0, + 24.84, + -0.0 + ], + [ + -4507.945, + -1557.597, + -922.252, + 0.0, + 49.84, + -0.0 + ], + [ + -4436.215, + -1557.597, + -922.252, + 0.0, + 49.84, + -0.0 + ], + [ + -4436.215, + -1557.597, + -922.252, + 0.0, + 49.84, + -0.0 + ] + ], + "Rationale": [ + "The outdoor staircase with its pale railing sits far to my right, against the gray brick building across the way, while the green dumpster rests along the tiled wall to my left. Since the stairs are my first destination, I will turn right to bring them nearer the center of my view before walking.", + "The stepped railing on the gray brick building now sits ahead and slightly right of center, with clear open pavement and road between me and it. Nothing blocks the line, so I will walk forward to close the gap toward the staircase.", + "The staircase and its railing are noticeably larger and the awnings beside it have spread wider in my view, confirming I am closing on it. The pavement ahead stays clear, so I will keep walking forward.", + "The lowest treads of the staircase are now visible at the corner of the gray brick building, just right of the recessed window. I am still some distance short of them, so another step forward should continue narrowing that gap.", + "The stair treads and the metal handrail are clearly resolved ahead on my right, with the dark underpass opening to my left. I will advance again to bring myself alongside the foot of those steps.", + "I am now under the overhang with the staircase close on my right, though the brick pier and window still stand between me and the bottom step. One more step forward should carry me level with the base of the stairs.", + "The staircase has slid to the right edge of my view as I moved past the brick pier, so straight ahead now shows only wall and the open passage. I will turn right to face the steps and their railing squarely.", + "The staircase is now centered in front of me, its lowest tread and handrail clearly ahead with clean pavement between us. A short step forward should place me right at the foot of the stairs.", + "The bottom step and its tiled railing are directly in front of me, with the flight rising away against the building wall. I am standing at the foot of the staircase, so I mark reaching it, and now my heading turns toward the green dumpster set against the pale tiled wall.", + "Facing the steps leaves me pointed into the stairwell, which is no use for the dumpster. Turning left should begin swinging my heading back along the wall toward the sheltered walkway where that dumpster sits.", + "The staircase has slid to my right and a shadowed opening is appearing at the far left edge. I keep turning left to bring that passage under the building squarely in front of me.", + "A brick pier still blocks most of my view, though daylight and a courtyard show through the gap on the left. Another left turn should clear the pier and open the route toward the dumpster.", + "The pale tiled wall with its glass door is now ahead, but the green dumpster is not yet in sight along it. I turn left once more to sweep further down that wall.", + "The green dumpster has come into view at the far left, sitting against the tiled wall with crates beside it. One more left turn should place it in front of me so I can walk straight at it.", + "The green dumpster now stands ahead of me down the open walkway, close to the tiled wall on my right. With a clear paved path between us, I walk forward to close the distance.", + "The dumpster is noticeably larger and still centered slightly ahead along the wall, so my heading remains good. I keep walking forward to shorten the remaining gap.", + "The green dumpster sits ahead against the tiled wall on my right, still several paces off along this sidewalk. The walkway between me and it is clear, so I will step forward to keep closing the gap.", + "The dumpster now fills much of the right side of my view, its rusted lid and green panels close by, but I am still level with its rear corner rather than beside it. Another step forward should bring me alongside the body of it.", + "I am right up against the dumpster's long green flank, which now runs off the right edge of my view while my heading points down the empty sidewalk. Turning right should swing the dumpster back into the center of my view so I can face it properly.", + "The green dumpster is now squarely centered in front of me with its crates at the left, and only a short stretch of paving separates us. I will take one more step to stand directly at it.", + "The green dumpster fills my view at arm's length, its green panels and lid directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t5_a_pd/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f37c46b9d4a9275087219e5920b35c75c30ca923 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Grab the tomato beside the blue crates, then place it at the base of the staircase.", + "Type": 5, + "Start_Pose": [ + -4489.087, + -2055.155, + -922.252, + 0, + 99.84, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4573.746, + -1541.098, + -962.252, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4489.087, + -2055.155, + -922.252, + 0, + 99.84, + 0 + ], + [ + -4510.596, + -1931.148, + -931.85, + 0.0, + 99.84, + -0.0 + ], + [ + -4532.105, + -1807.14, + -931.85, + 0.0, + 99.84, + -0.0 + ], + [ + -4553.614, + -1683.133, + -931.85, + 0.0, + 99.84, + -0.0 + ], + [ + -4553.614, + -1683.133, + -931.85, + 0.0, + 99.84, + -0.0 + ], + [ + -4553.614, + -1683.133, + -931.85, + 0.0, + 124.84, + -0.0 + ], + [ + -4625.515, + -1579.834, + -922.272, + 0.0, + 124.84, + -0.0 + ], + [ + -4625.515, + -1579.834, + -922.272, + 0.0, + 149.84, + -0.0 + ], + [ + -4731.886, + -1557.605, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -4836.223, + -1557.605, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -4940.56, + -1557.605, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -5044.896, + -1557.605, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -4982.643, + -1593.779, + -922.252, + 0.0, + 149.84, + -0.0 + ], + [ + -4982.643, + -1593.779, + -922.252, + 0.0, + 149.84, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4573.746, + -1541.098, + -962.252, + 0.0, + 0.0, + 0.0 + ], + [ + -4573.746, + -1541.098, + -962.252, + 0.0, + 0.0, + 0.0 + ], + [ + -4573.746, + -1541.098, + -962.252, + 0.0, + 0.0, + 0.0 + ], + [ + -4573.746, + -1541.098, + -962.252, + 0.0, + 0.0, + 0.0 + ], + [ + -4574.549, + -1687.383, + -961.744, + -28.202, + 149.985, + 1.862 + ], + [ + -4571.574, + -1696.386, + -961.471, + -28.189, + 174.997, + 1.872 + ], + [ + -4642.462, + -1592.869, + -961.16, + -28.193, + 174.989, + 1.872 + ], + [ + -4636.402, + -1598.864, + -962.325, + -28.202, + -160.019, + 1.858 + ], + [ + -4742.035, + -1576.409, + -961.679, + -28.189, + -160.004, + 1.875 + ], + [ + -4846.068, + -1576.581, + -961.117, + -28.2, + -160.015, + 1.866 + ], + [ + -4950.884, + -1576.31, + -961.98, + -28.189, + -160.004, + 1.87 + ], + [ + -5055.28, + -1576.27, + -962.121, + -28.202, + -160.02, + 1.857 + ], + [ + -5043.167, + -1558.61, + -907.252, + 0.0, + 149.84, + -0.0 + ], + [ + -5043.167, + -1558.61, + -907.252, + 0.0, + 149.84, + -0.0 + ] + ], + "PD_Dist_2D": [ + 521.0, + 395.1, + 269.3, + 143.5, + 21.4, + 22.3, + 21.4, + 21.9, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato sits on the far sidewalk just right of the dumpster with the blue crates stacked beside it, so it is the target I need. It is far across the street from where I stand, well out of reach. I will walk straight ahead to close that distance.", + "The tomato and the blue crates have grown noticeably larger and stay centered ahead, confirming my heading is good. I am still on the road side of the curb, too far to grasp anything. Another step forward should bring me closer to the target.", + "The tomato now fills a good part of the lower view with the dumpster and crates off to my left, so I am nearly on top of it. It still looks a bit beyond comfortable arm's reach. I will step forward once more to stand right at it.", + "The tomato is directly in front of me at the bottom of my view, close enough that its stem detail is clear. Nothing stands between my hands and it. I will attempt to pick it up now so I can carry it to the staircase.", + "The grasp worked and the tomato is now held in my hands rather than resting on the pavement. The staircase I must reach lies off toward the building to my right, not along my current heading. I will turn right to swing that side of the street into view.", + "With the tomato in hand, the concrete stairs with their pale railing are now visible ahead on the right side of the block. They are still some distance off across the open pavement. I will walk forward to cut that gap.", + "Walking ahead has pushed the tiled wall and its glass door to fill the center of my view, while the stairs have slipped to the right edge. Continuing straight would carry me into the wall instead of the steps. I will turn right to face the staircase side again.", + "The staircase with its white railing now sits clearly ahead beside the corner of the building, and the sidewalk in front of it is clear. I am still several paces short of the bottom step where the tomato belongs. I will walk forward along the sidewalk toward it.", + "I still carry the tomato, and the exterior staircase with its white railing is now clearly ahead along the right side of the building. The lowest steps are still several paces away, so I will keep walking forward down this sidewalk stretch to close that gap.", + "The stair treads and their railing wall now fill more of my view just ahead on the right, confirming my heading is good while I carry the tomato. I am not yet close enough to set it down at the foot of the steps, so I take another step forward.", + "The bottom step and its tiled railing wall are close in front of me now, with the lowest tread visible near my feet level on the left. A final short advance should put me right at the base of the staircase before releasing the tomato.", + "I am standing immediately at the foot of the staircase, with the railing wall and the bottom of the steps right beside me. This is the drop point the task calls for, so I will release the tomato here and expect it to settle at the stair base.", + "The tomato now rests on the ground at the base of the staircase and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004601_y-002055_z-000922_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004601_y-002055_z-000922_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..913f4788d1e0b5f6fccb392538476d0c383bacfb --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004601_y-002055_z-000922_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search for the green dumpster sitting along the building wall; after locating it, proceed to its position.", + "Type": 1, + "Start_Pose": [ + -4600.838, + -2055.127, + -922.252, + 0.0, + -28.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + -28.48, + 0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + -3.48, + 0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + 21.52, + -0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + 46.52, + -0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + 71.52, + -0.0 + ], + [ + -4560.944, + -1935.758, + -931.85, + 0.0, + 71.52, + -0.0 + ], + [ + -4521.05, + -1816.389, + -931.85, + 0.0, + 71.52, + -0.0 + ], + [ + -4481.156, + -1697.02, + -931.85, + 0.0, + 71.52, + -0.0 + ], + [ + -4441.262, + -1577.651, + -922.451, + 0.0, + 71.52, + -0.0 + ], + [ + -4407.523, + -1557.646, + -922.252, + 0.0, + 71.52, + -0.0 + ], + [ + -4407.523, + -1557.646, + -922.252, + 0.0, + 71.52, + -0.0 + ] + ], + "Rationale": [ + "I am standing on a narrow sidewalk facing a long shopfront window, with no dumpster anywhere in this view. The open street lies to my right, so I will turn right to begin a consistent scan along the building fronts where a dumpster would likely sit.", + "The view now shows the street ahead with a parked bicycle and low buildings, but still no green dumpster along any wall. I will continue turning right in the same direction to bring the far side of the street and its wall bases into view.", + "Sweeping further right, a dark green bin shape has just appeared at the right edge against the tiled wall across the street. I will keep turning right to bring that object into the center of my view and confirm it is the dumpster.", + "The green dumpster is now clearly visible against the tiled building wall, sitting to the right of my current heading with blue crates beside it. I will turn right once more to line my heading up with it before walking over.", + "The dumpster now sits ahead against the wall, close to the center of my view, so the scan is done and I can commit to it. I will walk forward across the road toward it to close the distance.", + "The dumpster has grown larger ahead and remains directly on my path along the wall. I will step forward again to keep closing in on it.", + "I am now near the curb with the green dumpster and its blue crates filling much of the view ahead. I will continue walking forward to reach its position at the wall.", + "The dumpster is close now, its green panels and lid dominating the view against the tiled wall. I will take another step forward to bring myself right up to it.", + "The green dumpster now fills most of my view against the tiled building wall, with the blue crates just off to its left. I am close but still a short gap away from standing at it, so I will take one more small step forward to close that remaining distance.", + "The green dumpster is directly in front of me against the building wall, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x-004601_y-002055_z-000922_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004601_y-002055_z-000922_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9dd168366dd02af7cae7ebac6bc8abe77026eefc --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x-004601_y-002055_z-000922_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Identify where the staircase meets the ground, then head to the base of those steps.", + "Type": 1, + "Start_Pose": [ + -4600.838, + -2055.127, + -922.252, + 0.0, + -28.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + -28.48, + 0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + -3.48, + 0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + 21.52, + -0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + 46.52, + -0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + 71.52, + -0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + 96.52, + -0.0 + ], + [ + -4600.838, + -2055.127, + -922.252, + 0.0, + 121.52, + -0.0 + ], + [ + -4666.636, + -1947.837, + -931.85, + 0.0, + 121.52, + -0.0 + ], + [ + -4732.435, + -1840.548, + -931.85, + 0.0, + 121.52, + -0.0 + ], + [ + -4798.234, + -1733.259, + -931.85, + 0.0, + 121.52, + -0.0 + ], + [ + -4798.234, + -1733.259, + -931.85, + 0.0, + 146.52, + -0.0 + ], + [ + -4903.21, + -1663.829, + -931.85, + 0.0, + 146.52, + -0.0 + ], + [ + -4903.21, + -1663.829, + -931.85, + 0.0, + 121.52, + -0.0 + ], + [ + -4969.009, + -1557.672, + -922.252, + 0.0, + 121.52, + -0.0 + ], + [ + -4969.009, + -1557.672, + -922.252, + 0.0, + 121.52, + -0.0 + ] + ], + "Rationale": [ + "I am facing along a narrow sidewalk with a long shopfront window filling most of my view, and no staircase or step base is visible anywhere ahead. The open street and buildings on my right side offer far more searchable frontage than this blank glass wall. I will turn right to begin a steady scan toward that side of the street.", + "The view now shows the roadway, a utility pole, a parked bicycle and shop awnings, but still no staircase meeting the ground. Building entrances continue further to my right where I have not yet looked. I will keep turning in the same direction to extend the scan without breaking its consistency.", + "Ahead I see the road running between low shop buildings and a green dumpster with crates near a tiled wall on the right, but nothing resembling steps down to the pavement. The tiled building on my right continues past the edge of my view, so more frontage remains unchecked. I will continue the rightward scan to reveal it.", + "The tiled wall with the dumpster now fills most of my view, a flat facade with no visible stairway. At the far right edge a darker structure with what looks like a covered recess is starting to appear. I will turn right again to bring that promising section fully into view.", + "At the right edge of my view a gray block building shows a sloped railing rising along its wall, which strongly suggests an exterior staircase. It is still cut off by the edge, so I cannot yet see where its lowest step meets the ground. I will turn right once more to center that stairway.", + "The exterior staircase with its white railing is now clearly visible on the gray block building across the road, descending toward a recessed area at ground level. It still sits right of my heading center, so a further small turn should line my path up with it. I will turn right again to face it more directly.", + "The staircase and its railing are now roughly ahead of me, with the lower steps disappearing into the shaded recess beside the block wall. The road and sidewalk between us look clear of obstacles. I will walk forward to close the distance toward the base of those steps.", + "The staircase has grown noticeably larger and I can now make out the lowest treads where the flight meets the pavement under the overhang. I am still out on the street side with the curb ahead of me. I will keep walking forward to get nearer to that step base.", + "The exterior staircase and its lowest steps are clearly visible ahead on the right, tucked under the dark overhang beside the concrete block wall. I am still out near the curb, so I will keep walking forward to close the remaining distance to that stair base.", + "The bottom of the staircase now sits to my right, partly hidden behind the block corner and the window wall, while my heading still points along the sidewalk. I will turn right to bring the lowest steps toward the center of my view before advancing further.", + "The staircase and the small run of bottom steps are now centered in front of me, with open sidewalk between me and them. Stepping forward should bring me close to where those steps meet the ground.", + "I am close to the stairs now, but my heading has drifted so the bottom treads sit toward the left of my view while the wall and downpipe fill the right. Turning left should square me up with the base of the steps for a final short approach.", + "The lowest treads and the handrail wall are directly ahead with clear paving in between. One more step forward should place me right at the point where the staircase meets the ground.", + "The bottom treads of the staircase are directly in front of me at arm's length. The task is complete, so I stop here at the base of the steps." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..46d01723aa3e33ec9c8f65b2eb8fca30b09371d4 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the red hand cart in the street.", + "Type": 0, + "Start_Pose": [ + 60.606, + -1582.299, + -931.85, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 60.606, + -1582.299, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 186.306, + -1575.975, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 312.006, + -1569.652, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 312.006, + -1569.652, + -931.85, + 0.0, + -22.12, + 0.0 + ], + [ + 428.602, + -1617.043, + -931.85, + 0.0, + -22.12, + 0.0 + ], + [ + 545.197, + -1664.435, + -931.85, + 0.0, + -22.12, + 0.0 + ], + [ + 661.792, + -1711.827, + -931.85, + 0.0, + -22.12, + 0.0 + ], + [ + 661.792, + -1711.827, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 787.492, + -1705.504, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 787.492, + -1705.504, + -931.85, + 0.0, + 2.88, + -0.0 + ] + ], + "Rationale": [ + "I can see the red hand cart standing in the street well ahead of me, just left of my center line near the shop frontage. My path down the open roadway is clear, so I will move forward to begin closing that distance.", + "The red hand cart is now slightly larger ahead of me, confirming I am gaining on it, but it is still far down the street. I will continue straight forward since the pavement in front of me remains clear.", + "The hand cart sits noticeably left of my heading, closer to the storefront sidewalk than to the middle of the road where I am pointed. I will turn left to bring the cart nearer the center of my view before advancing again.", + "After the turn, the red hand cart with its stacked kegs sits close to the middle of my view with clear asphalt between us. I will move forward along this improved heading to shorten the gap.", + "The cart's red frame and the kegs on it are clearly resolved now, so my heading is carrying me toward it. I will keep moving forward to close the remaining several steps of street.", + "The hand cart now fills a good portion of my view a short distance ahead and slightly right of center. I will advance once more to get within close standing range of it.", + "At this near distance the cart has slid off to the right side of my view while I am aimed at the shop wall and sidewalk on my left. I will turn right to square up on the cart before taking the last step.", + "The red hand cart is now centered directly in front of me, only a step or so away in the street. I will move forward once to close that last gap and stand right at it.", + "The red hand cart fills the near center of my view, directly within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8df980df89af4fe1f243b127f3f82599b754dd75 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Head toward the parked bicycle by the wall.", + "Type": 0, + "Start_Pose": [ + 60.606, + -1582.299, + -931.85, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 60.606, + -1582.299, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 60.606, + -1582.299, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 171.856, + -1523.445, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 283.107, + -1464.59, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 394.357, + -1405.736, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 505.608, + -1346.882, + -922.272, + 0.0, + 27.88, + -0.0 + ], + [ + 615.754, + -1305.999, + -922.252, + 0.0, + 27.88, + -0.0 + ], + [ + 615.754, + -1305.999, + -922.252, + 0.0, + 27.88, + -0.0 + ] + ], + "Rationale": [ + "From the middle of the alley I can see a bicycle standing against the grey block wall on the right side, some distance ahead. My current heading points straight down the road, so I will turn right to bring the wall side and its parked bicycle into the center of my view before advancing.", + "The wall with the payphones now fills my right side, and the bicycle sits ahead beside the curb along that wall. The lane in front of me is clear asphalt, so I will move forward to close the distance toward it.", + "The bicycle is noticeably larger now, still parked against the wall just past the yellow post ahead of me. Nothing blocks the pavement between us, so I will keep moving forward along this line.", + "The bicycle's wheels and frame are clearly resolved now against the concrete wall a short way ahead. I am still several steps short of it, so I will continue forward to close that remaining gap.", + "The parked bicycle is now just ahead and slightly left of my heading, right up against the wall and curb. One more forward step should bring me alongside it.", + "The bicycle now stands very near me on the left, its wheel and pedals filling the lower part of my view beside the curb. I will take one last short step forward to draw level with it and stop at a natural standing position.", + "The parked bicycle is directly beside me, leaning against the concrete wall within arm's reach. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t5_b_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ce6004d9bc76c5f776bf6098e54ec38e4bf2384 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the plate beside the bicycle parked by the wall.", + "Type": 5, + "Start_Pose": [ + 60.606, + -1582.299, + -931.85, + 0, + 2.88, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 564.269, + -1336.369, + -971.85, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 60.606, + -1582.299, + -931.85, + 0, + 2.88, + 0 + ], + [ + 186.306, + -1575.975, + -931.85, + 0.0, + 2.88, + -0.0 + ], + [ + 186.306, + -1575.975, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 297.556, + -1517.121, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 408.807, + -1458.267, + -931.85, + 0.0, + 27.88, + -0.0 + ], + [ + 408.807, + -1458.267, + -931.85, + 0.0, + 52.88, + -0.0 + ], + [ + 484.761, + -1357.91, + -923.639, + 0.0, + 52.88, + -0.0 + ], + [ + 484.761, + -1357.91, + -923.639, + 0.0, + 52.88, + -0.0 + ], + [ + 484.761, + -1357.91, + -923.639, + 0.0, + 52.88, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 564.269, + -1336.369, + -971.85, + 90.0, + 90.0, + 0.0 + ], + [ + 564.269, + -1336.369, + -971.85, + 90.0, + 90.0, + 0.0 + ], + [ + 564.269, + -1336.369, + -971.85, + 90.0, + 90.0, + 0.0 + ], + [ + 564.269, + -1336.369, + -971.85, + 90.0, + 90.0, + 0.0 + ], + [ + 564.269, + -1336.369, + -971.85, + 90.0, + 90.0, + 0.0 + ], + [ + 564.269, + -1336.369, + -971.85, + 90.0, + 90.0, + 0.0 + ], + [ + 564.269, + -1336.369, + -971.85, + 90.0, + 90.0, + 0.0 + ], + [ + 467.366, + -1345.51, + -961.744, + -28.202, + 103.025, + 1.862 + ], + [ + 467.366, + -1345.51, + -961.744, + -28.202, + 103.025, + 1.862 + ] + ], + "PD_Dist_2D": [ + 560.5, + 447.5, + 447.5, + 322.2, + 197.6, + 197.6, + 82.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The bicycle is parked against the grey wall far down the alley on my right, with the round white plate leaning beside it. It is much too distant to reach, so I will walk straight ahead along the open lane to close most of that gap first.", + "After advancing, the bicycle and the plate leaning next to it sit well off to my right, while my heading still points down the empty alley. I will turn right to bring the plate and the wall it rests against into the center of my view before continuing.", + "The turn has placed the bicycle and the white plate ahead of me along the right-hand wall, roughly in line with my path. They are still several strides away, so I will step forward down the lane toward them.", + "The plate leaning against the wall beside the bicycle has grown noticeably larger, but it is still beyond arm's reach. I will keep walking forward along the curb to bring myself close enough for a grasp.", + "I am nearly level with the plate, but it sits to my right against the wall while my body still faces along the alley. Turning right should square me up with the plate so a straight step brings it directly in front of me.", + "Now the plate stands right in front of me, propped against the brick wall next to the bicycle, but a short gap and the curb still separate us. I will step forward to close that last distance and put it within reach.", + "I am now right up against the brick wall with the plate at the very edge of my view, close beside me at the base of the wall. This is within grasping distance, so I will attempt to pick up the plate.", + "The plate is now held in my hands rather than leaning against the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0c8c9bc5b2fd30db8cf9ec1374f0974136025ae --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search the nearby storefronts for the glass double doors marked with a red ATM sign, then approach that entrance.", + "Type": 1, + "Start_Pose": [ + 61.42, + -1831.375, + -931.85, + 0, + -28.48, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 61.42, + -1831.375, + -931.85, + 0, + -28.48, + 0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -3.48, + 0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + 21.52, + -0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + 46.52, + -0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + 71.52, + -0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + 96.52, + -0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + 121.52, + -0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + 146.52, + -0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + 171.52, + -0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -163.48, + 0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -138.48, + 0.0 + ], + [ + -32.062, + -1895.621, + -922.485, + 0.0, + -138.48, + 0.0 + ], + [ + -32.062, + -1895.621, + -922.485, + 0.0, + -113.48, + 0.0 + ], + [ + -77.153, + -1945.836, + -922.252, + 0.0, + -113.48, + 0.0 + ], + [ + -77.153, + -1945.836, + -922.252, + 0.0, + -113.48, + 0.0 + ] + ], + "Rationale": [ + "From here I am facing a shop window advertising manga along the storefronts to my left, with no glass double doors or red ATM sign anywhere in view. I will turn right to begin a steady scan of the surrounding street frontage and open up the sidewalk that runs off to the side.", + "The view now looks down the street past the shop windows and a hand cart, but still no glass double doors carrying a red ATM sign. I will keep rotating right in the same direction so the scan stays consistent and covers the frontage further around.", + "Ahead I mostly see the roadway, a parked bicycle, and a blank concrete wall with utility boxes under the elevated structure, which is not a storefront entrance. I will continue turning right to move the scan past this bare wall toward whatever frontage lies beyond it.", + "The frame is now filled by the grey block wall, wall-mounted boxes, and yellow bollards beneath the overpass, so there is no candidate entrance here. Another right turn should carry my heading further along this stretch and back toward areas that may hold shopfronts.", + "I still see only the underpass wall, a bench, and a staircase, none of which resembles glass double doors with a red ATM sign. I will keep the rotation going to the right to bring the road junction and the buildings beyond it into view.", + "The opening under the overpass with parked bicycles and traffic signs is coming into view, but it is a passage rather than the marked entrance I need. Turning right again should sweep my view onto the street corner and the building faces on the far side.", + "From this heading I can see the intersection and distant buildings, with a hint of storefront frontage beginning to appear on the right side of the view. I will continue the same rightward rotation to bring that near frontage fully in front of me.", + "A green shopfront with a red SALE placard has come into the right side of my view, which is a strong sign that this is the storefront row worth checking. I will turn right once more to face that frontage directly and look for the glass double doors with the red ATM sign.", + "The storefront strip on my right is now edging into view with a red SALE placard and glazed shopfronts, but I still cannot see any glass double doors carrying a red ATM sign. Keeping the same rightward scan direction should swing more of that shop frontage into the center of my view. I will turn right again to continue checking these nearby storefronts.", + "I can now see glass double doors set into the green storefront ahead on my right, with a red ATM sign mounted on the glass, which matches the entrance I am looking for. The doors sit off toward the right edge, so I am not yet lined up to walk straight at them. I will turn right once more to bring that ATM entrance closer to the center of my heading.", + "The glass double doors with the red ATM sign are now clearly in front of me along the shop frontage, with an open stretch of sidewalk leading toward them. Nothing blocks the walkway between me and the entrance, so closing distance is the useful next step. I will walk forward to bring myself up to that ATM entrance.", + "I am close to the storefront now and the ATM doors fill much of my view, but they sit slightly right of my heading with the shutter panel dominating the frame. A small turn to the right should square me up on the door panels rather than the adjacent window. I will turn right to align with the entrance before stepping in.", + "The glass double doors and their red ATM sign are directly ahead of me at close range, with the entrance panels clearly framed. A short step forward should place me right at the doorway as the task requires. I will move forward to finish closing the remaining gap.", + "I am standing directly at the glass double doors with the red ATM sign filling my view. The task is complete, so I stop here at the identified entrance." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cdeac6bf2af63e5508db22edca184b52abeea706 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Identify the pair of green metal benches situated under the bus shelter canopy, then head over to those seats.", + "Type": 1, + "Start_Pose": [ + 61.42, + -1831.375, + -931.85, + 0.0, + -28.48, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -28.48, + 0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -53.48, + 0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -78.48, + 0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -103.48, + 0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -128.48, + 0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -153.48, + 0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + -178.48, + 0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + 156.52, + -0.0 + ], + [ + 61.42, + -1831.375, + -931.85, + 0.0, + 131.52, + -0.0 + ], + [ + -22.01, + -1737.141, + -931.85, + 0.0, + 131.52, + -0.0 + ], + [ + -105.439, + -1642.908, + -931.85, + 0.0, + 131.52, + -0.0 + ], + [ + -105.439, + -1642.908, + -931.85, + 0.0, + 106.52, + -0.0 + ], + [ + -141.227, + -1522.244, + -931.85, + 0.0, + 106.52, + -0.0 + ], + [ + -177.015, + -1401.58, + -931.85, + 0.0, + 106.52, + -0.0 + ], + [ + -212.803, + -1280.917, + -924.057, + 0.0, + 106.52, + -0.0 + ], + [ + -212.803, + -1280.917, + -924.057, + 0.0, + 81.52, + -0.0 + ], + [ + -194.244, + -1156.434, + -922.347, + 0.0, + 81.52, + -0.0 + ], + [ + -194.244, + -1156.434, + -922.347, + 0.0, + 56.52, + -0.0 + ], + [ + -194.244, + -1156.434, + -922.347, + 0.0, + 31.52, + -0.0 + ], + [ + -194.244, + -1156.434, + -922.347, + 0.0, + 31.52, + -0.0 + ] + ], + "Rationale": [ + "From this spot I only see a shop window advertising manga, a trash bin and the railing along the narrow sidewalk, with no shelter canopy or green benches anywhere in view. I will turn left to begin a steady scan of the surroundings for a covered waiting area with seating.", + "The rotation so far has only brought more of the same green storefront wall and blinded window into view, which cannot hold the benches I need. I will keep turning left in the same direction so the scan stays consistent and eventually reaches the open street side.", + "I am now facing the storefront window almost head on, so the wall blocks any useful view of the street where a bus shelter would stand. Continuing the same leftward sweep should clear this facade and open up the sidewalk beyond it.", + "The view has shifted along the same building to a glass door with an ATM sign, still all shop frontage and no canopy or metal seating. I will turn left again to carry the scan past this entrance toward the more open part of the street.", + "The sidewalk now stretches away past the SALE sign and I can see the road and buildings farther down the block, but no shelter canopy or green benches yet. Turning left once more should swing my view further along that open street where a transit stop is more likely to sit.", + "I can now see the road curving toward a large elevated concrete structure with traffic signs, which is the kind of area where a sheltered stop with benches would be placed. I will continue turning left to bring that underpass area properly into view.", + "The overpass structure, parked bicycles and a stair landing are now in front of me, strong cues that a covered public waiting area is nearby, though I still cannot see the pair of green benches. I will turn left again to face that sheltered space under the structure more directly.", + "Directly ahead the roofed underpass with its station entrance and bicycle racks looks like the most promising place for the sheltered seating, and the wall running to my left continues under that same cover. One more left turn should center that covered stretch of sidewalk so I can check it for the green benches.", + "Scanning around has brought a sheltered transit area under the elevated structure into view, and I can pick out green benches along the wall to the far left beside the stairway. They are still well across the open pavement, so I will walk forward to close that distance and get a clearer read on the seating.", + "The green benches beside the stairwell wall are now a bit larger on my left, confirming that this sheltered stretch under the overpass holds the seating I want. I am still out on the open roadway, so I will keep walking forward to reach the sidewalk edge nearer the benches.", + "Continuing straight ahead would carry me past the seating toward the station entrance and the bicycle racks, while the green benches sit off to my left along the wall. I will turn left to put those benches in front of me before advancing further.", + "The two green metal benches are now clearly centered ahead on the raised sidewalk beneath the stairway, exactly the pair described in the task. I will walk forward to close the remaining gap toward them.", + "The green benches sit close on my left along the wall, and I am now at the curb of the sidewalk that carries them. I will step forward again to get up onto that walkway and right alongside the seating.", + "I am up beside the wall now with one green bench end still visible at the far left, meaning the seating runs along my left side. I will advance once more to draw level with the benches under the sheltered stretch.", + "I am now facing the blank brick wall under the stairway, with the seating no longer in front of me, so my heading has swung off the benches. I will turn left to bring the green benches back into view along the wall.", + "Turning has put a green metal bench back in view on my left, close beside the wall under the stairway. I will step forward to draw right up alongside the pair of seats.", + "I am now standing right beside the shelter wall, with the block masonry filling almost my entire view and the green seating pushed out of sight to my left. Turning left should swing my heading off the wall and bring the bench row back in front of me.", + "The green bench frame has come back into the lower left corner, so my heading is still too far toward the bare wall. One more left turn should center the pair of benches ahead of me at this stopping spot.", + "The pair of green metal benches under the shelter canopy is directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..298ebe76c1c81e47b5e586b96d2522032726b036 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the leftmost yellow U-shaped bollard on the sidewalk.", + "Type": 2, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 129.954, + -1692.015, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 195.602, + -1584.633, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 195.602, + -1584.633, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 300.482, + -1515.057, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 405.361, + -1445.481, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 405.361, + -1445.481, + -931.85, + 0.0, + 8.56, + -0.0 + ], + [ + 529.818, + -1426.748, + -931.85, + 0.0, + 8.56, + -0.0 + ], + [ + 529.818, + -1426.748, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 634.697, + -1357.172, + -923.597, + 0.0, + 33.56, + -0.0 + ], + [ + 634.697, + -1357.172, + -923.597, + 0.0, + 33.56, + -0.0 + ] + ], + "Rationale": [ + "Along this sidewalk I can see the yellow U-shaped bollards in a row, and the leftmost one is the one with the green bicycle leaning against it, so I will follow that bollard rather than a position in the row. It sits well ahead across the road, so I step forward to close distance.", + "The bollard with the bicycle against it is still far up the sidewalk on my left, past the wall with the payphones. Nothing blocks the roadway in front of me, so I keep walking forward to shorten the gap before adjusting my heading.", + "My heading now points mostly at the block wall and the nearer bollard, while the bicycle and the bollard it leans on sit off to my left. I turn left to bring that target and the street running past it into the middle of my view.", + "The lane ahead is open and the bicycle with my bollard is now roughly in line with my heading, further up on the left curb. I walk forward along the roadway to close in on it.", + "The bicycle and the bollard supporting it have grown noticeably larger just ahead beside the curb, but I am still several paces short of standing at them. The path stays clear, so I take another step forward.", + "My heading has drifted into the block wall, which now fills most of my view right up to the sidewalk edge. I turn left to face the open lane again so I can continue up alongside the curb toward the bollard holding the bicycle.", + "With the lane clear in front of me, the bollard propping the green bicycle stands a short way ahead on my right along the curb. I walk forward to draw level with it.", + "The bollard with the bicycle leaning on it is now close but sitting off to my right, while my heading points down the empty lane. I turn right to face it directly so my last step should land me beside it.", + "The yellow bollard with the green bicycle resting on it now stands just a pace or two ahead along the curb, squarely in my heading. One more step should bring me right up beside it.", + "The yellow bollard with the green bicycle leaning on it is right at my feet. I have reached my target, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..252b0ae10569394652d56d002e128aabe9b2986c --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_b/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Head toward the second yellow U-shaped bollard on the sidewalk on the left.", + "Type": 2, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 129.954, + -1692.015, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 195.602, + -1584.633, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 261.251, + -1477.252, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 261.251, + -1477.252, + -931.85, + 0.0, + 58.56, + -0.0 + ] + ], + "Rationale": [ + "Three yellow U-shaped bollards line the left sidewalk: the first stands beside the parked bicycle, the next directly beneath the row of three payphones, and a further one by the notice board. So my target is the arch under the payphones, and I will walk forward along the street toward it.", + "The arch beneath the payphones now sits slightly left of my heading and has grown larger, so I am closing on it correctly. The roadway ahead is empty, so I keep walking forward.", + "The bollard beneath the payphones is close now, low and centered against the block wall, with the curb between us. I will step forward again to cover the last of that gap.", + "The yellow arch beneath the payphones stands right in front of me, filling the near sidewalk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..955095b79671feada55aef1601177c6d2b74620e --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the middle of the three wall-mounted phone booths.", + "Type": 2, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 129.954, + -1692.015, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 129.954, + -1692.015, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 234.833, + -1622.439, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 339.712, + -1552.863, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 339.712, + -1552.863, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 405.361, + -1445.481, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 405.361, + -1445.481, + -931.85, + 0.0, + 83.56, + -0.0 + ], + [ + 421.087, + -1320.982, + -922.255, + 0.0, + 83.56, + -0.0 + ], + [ + 421.087, + -1320.982, + -922.255, + 0.0, + 108.56, + -0.0 + ], + [ + 421.666, + -1306.095, + -922.255, + 0.0, + 108.56, + -0.0 + ], + [ + 421.666, + -1306.095, + -922.255, + 0.0, + 108.56, + -0.0 + ] + ], + "Rationale": [ + "Across the road, three near identical phone booths are set into the grey block wall, and the middle one sits directly above the nearer yellow bike hoop, so I hold that pairing as my mark. I am still far off with open roadway ahead, so I step forward to close distance on that wall.", + "The booth wall now runs off to my right and the kerb ahead of me curves away with the road bending left along the frontage. I turn left to stay on the open roadway rather than walking into the raised kerb, keeping room to travel along the wall before closing in.", + "The street now opens straight ahead with the kerb and the booth wall running along my right. Nothing blocks the way, so I walk forward to draw nearer along that frontage before turning in toward my target booth.", + "The booths are sliding toward my right edge as I travel along the wall, and I am still short of them. The lane ahead remains clear, so I take another step forward to reach a spot from which I can turn in and face the row squarely.", + "The wall has swung so far to my right that only a single booth still clips the edge of my view. I turn right to bring the whole row back in front of me and face the pavement where the booths are mounted.", + "All three booths are back in view on the wall ahead to my right, and the one I want is the middle of them, above the near yellow hoop. The road between us is open, so I walk forward to close the remaining gap to that wall.", + "Now that I am close, the plain brickwork fills most of my view and the booths have drifted to my right edge. I turn right to square up on the wall so my target booth sits ahead of me instead of off to the side.", + "The three booths are spread across my view again, with the middle one just right of centre and clear pavement between me and the wall. I step forward to close in on that booth and reach standing distance from it.", + "This close the row no longer reads as a row: two booth housings loom large across my view and the one I want has slipped past my right edge. I turn right to swing my heading along the wall and bring that booth back near the centre of my view.", + "The booth I have been tracking now sits square in front of me, with the neighbouring housing and the wall-mounted route map further along to my right. Only a short stretch of pavement separates me from it, so I ease forward to settle at standing distance.", + "The booth I chose stands directly before me, filling my view at arm's reach. The approach is done, so there is nothing further to close." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ddccccb5a70cb87ae51e1a4ad26eed65adef1432 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_d/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Move to the third yellow U-shaped bollard on the sidewalk from the left.", + "Type": 2, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 64.305, + -1799.396, + -931.85, + 0.0, + 83.56, + -0.0 + ], + [ + 78.422, + -1674.331, + -931.85, + 0.0, + 83.56, + -0.0 + ], + [ + 92.538, + -1549.266, + -931.85, + 0.0, + 83.56, + -0.0 + ], + [ + 106.655, + -1424.202, + -931.85, + 0.0, + 83.56, + -0.0 + ], + [ + 106.655, + -1424.202, + -931.85, + 0.0, + 83.56, + -0.0 + ] + ], + "Rationale": [ + "Counting the yellow U-shaped bollards along the sidewalk from the left, the third one is the one standing just left of the green bench, and it sits to the right of my heading. The bollards look alike, so I will hold onto that bench as its marker. Turning right should bring it toward center.", + "The bollard beside the green bench is now near the middle of my view, with the sidewalk ahead clear of obstacles. The leftmost bollard has slipped out of view, so I keep following the one at the bench rather than recounting the row. I will walk forward to close the distance.", + "The bollard at the left end of the green bench is larger and still centered ahead, but I am still out in the roadway short of the curb. Nothing blocks the path between me and it. I will keep walking straight toward it.", + "The bollard by the bench's left end now stands close and slightly left of center, with the curb just in front of me. A little more distance remains before I am truly beside it. I will step forward once more to reach it.", + "The yellow U-shaped bollard by the bench's left end now stands directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_e/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..21ec5c08fb0402f429f159ac6d77d2e4bd20d5e8 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_e/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Proceed to the third yellow U-shaped bollard on the sidewalk from the right.", + "Type": 2, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 129.954, + -1692.015, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 195.602, + -1584.633, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 195.602, + -1584.633, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 300.482, + -1515.057, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 405.361, + -1445.481, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 405.361, + -1445.481, + -931.85, + 0.0, + 8.56, + -0.0 + ], + [ + 529.818, + -1426.748, + -931.85, + 0.0, + 8.56, + -0.0 + ], + [ + 654.275, + -1408.014, + -931.85, + 0.0, + 8.56, + -0.0 + ], + [ + 654.275, + -1408.014, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 654.275, + -1408.014, + -931.85, + 0.0, + 33.56, + -0.0 + ] + ], + "Rationale": [ + "Along this sidewalk I can pick out three yellow U-shaped bollards, and counting in from the right the third is the far one standing beside the leaning bicycle. That bollard is well down the block, so I will walk forward along the road to begin closing the distance.", + "The bollard beside the leaning bicycle is still well off to my left, while the two nearer bollards sit ahead along the curb on my right. Walking forward again should carry me further up the block toward the bicycle end of the row.", + "The bollard next to the bicycle has slid to the very edge of my view on the left, while my heading points straight at the block wall and its phone booths. Turning left should swing that bollard and the street beyond it back in front of me.", + "The bollard beside the bicycle now sits ahead of me where the sidewalk runs off along the wall, with open street on the left. With my heading pointed that way, I will step forward to shorten the remaining distance.", + "The bicycle and the yellow bollard propping it are noticeably larger ahead of me now, so I am on the right line. Another stride forward should bring me close alongside them.", + "The block wall now crowds the whole right half of my view and my heading is drifting into it rather than along the curb. Turning left should put the street line back under me so I can walk up beside the bollard at the bicycle instead of into the wall.", + "With the roadway open ahead, the yellow bollard holding the green bicycle stands clear on my right along the curb. I will walk forward to draw level with it.", + "The bollard with the green bicycle leaning on it is now close on my right, though still slightly ahead of my shoulder. One more step forward should bring me right up beside it.", + "I am now level with the bollard and its green bicycle, but they sit so far into the lower right corner that they are half cut from my view. Turning right should bring the bollard squarely in front of me so I can confirm I have arrived beside it.", + "The yellow U-shaped bollard with the green bicycle leaning on it stands directly before me at arm's reach. I have reached my target, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t5_a_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f15a34e6c5140e97993dc3e21b1a99f486da5161 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Lift the wicker basket near the leftmost yellow U-shaped bollard.", + "Type": 5, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0, + 58.56, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 825.753, + -1382.104, + -986.85, + 90, + 18.56, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 64.305, + -1799.396, + -931.85, + 0, + 58.56, + 0 + ], + [ + 129.954, + -1692.015, + -931.85, + 0.0, + 58.56, + -0.0 + ], + [ + 129.954, + -1692.015, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 234.833, + -1622.439, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 339.712, + -1552.863, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 444.591, + -1483.286, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 549.471, + -1413.71, + -931.85, + 0.0, + 33.56, + -0.0 + ], + [ + 549.471, + -1413.71, + -931.85, + 0.0, + 8.56, + -0.0 + ], + [ + 673.928, + -1394.977, + -931.85, + 0.0, + 8.56, + -0.0 + ], + [ + 673.928, + -1394.977, + -931.85, + 0.0, + 8.56, + -0.0 + ], + [ + 673.928, + -1394.977, + -931.85, + 0.0, + 8.56, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 825.753, + -1382.104, + -986.85, + 90.0, + 18.56, + 0.0 + ], + [ + 825.753, + -1382.104, + -986.85, + 90.0, + 18.56, + 0.0 + ], + [ + 825.753, + -1382.104, + -986.85, + 90.0, + 18.56, + 0.0 + ], + [ + 825.753, + -1382.104, + -986.85, + 90.0, + 18.56, + 0.0 + ], + [ + 825.753, + -1382.104, + -986.85, + 90.0, + 18.56, + 0.0 + ], + [ + 825.753, + -1382.104, + -986.85, + 90.0, + 18.56, + 0.0 + ], + [ + 825.753, + -1382.104, + -986.85, + 90.0, + 18.56, + 0.0 + ], + [ + 825.753, + -1382.104, + -986.85, + 90.0, + 18.56, + 0.0 + ], + [ + 825.753, + -1382.104, + -986.85, + 90.0, + 18.56, + 0.0 + ], + [ + 670.146, + -1373.952, + -961.744, + -28.202, + 58.704, + 1.862 + ], + [ + 670.146, + -1373.952, + -961.744, + -28.202, + 58.704, + 1.862 + ] + ], + "PD_Dist_2D": [ + 868.3, + 761.7, + 761.7, + 637.9, + 515.2, + 394.4, + 278.1, + 278.1, + 152.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket sits far ahead on the left, resting against the yellow bollard beside the parked bicycle, well beyond the two bollards on the near sidewalk. Nothing blocks the roadway in front of me, so I will walk forward to close that long gap before refining my heading.", + "The basket and its yellow bollard are off to my left near the bicycle, while my current heading points along the wall with the payphones. Turning left should swing that target line into the center of my view so the following steps carry me straight toward it.", + "The round wicker basket and the yellow bollard beside the bicycle now sit ahead of me along the curb, roughly on my heading. The street between us is clear, so I will keep walking forward to shorten the remaining distance.", + "The basket leaning against the yellow bollard is growing larger ahead beside the green bicycle, but it is still several strides away and too far to reach. I will continue walking forward along the open road.", + "The wicker basket and the yellow bollard are clearly resolved now at the curb beside the bicycle, yet still outside grasping range. Another forward step should bring me close enough to fine tune my heading afterward.", + "The basket now sits low and near the left curb, only a couple of strides off, with the bollard and bicycle just past it. I will step forward again to bring it within comfortable reach.", + "At this short range the basket has slid to the left edge of my view while the wall and bicycle dominate the right, so a straight step would carry me past it. Turning left should recenter the basket in front of me for a clean approach.", + "The wicker basket is now centered ahead of me with the yellow bollard right behind it, but it is still a short step beyond my reach. I will advance once more to stand directly over it so a grasp becomes possible.", + "The wicker basket now fills the lower center of my view, close enough that its rim is within arm's reach, with the yellow bollard beside it confirming this is the target near the leftmost U-shaped post. Nothing stands between me and it, so I will reach out and attempt to lift it now.", + "The wicker basket is held in my hands, lifted clear of the pavement. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..acb4f0af3fccf537d29521beb492f5af96a384f7 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the elevator doors marked with a sign in this subway station, then navigate over to them.", + "Type": 1, + "Start_Pose": [ + 391.236, + -272.274, + -701.85, + 0.0, + -62.4, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 391.236, + -272.274, + -701.85, + 0.0, + -62.4, + 0.0 + ], + [ + 391.236, + -272.274, + -701.85, + 0.0, + -37.4, + 0.0 + ], + [ + 391.236, + -272.274, + -701.85, + 0.0, + -12.4, + 0.0 + ], + [ + 391.236, + -272.274, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 514.064, + -244.819, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 514.064, + -244.819, + -701.85, + 0.0, + 37.6, + -0.0 + ], + [ + 613.781, + -168.026, + -701.85, + 0.0, + 37.6, + -0.0 + ], + [ + 713.497, + -91.234, + -701.85, + 0.0, + 37.6, + -0.0 + ], + [ + 713.497, + -91.234, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 836.325, + -63.779, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 959.153, + -36.324, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 1081.981, + -8.868, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 1081.981, + -8.868, + -701.85, + 0.0, + 12.6, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see a folding metal gate and a passage toward a small kiosk, with no elevator doors or elevator sign anywhere in view. I will turn right to begin a steady scan of the station concourse for the signed elevator.", + "The new heading shows only posters, a litter bin and a tiled wall, so the signed elevator is still not in sight. I will keep rotating in the same rightward direction to extend the scan into the part of the hall I have not yet seen.", + "Further right along the tiled corridor I can now make out a recessed doorway with a blue overhead sign that reads like an elevator marker. I will turn right once more to bring that signed doorway toward the middle of my view before committing to it.", + "The recessed doors with the blue overhead sign now sit ahead of me down the corridor, with clear floor between us. I will walk forward to close distance and confirm the marking as I get nearer.", + "The signed doorway is holding slightly to the right of my heading, and a pillar and poster wall crowd the left of my path. I will turn right to square up with the open concourse that leads toward it.", + "I can now clearly read the ELEVATOR sign above the pair of metal doors in the alcove ahead on my left, with a wheelchair marking painted on the floor in front of them. I will step forward across the open concourse to shorten the remaining distance.", + "The elevator doors and their sign are noticeably larger now, so my forward line is bringing me in correctly. I will keep walking forward to reach the marked floor area in front of them.", + "I am close to the alcove, but the signed elevator doors now sit off to my left while my heading points along the tiled corner wall. I will turn left to face the doors squarely so I can walk straight up to them.", + "The blue ELEVATOR sign and the pair of metal doors now sit centered in my view at the end of this short alcove, with the yellow accessibility marking on the floor leading straight to them. The path ahead is clear tiled floor, so I will walk forward to close the remaining distance to the marked doors.", + "The signed elevator doors are larger and squarely ahead, and the call button panel beside them is now legible, confirming I am aligned with the target. There is still a few steps of open floor between me and the doors, so I will keep walking forward.", + "The marked elevator doors fill most of my view now, with the ELEVATOR sign directly overhead and the button panel within reach on the right. One more step forward should bring me right up against the doors at a proper standing position.", + "I am standing directly at the signed elevator doors, with the call buttons immediately beside me. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ef2da075eb00c2dec8fcfa0b77861c0cb45b7c5b --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Search for the framed transit map displayed on the tiled wall near the trash bin; once you have identified it, go toward it.", + "Type": 1, + "Start_Pose": [ + 391.236, + -272.274, + -701.85, + 0, + -62.4, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 391.236, + -272.274, + -701.85, + 0, + -62.4, + 0 + ], + [ + 391.236, + -272.274, + -701.85, + 0.0, + -37.4, + 0.0 + ], + [ + 391.236, + -272.274, + -701.85, + 0.0, + -12.4, + 0.0 + ], + [ + 514.159, + -299.3, + -701.85, + 0.0, + -12.4, + 0.0 + ], + [ + 514.159, + -299.3, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 636.987, + -271.845, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 759.815, + -244.39, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 759.815, + -244.39, + -701.85, + 0.0, + 12.6, + -0.0 + ], + [ + 759.815, + -244.39, + -701.85, + 0.0, + 12.6, + -0.0 + ] + ], + "Rationale": [ + "From this spot the view is dominated by the folding gate and the open platform beyond, with no framed map in sight. At the right edge I can just make out tiled wall surface and a dark trash bin, which matches the task cue, so I will turn right to bring that wall into view.", + "The tiled wall is now in view on the right, with a trash bin in front of it and a framed transit map panel further right, partly cut off by the edge of my view. I will keep turning right so the map sits nearer the center of my heading before I move.", + "The framed transit map with its coloured route diagram and timetable is clearly visible on the tiled wall, right beside the trash bin that the task mentioned. It is still some distance away, so I will walk forward to close the gap toward it.", + "I am much closer now and the map panel sits slightly right of my heading, with the poster and the bin filling the left of my view. Turning right should line my facing up more directly with the map before I advance again.", + "The transit map is now squarely ahead on the tiled wall, its network diagram and timetable clearly readable. I will step forward to bring myself right up to it.", + "The framed map now dominates the left of my view and the wall is close, with clear floor still in front of me. One more step forward should place me directly in front of the map.", + "I am standing right at the panel, but my view is filled with the lower timetable columns and the Transport for People branding rather than the route diagram itself. Looking up should raise my gaze to the map portion so I can confirm this is the framed transit map.", + "The framed transit route diagram on the tiled wall now fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..286f900fb0e5280aba094c18536af8250a0d7ec6 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the leftmost traffic cone near the pillar.", + "Type": 2, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + [ + 471.559, + -107.408, + -701.478, + 0.0, + 57.6, + -0.0 + ], + [ + 538.997, + -1.141, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 606.436, + 105.125, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 606.436, + 105.125, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 622.646, + 229.936, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 622.646, + 229.936, + -701.85, + 0.0, + 82.6, + -0.0 + ] + ], + "Rationale": [ + "Several yellow cones are spread across this hall, and the leftmost of them stands right against the tiled ticket pillar, beside the bin and the leaning mop. That pillar-side cone is my target, so I will walk forward down the open floor toward it.", + "The cone by the ticket pillar is larger now but still several strides off, with nothing blocking the tiled floor between us. I will keep walking forward to close that gap.", + "The cone beside the ticket machines and the bin is now clearly separated from the other cones further down the hall, and it sits just ahead and slightly right. I will step forward again to reach it.", + "The cone by the ticket pillar has drifted to the right of my heading and is close enough that I would pass it on my left if I kept walking straight. I will turn right to bring it back in front of me before the last step.", + "With the turn done, the cone standing against the ticket pillar sits low and centered just ahead of me. One more step forward should put me right beside it.", + "The cone at the ticket pillar is now at my feet, filling the bottom of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8154761eaaf2acc5fddc4a8cbe2233f94c152437 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the first cone from the right.", + "Type": 2, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + [ + 404.12, + -213.674, + -701.729, + 0.0, + 82.6, + -0.0 + ], + [ + 420.33, + -88.863, + -701.729, + 0.0, + 82.6, + -0.0 + ], + [ + 436.54, + 35.947, + -701.729, + 0.0, + 82.6, + -0.0 + ], + [ + 436.54, + 35.947, + -701.729, + 0.0, + 107.6, + -0.0 + ], + [ + 398.484, + 155.915, + -701.729, + 0.0, + 107.6, + -0.0 + ], + [ + 360.428, + 275.883, + -701.729, + 0.0, + 107.6, + -0.0 + ], + [ + 360.428, + 275.883, + -701.729, + 0.0, + 82.6, + -0.0 + ], + [ + 376.638, + 400.694, + -701.729, + 0.0, + 82.6, + -0.0 + ], + [ + 376.638, + 400.694, + -701.729, + 0.0, + 82.6, + -0.0 + ] + ], + "Rationale": [ + "Several yellow cones are spread across the concourse, and taking them from the right end, the first one is the one standing closest to the ticket gates on the right side of the hall. They all look alike, so I hold that one by its place beside the gate line rather than by its colour. It sits well right of my heading, so I turn right to bring it in front of me.", + "My chosen cone by the gate line now lies roughly ahead of me down the open floor. Nothing blocks the tiled walkway between us, so I step forward to cut the distance.", + "The cone I am heading to has grown larger but is still several paces off near the gate line. The path in front stays clear apart from the bin against the right wall, so I keep walking forward.", + "From here the ticket gates have come into full view on the right and my cone stands just right of where I am facing. I turn right to put it squarely in front of me before closing the remaining gap.", + "The cone by the gates now sits ahead of me with clear tiled floor between us, the bin passing off to my right. I walk forward to close on it.", + "Up close the cones no longer read as a countable row, but I am still tracking the one standing beside the gate line, and it is clearly nearer now. A few more paces should bring me to it, so I step forward again.", + "My cone has drifted to the left edge of my view while the gates fill the right side. I turn left to bring it back in front of me so my last steps land on it.", + "The cone I have been tracking now stands centred just a pace or two ahead on the tactile paving. I walk forward to close that last gap and stand at it.", + "The cone I was tracking stands right at my feet, filling the bottom of my view. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a39b116a3e82449a9cc852edb60b8450ef4ce97 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the third cone from the right.", + "Type": 2, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + [ + 471.559, + -107.408, + -701.478, + 0.0, + 57.6, + -0.0 + ], + [ + 538.997, + -1.141, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 606.436, + 105.125, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 673.875, + 211.391, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 673.875, + 211.391, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 673.875, + 211.391, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 673.875, + 211.391, + -701.85, + 0.0, + 82.6, + -0.0 + ] + ], + "Rationale": [ + "Three yellow cones stand across this concourse; counting from the right, the third one is the one tucked beside the mop bucket and trash bin at the ticket machines along the left wall. That cone is well ahead of me down the hall, so I will walk forward toward it.", + "The cone beside the mop bucket and trash bin at the ticket machines is now clearer ahead on my left, but still several strides off. I will keep walking forward to close that gap.", + "The ticket machines and the mop leaning against them are growing large on my left, and my cone stands right beside that bucket. I am not yet level with it, so I continue walking straight ahead.", + "The cone and its mop bucket are now close, sitting just ahead and slightly to my right of the machine fronts. One more step forward should bring me right up beside them.", + "I have drawn level with the mop bucket, and its cone has slipped to the very bottom edge of my view while I face down the corridor. Turning right should swing my heading onto that cone so it sits squarely in front of me.", + "The mop bucket and its cone are now directly in front of me at the bottom of my view, cut off by the frame because they are so near my feet. Other cones and the platform have come into view further along, but I am holding to this cone by the bucket. I will look down to confirm I am standing at it.", + "The cone beside the mop bucket stands directly at my feet, filling the near view. I have reached my target, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a96ecd9ec35135b9865c7f17383d9a7a3301d5e --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the second cone from the right.", + "Type": 2, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + [ + 471.559, + -107.408, + -701.478, + 0.0, + 57.6, + -0.0 + ], + [ + 538.997, + -1.141, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 538.997, + -1.141, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 555.207, + 123.669, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 571.417, + 248.48, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 587.628, + 373.291, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 603.838, + 498.102, + -701.478, + 0.0, + 82.6, + -0.0 + ], + [ + 620.048, + 622.912, + -701.815, + 0.0, + 82.6, + -0.0 + ], + [ + 636.258, + 747.723, + -701.815, + 0.0, + 82.6, + -0.0 + ], + [ + 636.258, + 747.723, + -701.815, + 0.0, + 82.6, + -0.0 + ], + [ + 636.258, + 747.723, + -701.815, + 0.0, + 82.6, + -0.0 + ] + ], + "Rationale": [ + "Three yellow cones stand across this concourse, and counting in from the right edge the second one is the cone out on the open floor beside the yellow tactile path, well clear of the ticket machines. The cones look alike, so I fix on that one by the tactile strip it borders. I step forward to close the distance.", + "The cone I chose, standing beside the yellow tactile path ahead and slightly right, is now larger but still a long way off across the open floor. Nothing blocks the tiled ground between us. I keep walking forward toward it.", + "My heading has drifted toward the tiled wall and its poster on the left, while the cone I am going to sits off to the right beside the tactile path. A modest turn to the right should put it near the middle of my view. I turn right to line up before advancing again.", + "The turn brought the concourse straight ahead, with my cone standing out on the open floor by the tactile strips, roughly centered in front of me. The route down the middle of the hall is unobstructed. I walk forward along it.", + "The ticket machines and a mop bucket crowd the left side, but the lane toward my cone stays open and it holds its place near the center. Distance is still the only thing separating us. I continue forward.", + "Another cone has appeared at the right edge as I advance, so a fresh count from the right would no longer pick out my target; I stay with the cone standing on the tactile crossing ahead of me. It is still several paces off. I keep moving toward it.", + "My cone now stands clearly ahead where the yellow tactile strips meet, with the gated exit beyond it. The floor between us is clear tile. I advance again to reach it.", + "The cone fills much more of my view now and sits just a step or two ahead on the tactile crossing. One more forward step should bring me right up beside it. I move forward.", + "The cone I have been following now looms close in the lower part of my view, right where the tactile strips cross. A single short step should put me level with its base rather than short of it. I move forward.", + "My cone has dropped out of the forward view except for a yellow edge at the bottom, which means I have drawn level with it rather than lost it. Tilting my gaze downward should show its base beside my feet and confirm how close I stand. I look down.", + "The yellow wet floor cone I set out for stands directly at my feet on the tactile crossing. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_e/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..50b4556621a562b3121d3b80038d20910b80fecf --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_e/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Proceed to the rightmost cone.", + "Type": 2, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ], + [ + 404.12, + -213.674, + -701.729, + 0.0, + 82.6, + -0.0 + ], + [ + 420.33, + -88.863, + -701.729, + 0.0, + 82.6, + -0.0 + ], + [ + 436.54, + 35.947, + -701.729, + 0.0, + 82.6, + -0.0 + ], + [ + 452.75, + 160.758, + -701.478, + 0.0, + 82.6, + -0.0 + ], + [ + 452.75, + 160.758, + -701.478, + 0.0, + 107.6, + -0.0 + ], + [ + 414.694, + 280.726, + -701.775, + 0.0, + 107.6, + -0.0 + ], + [ + 376.638, + 400.694, + -701.775, + 0.0, + 107.6, + -0.0 + ], + [ + 376.638, + 400.694, + -701.775, + 0.0, + 107.6, + -0.0 + ] + ], + "Rationale": [ + "Several yellow cones stand across this concourse and they all look alike, so I fix my target as the one farthest right, the cone standing out by the fare gates along the right-hand wall. It lies well off my current heading, so I will turn right to bring that side of the hall in front of me.", + "The turn has opened the right side of the concourse, and the cone by the gates is now ahead of me down the open floor. Nothing blocks the tiled walkway between us, so I will walk forward to close the distance.", + "The cone by the fare gates has grown larger and sits slightly right of my heading, so I am still tracking the right thing. The floor ahead remains clear past the bin, so I will keep walking toward it.", + "The gate row on the right is now clearly in view with my cone standing just in front of it. I am still some way short of it, so another step forward should bring me within close range.", + "My cone beside the fare gates has drifted to the right side of my view as I advanced, and walking straight now would carry me past it. I will turn right to put it back in front of me before continuing.", + "The turn has centered the gate row, and the cone I am after now sits ahead of me on the open tiles. The way is clear, so I will step forward to close the remaining gap.", + "The cone is now large and close in the lower part of my view, standing just short of the gates. One more step should place me right at it.", + "The cone beside the fare gates now stands right at my feet at the near edge of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t5_a_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da5e89cb171fa4e570ad9c3bb4f322134bbc9f7c --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t5_a_p/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Pick up the candelabra near the leftmost traffic cone near the pillar.", + "Type": 5, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0, + 57.6, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 634.396, + 153.385, + -786.743, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 404.12, + -213.674, + -701.568, + 0, + 57.6, + 0 + ], + [ + 471.559, + -107.408, + -701.478, + 0.0, + 57.6, + -0.0 + ], + [ + 538.997, + -1.141, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 538.997, + -1.141, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 538.997, + -1.141, + -701.85, + 0.0, + 57.6, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 634.396, + 153.385, + -786.743, + 0.0, + 0.0, + 0.0 + ], + [ + 634.396, + 153.385, + -786.743, + 0.0, + 0.0, + 0.0 + ], + [ + 634.396, + 153.385, + -786.743, + 0.0, + 0.0, + 0.0 + ], + [ + 520.64, + 9.785, + -731.744, + -28.202, + 107.745, + 1.862 + ], + [ + 520.64, + 9.785, + -731.744, + -28.202, + 107.745, + 1.862 + ] + ], + "PD_Dist_2D": [ + 433.3, + 307.5, + 181.6, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the brass candelabra standing on the concourse floor beside the yellow traffic cone at the corner of the tiled pillar. It is still several strides away, too far to reach, so I will walk straight ahead along the open floor toward it.", + "The candelabra now sits noticeably larger and lower in my view, so my heading is carrying me correctly toward it. The gap is still more than an arm's reach, so I will keep walking forward to close it before attempting a grasp.", + "The candelabra now fills the near foreground directly in front of me, its candles at close range beside the cone at the pillar corner. This is within reach, so I will attempt to pick it up.", + "The candelabra is now held in my hands rather than resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000504_y-000167_z000098_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000504_y-000167_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e7d617717faf822844fabce76cee90e9debb675 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000504_y-000167_z000098_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Search for the elevator on the train platform; after locating it, proceed to its doors.", + "Type": 1, + "Start_Pose": [ + 504.468, + -166.616, + 98.242, + 0.0, + -42.4, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 504.468, + -166.616, + 98.242, + 0.0, + -42.4, + 0.0 + ], + [ + 504.468, + -166.616, + 98.15, + 0.0, + -17.4, + 0.0 + ], + [ + 504.468, + -166.616, + 98.15, + 0.0, + 7.6, + -0.0 + ], + [ + 629.221, + -149.97, + 98.15, + 0.0, + 7.6, + -0.0 + ], + [ + 753.975, + -133.325, + 98.15, + 0.0, + 7.6, + -0.0 + ], + [ + 878.728, + -116.679, + 98.15, + 0.0, + 7.6, + -0.0 + ], + [ + 1003.482, + -100.033, + 98.15, + 0.0, + 7.6, + -0.0 + ], + [ + 1128.235, + -83.388, + 98.15, + 0.0, + 7.6, + -0.0 + ], + [ + 1128.235, + -83.388, + 98.15, + 0.0, + 7.6, + -0.0 + ] + ], + "Rationale": [ + "I am standing on the covered platform with only the outer parapet, distant buildings and the tactile paving strip ahead, and no elevator in sight. The sheltered structure continues to my right, which is the likely place for a lift enclosure, so I will turn right to scan that side of the platform.", + "The turn has brought a boxed structure with an ELEVATOR sign and metal doors into the right half of my view, next to a wheelchair marking on the ground. I will continue turning right to place that elevator enclosure closer to the center of my heading before walking to it.", + "The elevator cabinet with its sign and closed metal doors now sits ahead of me, with the benches and support pillar to its right. The path along the platform is clear, so I will step forward to close the distance toward the doors.", + "The elevator doors are noticeably larger in front of me and the wheelchair marking on the floor leads toward them. I will keep walking forward along this clear tiled lane to get nearer to the entrance.", + "I am now close enough to read the ELEVATOR sign and see the call button panel beside the doors, still a few paces away. Continuing forward should bring me into position directly in front of the doorway.", + "The elevator entrance fills most of my view with the doorway framed straight ahead and the call button on the right jamb. I will advance again to stand right at the threshold of the doors.", + "The open elevator doorway is directly in front of me with only a short gap of tactile paving remaining. One more step forward should place me right at the doors as the task requires.", + "The elevator door panels fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b06e807c852bcc78ef1de3d8d0cfd3283fc2961 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Locate the display screens on the turnstiles that both show red no-entry symbols, then make your way to those indicators.", + "Type": 1, + "Start_Pose": [ + 714.937, + 1218.961, + -701.85, + 0.0, + 137.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 714.937, + 1218.961, + -701.85, + 0.0, + 137.6, + -0.0 + ], + [ + 714.937, + 1218.961, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 714.937, + 1218.961, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 714.937, + 1218.961, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 608.907, + 1151.152, + -701.52, + 0.0, + -147.4, + 0.0 + ], + [ + 502.877, + 1083.343, + -701.832, + 0.0, + -147.4, + 0.0 + ], + [ + 396.846, + 1015.534, + -701.832, + 0.0, + -147.4, + 0.0 + ], + [ + 290.816, + 947.724, + -701.832, + 0.0, + -147.4, + 0.0 + ], + [ + 290.816, + 947.724, + -701.832, + 0.0, + -147.4, + 0.0 + ], + [ + 290.816, + 947.724, + -701.832, + 0.0, + -172.4, + 0.0 + ], + [ + 290.816, + 947.724, + -701.832, + 0.0, + -172.4, + 0.0 + ], + [ + 290.816, + 947.724, + -701.832, + 0.0, + -172.4, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a closed metal shutter, benches, and wall posters, with no ticket gates anywhere in this view. I will turn right to sweep the concourse in a consistent direction and look for the turnstile line and its indicator panels.", + "The rotation has brought a ticket machine and an opening of brighter concourse into view on my right, but still no gate line with lit indicators. I will keep turning right in the same direction to bring that open area fully in front of me.", + "I can now see the row of turnstiles across the concourse, and the pair on the left of that row shows red no-entry symbols while the others glow green. They sit slightly right of my heading, so I will turn right once more to line up with them before advancing.", + "The gate line is now centered ahead of me, with the two red no-entry displays clearly on the nearer left side of the row. They are still far across the open floor, so I will walk forward to close the distance.", + "The two red no-entry panels are larger now and remain toward the left of the gate array as I face it. I will continue stepping forward along this heading to get near those specific indicators.", + "I am close enough now to read the overhead line signs, and the two red no-entry symbols sit on the gate unit just left of my path. Another step forward should bring me right up beside those indicators.", + "The two red no-entry displays are now large and directly to my front left at close range. I will take one more step forward to stand right at that turnstile pair.", + "I am right up against the gate housings now, and my level gaze is above the panels so only the tops of the units and the far wall fill the view. I will look down to bring the red no-entry indicators back into sight and confirm I am standing at them.", + "Looking down at the gate line, the pair of red no-entry symbols I want sits on the turnstile body at the lower left edge of my view, while the panel filling the right side shows a green arrow. I will turn left to swing that double red indicator toward the center of my view so I am squarely facing it rather than the adjacent open gate.", + "After turning, the turnstile with the red indicators is directly ahead of me, but my view is pitched up toward the wall posters and ceiling so the display panel is cut off below the frame. I will look down again to bring the red no-entry symbols on the near gate face fully into view and confirm I am standing right at them.", + "Both red no-entry symbols are lit on the turnstile display directly in front of me, filling the near edge of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1806f54bcea1c1567b7c7c075e32c5bea9cdf9e7 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Determine where a turnstile display shows a red prohibited sign next to another showing a green permitted sign; once found, navigate to that display area.", + "Type": 1, + "Start_Pose": [ + 714.937, + 1218.961, + -701.85, + 0.0, + 137.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 714.937, + 1218.961, + -701.85, + 0.0, + 137.6, + -0.0 + ], + [ + 714.937, + 1218.961, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 714.937, + 1218.961, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 714.937, + 1218.961, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 608.907, + 1151.152, + -701.52, + 0.0, + -147.4, + 0.0 + ], + [ + 608.907, + 1151.152, + -701.52, + 0.0, + -122.4, + 0.0 + ], + [ + 541.468, + 1044.886, + -701.85, + 0.0, + -122.4, + 0.0 + ], + [ + 474.03, + 938.619, + -701.85, + 0.0, + -122.4, + 0.0 + ], + [ + 406.591, + 832.353, + -701.478, + 0.0, + -122.4, + 0.0 + ], + [ + 406.591, + 832.353, + -701.478, + 0.0, + -147.4, + 0.0 + ], + [ + 406.591, + 832.353, + -701.478, + 0.0, + -172.4, + 0.0 + ], + [ + 281.838, + 815.707, + -701.746, + 0.0, + -172.4, + 0.0 + ], + [ + 281.838, + 815.707, + -701.746, + 0.0, + -172.4, + 0.0 + ], + [ + 281.838, + 815.707, + -701.746, + 0.0, + -172.4, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see benches, wall posters and a shuttered gate, with no turnstile line anywhere in view. I will turn right to begin a steady scan of the concourse for the barrier row with the red prohibited and green permitted displays.", + "The rotation has brought a ticket machine and more tiled wall into view, but still no barrier line with status lights. I will continue turning right in the same direction to sweep further along the hall, since the open space beyond the machine looks like the likely gate area.", + "A row of turnstiles is now visible on the right half of my view, and I can already make out red circular signs next to green ones on their front panels. I will turn right once more so that this barrier line sits ahead of me rather than off to the side.", + "The turnstile row is now centred in front of me, with the red no-entry displays and the green arrow displays clearly side by side along the line. I will walk forward across the open floor to close the distance to that display area.", + "I am close enough that the nearest gate cabinet crowds the left of my view and its side would block a straight walk in. I will turn right to face the clear floor and the tactile path running along the front of the barriers, which should give me a usable approach lane.", + "The gate line now runs along the left of my view with clear floor straight ahead and no obstruction in my path. I will step forward along this lane to draw level with the barriers carrying the paired red and green indicators.", + "The barriers have grown noticeably larger on my left and the northbound and southbound signs hang just above them, confirming I am moving into the gate area. I will keep walking forward to reach the section where a red prohibited display sits beside a green permitted one.", + "The nearest gate on my left plainly shows a red prohibited sign right next to a green arrow, so this is the display area I need. I will advance one more step to stand properly within that gate section before settling my position.", + "From here the nearest turnstile bodies only show green permitted arrows, while the row continues off to my left where more display panels are cut off by the edge of my view. I will turn left to swing that part of the gate line into the center of my view, since a red prohibited panel paired with a green one should sit among those units.", + "Turning left has brought a gate into view on the left whose panel shows a red prohibited circle directly beside a green arrow, which matches the target pairing. I will turn left once more to place that red and green display squarely ahead so I can walk straight toward it.", + "The turnstile with the red prohibited circle next to the green permitted arrow is now centered ahead of me, with the open lane and tactile paving leading straight to it. I will step forward to close the remaining distance to that display area.", + "I am now right up against the gate housing, so close that its upper shell fills the middle of my view and the signal panels have dropped below my line of sight. I will look down to bring the red prohibited and green permitted displays back into view and confirm I am standing at the right gate.", + "Directly below me the gate panel shows a red prohibited sign beside a green permitted arrow. The target display area is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..50a93aea19a87bb582fbe282a4ace9729cf4933e --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search for the turnstile displays where both screens indicate green passage-allowed arrows, and proceed to those screens.", + "Type": 1, + "Start_Pose": [ + 714.937, + 1218.961, + -701.85, + 0.0, + 137.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 714.937, + 1218.961, + -701.85, + 0.0, + 137.6, + -0.0 + ], + [ + 714.937, + 1218.961, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 714.937, + 1218.961, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 714.937, + 1218.961, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 608.907, + 1151.152, + -701.52, + 0.0, + -147.4, + 0.0 + ], + [ + 608.907, + 1151.152, + -701.52, + 0.0, + -122.4, + 0.0 + ], + [ + 541.468, + 1044.886, + -701.85, + 0.0, + -122.4, + 0.0 + ], + [ + 474.03, + 938.619, + -701.85, + 0.0, + -122.4, + 0.0 + ], + [ + 474.03, + 938.619, + -701.85, + 0.0, + -97.4, + 0.0 + ], + [ + 457.819, + 813.809, + -701.85, + 0.0, + -97.4, + 0.0 + ], + [ + 457.819, + 813.809, + -701.85, + 0.0, + -122.4, + 0.0 + ], + [ + 457.819, + 813.809, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 351.789, + 745.999, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 351.789, + 745.999, + -701.85, + 0.0, + -147.4, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a bench, wall posters and a shuttered gate, with no ticket gates anywhere ahead. The station concourse appears to continue toward my right, so I will turn right to begin a consistent scan for turnstile displays.", + "The rotation has brought a ticket machine and more open concourse into view, but still no turnstile panels. I will keep turning right in the same direction to extend the scan toward the brighter open area.", + "A row of turnstiles is now visible at the right edge, some showing red prohibition symbols and others showing green arrows. I will turn right once more to bring that gate line fully into the center of my view before approaching.", + "The bank of turnstiles is now centered in front of me, with the left units showing red circles and units farther right showing green arrows. I will walk forward to close the distance so I can read each pair of screens and identify the gate with green arrows on both panels.", + "From closer in, the nearest gates still show red circles while the green arrow indicators sit toward the right end of the row. I will turn right to face that greener section of the gate line more directly.", + "My heading now runs along the gate row with the green arrow units ahead and slightly left, and the floor between me and them is clear. I will step forward to get near those green displays and check whether both panels of a single gate are green.", + "I can now see the northbound and southbound signage above the gates, and several units on the left show green arrows while one still shows a red circle. I will continue walking forward to reach the group where the arrows appear on both screens.", + "The gates are now close on my left, and I can see a pair of green arrows on one unit, but my heading is nearly parallel to the row rather than facing the passage. I will turn right to swing my view along the open corridor and settle my position before lining up on the fully green gate.", + "The gate row now sits to my left, and one unit clearly carries two green passage arrows on its paired screens, so that bank is my target. The floor ahead is open with only a cone and bins well clear of my path, so I will step forward to close distance along the concourse before turning in toward those screens.", + "My forward step has carried me past the gate line, leaving only the near turnstile edge with its green arrow at the far left of my view while the exit gates dominate ahead. I will turn left to swing the barrier bank back into the center of my view and re-acquire the unit whose two screens both read green.", + "The barrier bank is back in view on my left, and the nearer unit plainly shows a pair of green arrows on both of its screens. I am still angled across it, so I will turn left again to bring that double-green pair squarely in front of me.", + "The turnstile with both screens lit by green upward arrows is now centered in my view with clear floor between us. I will walk forward to close in on those two green displays so I am standing at the passage-allowed gate.", + "Directly in front of me, both screens of this turnstile display green passage-allowed arrows. The task condition is met at this position, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..260c3fd0e56c7732c7927a29be0f01c46ac88e50 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Discover the pair of public payphones mounted on the tiled wall, then approach them.", + "Type": 1, + "Start_Pose": [ + 1045.761, + -23.839, + -701.774, + 0.0, + -22.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1045.761, + -23.839, + -701.774, + 0.0, + -22.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -47.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -72.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -97.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -122.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 921.008, + -40.485, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 921.008, + -40.485, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 800.908, + -2.848, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 680.808, + 34.789, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 560.708, + 72.426, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 560.708, + 72.426, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 435.955, + 55.781, + -701.508, + 0.0, + -172.4, + 0.0 + ], + [ + 325.362, + 37.401, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 325.362, + 37.401, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 325.362, + 37.401, + -701.85, + 0.0, + -147.4, + 0.0 + ] + ], + "Rationale": [ + "I am boxed into a corner facing a closed elevator door with blank tiled wall to my left, so no payphones are anywhere in this narrow view. I will turn left to begin a steady scan away from the elevator toward the more open part of the station.", + "The elevator front has slid to the edge of my view and I am now looking at an unbroken run of white tile with nothing mounted on it. Continuing the same leftward rotation should bring the rest of the concourse into view.", + "A framed transit map has just entered at the left edge, a sign that the open passenger area lies further in that direction. I will keep turning left to swing past the map and reveal the wall beyond it.", + "The map panel now fills the left half of my view and still blocks whatever wall lies past it, while the tile on the right holds nothing. Another left turn should clear this panel and open up the concourse behind it.", + "Past the edge of the map panel I can now see ceiling lights, benches and advertising posters of a wider station space opening to the left. I will keep rotating left to bring that promising public area fully into view.", + "On the far tiled wall ahead to the left I can now make out two dark units mounted side by side beside a ticket machine, which match the pair of payphones I am looking for. One more left turn should center that wall so I can head straight for them.", + "The pair of phones on the tiled wall is now roughly centered in my view, with clear open floor between me and them. I will walk forward to close the distance toward that wall.", + "Moving up has brought the tiled wall closer, but the two phones now sit slightly left of my heading beside the door and ticket machine. I will turn left to line my heading up with them before continuing forward.", + "The pair of payphones is now clearly visible ahead on the white tiled wall, beside the grey door and the yellow ticket machine. They are still some distance across the open concourse, so I will walk forward to close the gap toward them.", + "The two payphones have grown larger and sit slightly right of my heading, with clear floor between me and the tiled wall. I will keep walking forward since nothing blocks this straight line of approach.", + "Both handsets and their metal housings are now distinct on the tiled wall to my right front, so the target is confirmed. I will advance again to bring myself within close range of that wall section.", + "I am close to the tiled wall now, but the two payphones sit off to the right of my heading while the door and bin occupy the center. Turning right should place the phone pair directly in front of me for a straight final approach.", + "The two payphones are now centered in front of me on the tiled wall, between the door and the ticket machine. I will step forward to shorten the remaining distance to them.", + "Both phone units fill much of my view, with the labelled hoods and dangling handset cords clearly readable. One more step forward should bring me right up against the payphone pair.", + "I am now right at the wall, so close that the tiles between the two housings dominate my view and one phone body is cut off at the edge. Turning right should square me onto the adjacent payphone unit rather than the bare tile between them.", + "A wall-mounted payphone with its handset, keypad and coin slot fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..44e2094f9f5baa1db8cb053e0eb016fea2626296 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Once you locate the ticket machine with a yellow top beside the public phones, approach that kiosk.", + "Type": 1, + "Start_Pose": [ + 1045.761, + -23.839, + -701.774, + 0.0, + -22.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1045.761, + -23.839, + -701.774, + 0.0, + -22.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -47.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -72.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -97.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -122.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 1045.761, + -23.839, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 921.008, + -40.485, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 796.254, + -57.13, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 671.501, + -73.776, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 546.747, + -90.422, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 421.994, + -107.067, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 421.994, + -107.067, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 364.957, + -73.646, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 364.957, + -73.646, + -701.85, + 0.0, + 162.6, + -0.0 + ] + ], + "Rationale": [ + "I am facing a closed elevator door in a tight corner, with tiled wall filling the left side and no ticket machine or public phones anywhere in sight. I will turn left to begin a steady scan away from this dead-end alcove toward the open station area.", + "The elevator has slid to the right edge and only blank tiled wall is in front of me, so nothing here matches a yellow-topped ticket machine. I will keep turning left in the same direction to bring more of the concourse into view.", + "A framed transit map has appeared at the left edge, which suggests I am rotating toward a public passenger area rather than a service corner. I will continue the left scan to bring that side of the wall and the space beyond it fully into view.", + "The route map and timetable board are now large in front of me, a strong sign that the passenger concourse with ticketing facilities lies just past this wall. I will turn left again to open up that area and look for the yellow-topped kiosk beside the phones.", + "Past the edge of the map panel I can now see the platform opening up on the left, with benches, posters and lighting along a far wall. I will keep turning left to bring that far wall fully into view, since ticket and phone facilities are likely mounted along it.", + "On the far wall to my left I can make out two wall-mounted payphones with a tall kiosk beside them capped in yellow, which matches the ticket machine I am looking for. I will turn left once more to center that wall so I can head straight across the platform toward it.", + "The yellow-topped ticket kiosk and the pair of payphones are now clearly ahead of me across an open, unobstructed stretch of platform. I will walk forward to close the distance toward that kiosk.", + "The kiosk with the yellow top and the two phones beside it are larger and roughly centered ahead, confirming I am closing on the right target. I will step forward again since the floor between us is still clear.", + "The kiosk with the yellow \"Tickets\" header is clearly ahead against the tiled wall, with the two wall-mounted public phones immediately to its left, which matches the target description. Nothing blocks the open platform floor between us, so I will keep walking straight toward it. Each step should make the machine face larger and better centered in front of me.", + "The yellow \"Tickets\" banner and the machine's screen and card slot are now legible, confirming this is the kiosk beside the public phones. I am still several paces short of a comfortable standing distance at its front panel. I will continue advancing straight ahead to close that remaining gap.", + "The ticket machine now dominates the view, with its coin slot, keypad and note tray becoming distinct, so my heading onto it is good. There is still a short stretch of floor before I would be standing right at the kiosk. I will take another step forward to finish closing in on it.", + "I am now very close to the kiosk, but its face is offset to the left of my heading and the pipes and poster on the right take up too much of the view. Turning left should bring the machine's front panel and the neighbouring public phones back into the centre of my view. That gives a cleaner heading for the last short step in.", + "The turn worked, and the yellow-topped ticket kiosk is now squarely in front of me with the two \"Phone\" units right beside it on the left. Only a small gap remains before I am standing at its service panel. I will step forward once more to reach that position.", + "I am standing directly at the ticket kiosk's panel with the public phone unit right beside me. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1791756198b7fb5cd3401feabfd2d4299ce4bc03 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Search for three white wall-mounted boxes, two of which feature dark glass windows on their fronts; after locating them, navigate to that spot.", + "Type": 1, + "Start_Pose": [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -22.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -22.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -47.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -72.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -97.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -122.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 939.557, + 1533.178, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 814.803, + 1516.533, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 814.803, + 1516.533, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 708.773, + 1448.723, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 602.743, + 1380.914, + -701.503, + 0.0, + -147.4, + 0.0 + ], + [ + 602.743, + 1380.914, + -701.503, + 0.0, + -172.4, + 0.0 + ], + [ + 477.989, + 1364.269, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 353.236, + 1347.623, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 353.236, + 1347.623, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 353.236, + 1347.623, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 353.236, + 1347.623, + -701.85, + 0.0, + 162.6, + -0.0 + ] + ], + "Rationale": [ + "I am facing a closed elevator alcove, and nothing here resembles the three white wall-mounted boxes with dark glass windows. This recess is a dead end, so I will begin a steady leftward scan to open up the rest of the station wall and find a route out of this corner.", + "The elevator has slid to the right edge of my view and I now see only blank tiled wall with a small blue notice. There is still no sign of the white boxes, so I will keep rotating in the same leftward direction to sweep further along this wall.", + "A large framed advertisement is coming into view on the tiled wall ahead, which tells me this wall runs on toward a more public part of the station. The white boxes are still not in sight, so I will continue the same leftward scan to reveal what lies beyond the poster.", + "The poster is now squarely in front of me and a dark bin edge appears at the left, hinting that the wall gives way to open floor just past it. Since no white boxes with dark windows are visible here, I will keep turning left toward that opening.", + "The turn has opened onto a wide concourse with a hanging Tickets sign, a ticket machine and a long wall of posters and fixtures. That kind of service wall is where wall-mounted equipment boxes usually sit, so I will keep rotating left to bring the full stretch of that wall into view.", + "More of the concourse is now exposed, with the poster wall, a bin and pale mounted panels near the ticket machine on the far side. I will make one more left turn to square myself with that wall and the clear floor leading to it.", + "I am now facing straight down the open concourse toward the tiled wall carrying posters and pale mounted panels beside the ticket machine, which is the most likely place for the three white boxes. The floor ahead is clear of obstacles, so I will walk forward to close the distance and see those wall fittings in detail.", + "The step forward brought me closer, and the wall fixtures beside the ticket machine are now larger, with pale panel-like units mounted between the posters. They are still too far to confirm dark glass windows, so I will keep walking forward along the same heading.", + "Ahead of me the tiled wall carries posters and a pair of pale panel units near the ticket machine, which look like the wall-mounted boxes I am hunting for, but they sit off to my right side of the concourse. I will turn right to bring that stretch of wall and the ticket area into the centre of my view so I can judge the boxes properly. This should give me a straight heading toward that wall section.", + "The turn has centred the ticket machine and the tiled wall with its light-coloured mounted units in my view, and the floor between me and them is clear. I will walk forward to close the distance so I can confirm whether those units are the three white boxes described in the task.", + "The two pale panels on the tiled wall are now noticeably larger and I can make out dark rectangular windows set into their upper parts, which matches the described boxes. I will keep walking forward along this clear stretch of floor to get near enough for a definite look.", + "I am now close to the ticket machine, and the white wall-mounted units with dark glass windows sit on the tiled wall to my left rather than straight ahead. I will turn left to face that wall directly so my remaining approach lines up with the boxes.", + "The turn has put the tiled wall and its cluster of pale mounted units squarely in front of me, with the bin and the ticket machine flanking them. I will step forward to close the last of the gap and stand right at that wall section.", + "I can now clearly see the white mounted casings with dark glass windows filling the wall in front of me, one tall unit and a smaller one beside it. I will take one more step forward so I am standing directly at the spot where these boxes are mounted.", + "I am right up against the tiled wall now and the view is dominated by the poster on the right, with only part of the white casing showing at the left edge. I will turn left to bring the group of white boxes back to the centre of my view for a proper confirmation.", + "The white mounted casings are centred in front of me but their tops are cut off, so the dark glass windows on their fronts are out of view. I will look up to raise my gaze onto the upper faces and confirm all three boxes with their windows.", + "The three white wall-mounted boxes fill my view at arm's length, two showing dark glass windows. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..472fa2ce1e1894f1e9ea0fc6a1a9b3fb30e88b2f --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Look around for a pair of connected green benches situated beneath a billboard; once you have identified them, make your way over.", + "Type": 1, + "Start_Pose": [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -22.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -22.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -47.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -72.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -97.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -122.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -147.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -172.4, + 0.0 + ], + [ + 1064.31, + 1549.824, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 944.281, + 1582.926, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 825.797, + 1586.607, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 705.697, + 1624.244, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 585.597, + 1661.881, + -701.547, + 0.0, + 162.6, + -0.0 + ], + [ + 465.497, + 1699.518, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 369.919, + 1733.496, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 369.919, + 1733.496, + -701.85, + 0.0, + 162.6, + -0.0 + ], + [ + 369.919, + 1733.496, + -701.85, + 0.0, + 162.6, + -0.0 + ] + ], + "Rationale": [ + "I am facing a closed elevator door in a tiled corner of the station, and no benches or billboards are anywhere in this narrow view. I will turn left to begin a consistent scan away from this dead end and open up the wider concourse.", + "Rotating has only brought more blank tiled wall and the edge of the elevator recess into view, so the target area is still hidden. I will keep turning left in the same direction to sweep past this wall toward more open space.", + "A large green advertising panel has come into view on the wall ahead, which is the kind of billboard the task associates with the benches. I will continue turning left to bring that poster and the floor below it fully into view.", + "The green poster is now centered but the floor beneath it holds only a dark bin, not a pair of benches. I will turn left again to scan the adjoining concourse where more wall panels and seating may stand.", + "Turning has revealed an open ticket hall with platform edging and further wall displays off to the left, a promising area for public seating. I will keep rotating left to bring that open concourse into the center of my view.", + "The wider hall is now visible and I can make out a low dark seat shape against the far tiled wall beneath a row of framed panels. I will turn left once more to line up with that wall and confirm the seating.", + "From here a dark green bench sits against the far tiled wall below the framed poster boards, matching the target description. I will turn left a final step to place that wall and its seating squarely ahead before advancing.", + "The green benches are now off to my right along the far wall beneath the framed poster boards, with clear open floor between me and them. I will walk forward past this tiled pillar to close the distance toward that seating area.", + "Past the tiled pillar on my left, I can see a long green bench set against the far platform wall, directly under the large mounted advertising panels. That matches the connected green benches beneath a billboard that I was asked to find, so I commit to it and walk forward. The floor ahead is clear, so this step should close the gap.", + "The bench area is now fully in front of me and I can make out two green bench units joined end to end beneath the wall-mounted poster panels. They are still several strides away across the open platform floor, so I keep walking straight toward them.", + "The paired green benches sit slightly left of my heading and are growing larger as I close in, with the train times board and the green poster above them. Nothing blocks the path, so another forward step should bring me nearer without needing to reorient yet.", + "The two joined benches now fill much of the lower view and their legs and slats are clearly resolved beneath the poster and timetable panels. I am close but not yet standing at them, so I take another step forward to finish the approach.", + "I am almost at the seating: the two connected green benches stretch across the bottom of my view and the poster and timetable boards loom directly above them. One more short step should put me right up against the near bench.", + "Standing this close, my view is filled mostly by the tiled wall and the poster panels, with only the bench edges showing at the bottom. I will look down to bring the pair of connected green benches fully into view and confirm I am right beside them.", + "The two joined green benches lie directly in front of me under the mounted poster boards, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..57bf49e965f7fa4aa34365fe473c4519d16f144e --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Identify the green bench situated near the station platform area; after locating it, proceed to where it stands.", + "Type": 1, + "Start_Pose": [ + 1137.328, + -49.071, + -701.85, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 107.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 132.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 157.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + -177.4, + 0.0 + ], + [ + 1011.599, + -54.78, + -701.85, + 0.0, + -177.4, + 0.0 + ], + [ + 885.869, + -60.49, + -701.85, + 0.0, + -177.4, + 0.0 + ], + [ + 885.869, + -60.49, + -701.85, + 0.0, + -152.4, + 0.0 + ], + [ + 774.332, + -118.8, + -701.85, + 0.0, + -152.4, + 0.0 + ], + [ + 662.796, + -177.11, + -701.85, + 0.0, + -152.4, + 0.0 + ], + [ + 551.259, + -235.42, + -701.85, + 0.0, + -152.4, + 0.0 + ], + [ + 439.722, + -293.73, + -701.551, + 0.0, + -152.4, + 0.0 + ], + [ + 439.722, + -293.73, + -701.551, + 0.0, + -152.4, + 0.0 + ] + ], + "Rationale": [ + "I am boxed in against a metal panel and a tiled wall with only an elevator call plate and the edge of a poster in view, so no bench is visible from here. I will turn right to begin a consistent scan away from this blank surface and toward whatever open concourse lies beside me.", + "The rotation has only brought the full advertising poster and more tiling into view, still with no bench or platform edge anywhere. I will keep turning right in the same direction to sweep past this wall toward possible open space.", + "I am still facing a flat run of tiled wall with the poster sliding toward the left side, which tells me the open area must lie further to my right. I will continue the same rightward scan to bring that space into view.", + "The wall edge has finally opened onto a lit station concourse with a bin, doors and framed panels along the far side, so the platform area is off to my right. I will turn right again to bring more of that concourse into the center of my view and look for the green bench.", + "Now I can see the station concourse clearly, and at the right edge beside the posters there is a low green bench against the tiled wall. I will turn right once more to place that bench and the wall it sits against more centrally ahead of me before walking.", + "The concourse is now open in front of me with the green bench visible ahead on the right, past the ticket machine and payphones. The floor between us is clear, so I will walk forward to close the distance toward it.", + "The bench has grown larger and sits ahead on the right beneath the two framed posters, so my heading is still carrying me toward it. I will step forward again to keep closing the gap across the open floor.", + "I am close to the wall now, but the green bench sits off to my right rather than straight ahead, so walking on would take me past it. I will turn right to face the bench directly before continuing my approach.", + "The green metal bench is now clearly visible ahead against the tiled wall between the ticket machine and the posters, roughly centred in my view. The open platform floor in front of me looks clear, so I will walk forward to close the remaining distance toward it.", + "The bench has grown larger and its green frame and slatted seat are clearly resolved just left of centre ahead of me, confirming it is the target. Nothing blocks the floor between us, so I will keep stepping forward to reach it.", + "I am close enough now to see the individual slats and legs of the green bench along the wall in front of me, but I am still standing off from it. Another step forward should bring me right up beside where it stands.", + "The green bench now fills much of the lower half of my view directly ahead against the tiled wall, so only a short gap remains. I will take one more step forward to stand at its location rather than stopping short of it.", + "The green platform bench is right in front of me, within arm's reach along the tiled wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8a52ae6bfdd1027ee1b537be394778d680bf527c --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_b/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Search for the mop leaning beside a yellow bucket and caution cones, then head over to it.", + "Type": 1, + "Start_Pose": [ + 1137.328, + -49.071, + -701.85, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 57.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 82.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 107.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 132.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 157.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + -177.4, + 0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + -152.4, + 0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + -127.4, + 0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + -102.4, + 0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + -77.4, + 0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + -52.4, + 0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + -27.4, + 0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + -2.4, + 0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 22.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 47.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 72.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 97.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 122.6, + -0.0 + ], + [ + 1137.328, + -49.071, + -701.85, + 0.0, + 147.6, + -0.0 + ], + [ + 1031.062, + 18.368, + -701.85, + 0.0, + 147.6, + -0.0 + ], + [ + 1031.062, + 18.368, + -701.85, + 0.0, + 172.6, + -0.0 + ], + [ + 906.251, + 34.578, + -701.85, + 0.0, + 172.6, + -0.0 + ], + [ + 781.44, + 50.788, + -701.85, + 0.0, + 172.6, + -0.0 + ], + [ + 781.44, + 50.788, + -701.85, + 0.0, + 147.6, + -0.0 + ], + [ + 781.44, + 50.788, + -701.85, + 0.0, + 122.6, + -0.0 + ], + [ + 781.44, + 50.788, + -701.85, + 0.0, + 97.6, + -0.0 + ], + [ + 764.795, + 175.541, + -701.85, + 0.0, + 97.6, + -0.0 + ], + [ + 748.149, + 300.295, + -701.85, + 0.0, + 97.6, + -0.0 + ], + [ + 748.149, + 300.295, + -701.85, + 0.0, + 97.6, + -0.0 + ], + [ + 748.149, + 300.295, + -701.85, + 0.0, + 97.6, + -0.0 + ] + ], + "Rationale": [ + "I am standing right in front of a closed elevator with its call panel and a tiled wall filling almost my whole view, so no mop, yellow bucket, or caution cones are anywhere in sight. I will turn right to begin a steady scan of the surroundings and open up the space beyond this narrow alcove.", + "The rotation has only brought a wall poster and the elevator panel into view, with still no cleaning equipment anywhere. I will keep turning right in the same direction to sweep further along this wall toward whatever open area lies beyond it.", + "I am now facing the tiled wall squarely with the advertisement panel centred and nothing but floor beneath it, so this stretch holds no mop or bucket. Continuing the same rightward sweep should carry my view past the wall's edge into the wider station space.", + "The wall edge has finally opened onto a wide concourse with a bin, a doorway, and yellow floor markings in the distance, which is the kind of public area where cleaning gear would be left. I still see no mop, bucket, or cones here, so I will keep turning right to bring more of that concourse into view.", + "More of the hall is showing now, with payphones, a ticket machine, a bench, and a bin along the far wall, but none of these are the mop or its yellow bucket. I will continue the consistent rightward scan so I do not miss any part of this open area.", + "This heading gives me a fairly complete look down the hall toward the ticket machine and benches, and there is no mop leaning anywhere along it. Turning right again should swing my view toward the parts of the station still hidden behind me.", + "The map panel and tiled wall on my right are now taking over the frame while the open hall slides off to my left, so this direction offers nothing useful. I will keep rotating right to work past this blank wall section rather than reverse my scan.", + "I am looking almost straight at plain tiling with only a sliver of the hall left at the edge, so there is nothing to inspect on this bearing. I will continue the same rightward rotation to push through this dead section of wall and keep the sweep going.", + "My view is filled entirely by a blank stretch of white tiled wall, with no mop, yellow bucket, or caution cones anywhere in it. Since this heading offers nothing but a flat surface, I will keep rotating right in the same consistent direction to bring new parts of the station into view.", + "The tiled wall still dominates my view, though a pale panel and the corner of a blue sign are now entering from the right edge. That hints at a structure just beyond my current heading, so I will continue the rightward scan to expose it and check for the mop and bucket.", + "The structure to my right resolves into an elevator surround carrying a fire notice about not using the elevator, and there is no cleaning equipment beside it. This alcove is a dead corner for my search, so I will turn right again to keep sweeping past it.", + "I am now facing the edge of the elevator with its metal door panel filling the right side of my view, and nothing resembling a mop or bucket stands here. I will continue rotating right so this narrow alcove gives way to more of the concourse.", + "The closed metal elevator doors now occupy almost my entire view, offering no floor area where cleaning gear could be leaning. Keeping the same rightward turn should carry my heading past these doors toward open space again.", + "I am still squared up to the blank elevator doors and the recessed corner beside them, with no sign of the mop or the yellow bucket. Another right turn continues the same sweep and should start bringing the wider hall back into view.", + "The elevator corner with its call button plate and the tiled wall beside it looks like the very view I started this search from, so my rotation has nearly come all the way around without revealing the mop. I will keep turning right to move past this repeated corner and back toward the open concourse.", + "The clean air poster next to the elevator confirms I am sweeping through ground I have already faced, and the mop, bucket and cones were nowhere in that full circle. I will turn right again to swing my heading toward the open hall, which is the only unexplored direction worth walking into.", + "The tiled wall with the green Clean Air poster and the elevator call buttons in front of me matches the corner I started from, so my sweep has come back around without any sign of a mop, yellow bucket, or caution cones. I will keep turning right in the same direction to bring the open part of the station back into view, since the enclosed elevator alcove clearly holds nothing relevant.", + "Past the edge of the poster wall the concourse opens on my right, with a litter bin, a yellow tactile strip and lit ceiling panels leading into a larger hall. The cleaning equipment is not visible yet, so I will turn right once more to face that open space squarely before committing to any movement.", + "I am now facing down the open concourse past the poster wall, with ticket machines, payphones and a door along the far side and clear floor ahead of me. Nothing resembling a mop or yellow bucket is in reach of this view, so I will walk forward to leave the narrow alcove and get deeper into the hall where more of the station should become visible.", + "After stepping out, the tiled pillar still fills the left half of my view while the useful part of the hall with the ticket machines lies to my right. I will turn right to swing that pillar out of the way and point myself along the open floor before continuing.", + "The pillar is now off to my left and a wide stretch of concourse with benches, a bin and the ticket machine lies open in front of me. I will walk forward across this floor to reach the far end of the hall, where the barriers and any cleaning area should come into view.", + "The ticket barriers are now visible ahead on my left, and a yellow object shows at the very edge of my left view near the floor, which fits the kind of cleaning equipment I am looking for. I will keep walking forward to close the distance so that area comes fully into my field of view.", + "Straight ahead I only see the plain door, payphones and ticket machine, while the yellow item near the gates sits cut off at my left edge. I will turn left to bring that promising area in front of me rather than walking further past it.", + "Turning has brought yellow caution cones and a yellow bucket into the lower left of my view near the ticket gates, exactly the cluster described in the task. I will turn left again to centre that group so I can confirm the mop and head straight toward it.", + "The mop leaning on the yellow bucket with the caution cones beside it sits in the left half of my view, past the ticket machine block. I will turn left once more so that cluster falls near the center of my heading before I walk toward it.", + "The mop, the yellow bucket, and the caution cone now sit roughly ahead of me, with clear open floor between us. I will walk forward to close the distance toward that cleaning setup.", + "The bucket and the leaning mop handle have grown much larger and are now just ahead and slightly right, but I am still a step short of standing beside them. I will advance again to reach the cleaning equipment.", + "I am now right at the cleaning setup, with the mop handle crossing my view close on the left while the bucket has dropped below my field of view. I will tilt my gaze downward to bring the mop and its bucket fully into sight for confirmation.", + "The mop leans directly in front of me beside the yellow bucket, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..50de16566178120129558638d1bc581872bcafee --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the gray ticket machine with the orange top.", + "Type": 0, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 1021.758, + 4.552, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 895.939, + 1.389, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 895.939, + 1.389, + -701.85, + 0.0, + -153.56, + 0.0 + ], + [ + 783.244, + -54.651, + -701.85, + 0.0, + -153.56, + 0.0 + ], + [ + 670.55, + -110.691, + -701.85, + 0.0, + -153.56, + 0.0 + ], + [ + 670.55, + -110.691, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 544.731, + -113.854, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 418.911, + -117.016, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 418.911, + -117.016, + -701.85, + 0.0, + -178.56, + 0.0 + ] + ], + "Rationale": [ + "Across the open platform hall I can already pick out the gray ticket machine with the orange top standing against the far tiled wall, just right of the doorway and beside the two payphones. Nothing blocks the floor between me and it, so I will step forward to begin closing that long distance.", + "The ticket machine with the orange top is larger now and I can see its ticket slot and screen more clearly, which tells me my previous step brought me closer. The floor ahead is still clear, so I will keep advancing straight toward it.", + "From here the ticket machine sits noticeably to the right of my heading, with the trash bin and payphone pair spread across the middle of my view. I will turn right to bring the machine closer to the center of my view before continuing forward.", + "After the turn the yellow topped ticket machine sits ahead and slightly left, with open tiled floor and the yellow tactile strip between us. I will move forward to shorten the remaining distance along this heading.", + "The machine's orange top and its Tickets sign are now readable and the benches beside it look much nearer, so my heading is carrying me in usefully. I will take another step forward to keep closing on it.", + "The ticket machine has drifted to the left edge of my view while the benches and pillar now occupy the center ahead of me. I will turn left to bring the machine back to the middle of my view so I can walk straight at it.", + "The gray machine with the orange Tickets header is now centered in front of me with the payphones on its left and a bench to its right. With clear floor between us, I will step forward to reduce the last of the gap.", + "The ticket machine now fills much of my view, its keypad, screen and dispensing slot clearly readable straight ahead. One more forward step should bring me right up to it, close enough to count as reaching the target.", + "The gray ticket machine with its orange top fills my view at arm's length, keypad and note slot clearly readable. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ab958d7c22e647a8b116f7a4c0f94532ce673769 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the black trash bin near the wall.", + "Type": 0, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 1021.758, + 4.552, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 895.939, + 1.389, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 895.939, + 1.389, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 780.571, + 51.696, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 665.203, + 102.003, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 549.836, + 152.31, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 434.468, + 202.617, + -701.844, + 0.0, + 156.44, + -0.0 + ], + [ + 434.468, + 202.617, + -701.844, + 0.0, + 156.44, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the station concourse I can see the dark trash bin standing against the tiled wall ahead, just left of the white service door. It is far off beyond the yellow tactile strip, so I will step forward along the open floor to begin closing that distance.", + "The bin by the wall is noticeably larger now and the surrounding wall details are clearer, confirming my heading is carrying me toward it. The floor between us is still empty, so I will advance again to keep shortening the gap.", + "The trash bin now sits off to the left of my view while my heading points more toward the ticket machine and benches on the right. I will turn left so the bin comes closer to the center of my view and my remaining approach runs straight at it.", + "After the turn the dark bin sits near the middle of my view beside the white door, with the fare gates spread out to my left. The path across the tiled floor is clear, so I will move forward along this corrected heading.", + "The bin is growing steadily ahead of me and the payphones on the wall behind it are now clearly readable, so my line of travel is good. Nothing blocks the way, so I will keep stepping forward to close the remaining distance.", + "I am now only a few steps from the bin, which stands directly ahead against the tiled wall next to the door. I will advance once more to bring myself into a close standing position beside it.", + "The bin now dominates the lower center of my view, but there is still a small gap of floor before I am right at it. I will take one more short step forward to finish closing on the target.", + "The black trash bin stands immediately in front of me against the tiled wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..967b78a68a9207a7aa5e4c90e6ac9afd6c2f737d --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the pay phone mounted on the wall.", + "Type": 0, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 1021.758, + 4.552, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 895.939, + 1.389, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 770.119, + -1.774, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 644.3, + -4.936, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 518.481, + -8.099, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 392.661, + -11.262, + -701.756, + 0.0, + -178.56, + 0.0 + ], + [ + 326.222, + -8.119, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 326.222, + -8.119, + -701.85, + 0.0, + -178.56, + 0.0 + ] + ], + "Rationale": [ + "From this corridor opening I can see two dark pay phones mounted on the tiled far wall, just left of the yellow ticket machine. They sit almost straight ahead of my current heading, so no turn is needed and I will move forward to begin closing the long gap across the platform.", + "The pay phones on the tiled wall now appear larger and remain near the center of my view, confirming my heading is aimed at them. The floor between me and that wall is clear, so I will continue straight forward.", + "The two phones are clearly resolved on the wall slightly left of the ticket machine, and the yellow tactile strip lies between me and them. Distance is still too great to count as reaching the target, so I keep advancing straight.", + "The wall with the phones now fills much of my view, with the trash bin and door well to the left and the bench to the right of the ticket machine. Nothing blocks my straight line, so another forward step should bring the phones within close range.", + "Both handsets and their labeled hoods are now legible on the tiled wall directly ahead, slightly left of center. I am still a couple of steps short of the wall, so I continue forward to close the remaining distance.", + "The near phone is very close now, filling the left half of my view with the ticket machine edge crowding the right. One more short advance should place me directly in front of the mounted phone.", + "The phone's keypad, handset, and coin panel now dominate my view at arm's length distance. I will take one last shorter step forward to settle squarely in front of the wall-mounted unit.", + "The wall-mounted pay phone's handset, keypad, and coin label fill my view at contact range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_d/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0747ad4d1f9993889327f63c50960ed06040d27c --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_d/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the gray metal door.", + "Type": 0, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 1021.758, + 4.552, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 895.939, + 1.389, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 770.119, + -1.774, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 644.3, + -4.936, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 644.3, + -4.936, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 528.932, + 45.371, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 413.565, + 95.678, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 298.197, + 145.985, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 298.197, + 145.985, + -701.85, + 0.0, + 156.44, + -0.0 + ] + ], + "Rationale": [ + "From the platform concourse I can see a plain gray metal door set in the tiled wall ahead, just left of my heading, beside the payphones and ticket machine. It is still far off across the open floor, so I will move forward to begin closing that gap while keeping it in view.", + "The gray door and the neighboring payphones have grown noticeably larger, confirming my heading is carrying me toward the target wall. The floor ahead is still clear, so another forward step should keep reducing the distance.", + "The door is now clearly resolved with its handle visible, and it sits slightly left of my straight-ahead direction. Since nothing blocks the open concourse, I will continue forward rather than adjust heading yet.", + "The tiled wall with the door, phones and ticket machine now dominates my view, so I am within a few steps of it. I will take another forward step to close more of the remaining distance before correcting my heading.", + "The gray metal door now sits well to the left of my facing direction while the ticket machine occupies the center of my view. I will turn left to bring the door onto my forward axis so my remaining approach can be straight at it.", + "After the turn the gray door is much closer to the middle of my view, with the trash bin off to its left and the payphones to its right. With the heading corrected I will move forward to close on the door.", + "The door is directly ahead and its handle and frame are clearly visible, with a clear stretch of floor in front of me. I will step forward again to reach a position right at the door.", + "The gray metal door now fills most of my view, so I am only a short step from standing at it. One more forward step should bring me right up against the door and complete the approach.", + "The gray metal door fills my view at arm's length, its handle just left of center. Navigation to the target is complete, so I will stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_a_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..15be6eef63a8969737eb1a3bf20c52e11197cd34 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the trash bag beside the orange ticket machine.", + "Type": 5, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0, + -178.56, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 386.607, + -23.217, + -801.478, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1147.577, + 7.715, + -701.85, + 0, + -178.56, + 0 + ], + [ + 1021.758, + 4.552, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 895.939, + 1.389, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 770.119, + -1.774, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 644.3, + -4.936, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 518.481, + -8.099, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 518.481, + -8.099, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 518.481, + -8.099, + -701.85, + 0.0, + -178.56, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 386.607, + -23.217, + -801.478, + 0.0, + 0.0, + 0.0 + ], + [ + 386.607, + -23.217, + -801.478, + 0.0, + 0.0, + 0.0 + ], + [ + 386.607, + -23.217, + -801.478, + 0.0, + 0.0, + 0.0 + ], + [ + 386.607, + -23.217, + -801.478, + 0.0, + 0.0, + 0.0 + ], + [ + 386.607, + -23.217, + -801.478, + 0.0, + 0.0, + 0.0 + ], + [ + 386.607, + -23.217, + -801.478, + 0.0, + 0.0, + 0.0 + ], + [ + 519.627, + -29.431, + -731.744, + -28.202, + -128.416, + 1.862 + ], + [ + 519.627, + -29.431, + -731.744, + -28.202, + -128.416, + 1.862 + ] + ], + "PD_Dist_2D": [ + 761.6, + 635.8, + 509.9, + 384.1, + 258.3, + 132.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The dark trash bag sits far ahead on the concourse floor, just left of the yellow-topped ticket machine on the far wall. It is already centered in my path, so no turn is needed. I will walk straight forward to close that long distance.", + "The bag and the ticket machine have grown noticeably larger, confirming my heading is correct. The open floor between us is clear of benches, bins and pillars. I will keep walking forward to reduce the remaining gap.", + "The trash bag now stands out clearly against the tiled wall, immediately left of the ticket machine labelled Tickets. I am still several strides short of grasping range. Continuing straight ahead keeps the bag aligned while I close in.", + "The bag is large in view now and the yellow tactile strip lies just before it, but I am still beyond arm's reach. The path over the tiles is unobstructed. Another step forward should bring me close enough to reach down for it.", + "The bag fills a good part of the lower view, sitting right at the base of the ticket machine, yet it is still slightly too far to grab. One more forward step should place it directly at my feet. I will advance rather than reach from here.", + "I am now standing right at the ticket machine, with the trash bag at the very bottom of my view within arm's reach. No further approach is needed and nothing blocks the bag. I will attempt to grasp it now.", + "The trash bag is now held in my hands rather than resting on the floor by the ticket machine. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_b_p/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2477594512f9b6485bd6617084d851bcfbc90f5c --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Lift the plate at the black trash bin near the wall.", + "Type": 5, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0, + -178.56, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 332.924, + 137.612, + -751.85, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1147.577, + 7.715, + -701.85, + 0, + -178.56, + 0 + ], + [ + 1021.758, + 4.552, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 895.939, + 1.389, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 770.119, + -1.774, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 644.3, + -4.936, + -701.85, + 0.0, + -178.56, + 0.0 + ], + [ + 644.3, + -4.936, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 528.932, + 45.371, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 413.565, + 95.678, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 413.565, + 95.678, + -701.85, + 0.0, + 156.44, + -0.0 + ], + [ + 413.565, + 95.678, + -701.85, + 0.0, + 156.44, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 332.924, + 137.612, + -751.85, + 90.0, + 0.0, + 0.0 + ], + [ + 332.924, + 137.612, + -751.85, + 90.0, + 0.0, + 0.0 + ], + [ + 332.924, + 137.612, + -751.85, + 90.0, + 0.0, + 0.0 + ], + [ + 332.924, + 137.612, + -751.85, + 90.0, + 0.0, + 0.0 + ], + [ + 332.924, + 137.612, + -751.85, + 90.0, + 0.0, + 0.0 + ], + [ + 332.924, + 137.612, + -751.85, + 90.0, + 0.0, + 0.0 + ], + [ + 332.924, + 137.612, + -751.85, + 90.0, + 0.0, + 0.0 + ], + [ + 332.924, + 137.612, + -751.85, + 90.0, + 0.0, + 0.0 + ], + [ + 405.589, + 75.86, + -731.744, + -28.202, + -153.416, + 1.862 + ], + [ + 405.589, + 75.86, + -731.744, + -28.202, + -153.416, + 1.862 + ] + ], + "PD_Dist_2D": [ + 824.9, + 701.6, + 579.3, + 458.9, + 342.5, + 342.5, + 216.6, + 90.9, + 21.4, + 21.4 + ], + "Rationale": [ + "From this corridor opening I can see the tiled concourse ahead, with a dark trash bin against the far wall and a large white plate resting beside it. That target is far off, so I will walk straight ahead to close the gap before any grasp is possible.", + "The bin and the white plate beside it now read larger and clearer along the wall ahead, so my straight heading is carrying me toward them. Nothing blocks the open floor between us, so I will keep walking forward to shorten the remaining distance.", + "The plate leaning at the base of the dark bin is clearly resolved now, but it still sits well beyond arm's reach across the tiled floor. I will continue straight ahead, since my current heading keeps the target roughly centered.", + "The wall fittings, phones and ticket machine fill more of my view, showing I am much nearer the far side of the concourse. The plate and its bin still lie ahead and slightly to my left, so another step forward is the efficient way to keep closing in.", + "I am close to the wall now, but the plate and the dark bin have drifted to the left edge of my view while the ticket machine dominates the center. Turning left should bring the plate back toward the middle of my heading so a straight approach lands me at it.", + "The turn has brought the leaning white plate and the black bin into the middle of my view, with open floor in front of them. I will step forward along this corrected heading to close the remaining distance for a grasp.", + "The plate now looms large just left of center beside the black bin, yet it is still a stride away from a comfortable reach. One more step forward should place me directly over it before I attempt the lift.", + "I am right up against the wall beside the black bin, with the rim of the white plate filling the lower part of my view within easy reach. My hands are empty, so I will attempt the pick now and it should lift the plate.", + "The plate from beside the black trash bin is now held in my grasp rather than resting on the floor. The lift task is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a9372171d05a1507e97cdd7a8550735804d917f --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Locate the small red hand cart standing on the sidewalk near the storefronts, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -88.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -88.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -63.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -38.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -13.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 11.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 36.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 61.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 86.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 111.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 136.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 161.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -173.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -148.48, + 0.0 + ], + [ + 1309.991, + -1547.811, + -931.85, + 0.0, + -148.48, + 0.0 + ], + [ + 1202.701, + -1613.609, + -931.85, + 0.0, + -148.48, + 0.0 + ], + [ + 1202.701, + -1613.609, + -931.85, + 0.0, + -173.48, + 0.0 + ], + [ + 1077.656, + -1627.9, + -931.85, + 0.0, + -173.48, + 0.0 + ], + [ + 1077.656, + -1627.9, + -931.85, + 0.0, + -148.48, + 0.0 + ], + [ + 970.367, + -1693.699, + -901.191, + 0.0, + -148.48, + 0.0 + ], + [ + 970.367, + -1693.699, + -901.191, + 0.0, + -148.48, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a closed roller shutter, a plain service door and an air conditioning unit on a brick wall, with no small red hand cart anywhere on this stretch of pavement. Since nothing in front of me matches the target, I will turn right to begin a steady scan of the surrounding street in one consistent direction.", + "The view now opens onto a corner with a pale apartment block and an empty paved forecourt, still without any sign of a red hand cart. I will keep rotating right to bring more of the street and its storefront frontage into view.", + "Ahead I see the corner of a tall concrete building and a bright open area, but the sidewalk visible here holds no cart. Continuing the same rightward sweep should reveal the shopfront side of the street where such a cart would plausibly stand.", + "A long roadway now stretches away past an elevated structure, with only parked bicycles far down on the right and no red hand cart in sight. I will keep turning right to check the near frontage on that side rather than commit to this distant corridor.", + "The road ahead runs beside a large blank service building and an overpass, and the sidewalk along it is bare. Nothing here matches the target, so I will continue the same rightward rotation to keep scanning without breaking the sweep.", + "Now I am facing a plain corrugated and block wall with a utility pole, which offers no storefronts and no cart. I will turn right again to move past this featureless stretch toward whatever street frontage lies further around.", + "The wall is now very close and fills almost the entire view, leaving only a narrow strip of curb visible and no target. Turning right once more should swing my view off this blank surface and back along the street.", + "I can see a signpost and a dark trash bin against the wall, which suggests a pedestrian frontage begins around this side, but the red hand cart is still not visible. I will continue turning right in the same direction to bring that frontage fully into view.", + "My view is still filled by a blank block wall, a signpost and a trash bin, with no storefronts or hand cart anywhere in sight. I will keep rotating right in the same consistent direction to sweep past this wall toward whatever street opening lies beyond it.", + "The wall is starting to fall away on the left and a road with parked bicycles and a distant building front is opening up on the right side of my view. Continuing the same rightward rotation should bring more of that street and its storefronts into view where a hand cart would plausibly stand.", + "A commercial street now stretches ahead with shop fronts along the right side, and something small and reddish is just entering the far right edge of my view. I will turn right once more to bring that area fully into the center and check whether it is the hand cart.", + "I can now see a red hand cart standing on the sidewalk beside the bright storefront, next to a crate and bins. One more right turn should place it closer to the center of my heading so I can walk straight toward it.", + "The red hand cart is clearly ahead on the sidewalk in front of the colorful shop windows, roughly aligned with my heading. The road ahead is clear, so I will walk forward to close the distance to it.", + "The hand cart and the crate and drum beside it have grown noticeably larger, confirming I am closing in on the sidewalk in front of the shop. I will keep walking forward since the path stays clear.", + "I am close to the shop front now, but the hand cart has drifted toward the left of my view while the sidewalk clutter fills the right side. A small left turn should recenter the cart before I take my next step toward it.", + "The red hand cart now sits clearly in the right-center of my view with its ramp resting on the sidewalk just ahead. I will step forward again to bring myself right up beside it.", + "The red hand cart is now close in front of me but sitting off to my right, near the storefront curb, so my current heading would carry me past it down the street. I will turn right to bring the cart into the center of my view and line up a direct final approach.", + "The red hand cart is now centered ahead of me on the sidewalk in front of the shop, with clear pavement between us. I will step forward to close the last bit of distance and stand right beside it.", + "The red hand cart fills my view directly in front of me on the storefront sidewalk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c21eede963ba836e719d9594fe6de3c4dccd741c --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Determine where the beige trash bin sitting in the middle of the road is positioned; once found, make your way over to it.", + "Type": 1, + "Start_Pose": [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -88.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -88.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -63.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -38.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -13.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 11.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 36.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 61.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 86.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 111.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 136.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 161.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -173.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -148.48, + 0.0 + ], + [ + 1309.991, + -1547.811, + -931.85, + 0.0, + -148.48, + 0.0 + ], + [ + 1202.701, + -1613.609, + -931.85, + 0.0, + -148.48, + 0.0 + ], + [ + 1202.701, + -1613.609, + -931.85, + 0.0, + -123.48, + 0.0 + ], + [ + 1202.701, + -1613.609, + -931.85, + 0.0, + -123.48, + 0.0 + ] + ], + "Rationale": [ + "I am facing a shuttered storefront and a blank brick wall with a closed door, and no beige trash bin is anywhere in this view. The open pavement continues off to my right past the building corner, so I will turn right to begin a steady scan of the surroundings for the bin.", + "The wall and door have swung to my left and I now see an apartment block with balconies and an empty paved lot, still with no beige bin in sight. I will keep turning right in the same direction to sweep the next portion of the surroundings.", + "From where I stand the corner of the concrete building blocks most of my view, and the road beyond it curves away to my right without showing any beige bin. I will continue the same rightward turn so the road opening comes into the center of my view.", + "A long street now opens ahead between the building and an elevated structure, but the visible stretch of road holds only parked bicycles and no beige trash bin. I will turn right again to check the area along the near side of that street.", + "The view is now dominated by the underpass structure and a striped pole on the right, with clear empty asphalt and no beige bin standing on it. I will maintain the same rightward rotation to bring the unseen sector behind that wall into view.", + "I am looking at a long corrugated wall and curb with nothing but a drain grate on the pavement, so this sector clearly does not contain the beige bin. I will keep rotating right in the same steady direction to reach the parts of the block I have not inspected yet.", + "This heading is almost entirely closed off by the sloping fence and wall directly in front of me, leaving no road or open area to search. I will continue turning right to move past this dead surface and pick up the street again.", + "The corner is opening up and I can see a dark twin waste container against the wall on the right, but it is not the beige bin described in my task. I will turn right once more to follow this pavement around and look further down the street beyond the corner.", + "I am facing a walled underpass area with only a dark metal ashtray bin near the pillar, which is not the beige trash bin the task describes. Since nothing here matches the target, I will keep rotating right in the same steady direction to bring the open street beyond this wall into view.", + "The view has opened onto a street edge with parked bicycles and a dark twin-lidded bin, but still no beige container standing on the roadway. I will continue turning right to sweep further along this street corridor where roadside objects are more likely to sit.", + "Looking down the narrow street I can see bicycles, poles and shopfronts in the distance, but nothing beige sitting out in the road yet. Maintaining the same rightward scan should reveal the shop side of the street where such a bin would plausibly be placed.", + "On the right side of the street I can now make out a cluster of objects near the shopfront, including a pale container beside a metal drum and a red hand truck. I will turn right once more to bring that cluster closer to the center of my view so I can confirm the beige bin and head toward it.", + "The beige trash bin is now clearly in front of me, set out on the road beside the metal drum and crates near the shuttered shopfront. With the target centered and the roadway ahead clear, I will walk forward to close the distance to it.", + "The beige bin has grown noticeably larger and now sits slightly right of center, so my heading is still good but I am not yet beside it. I will take another step forward to bring myself right up to the bin.", + "I am now right among the roadside items, with the drum and crates in front of me and the beige bin at the lower right edge of my view. I will turn right to square up on the bin so it sits properly in front of me at arm's reach.", + "The beige trash bin stands directly in front of me at close range, centered in my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a12c94552a6fcbedb3beef675d430f62f5960c78 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for the green bicycle leaning against a yellow U-shaped bollard and, after locating it, proceed to that spot.", + "Type": 1, + "Start_Pose": [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -88.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -88.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -63.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -38.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -13.48, + 0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 11.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 36.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 61.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 86.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 111.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 136.52, + -0.0 + ], + [ + 1417.28, + -1482.012, + -931.85, + 0.0, + 161.52, + -0.0 + ], + [ + 1297.911, + -1442.118, + -931.85, + 0.0, + 161.52, + -0.0 + ], + [ + 1178.542, + -1402.224, + -931.85, + 0.0, + 161.52, + -0.0 + ], + [ + 1059.173, + -1362.33, + -931.85, + 0.0, + 161.52, + -0.0 + ], + [ + 939.804, + -1322.436, + -922.392, + 0.0, + 161.52, + -0.0 + ], + [ + 939.804, + -1322.436, + -922.392, + 0.0, + 161.52, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see a shuttered storefront, a plain door and a blank corner wall, with no bicycle or yellow bollard anywhere in view. I will turn right to begin a consistent scan toward the open lane on that side, which should reveal more of the street where bicycles are likely parked.", + "The view now shows a concrete building face and a paved forecourt, but still no green bicycle or yellow U-shaped bollard. I will keep rotating right in the same direction so the scan stays consistent and uncovers the street beyond this corner.", + "I am facing a large building corner that blocks most of my line of sight, and I still cannot see the green bicycle or a yellow bollard. Continuing my rightward rotation should swing my view past this corner into the roadway, where parked bicycles would more plausibly be found.", + "Down the street on my right I can now make out a rack of bicycles near the elevated structure, which is a promising cue even though I cannot yet confirm a green one beside a yellow bollard. I will continue turning right to bring that side of the street more fully into view.", + "The bicycles I noticed sit further along the right wall under the overpass, and a yellow and black striped post stands nearby, but I still cannot identify the green bicycle with its yellow U-shaped bollard. I will turn right again to keep that promising stretch of sidewalk centered as I scan.", + "Now I mostly face a long corrugated wall and its retaining base, with the cluster of bicycles slipping toward the left edge and no yellow U-bollard in sight. I will keep turning right in the same direction so the scan continues past this wall toward the street it fronts.", + "My view is filled by the sloping wall and sidewalk with nothing resembling a bicycle or bollard here. Another right turn should carry my scan past this blank stretch toward whatever lies further along the curb.", + "I can now see street furniture appearing on the right, a signpost and a waste bin against the wall, which suggests a sidewalk area where bicycles may be parked, though the green bicycle and yellow bollard are still not visible. I will continue the rightward scan to bring that corner fully into view.", + "My view is still filled by the long grey block wall and a metal sign pole, with only a trash bin and no bicycle or yellow bollard in sight. Since this stretch is a dead surface with nothing matching the target, I will keep turning right in the same consistent direction to bring the open street edge beyond the corner into view.", + "At the far right of my view, past the trash bin at the building corner, I can now see a green bicycle standing beside a yellow U-shaped bollard on the sidewalk. It sits well off to the right edge, so I will turn right once more to bring it toward the center of my heading before walking to it.", + "The green bicycle leaning on the yellow U-shaped bollard is now ahead of me along the sidewalk, roughly in line with my heading beside the trash bin and the block wall. The path down the sidewalk looks clear, so I will step forward to close the distance to that spot.", + "The bicycle and its yellow bollard have grown larger and stay near the center of my view, confirming my heading is good. Nothing blocks the sidewalk ahead, so I will continue walking forward to reduce the remaining gap.", + "The green frame and the yellow U-shaped bollard are now clearly resolved just ahead beside the corner of the block wall, with the trash bin close on my left. I am still a few paces short of standing at that spot, so I will keep moving forward.", + "The green bicycle against the yellow bollard is now very near, filling the lower right of my view at the curb edge. One more step forward should place me right at that spot alongside it.", + "The green bicycle and its yellow U-shaped bollard are right beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x002790_y-001564_z-000932_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x002790_y-001564_z-000932_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..84fc9a8a5bd4141bf689da3e11297eeba85cc3d2 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x002790_y-001564_z-000932_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the green dumpster sitting along the sidewalk near the building, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 2790.137, + -1564.132, + -931.85, + 0.0, + -6.08, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2790.137, + -1564.132, + -931.85, + 0.0, + -6.08, + 0.0 + ], + [ + 2790.137, + -1564.132, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 2790.137, + -1564.132, + -931.85, + 0.0, + 43.92, + -0.0 + ], + [ + 2790.137, + -1564.132, + -931.85, + 0.0, + 68.92, + -0.0 + ], + [ + 2790.137, + -1564.132, + -931.85, + 0.0, + 93.92, + -0.0 + ], + [ + 2781.533, + -1438.567, + -931.85, + 0.0, + 93.92, + -0.0 + ], + [ + 2772.929, + -1313.003, + -931.85, + 0.0, + 93.92, + -0.0 + ], + [ + 2764.324, + -1187.438, + -922.455, + 0.0, + 93.92, + -0.0 + ], + [ + 2764.324, + -1187.438, + -922.455, + 0.0, + 118.92, + -0.0 + ], + [ + 2703.461, + -1077.274, + -922.455, + 0.0, + 118.92, + -0.0 + ], + [ + 2642.597, + -967.111, + -922.455, + 0.0, + 118.92, + -0.0 + ], + [ + 2581.733, + -856.947, + -922.083, + 0.0, + 118.92, + -0.0 + ], + [ + 2581.733, + -856.947, + -922.083, + 0.0, + 118.92, + -0.0 + ] + ], + "Rationale": [ + "From this open paved area I can see apartment blocks, a pale utility building, and an elevated concrete structure on the right, but no green dumpster anywhere in front of me. The sheltered sidewalk under that overpass, where bicycles are parked, looks like the kind of service area where a dumpster would stand. I will turn right to begin a steady scan toward that side.", + "The bicycle racks and the shaded sidewalk beneath the overpass are now clearly in view, but the green dumpster is not among them. The walkway continues further to the right behind the concrete pillars, so more of that sidewalk remains unseen. I will keep turning right in the same direction to extend the scan along that building edge.", + "I am facing the bicycle racks and the blank concrete wall under the overpass, and there is still no dumpster in this part of the sidewalk. A darker passage and more sidewalk open up beyond the pillar on the right, which is the natural continuation of my scan. I will turn right again to bring that stretch into view.", + "The green dumpster is now visible on the sidewalk at the right side of my view, standing against the brick wall beside the passage. It sits well off my current heading, so walking straight would carry me past it. I will turn right to bring it closer to the center of my view before approaching.", + "The green dumpster is now roughly ahead of me, resting on the sidewalk beside a black trash bin under the overhead structure. Only the road and a curb separate me from it, with no obstruction in the direct line. I will walk forward to close the distance.", + "The dumpster has grown noticeably larger and stays slightly right of center, confirming my heading is good. I am still out on the paved area with the sidewalk edge just in front of me. I will continue walking forward to keep closing in.", + "I am now on the flat paved walkway with the green dumpster clearly ahead against the brick wall, its wheels and side panels plainly visible. There is still a gap of several strides before I would be standing beside it. I will step forward again to reduce that remaining distance.", + "The dumpster is close now but sits to the right of my forward direction, with the empty passage taking up the middle of my view. Holding this heading would send me past it into the corridor rather than up to it. I will turn right so the dumpster is squarely ahead before I finish the approach.", + "The green dumpster now sits squarely ahead of me against the brick wall, with the black trash can and the ramp railing to its right. Since my heading is centered on it and the paved walkway ahead is clear, I will step forward to close the remaining distance.", + "The dumpster has grown noticeably larger and its casters and side pockets are clearly visible, so my previous step brought me closer along a good line. It is still several paces away, so I will keep walking forward toward it.", + "The dumpster now dominates the left half of my view and its ribbed green panels and lid edge are close, though I am still slightly short of standing beside it. I will take one more step forward to finish closing on it.", + "The green dumpster fills my view at arm's length beside the building wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x002790_y-001564_z-000932_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x002790_y-001564_z-000932_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0afea6c54099192ffa19591db340f0452844eb7a --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x002790_y-001564_z-000932_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Determine where the gray door with several bicycles parked in front of it is situated; once found, make your way over to that entrance.", + "Type": 1, + "Start_Pose": [ + 2790.137, + -1564.132, + -931.85, + 0.0, + -6.08, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2790.137, + -1564.132, + -931.85, + 0.0, + -6.08, + 0.0 + ], + [ + 2790.137, + -1564.132, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 2790.137, + -1564.132, + -931.85, + 0.0, + 43.92, + -0.0 + ], + [ + 2880.794, + -1476.829, + -931.85, + 0.0, + 43.92, + -0.0 + ], + [ + 2971.452, + -1389.527, + -931.85, + 0.0, + 43.92, + -0.0 + ], + [ + 3062.109, + -1302.224, + -931.85, + 0.0, + 43.92, + -0.0 + ], + [ + 3152.766, + -1214.922, + -931.85, + 0.0, + 43.92, + -0.0 + ], + [ + 3243.424, + -1127.619, + -922.331, + 0.0, + 43.92, + -0.0 + ], + [ + 3243.424, + -1127.619, + -922.331, + 0.0, + 68.92, + -0.0 + ], + [ + 3243.424, + -1127.619, + -922.331, + 0.0, + 93.92, + -0.0 + ], + [ + 3234.82, + -1002.055, + -922.331, + 0.0, + 93.92, + -0.0 + ], + [ + 3226.216, + -876.49, + -922.067, + 0.0, + 93.92, + -0.0 + ], + [ + 3226.216, + -876.49, + -922.067, + 0.0, + 68.92, + -0.0 + ], + [ + 3271.483, + -759.054, + -922.067, + 0.0, + 68.92, + -0.0 + ], + [ + 3271.483, + -759.054, + -922.067, + 0.0, + 68.92, + -0.0 + ] + ], + "Rationale": [ + "From this open paved area I can only see a hint of yellow bicycle wheels at the far right edge, beside the concrete underpass structure. I will turn right to bring that bicycle cluster and the wall behind it properly into view, since a door with bikes parked in front is exactly what the task describes.", + "The row of yellow-racked bicycles is now clearly in view ahead and slightly to the right, lined up against the concrete wall under the elevated structure, with a pale gray door just beyond them. I will turn right once more so that this bicycle parking and its adjacent door sit closer to the center of my heading before I start walking.", + "I am now facing the bicycle racks and the gray door set into the concrete wall under the overpass, which matches the target description well. The distance is still large and a curb separates me from that sidewalk, so I will walk forward to close the gap.", + "The bikes and the gray door in the concrete wall have grown larger ahead of me, confirming I am heading toward the right spot. I will keep walking forward to shorten the remaining distance across the open pavement.", + "The gray door and the bicycles parked in front of it are clearly resolved now, sitting slightly right of my heading along the concrete wall. I am still out on the roadway side of the curb, so I will continue walking forward toward that wall.", + "I am close enough that the individual bicycles in their yellow racks and the door frame beside them are distinct, but I am not yet at the entrance itself. I will step forward again to bring myself onto the paved apron in front of that door.", + "The bicycle row now fills much of my view and the gray door stands just to its right along the same wall. I will keep advancing so I end up directly in front of that entrance rather than off to the side of the racks.", + "I am now standing close to the parked bicycles, but my heading is centered on the racks while the gray door sits off toward the right edge of my view. I will turn right to put that door in front of me and line up my approach to the entrance.", + "The plain gray service door sits ahead and slightly to my right along this concrete wall, with the row of parked bicycles clustered to its left, which matches the entrance I was asked to find. I will turn right once more to bring that doorway closer to the center of my heading before walking in. This should give me a straight line toward the door instead of an angled approach along the wall.", + "The gray door is now in front of me on the wall, with a bicycle and rack at the far left edge of my view, so the target entrance is clearly identified. I will step forward to close the open stretch of pavement between me and that doorway. The gap is still several strides wide, so more forward motion is likely needed after this one.", + "The door and the pipe run beside it have grown noticeably larger, confirming I am closing on the correct entrance, but I am still standing off in the open bay. I will walk forward again to shorten the remaining distance to the doorway. The door has drifted a little left in my view, so I may need a small heading correction afterward.", + "From this close range the gray door has slid to the left side of my view while the pipe column dominates the center, so I am no longer aimed at the entrance. I will turn left to swing my heading back onto the door. That should put the doorway squarely ahead for a final approach.", + "The gray door with its handle is now centered ahead of me, and the parked bicycles beside the window on the left confirm this is the entrance described in the task. I will take one more step forward to stand directly at the doorway. That should place me close enough to count as having reached the entrance.", + "The gray door and its handle fill my view at arm's reach. The task is complete, so I stop here at the entrance." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_a/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e16384fbaaf4a64ce2baf29872acef9e7422a74d --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Locate the metal security gate with vertical bars and approach it.", + "Type": 1, + "Start_Pose": [ + 3894.427, + -1602.231, + -931.735, + 0.0, + 93.92, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3894.427, + -1602.231, + -931.735, + 0.0, + 93.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 68.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 43.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + -6.08, + 0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + -31.08, + 0.0 + ], + [ + 4002.219, + -1667.204, + -931.85, + 0.0, + -31.08, + 0.0 + ], + [ + 4110.01, + -1732.176, + -931.85, + 0.0, + -31.08, + 0.0 + ], + [ + 4217.802, + -1797.149, + -931.85, + 0.0, + -31.08, + 0.0 + ], + [ + 4325.593, + -1862.122, + -931.85, + 0.0, + -31.08, + 0.0 + ], + [ + 4433.385, + -1927.095, + -931.85, + 0.0, + -31.08, + 0.0 + ], + [ + 4541.177, + -1992.067, + -931.85, + 0.0, + -31.08, + 0.0 + ], + [ + 4648.968, + -2057.04, + -922.448, + 0.0, + -31.08, + 0.0 + ], + [ + 4756.76, + -2122.013, + -922.448, + 0.0, + -31.08, + 0.0 + ], + [ + 4862.726, + -2188.704, + -922.252, + 0.0, + -31.08, + 0.0 + ], + [ + 4862.726, + -2188.704, + -922.252, + 0.0, + -6.08, + 0.0 + ], + [ + 4987.103, + -2204.575, + -921.865, + 0.0, + -6.08, + 0.0 + ], + [ + 4987.103, + -2204.575, + -921.865, + 0.0, + -6.08, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a covered bike parking bay with a blank concrete wall and closed panels, and no metal gate with vertical bars anywhere in view. I will turn left to begin a steady scan of the surrounding area for the gate.", + "Turning has opened up the roadway curving away to the left with an underpass and a staircase, but still no barred gate. I will keep rotating left in the same direction to sweep more of the scene.", + "Now I can see buildings and a stairway across the street on the left side, which suggests a built-up frontage worth checking further around. I will continue the same leftward scan rather than reversing direction.", + "A hotel facade with a plain white door has come into view, but that door is solid and not the barred gate I am looking for. I will turn left again to bring more of this building frontage into view.", + "At the left edge of my view I can now make out a metal lattice gate with vertical bars set in a recess between the hotel wall and the adjacent building. I will turn left once more to bring that gate closer to the center of my view before advancing.", + "The metal security gate with vertical bars now sits ahead of me in the recessed opening between the pale building and the tiled hotel wall. The open roadway in front is clear, so I will walk forward to close the distance to it.", + "The barred gate has grown slightly larger and stays roughly ahead of me, confirming my heading is good. I will step forward again along the open road to keep closing in.", + "The lattice pattern of the vertical-bar gate is becoming clearer as I get closer, and nothing blocks the road between us. I will continue walking straight toward it.", + "The lattice-patterned metal gate is clearly visible ahead in the recessed opening between the tiled corner and the pale side wall, slightly left of my heading. It is still some distance off across the open pavement, so I will keep walking straight toward it to close the gap.", + "The gate has grown noticeably larger in view, confirming that my current heading is carrying me toward it. Nothing blocks the paved stretch in front of me, so I will continue advancing.", + "The vertical bars and diamond bracing of the gate are now distinct in the shaded recess just left of the white tiled wall corner. I am still several paces short of it, so another step forward should keep tightening the approach.", + "The gate now fills a good portion of the opening ahead and the tiled facade is sliding past on my right, showing steady closure. I will step forward again to bring myself right up to the barred entrance.", + "The metal gate is close enough that individual bars and their crossed slats are sharply visible directly ahead. The path along the wall stays clear, so I will keep moving forward to reach it.", + "The gate now dominates my view, though its face is angled and set slightly to my left within the entry alcove. One more step forward should place me right at the barrier before I adjust my heading.", + "I am standing immediately in front of the gate, but its panels run off toward my right while my heading points along them rather than square into them. Turning right should square my body with the barred surface for a proper face-on approach.", + "With my heading now squared onto the lattice, the vertical bars sit centered in front of me and the concrete wall frames them on the right. A short step forward should bring me right up against the gate to complete the approach.", + "The metal gate's vertical bars and crossed lattice fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_b/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6852fa7a7706c32ed60d2c209ccd9d58d2280e0c --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Discover the pair of red pipes mounted against the wall; once found, reach that spot.", + "Type": 1, + "Start_Pose": [ + 3894.427, + -1602.231, + -931.735, + 0.0, + 93.92, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3894.427, + -1602.231, + -931.735, + 0.0, + 93.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 68.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 43.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 4013.486, + -1561.421, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 4132.545, + -1520.612, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 4251.604, + -1479.803, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 4370.664, + -1438.993, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 4489.723, + -1398.184, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 4608.782, + -1357.374, + -931.85, + 0.0, + 18.92, + -0.0 + ], + [ + 4608.782, + -1357.374, + -931.85, + 0.0, + -6.08, + 0.0 + ], + [ + 4733.933, + -1370.705, + -931.85, + 0.0, + -6.08, + 0.0 + ], + [ + 4859.084, + -1384.035, + -922.278, + 0.0, + -6.08, + 0.0 + ], + [ + 4984.235, + -1397.366, + -922.278, + 0.0, + -6.08, + 0.0 + ], + [ + 5105.24, + -1410.513, + -930.874, + 0.0, + -6.08, + 0.0 + ], + [ + 5105.24, + -1410.513, + -930.874, + 0.0, + -6.08, + 0.0 + ] + ], + "Rationale": [ + "I am facing a concrete underpass wall with a bike rack and no red pipes anywhere in this view. I will turn left to begin a consistent scan of the surrounding area for the pair of red wall-mounted pipes.", + "The turn has opened up a wider road area with a ramp and stairs off to the left, but still no red pipes in sight. I will continue turning left in the same direction to bring more of that unseen area into view.", + "On the left edge I can now see a light-colored building with reddish vertical pipes running down its facade near the stairs, which matches the target description. I will keep turning left to bring those pipes toward the center of my view before moving.", + "The pair of reddish pipes running down the tiled building wall beside the staircase is now clearly in view ahead and slightly left. I will walk forward across the open pavement to close the distance toward them.", + "The two red pipes on the tiled wall look noticeably larger, so my heading is carrying me toward them. I will keep walking forward along this open surface to shorten the remaining distance.", + "The paired pipes and the tiled wall behind them continue to fill more of my view as I get nearer. I will take another step forward, since nothing blocks the route toward that wall.", + "The two red pipes are clearly resolved against the tiled facade just left of the staircase, with the curb and sidewalk ahead of me. I will continue moving forward to reach that wall section.", + "The pipes are now close and sit slightly left of my heading, with the sidewalk in front of me leading right to their base. I will step forward again to keep closing on that spot.", + "The two red pipes running down the tiled wall are clearly in view ahead and slightly to my left, so the target is confirmed. I will keep walking forward along the sidewalk to close the remaining distance to that wall.", + "The red pipes now sit left of my heading, with the stairway and open road filling the center of my view. I will turn left to place the pipes squarely ahead before continuing my approach.", + "The turn brought the pair of red pipes near the middle of my view, mounted against the tiled wall. I will step forward along the paved walkway to shorten the distance to them.", + "The two red pipes are directly ahead and noticeably larger, so my heading is good. I will continue walking toward them to reach the spot where they meet the wall.", + "The pipes now dominate the center of my view and the tiled corner behind them is close. I will take another step forward to finish closing on the target spot.", + "The pair of red pipes is only a short distance away, filling most of my forward view against the tile. I will advance one more step to stand right at them.", + "The red pipe against the tiled wall fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_c/infos.json b/dataset/trajectory/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cdd41ba7cb0ffdec623046a61a76e557a176c764 --- /dev/null +++ b/dataset/trajectory/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_c/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Search for the staircase situated near the red pipes, then navigate to its base.", + "Type": 1, + "Start_Pose": [ + 3894.427, + -1602.231, + -931.735, + 0, + 93.92, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3894.427, + -1602.231, + -931.735, + 0, + 93.92, + 0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 118.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 143.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 168.92, + -0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + -166.08, + 0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + -141.08, + 0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + -116.08, + 0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + -91.08, + 0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + -66.08, + 0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + -41.08, + 0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + -16.08, + 0.0 + ], + [ + 3894.427, + -1602.231, + -931.85, + 0.0, + 8.92, + -0.0 + ], + [ + 4018.764, + -1582.716, + -931.85, + 0.0, + 8.92, + -0.0 + ], + [ + 4143.101, + -1563.201, + -931.85, + 0.0, + 8.92, + -0.0 + ], + [ + 4143.101, + -1563.201, + -931.85, + 0.0, + 33.92, + -0.0 + ], + [ + 4247.541, + -1492.967, + -931.85, + 0.0, + 33.92, + -0.0 + ], + [ + 4351.981, + -1422.733, + -931.85, + 0.0, + 33.92, + -0.0 + ], + [ + 4456.421, + -1352.5, + -931.85, + 0.0, + 33.92, + -0.0 + ], + [ + 4560.861, + -1282.266, + -931.85, + 0.0, + 33.92, + -0.0 + ], + [ + 4665.301, + -1212.032, + -931.85, + 0.0, + 33.92, + -0.0 + ], + [ + 4769.741, + -1141.799, + -931.85, + 0.0, + 33.92, + -0.0 + ], + [ + 4769.741, + -1141.799, + -931.85, + 0.0, + 8.92, + -0.0 + ], + [ + 4894.078, + -1122.283, + -931.85, + 0.0, + 8.92, + -0.0 + ], + [ + 5018.414, + -1102.768, + -922.26, + 0.0, + 8.92, + -0.0 + ], + [ + 5142.751, + -1083.253, + -922.26, + 0.0, + 8.92, + -0.0 + ], + [ + 5142.751, + -1083.253, + -922.26, + 0.0, + 8.92, + -0.0 + ] + ], + "Rationale": [ + "From my starting spot I only see a bicycle parking bay under a concrete overpass, with no staircase and no red pipes anywhere in view. I will begin a steady rightward scan of the surroundings to look for the stairway and the red piping cue that should mark it.", + "Turning right has opened up the sidewalk running along the underpass wall, and I can now make out a pale railing and what may be steps far down on the right side of that structure. That is only a distant hint, so I will keep rotating in the same direction to see more of the street before committing.", + "The open roadway and overhead wires now dominate my view, and the distant railing has slid toward the center-left rather than revealing any red pipes. I will continue the same rightward sweep to check the unseen side of the street.", + "This heading shows apartment blocks and an open paved area on the right, with nothing resembling a stairway or red pipework. I will keep turning right to sweep the remaining unseen portion of the surroundings.", + "I am facing a wide bright plaza bounded by plain building walls, and again there is no staircase or red pipe anywhere in it. I will continue the consistent rightward rotation to cover the rest of the scene.", + "A utility pole stands close in front of me and the low two story building beyond it offers no steps or piping. I will keep sweeping right so the pole does not hold up my scan of the remaining directions.", + "The view is still filled by the same long plain facade with the pole in front, and no staircase or red pipes have appeared. I will continue the rightward scan toward the part of the block I have not yet examined.", + "Turning has brought a corner into view on the right, where a gated opening and a yellow tiled building suggest a passage leading somewhere new. I will keep rotating right to bring that corner area fully in front of me and check it for the staircase and its red pipes.", + "From this heading I only see a low plastered building, a utility pole, and an open paved yard, with no staircase and no red piping anywhere in view. I will keep rotating right in the same consistent direction to sweep the remaining sectors of this courtyard.", + "The new sector shows a shuttered gate and a tiled hotel frontage, but still no staircase or the red pipes named in the task. I will continue the same rightward scan to bring the yet unseen area past the hotel corner into view.", + "At the far right edge of my view I can now make out a flight of steps with handrails tucked under the elevated structure, and a reddish downpipe runs down the wall right beside it. I will turn right once more to bring that staircase and its red piping into the center of my view before committing to it.", + "The staircase is now clearly ahead beneath the concrete overpass, with the red pipes running down the wall just to its left, so this matches the target described in the task. The pavement between me and it is open, so I will walk forward to close the distance.", + "The steps and the red pipes beside them have grown noticeably larger, confirming I am closing on the right structure. I will keep stepping forward along the open pavement toward the foot of the stairs.", + "The building corner with the red pipes is now close on my left and partially cuts across my line to the steps, while the roadway curves off to my right toward the space in front of the stairway. I will turn right to face along that open curve so my forward path stays clear as I approach the base of the stairs.", + "Facing along the open road now, the staircase sits ahead on my left with the red pipes on the wall beside it and nothing blocking the pavement in between. I will walk forward to reduce the remaining distance to its base.", + "The steps and their handrails are noticeably nearer on my left, and the twin red pipes beside them confirm this is the staircase I was sent to find. I will continue forward along the open pavement to reach the landing at its foot.", + "The staircase with its metal handrails is clearly in view on my left, and the red pipes running down the tiled wall beside it confirm this is the target described in the task. The roadway ahead is open and curves past the stair landing, so I will keep walking forward to close the remaining distance.", + "The stairs and the red pipes beside them have grown noticeably larger and shifted further to my left as I close in. Nothing blocks the pavement in front of me, so another step forward should bring me nearer to the level of the stair base.", + "I can now see the lowest steps and the curb line in front of the staircase, but I am still off to the side and a bit short of it. I will continue advancing along the open pavement to draw level with the foot of the stairs.", + "The staircase now fills the left portion of my view and the bottom steps are close, though my heading still carries me past its front rather than into it. One more forward step should place me roughly abreast of the stair base before I adjust my facing.", + "I am now level with the staircase, but it sits off to my left while my body faces along the roadway and the blank concrete wall. Turning left should swing the steps and their handrails into the center of my view so I can walk straight into the base.", + "The staircase is now framed roughly ahead of me with its handrails on both sides and the red pipe visible on the tiled wall to the left. With a clear paved run to the bottom step, I will walk forward to reach the base.", + "The steps and their railings are directly in front of me and filling more of my view, so my heading into the stairway is good. I will step forward again to stand right at the foot of the stairs.", + "The bottom step now spans nearly the full width of my view with the handrails rising on either side, so only a short gap remains. I will take one more step forward to bring myself right up against the base of the staircase.", + "I am standing directly at the bottom step of the staircase, with its handrails rising on both sides of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000097_y-000060_z000098_t1_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000097_y-000060_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0eea2d6daaced01ba169e2293ec039b17d5f8527 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000097_y-000060_z000098_t1_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Look around for the yellow safety railing near the electrical panel and approach it.", + "Type": 1, + "Start_Pose": [ + -96.698, + -60.394, + 98.15, + 0.0, + 68.96, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -96.698, + -60.394, + 98.15, + 0.0, + 68.96, + -0.0 + ], + [ + -96.698, + -60.394, + 98.15, + 0.0, + 43.96, + -0.0 + ], + [ + -96.698, + -60.394, + 98.15, + 0.0, + 18.96, + -0.0 + ], + [ + -96.698, + -60.394, + 98.15, + 0.0, + -6.04, + 0.0 + ], + [ + -96.698, + -60.394, + 98.15, + 0.0, + -31.04, + 0.0 + ], + [ + -96.698, + -60.394, + 98.15, + 0.0, + -56.04, + 0.0 + ], + [ + -96.698, + -60.394, + 98.15, + 0.0, + -81.04, + 0.0 + ], + [ + -96.698, + -60.394, + 98.15, + 0.0, + -106.04, + 0.0 + ], + [ + -96.698, + -60.394, + 98.15, + 0.0, + -131.04, + 0.0 + ], + [ + -96.698, + -60.394, + 98.15, + 0.0, + -156.04, + 0.0 + ], + [ + -211.712, + -111.505, + 98.15, + 0.0, + -156.04, + 0.0 + ], + [ + -326.725, + -162.616, + 98.15, + 0.0, + -156.04, + 0.0 + ], + [ + -441.739, + -213.728, + 98.15, + 0.0, + -156.04, + 0.0 + ], + [ + -556.753, + -264.839, + 98.15, + 0.0, + -156.04, + 0.0 + ], + [ + -622.572, + -311.587, + 98.15, + 0.0, + -156.04, + 0.0 + ], + [ + -622.572, + -311.587, + 98.15, + 0.0, + -156.04, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see pallet racking, the tarp-covered yellow load and the A1 aisle marker, with no electrical panel or safety railing anywhere in front of me. I will turn left to begin a steady scan of the surrounding bay for a wall-mounted panel and the railing beside it.", + "Turning has opened up a corner with shelving, storage bins and a wall further back, but still no electrical cabinet with a yellow railing in front of it. I will keep rotating left in the same direction so the scan stays consistent and covers the open floor beyond this rack.", + "Ahead of me now are the D Sector wall, a red door and a small supply shelf, none of which match an electrical panel with a yellow guard railing. The open blue floor continues to my left, so I will turn further in that direction to inspect more of the hall.", + "The wall in front carries the D Sector label with picking bins and cartons along its base, and the only yellow items nearby are floor bollards rather than a railing at a panel. I will continue turning left to bring the wider work area into my line of sight.", + "I am now facing a workstation area marked 01 with high yellow wall panels and bin racks, and there is still no electrical cabinet with a protective railing beside it. Keeping the same rotation direction, I will turn left again to sweep across the remaining unexamined part of the hall.", + "Off to my left edge I can now make out low yellow guard rails near the orange racks, which suggests this side of the building is where protective railings are installed. I will turn left again to bring that railing area and the wall behind it properly in front of me.", + "The A area is now in front of me with several yellow guard rails standing around the rack ends, but I still do not see the grey electrical panel that should sit next to the railing I need. I will keep turning left toward the plain wall on that side, where wall-mounted equipment is more likely.", + "Racking and yellow guard posts fill the space ahead, and more yellow railing and a bare wall section are just creeping in at my left margin. I will turn left once more to face that wall directly and check whether the electrical panel and its railing are there.", + "Scanning left has brought the grey wall-mounted electrical panels into view on the left side of the aisle, and I can just catch a yellow guard rail at the very edge of my view beside them. I will turn left once more to bring that railing and its panel out of the periphery and into the center of my heading. That should give me a clean straight line to walk toward the target.", + "The yellow safety railing is now clearly centered ahead on the left wall, standing right beside the mounted electrical panel boxes, so the search is settled. The floor between me and it is open blue epoxy with no blocking pallets or carts in the path. I will walk forward to close the distance to that railing.", + "The railing and the panel boxes have grown noticeably larger, confirming my heading is carrying me toward them. I am still several strides short of being alongside the barrier. I will keep walking forward to close that remaining gap.", + "The panel enclosures on the wall and the yellow railing posts are close enough now to read the KEEP CLEAR floor marking in front of them. I am not yet within arm's reach of the railing itself. Another step forward should bring me right up beside it.", + "The yellow railing with its striped impact guards is directly ahead of me now, with the electrical panel boxes on the wall just to my left. A short remaining gap still separates me from the barrier. I will step forward again to finish closing on it.", + "The yellow railing tube now fills the lower right of my view and the panel with its red switch handle is immediately to my left, so I am nearly at the barrier. A last short step should place me right at the railing rather than just short of it. I will move forward once more.", + "The yellow safety railing stands directly in front of me at arm's reach, beside the wall electrical equipment. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed212bedd86804f9538dcb58d54426ab16100e5 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Approach the yellow tarp on the floor, then head toward the electrical panel.", + "Type": 3, + "Start_Pose": [ + -111.036, + -662.089, + 98.15, + 0.0, + 103.52, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -111.036, + -662.089, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -140.46, + -539.718, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -140.46, + -539.718, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -115.411, + -416.377, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -90.362, + -293.036, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -65.312, + -169.694, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -40.263, + -46.353, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -15.214, + 76.988, + 101.838, + 0.0, + 78.52, + -0.0 + ], + [ + -15.214, + 76.988, + 101.838, + 0.0, + 78.52, + -0.0 + ], + [ + -33.604, + -13.564, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -33.604, + -13.564, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -33.604, + -13.564, + 98.15, + 0.0, + 128.52, + -0.0 + ], + [ + -33.604, + -13.564, + 98.15, + 0.0, + 153.52, + -0.0 + ], + [ + -33.604, + -13.564, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -33.604, + -13.564, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -149.007, + -63.79, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -264.409, + -114.017, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -379.812, + -164.243, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -495.215, + -214.469, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -495.215, + -214.469, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -621.032, + -211.219, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -621.032, + -211.219, + 98.15, + 0.0, + 178.52, + -0.0 + ] + ], + "Rationale": [ + "From here I can pick out a yellow tarp draped over a pallet beneath the racking ahead on the left, well across the blue floor. Nothing blocks the open bay between me and it, so I will walk forward to cut that distance before refining my heading.", + "The yellow tarp over the pallet now sits clearly to the left of my heading, while my body still points at the open floor and the far wall. Turning left should swing that tarp toward the center of my view so a straight walk carries me right to it.", + "The yellow tarp now sits close to the middle of my view, framed between the two red racking bays under the A1 marker. The lane in front of me is clear blue floor, so I will walk straight ahead to close on it.", + "The tarp has grown larger and stays centered under the A1 bay, confirming my heading is good. I am still several strides short of it, so another step forward should keep shrinking the gap.", + "The tarp-covered pallet and its red and white floor stripe are now plainly ahead of me, dead center. The approach lane remains clear, so I will keep walking straight toward the tarp.", + "The yellow tarp now fills much of the lower center of my view, with the racking uprights close on either side. I am not yet at the pallet edge, so another forward step should bring me right up to it.", + "The tarp's folds and the pallet boards under it are now within a stride of me, and the yellow post guards flank my path. One more step forward should put me directly at the tarp.", + "The yellow tarp fills nearly my whole view, its creases and the pallet under it right at my feet beneath the A1 bay sign. I have arrived at the tarp. I mark reaching it and now turn my attention toward the electrical panel on the wall.", + "The yellow tarp fills my view from barely a step away, wedged between two pallet racks, so I have no room here to swing around. I will step back along the aisle to open clearance before I reorient toward the wall panels.", + "With a little distance behind me, the tarp on its pallet now sits fully in front and the racking closes off my left. I will turn right to start swinging my heading off the tarp and back toward the open floor where the electrical panels are mounted.", + "The tarp has slid to my left edge and I am now facing the shelf of drums and totes, still not the open floor. I will keep turning right to carry my heading further around toward the far wall.", + "I am still looking straight into stacked drums and pallets, though blue floor is beginning to appear at my right. I will continue turning right to bring that open lane, and the wall beyond it, in front of me.", + "The open blue floor and the gray wall with its small mounted enclosure are now entering my view on the right, while racking still crowds my left. I will turn right again to line myself up with that clear lane toward the wall.", + "I can now see the gray wall with its white enclosure and conduit ahead-left, and the wide aisle running to the bright warehouse hall on my right. One more turn to the right should center that route so I can walk it directly.", + "My heading is now down the open blue lane, with the gray wall and its mounted boxes running along my left and no obstruction in the path. I will walk forward to close the distance to those wall-mounted panels.", + "The white enclosure on the gray wall to my left is noticeably larger now, with a cart and railing beside it, and the lane ahead stays clear. I will keep walking forward to draw level with it.", + "The grey electrical enclosures with their conduit runs are now clearly visible on the wall ahead to my left, still several paces off. The blue floor between me and that wall is open past the parked trolley, so I will keep walking forward to close the remaining gap.", + "The panel doors and the warning label above them are noticeably larger and closer now, though I am still short of the wall. Another step forward should bring me right up beside the enclosures.", + "I am close to the wall, but the two grey enclosures sit off to my left edge while my heading points down the aisle between the racking. Turning left should swing the panels into the centre of my view so I can finish the approach squarely.", + "The electrical panels and their conduit are now centred ahead of me with clear floor at their base. I will step forward to bring myself right up to them.", + "The electrical panel fills my view directly in front of me at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t3_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da11c4078a99b49cd34b4b5f04ffb7a13da22b61 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000111_y-000662_z000098_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Navigate to the middle red shelf, then proceed to the wall-mounted junction box.", + "Type": 3, + "Start_Pose": [ + -111.036, + -662.089, + 98.15, + 0.0, + 103.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -111.036, + -662.089, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -140.46, + -539.718, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -169.884, + -417.346, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -169.884, + -417.346, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -144.835, + -294.005, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -119.785, + -170.664, + 98.15, + 0.0, + 78.52, + -0.0 + ], + [ + -119.785, + -170.664, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -149.209, + -48.293, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -178.633, + 74.078, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -178.633, + 74.078, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -157.032, + -15.761, + 98.15, + 0.0, + 103.52, + -0.0 + ], + [ + -157.032, + -15.761, + 98.15, + 0.0, + 128.52, + -0.0 + ], + [ + -157.032, + -15.761, + 98.15, + 0.0, + 153.52, + -0.0 + ], + [ + -157.032, + -15.761, + 98.15, + 0.0, + 178.52, + -0.0 + ], + [ + -157.032, + -15.761, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -272.434, + -65.988, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -387.837, + -116.214, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -503.24, + -166.441, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -618.643, + -216.667, + 98.15, + 0.0, + -156.48, + 0.0 + ], + [ + -618.643, + -216.667, + 98.15, + 0.0, + -156.48, + 0.0 + ] + ], + "Rationale": [ + "The red racking I need stands across the open blue floor, still far off along the left and back walls. The aisle in front of me is clear of pallets and clutter, so I will walk straight ahead to cut down that distance before choosing which bay to face.", + "The red racks have grown larger and the shelf holding pink drums is now clearly distinguishable from the ones on either side. Nothing blocks the floor between me and them, so another step forward should keep closing the gap.", + "The red shelf bay stacked with pink drums sits left of where I am pointed, while my heading currently carries me toward the racking on the right side of the room. I will turn left to bring that middle bay closer to the center of my view before advancing again.", + "The turn has put the red shelf with pink drums and the yellow-marked bay squarely ahead of me. The floor between us is open apart from pallets set back under the racks, so I will step forward to close on it.", + "The red beams and the pink drums on them are much larger now, and I can read the pallet labels beneath. I am still several strides short of standing at that bay, so I will keep walking straight toward it.", + "Getting closer has pushed the drum-loaded red bay toward the right side of my view, with the yellow covered pallet and empty rack now dominating the left. I will turn right so that bay is centered before I take my last steps in.", + "The red bay carrying the pink drums and the yellow tub is now centered ahead of me. A short walk forward should bring me right up to its face, past the yellow guard post standing clear to the right.", + "The red beams and their labels fill most of my view and the drums sit just above me, so I am nearly at this shelf. One more step forward should place me directly at its face.", + "The red beam of the middle shelf fills my view at arm's length, with its drums, lids and grey bins right in front of me. This is the middle red shelf I came for. I mark reaching it and now turn my attention to the junction box mounted on the wall.", + "Standing this close, the shelf beam and bins block almost everything, so I cannot see the rest of the bay or any wall fittings. I will step back to open up clearance from the rack and regain room to swing my heading around toward the walls.", + "With a little distance from the rack I can see the shelf face and the yellow guard post, but still no wall-mounted box anywhere ahead. I will turn right to begin sweeping my view off the shelving and toward the open wall side of the bay.", + "The sweep has brought a second red rack and a stretch of grey wall into view, but the fittings I want are not yet framed in front of me. I will keep turning right to bring more of that wall and the aisle beyond it into view.", + "Now I see the grey wall with conduit running down it and a small enclosure high near the ceiling, but the racking still crowds the left of my view. Another turn to the right should carry my heading further along that wall toward the open floor.", + "A grey junction box with conduit sits on the wall to the right of my heading, past the trolley loaded with cartons. I will turn right once more so it sits squarely in front of me and I can walk straight at it.", + "The wall-mounted junction box with its conduit and the small red switch beside it now sits ahead of me across open blue floor. The route past the trolley looks clear, so I will walk forward to close the distance.", + "The grey junction box is noticeably larger and still lined up ahead on the wall, with only marked floor and the barrier posts between us. I will step forward again to keep closing on it.", + "The grey junction box on the wall ahead is now clearly centred in front of me, mounted beside the smaller enclosure and the red emergency button, with its conduit running down to the floor. I am still a few paces short of it, and the painted keep-clear strip in front of the wall is open. I will walk forward to close that remaining gap.", + "The junction box and its neighbouring enclosure now fill much of my view, but the yellow guard rail and the wall base still sit a step or two away. One more short walk forward should bring me right up against the box. I will step forward again.", + "The wall-mounted junction box is directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t0_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a777021c48e00056d5747366a733e65bb8856a7 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the yellow safety barriers on the warehouse floor.", + "Type": 0, + "Start_Pose": [ + -140.724, + -3886.087, + 100.9, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -140.724, + -3886.087, + 100.9, + 0.0, + 119.04, + -0.0 + ], + [ + -201.818, + -3776.051, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -262.913, + -3666.015, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -324.007, + -3555.978, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -385.102, + -3445.942, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -446.196, + -3335.906, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -446.196, + -3335.906, + 98.15, + 0.0, + 119.04, + -0.0 + ] + ], + "Rationale": [ + "I can see the two yellow safety barriers ahead of me, standing in front of the low racking near the middle of the warehouse floor. They sit nearly straight ahead along my current heading, so no turn is needed and I will move forward to begin closing the gap.", + "The yellow barriers now appear slightly larger and lower in my view, which tells me the previous forward step reduced the distance. The path across the open floor stays clear, so I will continue straight toward them.", + "The barriers are closer and their yellow rails and posts are clearly resolved just left of center in my view. I am still too far to consider myself at them, so I will take another step forward.", + "The barriers now fill much of the lower left of my view, with their base plates and the yellow floor marking visible. A short additional advance should bring me right up to them, so I will keep moving forward.", + "The yellow rails are very close, spanning the foreground with the racking and cartons directly behind them. One more short forward step should place me immediately at the barriers.", + "The yellow safety barriers are directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t0_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c497e63597f03a6dfc2f605ebf4e894e707ff59 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the wooden pallet standing upright against the shelving.", + "Type": 0, + "Start_Pose": [ + -140.724, + -3886.087, + 100.9, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -140.724, + -3886.087, + 100.9, + 0.0, + 119.04, + -0.0 + ], + [ + -201.818, + -3776.051, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -262.913, + -3666.015, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -324.007, + -3555.978, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -324.007, + -3555.978, + 98.15, + 0.0, + 144.04, + -0.0 + ], + [ + -425.881, + -3482.072, + 98.15, + 0.0, + 144.04, + -0.0 + ], + [ + -527.755, + -3408.165, + 98.15, + 0.0, + 144.04, + -0.0 + ], + [ + -629.629, + -3334.258, + 98.15, + 0.0, + 144.04, + -0.0 + ], + [ + -629.629, + -3334.258, + 98.15, + 0.0, + 144.04, + -0.0 + ] + ], + "Rationale": [ + "From the open floor I can see the pale wooden pallet standing upright against the blue and orange racking ahead and slightly to my right. It is still far off across the aisle, so I will step forward to begin closing that gap.", + "The upright pallet leaning against the racking is now larger in front of me, confirming I am on a useful line toward it. The floor between me and the yellow guard rails is clear, so I continue stepping forward.", + "The stacked cartons and the upright pallet on the shelving are close enough now that I can read individual slats. Since the aisle in front of me remains open, another step forward should bring me nearer to the pallet.", + "The upright pallet has drifted toward the right edge of my view while the brick wall and guard rails fill the space straight ahead. I will turn right to bring the pallet back in front of me before advancing further.", + "The turn placed the upright pallet near the center of my view, leaning against the racking uprights. With my heading now pointed at it, I will step forward to shorten the remaining distance.", + "The pallet's vertical boards now dominate the middle of my view and the small carton beside it is close on the floor. I will keep stepping forward, staying clear of the yellow rails on my left.", + "I am nearly at the racking, with the upright pallet's slats and its printed label filling most of my view. One more short step forward should place me directly in front of it.", + "The upright wooden pallet against the shelving fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t5_a_p/infos.json b/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..140fb25cc8b7f69f702a0186015e3c50305b9a0f --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000141_y-003886_z000101_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the tomato near the yellow safety barriers on the warehouse floor.", + "Type": 5, + "Start_Pose": [ + -140.724, + -3886.087, + 100.9, + 0, + 119.04, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -442.341, + -3326.331, + 68.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -140.724, + -3886.087, + 100.9, + 0, + 119.04, + 0 + ], + [ + -201.818, + -3776.051, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -262.913, + -3666.015, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -324.007, + -3555.978, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -385.102, + -3445.942, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -385.102, + -3445.942, + 98.15, + 0.0, + 119.04, + -0.0 + ], + [ + -385.102, + -3445.942, + 98.15, + 0.0, + 119.04, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -442.341, + -3326.331, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -442.341, + -3326.331, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -442.341, + -3326.331, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -442.341, + -3326.331, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -442.341, + -3326.331, + 68.15, + 0.0, + 0.0, + 0.0 + ], + [ + -403.475, + -3456.841, + 68.256, + -28.202, + 169.184, + 1.862 + ], + [ + -403.475, + -3456.841, + 68.256, + -28.202, + 169.184, + 1.862 + ] + ], + "PD_Dist_2D": [ + 635.8, + 510.0, + 384.2, + 258.3, + 132.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits far ahead on the warehouse floor, just in front of the yellow safety barriers, and it is already centered in my path. Nothing blocks the open floor between us, so I will walk straight forward to close the large gap.", + "The tomato has grown noticeably larger and stays centered ahead, confirming my heading is correct. It is still several strides away, so I will keep walking forward to shorten the distance.", + "The tomato now fills a clear portion of the lower view with the yellow barriers close behind it, but it is still beyond arm's reach. I will step forward again to bring it near enough for a grasp.", + "The tomato is very close, low and slightly right of center at the bottom edge of my view, with the barrier fence directly beyond it. One more step forward should place it within reach for picking.", + "The tomato is now directly at my feet, so close that its stem fills the lower view against the yellow barriers. This is the reachable position I was approaching, so I will attempt to grasp it.", + "The tomato is held in my hand and no longer resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000148_y-000028_z000098_t1_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000148_y-000028_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9586c720ecd9809e4fb2ee8f22e10221eb271d0d --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000148_y-000028_z000098_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search the warehouse for the red bin beneath the shelving unit marked \"01\", then approach it.", + "Type": 1, + "Start_Pose": [ + -148.037, + -28.381, + 98.15, + 0.0, + 133.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -148.037, + -28.381, + 98.15, + 0.0, + 133.28, + -0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + 158.28, + -0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + -176.72, + 0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + -151.72, + 0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + -126.72, + 0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + -101.72, + 0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + -76.72, + 0.0 + ], + [ + -119.126, + -150.874, + 98.15, + 0.0, + -76.72, + 0.0 + ], + [ + -90.215, + -273.368, + 98.15, + 0.0, + -76.72, + 0.0 + ], + [ + -61.304, + -395.861, + 98.15, + 0.0, + -76.72, + 0.0 + ], + [ + -61.304, + -395.861, + 98.15, + 0.0, + -51.72, + 0.0 + ], + [ + -61.304, + -395.861, + 98.15, + 0.0, + -51.72, + 0.0 + ], + [ + -61.304, + -395.861, + 98.15, + 0.0, + -51.72, + 0.0 + ] + ], + "Rationale": [ + "I am facing a corner of red pallet racking loaded with drums and grey totes, and I see no shelving marker reading \"01\" and no red bin low on the floor here. Since this near shelving blocks most of my forward view, I will turn right to begin a consistent scan of the wider warehouse floor. Open aisle space appears toward my right, so that direction should reveal more marked bays.", + "The second rack section and a boxed trolley are now in front of me, but I still see no bay label \"01\" or any red bin resting under a shelf. Continuing the same rightward scan keeps my search consistent instead of doubling back over ground I just checked. I will turn right again to bring more of the open floor and far racking into view.", + "Now I can see across the open blue floor toward tall racking on the right side of the hall, which looks like a labeled storage row rather than this staging corner. That is a much stronger area to find the bay marked \"01\", so I will keep rotating right toward it. The numbers on those bays are still too oblique to read from here.", + "The yellow wall with the large \"A\" and several numbered bay panels is coming into view, confirming that the labeled racking lies further to my right. I will turn right once more to bring that lettered row squarely in front of me and read the bay numbers. The specific \"01\" bay and any bin under it should become identifiable from a straighter heading.", + "I can now read bay labels along this row, with \"04\" and \"03\" on my left and a panel marked \"01\" on the far right edge of my view, near a workbench with a small red container beneath it. Turning right should center that \"01\" bay and let me confirm the red bin under the shelving. This is the strongest match to the target so far, so I am committing to that direction.", + "The bay marked \"01\" is now clearly ahead and slightly right of my center, with a red bin sitting on the floor beneath the bench and shelving there. A small additional turn to the right should line my heading up with that bin before I close the distance. I will turn right to finish that alignment.", + "The shelving unit labeled \"01\" is centered ahead of me and the red bin beneath it is clearly visible on the floor by the yellow hazard striping. Nothing blocks the open blue floor between me and that bay, so I will walk forward to close the distance. Each step should bring the bin into closer reach.", + "The bay marked \"01\" and the red bin under the bench are noticeably larger and closer now, confirming I am tracking the correct target. I am still several paces short of standing beside the bin, so I will step forward again. The route ahead along the striped floor remains clear.", + "The shelving unit placarded \"01\" is now clearly ahead on my right, and the red bin sits on the floor at its base beside the yellow guard rail. I am still a few paces short of it, so I will step forward again to close the remaining gap. This should bring me right up against the bin's location under the marked rack.", + "I am now close alongside the \"01\" unit, but the bin has slipped to the lower edge of my view while the shelving and equipment fill the right side. Turning right should square my heading onto the marked rack and bring the red bin back into the center of my view for a clean approach.", + "I am facing the shelving unit marked \"01\" from close range, with only the top rim of the red bin showing at the bottom of my view near my feet. Tilting my gaze down should reveal the whole bin on the floor beneath the rack so I can confirm I have reached the correct target.", + "The red bin lies fully in view directly at my feet beneath the shelving unit marked \"01\". The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000148_y-000028_z000098_t1_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000148_y-000028_z000098_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..572009c5f598042e4fdc131e5ca5f046cf5da1af --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000148_y-000028_z000098_t1_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Explore the area until you find the fire extinguisher near the doorway, then move toward it.", + "Type": 1, + "Start_Pose": [ + -148.037, + -28.381, + 98.15, + 0.0, + 133.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -148.037, + -28.381, + 98.15, + 0.0, + 133.28, + -0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + 108.28, + -0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + 83.28, + -0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + 58.28, + -0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + 33.28, + -0.0 + ], + [ + -148.037, + -28.381, + 98.15, + 0.0, + 8.28, + -0.0 + ], + [ + -23.49, + -10.256, + 98.15, + 0.0, + 8.28, + -0.0 + ], + [ + 101.057, + 7.869, + 98.15, + 0.0, + 8.28, + -0.0 + ], + [ + 225.604, + 25.994, + 98.15, + 0.0, + 8.28, + -0.0 + ], + [ + 350.151, + 44.119, + 98.15, + 0.0, + 8.28, + -0.0 + ], + [ + 350.151, + 44.119, + 98.15, + 0.0, + -16.72, + 0.0 + ], + [ + 382.55, + 39.612, + 98.15, + 0.0, + -16.72, + 0.0 + ], + [ + 382.55, + 39.612, + 98.15, + 0.0, + -16.72, + 0.0 + ] + ], + "Rationale": [ + "From here I only see storage racking loaded with drums and bins, a pallet, and a yellow bollard, with no doorway or fire extinguisher anywhere in view. I will turn left to begin a steady scan of the surrounding aisle for a wall or exit where an extinguisher would normally be mounted.", + "The new heading still shows the same rack bay with pallets and a grey tote, so no doorway or extinguisher has appeared. I will keep rotating left in the same direction to sweep further around the bay toward open floor.", + "I can now see an A1 aisle marker and a sliver of open wall past the yellow covered load on the left, which hints that the racking is ending and open floor lies further round. I will continue the leftward scan to bring that open area and any wall-mounted equipment into view.", + "The view has opened onto blue floor with a wall and the near end of the racking, suggesting the aisle mouth is just a little further to my left. I will keep turning left in the same direction to reveal that wall section, where a doorway and extinguisher would likely be.", + "A red door is now visible ahead on the left wall under a SECTOR sign, with a small red extinguisher on the panel beside it, matching the target description. I will turn left once more to bring that doorway area closer to the center of my view before advancing.", + "The red door under the D SECTOR sign is now roughly centered ahead, with the extinguisher and first aid board mounted on the wall just right of it. With the target area lined up and clear blue floor between us, I will walk forward to close the distance.", + "The doorway and the wall-mounted extinguisher beside it have grown larger and remain straight ahead, so my heading is still good. The floor between me and the work table is unobstructed, so I will keep walking forward to get nearer the extinguisher.", + "I am now close enough to read the first aid signage and see the extinguisher hanging on the pegboard just right of the red doorway. Cartons on the floor sit off to the left of my path, so I will continue walking forward to reach the extinguisher.", + "The red fire extinguishers mounted on the pegboard beside the red doorway are clearly in view ahead and slightly to my left, confirming the target area. I still have open floor between me and that wall, so I will step forward again to close the remaining distance.", + "I am now close to the wall, but the extinguisher has drifted to the far left edge of my view while the green shelving unit with bottles fills the center. Turning left should bring the mounted extinguisher and the doorway back into the middle of my heading before I advance further.", + "The extinguisher on the pegboard is now centered ahead, right beside the open red doorway, with only the workbench and bins between us. A short step forward should bring me to a close standing position in front of it.", + "The fire extinguisher on its pegboard beside the red doorway now fills the near field directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000187_y-002421_z000398_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000187_y-002421_z000398_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fba597b3f0346210c3edb41db74d873a7e0ad4e3 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000187_y-002421_z000398_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Scan the surrounding area for the electrical junction box on the red wall and approach it.", + "Type": 1, + "Start_Pose": [ + -186.753, + -2420.778, + 398.15, + 0, + -148.8, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -186.753, + -2420.778, + 398.15, + 0, + -148.8, + 0 + ], + [ + -186.753, + -2420.778, + 398.15, + 0.0, + -173.8, + 0.0 + ], + [ + -186.753, + -2420.778, + 398.15, + 0.0, + 161.2, + -0.0 + ], + [ + -186.753, + -2420.778, + 398.15, + 0.0, + 136.2, + -0.0 + ], + [ + -277.593, + -2333.666, + 398.15, + 0.0, + 136.2, + -0.0 + ], + [ + -277.593, + -2333.666, + 398.15, + 0.0, + 111.2, + -0.0 + ], + [ + -323.107, + -2216.324, + 398.15, + 0.0, + 111.2, + -0.0 + ], + [ + -361.764, + -2105.8, + 398.15, + 0.0, + 111.2, + -0.0 + ], + [ + -361.764, + -2105.8, + 398.15, + 0.0, + 111.2, + -0.0 + ] + ], + "Rationale": [ + "The red wall in front of me carries a first aid cabinet, a fire extinguisher chart and a notice board, but no electrical junction box is visible here. Since the safety signage confirms I am on the correct red wall, I will turn left to continue scanning along it for the box.", + "Rotating left has brought more of the red wall and a shelving unit with cartons into view, yet still no electrical junction box. I will keep turning in the same direction to reveal the darker part of the room and the wall sections beyond the shelves.", + "From here I can see deeper into the storage bay with racks, cartons and a doorway, but the junction box is still not in view. Continuing the same leftward sweep should expose the far red wall near the exit where conduit and fittings are more likely mounted.", + "The sweep now shows the far side of the bay, with an exit sign at the left and conduit running along the ceiling toward a small panel on the red wall past the racks. That conduit is a strong cue for the junction box, so I will walk forward to close distance and inspect that wall section.", + "Advancing has brought me near the racks, and a boxy panel with conduit is now clearly mounted on the red wall to my left. I will turn left to place that panel in the center of my view before approaching it.", + "The turn has put the red wall with its conduit run and mounted box roughly ahead of me, with the exit doorway to the left. The floor between me and that wall is clear, so I will walk forward to close in on the junction box.", + "The metal junction box with its cable and pipe clamps on the red wall is now plainly visible just ahead and slightly right. One more step forward should bring me close enough to be standing at the box.", + "The electrical junction box on the red wall fills my view at arm's length, with its cable and clamps clearly resolved. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000190_y-003484_z000098_t1_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000190_y-003484_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..397919045b5b046871a1130202705c73c0110964 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000190_y-003484_z000098_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the warehouse for the doorway beneath the green illuminated EXIT sign, then approach the doorway.", + "Type": 1, + "Start_Pose": [ + -189.854, + -3484.068, + 98.275, + 0.0, + -29.76, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -189.854, + -3484.068, + 98.275, + 0.0, + -29.76, + 0.0 + ], + [ + -189.854, + -3484.068, + 98.275, + 0.0, + -4.76, + 0.0 + ], + [ + -189.854, + -3484.068, + 98.275, + 0.0, + 20.24, + -0.0 + ], + [ + -189.854, + -3484.068, + 98.275, + 0.0, + 45.24, + -0.0 + ], + [ + -189.854, + -3484.068, + 98.275, + 0.0, + 70.24, + -0.0 + ], + [ + -189.854, + -3484.068, + 98.275, + 0.0, + 95.24, + -0.0 + ], + [ + -189.854, + -3484.068, + 98.275, + 0.0, + 120.24, + -0.0 + ], + [ + -189.854, + -3484.068, + 98.275, + 0.0, + 145.24, + -0.0 + ], + [ + -189.854, + -3484.068, + 98.275, + 0.0, + 170.24, + -0.0 + ], + [ + -189.854, + -3484.068, + 98.275, + 0.0, + -164.76, + 0.0 + ], + [ + -311.287, + -3517.152, + 98.275, + 0.0, + -164.76, + 0.0 + ], + [ + -432.72, + -3550.235, + 98.275, + 0.0, + -164.76, + 0.0 + ], + [ + -554.153, + -3583.319, + 98.275, + 0.0, + -164.76, + 0.0 + ], + [ + -675.586, + -3616.403, + 98.275, + 0.0, + -164.76, + 0.0 + ], + [ + -797.019, + -3649.486, + 98.275, + 0.0, + -164.76, + 0.0 + ], + [ + -918.452, + -3682.57, + 98.275, + 0.0, + -164.76, + 0.0 + ], + [ + -918.452, + -3682.57, + 98.275, + 0.0, + -164.76, + 0.0 + ] + ], + "Rationale": [ + "My view is filled with pallet racking, stacked cartons and an open box directly ahead, and I see no green EXIT sign or doorway anywhere in this direction. To find the illuminated exit I need to scan the warehouse, so I will begin turning right and keep that direction consistent. This first step should reveal the racking aisle to my right side.", + "The new heading only shows more pallet racks packed with labelled cartons and a bare floor lane, still without any green sign or wall opening. Since nothing here resembles an exit, I will continue the same rightward scan rather than change direction.", + "I am now facing a solid wall of shelving stacked two levels high with boxes, which blocks any view of a perimeter wall or doorway. Continuing my consistent rightward sweep should bring the next section of the building into view.", + "A dark brick perimeter wall has appeared at the right edge past the end of the racking, which is the kind of surface where an exit doorway would be mounted. I will keep turning right to bring more of that wall into view and check it for the green sign.", + "More of the brick perimeter wall is now in front of me, and there is a lit opening high on the upper level, but no green EXIT sign at floor level yet. Since the wall continues to my right, I will keep turning that way to follow it.", + "Ahead I only see low racking with a waste bin and yellow guard rails against the brick wall, with no doorway at ground level here. The wall keeps running to my right, so I will continue the same rightward scan along it.", + "This part of the wall is obscured by a tall stack of white pallets and more racking, so I still cannot see any illuminated exit marker. Turning right again should clear the pallet stack and expose the wall section beyond it.", + "Past the pallet stack I can now see a stretch of dark brick wall with a fire extinguisher board and what looks like a red sign, and the open floor ahead leads that way. A further turn right should bring the rest of that wall and any exit marker on it fully into view.", + "The green illuminated EXIT sign and the dark doorway beneath it are now visible on the right side of my view, past the pallet stack and the wheeled cart against the black brick wall. Since the doorway sits off to the right of my heading rather than ahead of me, I will turn right once more so it moves toward the center of my view. That should give me a clean straight line to walk before I commit to advancing.", + "The doorway under the green EXIT sign is now roughly centered ahead of me, with clear blue floor between my position and the black brick wall. The scan has already given me the target, so there is no reason to keep rotating. I will step forward along this heading to begin closing the distance.", + "The doorway and its green sign have grown slightly larger and stay near the center of my view, confirming that the previous step carried me toward them. The floor ahead is still open, with the shelving unit safely off to my right and the pallet stack to my left. I will keep walking forward on the same heading.", + "I can now make out the lit corridor and shelves through the open doorway, so my heading is still correct. The cart and pallet sit beside the wall to my left rather than in my lane, leaving the approach clear. Another forward step should bring me noticeably closer to the threshold.", + "The doorway is close enough now that I can read the yellow floor marking just inside it and see boxes on the corridor shelves. Nothing blocks the remaining stretch of blue floor in front of me. I will continue advancing straight toward the opening.", + "The EXIT sign now reads clearly above the doorway and the frame fills a large part of my view, so I am only a short distance from it. The opening is still slightly off to my right of straight ahead but well within a comfortable walking line. I will take another step forward to reach the threshold.", + "The doorway now dominates my view, with the green sign directly overhead and the lit corridor opening straight in front of me. I am nearly at the threshold but not yet standing in it. One more forward step should place me at the doorway as the task requires.", + "I am standing in the doorway beneath the EXIT sign, with its frame at my shoulders and the corridor ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20e1caf06fb3859aab10f19717734159aa0bc3f4 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the door under the green exit sign.", + "Type": 0, + "Start_Pose": [ + -230.735, + -1771.592, + 398.15, + 0.0, + -98.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -230.735, + -1771.592, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -250.163, + -1895.942, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -269.592, + -2020.293, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -289.02, + -2144.643, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -308.448, + -2268.994, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -327.876, + -2393.344, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -327.876, + -2393.344, + 398.15, + 0.0, + -73.88, + 0.0 + ], + [ + -292.932, + -2514.255, + 398.15, + 0.0, + -73.88, + 0.0 + ], + [ + -257.987, + -2635.165, + 398.15, + 0.0, + -73.88, + 0.0 + ], + [ + -257.987, + -2635.165, + 398.15, + 0.0, + -73.88, + 0.0 + ] + ], + "Rationale": [ + "From this dark red corridor I can already see the green exit sign glowing far ahead, with a lit doorway directly beneath it at the end of the passage. My heading is roughly down the corridor centerline, so I will move forward to begin closing that distance.", + "The exit sign and the bright doorway under it have grown slightly larger, confirming I am on the correct line down the corridor. The floor ahead is still clear, with shelving and boxes set back along the left wall, so another forward step should keep closing distance.", + "The doorway beneath the green sign now fills more of my view and I can make out the brighter room beyond it. Nothing blocks the middle of the corridor, so I continue straight toward the target.", + "I can now read the EXIT lettering plainly and see the yellow hazard markings on the threshold of the target door. Since the opening still lies just ahead of me, I will keep advancing to shorten the remaining gap.", + "The doorway under the exit sign is close, with the fire equipment board passing on my left and the threshold markings visible near the floor. One more forward step should bring me into the immediate vicinity of the door.", + "I am nearly at the exit door, but the opening now sits to the right of my facing direction, with the left wall and its signage crowding my view. I will turn right to bring the doorway back to center before stepping through.", + "The exit doorway with its green sign above is now centered in front of me and the passage through it is clear. I will move forward to enter the opening.", + "I am inside the door recess with the bright storage area visible straight ahead through the opening, so my alignment with the exit is good. A final forward step should place me at the doorway itself.", + "I am standing right in the exit doorway with its threshold at my feet and the warehouse beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ea36103dd80b55376e456f356db98f567ff0ebd2 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head toward the yellow \"A Sector\" marking on the wall.", + "Type": 0, + "Start_Pose": [ + -230.735, + -1771.592, + 398.15, + 0.0, + -98.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -230.735, + -1771.592, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -250.163, + -1895.942, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -269.592, + -2020.293, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -269.592, + -2020.293, + 398.15, + 0.0, + -73.88, + 0.0 + ], + [ + -269.592, + -2020.293, + 398.15, + 0.0, + -48.88, + 0.0 + ], + [ + -186.822, + -2115.107, + 398.15, + 0.0, + -48.88, + 0.0 + ], + [ + -186.822, + -2115.107, + 398.15, + 0.0, + -48.88, + 0.0 + ] + ], + "Rationale": [ + "I can see the yellow \"A SECTOR\" lettering painted on the red wall to my right, further down the corridor. The floor ahead is clear, so I will move forward along the corridor to close distance toward that marking.", + "The painted letter on the right wall now fills much more of my view, confirming I am drawing nearer to it. The passage ahead remains unobstructed, so another step forward should bring me alongside the marking.", + "I am now nearly level with the marked wall, but the lettering has slid to the far right edge of my view while I face straight down the corridor. Turning right should swing my heading toward the painted wall panel.", + "The large yellow \"A\" is now clearly in view on my right, though still off to the side rather than centered ahead of me. I will turn right again to bring the marking squarely in front of my heading.", + "I am now facing the red wall panel with the yellow \"A SECTOR\" lettering directly in front of me, but there is still a gap of open floor between us. Moving forward should place me right at the marking.", + "The yellow \"A\" marking fills my view directly ahead at close range. The task is complete, so further movement is unnecessary." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_d/infos.json b/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..993cc8880a072d05e15d5108dd2d9ca7e8916fb1 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000231_y-001772_z000398_t0_d/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Proceed to the white electrical box mounted on the red wall.", + "Type": 0, + "Start_Pose": [ + -230.735, + -1771.592, + 398.15, + 0.0, + -98.88, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -230.735, + -1771.592, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -250.163, + -1895.942, + 398.15, + 0.0, + -98.88, + 0.0 + ], + [ + -250.163, + -1895.942, + 398.15, + 0.0, + -123.88, + 0.0 + ], + [ + -320.324, + -2000.432, + 398.15, + 0.0, + -123.88, + 0.0 + ], + [ + -320.324, + -2000.432, + 398.15, + 0.0, + -148.88, + 0.0 + ], + [ + -320.324, + -2000.432, + 398.15, + 0.0, + -148.88, + 0.0 + ] + ], + "Rationale": [ + "The corridor ahead is lined with deep red walls, and on the left wall I can pick out a pale wall-mounted box with conduit running from it. It is still far off, so I will move forward along the open floor to close the distance before committing to a heading.", + "From this closer position the grey electrical box with its conduit sits on the red wall well to my left, while my heading still points down the corridor toward the lit doorway. I will turn left to swing that wall panel toward the center of my view and line up my approach.", + "The turn has brought the red wall section carrying the small metal box into the left part of my view, and the floor between me and it is clear. I will move forward to shrink that remaining gap so the box becomes the dominant thing in front of me.", + "I am now right beside the red wall, and the metal electrical box with its conduit and warning sign is close but pushed to the far left edge of my view. I will turn left again to square up with the wall and bring the box fully into the center.", + "The white electrical box on the red wall is centered directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000246_y-001715_z000398_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000246_y-001715_z000398_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec28202d60e5627af6e202ac8d52c159caf1cfca --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000246_y-001715_z000398_t3_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Navigate to the large yellow letter A, then reach the exit door.", + "Type": 3, + "Start_Pose": [ + -246.343, + -1715.206, + 398.15, + 0.0, + -96.0, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -246.343, + -1715.206, + 398.15, + 0.0, + -96.0, + 0.0 + ], + [ + -259.499, + -1840.376, + 398.15, + 0.0, + -96.0, + 0.0 + ], + [ + -259.499, + -1840.376, + 398.15, + 0.0, + -71.0, + 0.0 + ], + [ + -218.523, + -1959.378, + 398.15, + 0.0, + -71.0, + 0.0 + ], + [ + -177.547, + -2078.38, + 398.15, + 0.0, + -71.0, + 0.0 + ], + [ + -177.547, + -2078.38, + 398.15, + 0.0, + -71.0, + 0.0 + ], + [ + -177.547, + -2078.38, + 398.15, + 0.0, + -96.0, + 0.0 + ], + [ + -190.703, + -2203.549, + 398.15, + 0.0, + -96.0, + 0.0 + ], + [ + -203.859, + -2328.719, + 398.15, + 0.0, + -96.0, + 0.0 + ], + [ + -217.015, + -2453.888, + 398.15, + 0.0, + -96.0, + 0.0 + ], + [ + -230.171, + -2579.058, + 398.15, + 0.0, + -96.0, + 0.0 + ], + [ + -230.171, + -2579.058, + 398.15, + 0.0, + -96.0, + 0.0 + ] + ], + "Rationale": [ + "The big yellow letter A is painted on the red wall down the corridor to my right, and the green exit sign glows above the lit doorway straight ahead. Both destinations lie along this same passage, so I will walk forward to close distance on the painted letter first.", + "The yellow A sits on the wall to my right and is currently at the very edge of my view. I will turn right so the painted letter is centered ahead of me and I can walk straight toward it.", + "The yellow A now sits squarely in front of me on the red wall, though still some distance down the corridor. I will step forward along the clear floor to bring myself alongside it.", + "The painted A has grown much larger and its lower strokes now reach the floor line beside me, so I am nearly level with it. One more step forward should put me right at the letter.", + "The huge yellow A spans the wall right beside me, its strokes towering over my shoulder at arm's length. I have arrived at the painted letter. I mark reaching it, and now I turn my attention to the lit doorway under the green exit sign ahead on my left.", + "The doorway with the green exit sign above it lies off to my left while I am still facing the painted wall. I will turn left to put that lit opening in front of me before advancing.", + "The green exit sign and the bright doorway beneath it are now centered down the corridor ahead of me. The floor between is clear, so I will walk forward toward that opening.", + "The exit doorway is noticeably closer now, its frame and the yellow hazard stripes on its threshold clearly visible ahead. I will keep walking straight toward it.", + "The lit EXIT sign hangs just above me now and the doorway fills most of my view, with the striped threshold a couple of paces off. The opening is centered and unobstructed, so I will step forward into it.", + "I am inside the door frame itself, with its jambs close on both sides and the warehouse floor visible past the sill. One more step should carry me through the opening.", + "I stand at the open exit threshold with the warehouse floor spread out directly before me. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t0_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1abc8230103023dd48e907a10d0127069dd04110 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000267_y-003771_z000098_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Proceed to the base of the shelf marked with sign \"04\".", + "Type": 0, + "Start_Pose": [ + -266.965, + -3770.551, + 98.15, + 0, + -157.44, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -266.965, + -3770.551, + 98.15, + 0, + -157.44, + 0 + ], + [ + -383.193, + -3818.837, + 98.15, + 0.0, + -157.44, + 0.0 + ], + [ + -499.421, + -3867.123, + 98.15, + 0.0, + -157.44, + 0.0 + ], + [ + -615.649, + -3915.409, + 98.15, + 0.0, + -157.44, + 0.0 + ], + [ + -692.441, + -3953.816, + 98.15, + 0.0, + -157.44, + 0.0 + ], + [ + -692.441, + -3953.816, + 98.15, + 0.0, + -157.44, + 0.0 + ] + ], + "Rationale": [ + "I can see the round shelving unit ahead of me with the sign \"04\" mounted on its upper level, slightly right of my heading but well within reach of a straight approach. The open floor between me and its base is clear, so I will step forward to begin closing that distance.", + "The \"04\" sign and the curved orange shelf levels now fill more of my view, confirming I am heading straight at the marked unit. The floor in front of me is still open, so I will continue forward to shorten the remaining gap.", + "I am now close enough that the shelf's lower tier with its cardboard boxes and the pallet under it dominates my view, and the vertical support post sits just right of my path. A few more steps should bring me right up against the base of this marked unit, so I will keep moving forward.", + "The boxes on the bottom tier are directly in front of me and the shelf structure occupies nearly my whole view, so only a short step remains to stand at the base. I will move forward a little more to close that final distance.", + "I am standing right against the lower shelving boxes of the unit marked \"04\", with its structure immediately in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000268_y-001926_z000398_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000268_y-001926_z000398_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..593fa8a1895c96524c5d6aed8b62a3575afa03b5 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000268_y-001926_z000398_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Walk to the fire safety equipment board on the wall, then navigate to the yellow \"A Sector\" lettering.", + "Type": 3, + "Start_Pose": [ + -268.474, + -1925.767, + 398.15, + 0, + -66.24, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -268.474, + -1925.767, + 398.15, + 0, + -66.24, + 0 + ], + [ + -217.765, + -2040.958, + 398.15, + 0.0, + -66.24, + 0.0 + ], + [ + -217.765, + -2040.958, + 398.15, + 0.0, + -91.24, + 0.0 + ], + [ + -220.488, + -2166.788, + 398.15, + 0.0, + -91.24, + 0.0 + ], + [ + -223.212, + -2292.617, + 398.15, + 0.0, + -91.24, + 0.0 + ], + [ + -223.212, + -2292.617, + 398.15, + 0.0, + -116.24, + 0.0 + ], + [ + -223.212, + -2292.617, + 398.15, + 0.0, + -141.24, + 0.0 + ], + [ + -321.354, + -2371.413, + 398.15, + 0.0, + -141.24, + 0.0 + ], + [ + -321.354, + -2371.413, + 398.15, + 0.0, + -141.24, + 0.0 + ], + [ + -249.302, + -2313.565, + 398.15, + 0.0, + -141.24, + 0.0 + ], + [ + -249.302, + -2313.565, + 398.15, + 0.0, + -116.24, + 0.0 + ], + [ + -249.302, + -2313.565, + 398.15, + 0.0, + -91.24, + 0.0 + ], + [ + -249.302, + -2313.565, + 398.15, + 0.0, + -66.24, + 0.0 + ], + [ + -249.302, + -2313.565, + 398.15, + 0.0, + -41.24, + 0.0 + ], + [ + -249.302, + -2313.565, + 398.15, + 0.0, + -16.24, + 0.0 + ], + [ + -249.302, + -2313.565, + 398.15, + 0.0, + 8.76, + -0.0 + ], + [ + -249.302, + -2313.565, + 398.15, + 0.0, + 33.76, + -0.0 + ], + [ + -144.667, + -2243.623, + 398.15, + 0.0, + 33.76, + -0.0 + ], + [ + -144.667, + -2243.623, + 398.15, + 0.0, + 33.76, + -0.0 + ] + ], + "Rationale": [ + "The corridor runs straight ahead toward a lit doorway, and on the far left wall I can make out a mounted panel with a red extinguisher and safety notices. The big yellow lettering on the right wall stays where it is, so I will walk forward first to close on that safety board.", + "The safety panel with the extinguisher sits off to my left, while my heading is drifting along the right-hand wall with the large yellow letter. I will turn left to put the corridor and that panel wall squarely in front of me before continuing.", + "Now the corridor runs straight ahead with the extinguisher and its pegboard panel clearly visible on the left wall near the end. The floor between me and it is clear, so I will keep walking forward to shorten that distance.", + "The safety panel and its extinguisher have grown noticeably larger on my left, but I am still short of standing beside them. Another step forward should bring me level with that board.", + "I am close to the end of the corridor and the safety equipment board with its extinguisher and posted notices now sits well to my left, outside the center of my view. I will turn left to bring that board around toward the front.", + "The extinguisher board has swung into view on my left but is still angled off from straight ahead. One more turn left should square me up with the panel so I can walk directly at it.", + "The pegboard with the extinguisher, notices and colour chart is now centered in front of me, with open floor between us apart from the shelving well off to the side. I will step forward to stand right at that board.", + "The mounted panel fills my view, the extinguisher, hose and colour code chart all within arm's reach. I have reached the fire safety equipment board on the wall, and I mark reaching it before setting off for the yellow \"A Sector\" lettering painted on the corridor wall.", + "The extinguisher board fills my whole view because I am standing almost against it, leaving no room to swing around. I will step back from the wall to open enough space to turn and pick up the corridor wall carrying the yellow sector lettering.", + "With a little distance from the board, I can see the lit doorway off to my right and the corridor beyond it. The painted yellow lettering lies back along that corridor wall, so I will turn right to begin swinging my heading around toward it.", + "The safety board has slid to my left and the bright doorway now sits on my right, so my rotation is going the intended way. The yellow lettering is still out of sight further around, so I will keep turning right.", + "I am now looking straight down at the lit doorway with the board pushed to the far left. The yellow markings I want are painted on the corridor wall behind me, so another right turn should carry my view further around.", + "The doorway has slipped to my left and plain red wall now dominates the right of my view. I have not yet reached the painted lettering, so I will continue rotating right.", + "Only bare red panelling and a small notice remain in front of me, with the doorway barely clinging to the left edge. The yellow paint must lie a bit further around, so I will turn right again.", + "A yellow stripe and the edge of a large painted letter have appeared at the right side of the red wall. I will turn right once more to bring that lettering toward the middle of my view.", + "The tall yellow letter A is now clearly in front of me, though it sits slightly right and the word beside it is still cut off. One more right turn should square me up on the full sector marking.", + "The big yellow A with SECTOR beside it now fills the wall directly ahead of me, centered in my view after my turns. I am still a few paces off from the painted lettering, so I will walk forward to close that last gap and stand right at it.", + "The yellow sector lettering fills my view at arm's length on the red wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..345617eb002ffa70553e446d23c7ab9543af003a --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the yellow safety barrier, then head toward the open doorway.", + "Type": 3, + "Start_Pose": [ + -286.476, + -3728.443, + 98.275, + 0.0, + 157.44, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -286.476, + -3728.443, + 98.275, + 0.0, + 157.44, + -0.0 + ], + [ + -286.476, + -3728.443, + 98.275, + 0.0, + 132.44, + -0.0 + ], + [ + -371.408, + -3635.561, + 98.275, + 0.0, + 132.44, + -0.0 + ], + [ + -456.34, + -3542.679, + 98.275, + 0.0, + 132.44, + -0.0 + ], + [ + -541.272, + -3449.797, + 98.275, + 0.0, + 132.44, + -0.0 + ], + [ + -626.204, + -3356.915, + 98.275, + 0.0, + 132.44, + -0.0 + ], + [ + -626.204, + -3356.915, + 98.275, + 0.0, + 132.44, + -0.0 + ], + [ + -563.85, + -3425.105, + 98.275, + 0.0, + 132.44, + -0.0 + ], + [ + -563.85, + -3425.105, + 98.275, + 0.0, + 157.44, + -0.0 + ], + [ + -563.85, + -3425.105, + 98.275, + 0.0, + -177.56, + 0.0 + ], + [ + -563.85, + -3425.105, + 98.275, + 0.0, + -152.56, + 0.0 + ], + [ + -563.85, + -3425.105, + 98.275, + 0.0, + -127.56, + 0.0 + ], + [ + -640.573, + -3524.875, + 98.275, + 0.0, + -127.56, + 0.0 + ], + [ + -717.296, + -3624.646, + 98.275, + 0.0, + -127.56, + 0.0 + ], + [ + -717.296, + -3624.646, + 98.275, + 0.0, + -152.56, + 0.0 + ], + [ + -828.995, + -3682.644, + 98.275, + 0.0, + -152.56, + 0.0 + ], + [ + -940.694, + -3740.642, + 98.275, + 0.0, + -152.56, + 0.0 + ], + [ + -940.694, + -3740.642, + 98.275, + 0.0, + -152.56, + 0.0 + ] + ], + "Rationale": [ + "The yellow safety barrier sits low against the shelving well off to my left, while my current heading points straight at the far wall and the lit doorway. I will turn left so the barrier comes into the center of my view before I start walking toward it.", + "The yellow railing now lies ahead of me at the foot of the racking, with clear open floor between us. I will walk forward to close that gap.", + "The yellow barrier has grown noticeably larger and its posts are now clearly separated, so my heading is carrying me straight onto it. The floor in front stays clear, so I will keep walking.", + "The yellow rails and their bolted feet fill much of the left side now, but I am still a couple of paces short of standing at them. I will step forward again to draw level with the barrier.", + "The barrier is close on my left and the stacked pallets rise just ahead, so one more stride should put me right beside the yellow rail. I will advance that last step.", + "The yellow safety barrier is right at my side, its rail and post filling the near left of my view at arm's length. I have reached the barrier. I mark arriving here, and now I turn my attention to the open doorway in the dark brick wall.", + "I am wedged into the corner with the yellow rail at my left and the tall pallet stack a step in front, leaving almost no space to swing around. Backing up should open enough clearance for me to turn toward the doorway.", + "I now have a little floor behind me, and the doorway lies well off to my right, out of view behind the pallets. I will begin turning right to bring that opening back in front of me.", + "The yellow barrier is behind me at my left and I am now facing stacked pallets and racking, which gives me nothing to walk toward. I will keep rotating right so the lit doorway on the far wall comes into my view and I can set a heading for it.", + "The green-lit open doorway has come into the right half of my view, but tall pallet racking still occupies most of what is in front of me. I will turn right again to bring that doorway nearer the middle of my heading before walking.", + "The doorway is now roughly ahead, but a loaded pallet trolley and the hatched keep-clear floor marking sit directly on that line. I will turn right once more to face the open floor beside it, which should give me a clean lane to walk before I close on the door.", + "I now have clear floor ahead of me with the lit doorway and its green sign standing off to my left. I will walk forward along this open lane to draw level with the door rather than pushing into the parked pallet trolley.", + "The doorway has grown larger on my left, so I am nearly abreast of it but not yet beside the threshold. Another step forward should carry me level with the opening while the floor ahead stays clear.", + "I am level with the opening now, with the lit interior and the green exit sign standing at my left while my body still points down the aisle. I will turn left to square myself onto the doorway before stepping toward it.", + "The doorway is framed squarely in front of me, with the corridor and its shelves lit beyond the threshold. I will step forward to close the remaining gap to the opening.", + "The door frame now surrounds most of my view and the corridor floor runs straight ahead of me. One more step forward should carry me through the opening itself.", + "I am inside the doorway with its frame beside me and the lit inner room ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_d/infos.json b/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..97df6fff7df63d03cb207aab0079b8d5be04828c --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000286_y-003728_z000098_t3_d/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Head toward the red toolbox on the right shelf, then proceed to the yellow safety barrier.", + "Type": 3, + "Start_Pose": [ + -286.476, + -3728.443, + 98.275, + 0.0, + 157.44, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -286.476, + -3728.443, + 98.275, + 0.0, + 157.44, + -0.0 + ], + [ + -286.476, + -3728.443, + 98.275, + 0.0, + -177.56, + 0.0 + ], + [ + -412.221, + -3733.801, + 98.275, + 0.0, + -177.56, + 0.0 + ], + [ + -537.966, + -3739.16, + 98.275, + 0.0, + -177.56, + 0.0 + ], + [ + -663.711, + -3744.518, + 98.275, + 0.0, + -177.56, + 0.0 + ], + [ + -663.711, + -3744.518, + 98.275, + 0.0, + -152.56, + 0.0 + ], + [ + -775.41, + -3802.516, + 98.275, + 0.0, + -152.56, + 0.0 + ], + [ + -775.41, + -3802.516, + 98.275, + 0.0, + -152.56, + 0.0 + ], + [ + -775.41, + -3802.516, + 98.275, + 0.0, + -152.56, + 0.0 + ], + [ + -775.41, + -3802.516, + 98.275, + 0.0, + -177.56, + 0.0 + ], + [ + -775.41, + -3802.516, + 98.275, + 0.0, + 157.44, + -0.0 + ], + [ + -775.41, + -3802.516, + 98.275, + 0.0, + 132.44, + -0.0 + ], + [ + -775.41, + -3802.516, + 98.275, + 0.0, + 107.44, + -0.0 + ], + [ + -775.41, + -3802.516, + 98.275, + 0.0, + 82.44, + -0.0 + ], + [ + -758.851, + -3677.751, + 98.275, + 0.0, + 82.44, + -0.0 + ], + [ + -758.851, + -3677.751, + 98.275, + 0.0, + 57.44, + -0.0 + ], + [ + -691.116, + -3571.674, + 98.275, + 0.0, + 57.44, + -0.0 + ], + [ + -623.381, + -3465.596, + 98.275, + 0.0, + 57.44, + -0.0 + ], + [ + -555.646, + -3359.518, + 98.275, + 0.0, + 57.44, + -0.0 + ], + [ + -487.911, + -3253.441, + 98.275, + 0.0, + 57.44, + -0.0 + ], + [ + -487.911, + -3253.441, + 98.275, + 0.0, + 57.44, + -0.0 + ] + ], + "Rationale": [ + "I am facing the far wall and its lit exit doorway, while the tall racking loaded with bins and crates runs along my right side. Turning right should swing that shelf line into the middle of my view so I can walk straight at the red toolbox stored on it.", + "The curved orange racking with its stacked bins now sits clearly on my right at bay 04, and the floor between me and it is open blue concrete. I will walk forward to cut down the distance to that shelf and its red toolbox.", + "The shelf tiers on my right have grown noticeably larger and the coloured bins on them are easier to pick out, so my heading is carrying me toward the rack rather than past it. Another step forward should keep closing that gap.", + "The rack now fills most of the right half of my view, with cartons and crates on its lower tiers close enough to read. I will step forward again to draw level with the shelf front where the red toolbox should be.", + "I am nearly level with the shelving, but my body still points along the aisle toward the brick wall and doorway, leaving the rack off to my side. A turn to the right should square me up with the shelf face so I can walk directly into it.", + "The shelving is now squarely in front of me, its tiers of pink and green bins and cartons filling my view at close range. One more step forward should bring me right up against the shelf holding the red toolbox.", + "I am pressed close to the rack and my gaze falls on the shadowed lower shelf with its blue bins, which hides the tier I actually care about. Looking up should raise my view to the shelf level where the red toolbox is stored.", + "Raising my gaze puts the red toolbox on the shelf tier directly above me, close enough to touch beside the red and green bins. I have reached the red toolbox on this shelf, so I mark arriving here and then turn my attention toward the yellow safety barrier across the floor.", + "The shelving with its red toolbox and stacked bins fills my view at arm's length, so there is nothing more to gain by standing here facing it. My other destination, the yellow safety barrier, is not in sight from this heading, so I will turn left to sweep the open floor behind me.", + "Turning has opened up the lit doorway under the green exit sign, with the blue bins and shelf frame still crowding my right. No yellow railing has appeared yet, so I will keep rotating left to bring more of the warehouse floor into view.", + "The doorway with the fire extinguisher and pallets now sits near the centre of my view, and the far side of the aisle is still hidden behind the racking. I will continue turning left to keep uncovering floor where the yellow barrier could stand.", + "Now I face the pallet trolley parked against the dark brick wall beside the keep clear marking, with tall racking swinging into the left of my view. Still no yellow railing, so another left turn should carry my heading further along the aisle.", + "A yellow guard rail has just edged into the far left of my view, past the blue racking uprights. I will turn left once more to bring that barrier toward the centre of my heading before walking out to it.", + "The yellow safety barrier is now clearly in view ahead and slightly to my left, standing in front of the low shelf bay. The blue floor between us is open, so I will step forward to close some of that distance.", + "The barrier sections are closer, but they sit left of my centre while the racking edge takes up the right of my view. A left turn should square my heading onto the yellow railing before I keep walking.", + "The yellow railing now lies straight ahead across the open blue floor, with the red and white tape line running to my left and nothing blocking the path. I will walk forward to close on it.", + "The yellow guard railing stands clearly ahead of me, slightly to the right, with open blue floor between us. My heading is already lined up on it, so I will walk straight ahead to cut that gap down.", + "The yellow railing now fills much more of my view and its bases are plainly visible on the floor ahead of me. I am close but not yet beside it, so another step forward should bring me right up to the barrier.", + "The yellow rail and its bolted foot plates are just a pace or two in front of me, taking up the lower right of my view. One more step should put me directly at the barrier rather than short of it.", + "The yellow safety barrier rail spans right in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000302_y-000295_z000098_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000302_y-000295_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..101d3e602c26fdb36af9b30928ca8e79aaa54a0f --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000302_y-000295_z000098_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the red door, then head toward the yellow tarp-covered pallet.", + "Type": 3, + "Start_Pose": [ + -302.46, + -294.923, + 98.15, + 0.0, + 35.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -302.46, + -294.923, + 98.15, + 0.0, + 35.36, + -0.0 + ], + [ + -302.46, + -294.923, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + -178.653, + -272.289, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + -54.846, + -249.656, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 68.961, + -227.022, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 192.769, + -204.389, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 316.576, + -181.755, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 440.383, + -159.122, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 440.383, + -159.122, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 349.489, + -175.738, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 349.489, + -175.738, + 98.15, + 0.0, + 35.36, + -0.0 + ], + [ + 349.489, + -175.738, + 98.15, + 0.0, + 60.36, + -0.0 + ], + [ + 349.489, + -175.738, + 98.15, + 0.0, + 85.36, + -0.0 + ], + [ + 349.489, + -175.738, + 98.15, + 0.0, + 110.36, + -0.0 + ], + [ + 349.489, + -175.738, + 98.15, + 0.0, + 135.36, + -0.0 + ], + [ + 259.936, + -87.303, + 98.15, + 0.0, + 135.36, + -0.0 + ], + [ + 170.383, + 1.131, + 98.15, + 0.0, + 135.36, + -0.0 + ], + [ + 170.383, + 1.131, + 98.15, + 0.0, + 135.36, + -0.0 + ] + ], + "Rationale": [ + "The red door sits in the wall ahead of me but noticeably left of my heading, with the yellow tarp-covered pallet off to my right. I will turn left to bring that door closer to the centre of my view so a straight walk should carry me to it.", + "The red door now sits near the middle of my view across the open blue floor, with nothing between me and it. I will walk forward to close the distance toward that door.", + "The red door has grown larger and stays centred, so my heading is still good. I keep walking forward to close more of the gap across the open floor.", + "The door frame and its handle are becoming clear ahead of me, confirming I am tracking straight onto it. Another step forward should bring me appreciably nearer.", + "The red door now fills a large part of my view, with the workbench and extinguishers clear to its right and no obstruction on the floor in front of it. I continue walking straight at it.", + "I am close enough to read the caution sign beside the frame and see the door handle at my own height. I will step forward again to stand right up at the red door.", + "The red door and its frame now occupy nearly my whole view, with only a short gap of floor left in front of the threshold. One more step forward should place me directly at the door.", + "The red painted panel fills my view with its handle right beside me, so I am standing against the door itself. I have arrived at the red door. I mark reaching it and now set off for the yellow tarp-covered pallet back across the bay.", + "The red door fills my whole view because I am standing right against its face, so I can see nothing else of the bay. Having reached this door, I will step back to open up distance and recover a usable view of the surrounding floor before turning toward the yellow tarp-covered pallet.", + "With a little space regained, the red door and its frame sit squarely ahead and the open bay lies off to my right side. I will turn right to begin swinging my heading away from the door and toward the racking area where the tarp-covered pallet should be.", + "My view now holds the first aid board, the bench and a green shelf unit, with the red door slipping to the left edge. The pallet racking I need is still further round, so I will keep turning right to sweep my heading deeper into the storage area.", + "The grey partition and the first bays of blue and red racking are coming into view on my right, but nothing yellow and sheeted is showing yet. Another turn right should carry my gaze past this shelving into the open pallet aisle.", + "Ahead of me the red-framed rack with pallets stands centered, and a patch of yellow sheeting is just appearing at the far right edge of my view. I will turn right again to bring that covered pallet nearer the middle of my heading.", + "The yellow tarp draped over its pallet is now clearly in view on my right, under the A1 bay marker, but it is still off to the side of my walking line. One more turn right should place it straight ahead so I can walk directly at it.", + "The yellow tarp-covered pallet now sits ahead of me in the A1 bay with clear blue floor between us. My heading lines up with it, so I will walk forward to close the remaining distance.", + "The tarp-covered pallet has grown much larger and its red and white edge marking is close in front of me, though I am not yet up against it. I will take one more step forward to arrive right at the pallet.", + "The yellow tarp draped over its pallet fills the space directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000302_y-000295_z000098_t3_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000302_y-000295_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f87c8ab983cb6350baf5c098b7b19cd6fdc7b1fb --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000302_y-000295_z000098_t3_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Navigate to the yellow tarp-covered pallet, then proceed to the red door.", + "Type": 3, + "Start_Pose": [ + -302.46, + -294.923, + 98.15, + 0.0, + 35.36, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -302.46, + -294.923, + 98.15, + 0.0, + 35.36, + -0.0 + ], + [ + -302.46, + -294.923, + 98.15, + 0.0, + 60.36, + -0.0 + ], + [ + -240.217, + -185.533, + 98.15, + 0.0, + 60.36, + -0.0 + ], + [ + -177.973, + -76.142, + 98.15, + 0.0, + 60.36, + -0.0 + ], + [ + -115.73, + 33.248, + 98.15, + 0.0, + 60.36, + -0.0 + ], + [ + -115.73, + 33.248, + 98.15, + 0.0, + 60.36, + -0.0 + ], + [ + -115.73, + 33.248, + 98.15, + 0.0, + 35.36, + -0.0 + ], + [ + -115.73, + 33.248, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + -115.73, + 33.248, + 98.15, + 0.0, + -14.64, + 0.0 + ], + [ + 6.043, + 1.438, + 98.15, + 0.0, + -14.64, + 0.0 + ], + [ + 127.816, + -30.372, + 98.15, + 0.0, + -14.64, + 0.0 + ], + [ + 249.588, + -62.183, + 98.15, + 0.0, + -14.64, + 0.0 + ], + [ + 371.361, + -93.993, + 98.15, + 0.0, + -14.64, + 0.0 + ], + [ + 467.058, + -139.035, + 98.15, + 0.0, + -14.64, + 0.0 + ], + [ + 467.058, + -139.035, + 98.15, + 0.0, + -14.64, + 0.0 + ] + ], + "Rationale": [ + "From here the yellow tarp draped over a pallet sits ahead and off to my right, tucked under the racking beside the A1 bay. I will turn right so that pallet lands near the middle of my view before I start walking. The red door on the far wall can wait until I have reached the tarp.", + "The yellow tarp over its pallet now sits roughly centered between the two racking bays, with clear blue floor running toward it. I will walk forward to close that gap.", + "The tarp and the pallet under it have grown noticeably larger and the red and white floor marking in front of them is now readable. Nothing blocks the lane, so I will keep walking straight toward it.", + "The yellow tarp and the wooden pallet beneath it now fill much of the lower left of my view, but I am still a stride or two short of standing at it. I will step forward once more to bring myself right up to it.", + "The yellow tarp and the pallet boards under it are directly in front of me, close enough that they fill the left side of my view beneath the A1 bay. I have reached the tarp-covered pallet. I mark reaching it, and now I turn back toward the red door on the far wall.", + "Standing at the tarp-covered pallet, my view is filled by tarp and racking uprights, and the red door lies well behind my left shoulder. I will turn left to swing my heading back toward the open floor and that wall.", + "The turn has opened up the blue floor and the far shelving on my left, but the red door is still outside my view. I will turn left again to keep sweeping toward that wall.", + "The red door under the exit sign is now in view, but it sits over on my left with the tarp-covered pallet still crowding my right edge. I will turn left once more to bring the door toward the center of my heading before walking.", + "The red door under the green exit sign now sits close to the middle of my heading, with open blue floor and no clutter between me and it. I will walk forward to begin closing that distance.", + "The door and the first-aid board beside it have grown larger, so my heading is holding true along the lane. I will keep walking straight toward it.", + "The red door now stands well forward in my view and I can see it is ajar, with light spilling out along its edge onto the floor. The workbench and cartons sit off to the right of my line, so I will step forward again.", + "The doorway fills the center of my view now, its handle and the open red panel clearly within reach of a couple of strides. I will keep advancing to bring myself right up to the threshold.", + "The red panel and its lever handle now take up almost my whole view, with the frame edges to either side. One short step should place me right at the door.", + "The red door fills my view at arm's length, its handle beside me. Both destinations are reached, so the task is complete and there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000302_y-000295_z000098_t5_a_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000302_y-000295_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a2c49cce3a741633a3ab586d024e8b16ddab4c78 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000302_y-000295_z000098_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Lift the ceramic vase near the red door, then set it down near the yellow tarp-covered pallet.", + "Type": 5, + "Start_Pose": [ + -302.46, + -294.923, + 98.15, + 0, + 35.36, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 458.404, + -152.608, + 28.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -302.46, + -294.923, + 98.15, + 0, + 35.36, + 0 + ], + [ + -199.818, + -222.087, + 98.15, + 0.0, + 35.36, + -0.0 + ], + [ + -199.818, + -222.087, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + -76.011, + -199.453, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 47.796, + -176.82, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 171.604, + -154.186, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 295.411, + -131.553, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 295.411, + -131.553, + 98.15, + 0.0, + 10.36, + -0.0 + ], + [ + 295.411, + -131.553, + 98.15, + 0.0, + 35.36, + -0.0 + ], + [ + 295.411, + -131.553, + 98.15, + 0.0, + 60.36, + -0.0 + ], + [ + 295.411, + -131.553, + 98.15, + 0.0, + 85.36, + -0.0 + ], + [ + 295.411, + -131.553, + 98.15, + 0.0, + 110.36, + -0.0 + ], + [ + 295.411, + -131.553, + 98.15, + 0.0, + 135.36, + -0.0 + ], + [ + 205.858, + -43.117, + 98.15, + 0.0, + 135.36, + -0.0 + ], + [ + 116.305, + 45.318, + 98.15, + 0.0, + 135.36, + -0.0 + ], + [ + 167.536, + -5.273, + 98.15, + 0.0, + 135.36, + -0.0 + ], + [ + 167.536, + -5.273, + 98.15, + 0.0, + 135.36, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 458.404, + -152.608, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 458.404, + -152.608, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 458.404, + -152.608, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 458.404, + -152.608, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 458.404, + -152.608, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 458.404, + -152.608, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 458.404, + -152.608, + 28.15, + 0.0, + 0.0, + 0.0 + ], + [ + 290.97, + -110.657, + 68.256, + -28.202, + 60.504, + 1.862 + ], + [ + 281.995, + -113.713, + 68.529, + -28.189, + 85.516, + 1.872 + ], + [ + 275.91, + -120.28, + 67.862, + -28.215, + 110.487, + 1.849 + ], + [ + 269.397, + -123.956, + 67.916, + -14.092, + 127.703, + 6.87 + ], + [ + 275.437, + -139.431, + 67.932, + -28.208, + 160.502, + 1.851 + ], + [ + 279.969, + -147.938, + 68.6, + -28.198, + -174.494, + 1.867 + ], + [ + 191.216, + -58.673, + 68.07, + -28.198, + -174.495, + 1.862 + ], + [ + 101.521, + 29.906, + 67.683, + -28.202, + -174.499, + 1.86 + ], + [ + 117.729, + 43.912, + 38.15, + 0.0, + 135.36, + -0.0 + ], + [ + 117.729, + 43.912, + 38.15, + 0.0, + 135.36, + -0.0 + ] + ], + "PD_Dist_2D": [ + 774.1, + 661.9, + 661.9, + 536.5, + 411.3, + 286.8, + 164.3, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red door sits across the bay to my left, with the pale ceramic vase standing beside it on the blue floor. It is far off, so I will walk forward across the open floor to close the gap before refining my heading.", + "The vase by the red door still lies off to the left of my heading, while my view is centered on the racking and the tarp-covered pallet on the right. I will turn left to bring the door and vase toward the middle of my view before continuing forward.", + "The red door and the tall ceramic vase now sit near the center of my view with clear blue floor between us. I will step forward along this heading to continue closing on the vase.", + "The doorway and the patterned vase beside it are larger now, so my heading is still good. The vase remains several paces off, so I will keep walking forward to reach grasping range.", + "The red door fills much more of my view and the ceramic vase stands just left of the doorway, still beyond arm's reach. I will advance again to bring it close enough to attempt a lift.", + "The vase is now close in front of the open red doorway, but it still sits a step or two away from me. One more forward step should place it directly within reach for the lift.", + "The ceramic vase is directly in front of me at the threshold of the red door, filling the near left of my view with nothing between us. This is the target named in the task, so I will attempt to grasp and lift it now.", + "The lift worked and the vase is now held in my hands rather than standing on the floor. The yellow tarp-covered pallet is not in front of me from this doorway heading, so I will turn right to begin swinging my view back toward that side of the bay.", + "The vase is secured in my hands, so my only remaining goal is the yellow tarp-covered pallet, which is not yet in view ahead of me. This heading still shows the red door and the workbench area, so I will keep rotating right to sweep toward the storage bays.", + "Rotating has brought the racking and pallet stacks into view, but the yellow tarp-covered pallet is still outside my field of view to the right. I will turn right again to continue bringing that drop area in front of me while carrying the vase.", + "A patch of yellow tarp has just appeared at the right edge beyond the red racking, confirming the destination lies further clockwise. I will turn right once more so the tarp-covered pallet moves toward the centre of my view.", + "The yellow tarp-covered pallet is now clearly visible, but it sits left of centre with the racking uprights partly across my path. One more right turn should open the free blue floor lane toward it so I can walk in with the vase.", + "My heading now gives me a clear stretch of open blue floor with the yellow tarp-covered pallet ahead on my left. Carrying the vase, I will step forward to close the remaining distance to that drop area.", + "The tarp-covered pallet now fills much of the left side of my view, so I am close but not yet beside it. I will take another step forward so the vase can be set down right next to the pallet edge.", + "I am now directly alongside the yellow tarp-covered pallet, with its yellow sheeting immediately at my left and the bay floor open beside it. This is the intended placement spot, so I will release the vase here and expect it to come to rest next to the pallet.", + "The vase stands upright on the floor beside the yellow tarp-covered pallet and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000329_y-000503_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000329_y-000503_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6cde0c4d112655dce1082756060a90f043af4cf1 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000329_y-000503_z000098_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search the warehouse for the object covered by a yellow tarp on a wooden pallet between two metal shelving units, then approach it.", + "Type": 1, + "Start_Pose": [ + -328.81, + -502.773, + 98.15, + 0, + -15.52, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -328.81, + -502.773, + 98.15, + 0, + -15.52, + 0 + ], + [ + -328.81, + -502.773, + 98.15, + 0.0, + 9.48, + -0.0 + ], + [ + -328.81, + -502.773, + 98.15, + 0.0, + 34.48, + -0.0 + ], + [ + -225.061, + -431.522, + 98.15, + 0.0, + 34.48, + -0.0 + ], + [ + -121.313, + -360.271, + 98.15, + 0.0, + 34.48, + -0.0 + ], + [ + -121.313, + -360.271, + 98.15, + 0.0, + 59.48, + -0.0 + ], + [ + -57.397, + -251.849, + 98.15, + 0.0, + 59.48, + -0.0 + ], + [ + 6.519, + -143.428, + 98.15, + 0.0, + 59.48, + -0.0 + ], + [ + 6.519, + -143.428, + 98.15, + 0.0, + 84.48, + -0.0 + ], + [ + 18.626, + -18.152, + 98.15, + 0.0, + 84.48, + -0.0 + ], + [ + 18.626, + -18.152, + 98.15, + 0.0, + 84.48, + -0.0 + ] + ], + "Rationale": [ + "A tall shelving rack fills most of my view and blocks any sightline toward a pallet aisle, so I cannot see a yellow tarp from here. I will turn right to sweep past the rack toward the open floor and the far wall where more storage bays may be visible.", + "The open bay ahead shows the sector wall, a red door and some racking on the far right, but still no tarped load on a pallet. I will continue the same rightward scan to bring the right-hand racking area fully into view.", + "Between the shelving bays on the right I can now make out a yellow covered shape resting low on a pallet, which matches the target description. I will walk forward to close distance and get a clearer look at that bay.", + "The yellow tarped object on its pallet is clearer now, still off to my right and set back inside the bay between two racks. The floor ahead is unobstructed, so I will keep walking forward to shorten the distance before turning in.", + "The tarped pallet sits to my right and my heading is still carrying me past the bay opening rather than into it. I will turn right to line my body up with the aisle between the two shelving units.", + "The yellow tarped object and its pallet now sit near the center of my view with racking on either side. I will walk forward along the open aisle to get closer to it.", + "The tarped load is noticeably larger ahead of me but still a few steps away, sitting on its pallet inside the marked bay. I will continue walking forward to reduce the remaining gap.", + "I am close to the pallet now, but the tarped object has drifted toward the right side of my view and the rack edge crowds the left. I will turn right to center the covered load squarely before stepping in the last distance.", + "The yellow tarp draped over the object on its wooden pallet now sits centered in front of me, framed squarely between the two metal shelving units. It is still a few steps away, so I will walk straight ahead to close the remaining gap and stand directly at the pallet.", + "The yellow-tarped object on its wooden pallet fills my view at arm's length, flanked by the two metal shelving units. The search and approach are complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7a69d1b2e17a32c92c3ded90d0b83c6870f28388 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the shelf labeled 03, then head toward the white electrical box on the wall.", + "Type": 3, + "Start_Pose": [ + -369.185, + -5998.777, + 98.15, + 0.0, + -49.92, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -369.185, + -5998.777, + 98.15, + 0.0, + -49.92, + 0.0 + ], + [ + -288.15, + -6095.077, + 98.15, + 0.0, + -49.92, + 0.0 + ], + [ + -288.15, + -6095.077, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + -174.009, + -6148.108, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + -59.868, + -6201.139, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + 54.274, + -6254.17, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + 168.415, + -6307.201, + 98.343, + 0.0, + -24.92, + 0.0 + ], + [ + 282.556, + -6360.232, + 98.366, + 0.0, + -24.92, + 0.0 + ], + [ + 396.697, + -6413.263, + 98.366, + 0.0, + -24.92, + 0.0 + ], + [ + 396.697, + -6413.263, + 98.366, + 0.0, + -24.92, + 0.0 + ], + [ + 396.697, + -6413.263, + 98.366, + 0.0, + -49.92, + 0.0 + ], + [ + 396.697, + -6413.263, + 98.366, + 0.0, + -74.92, + 0.0 + ], + [ + 396.697, + -6413.263, + 98.366, + 0.0, + -99.92, + 0.0 + ], + [ + 396.697, + -6413.263, + 98.366, + 0.0, + -124.92, + 0.0 + ], + [ + 396.697, + -6413.263, + 98.366, + 0.0, + -149.92, + 0.0 + ], + [ + 287.788, + -6476.345, + 98.366, + 0.0, + -149.92, + 0.0 + ], + [ + 221.739, + -6517.9, + 98.028, + 0.0, + -149.92, + 0.0 + ], + [ + 221.739, + -6517.9, + 98.028, + 0.0, + -149.92, + 0.0 + ] + ], + "Rationale": [ + "Across the open floor to my right I can pick out a tall storage rack carrying a placard reading 03, and the loading aisle ahead of me is clear. I will walk forward to leave the cluttered pallet racking beside me and gain room on the open floor.", + "The rack marked 03 sits well off to my right, while my body is still aimed along the racking and the brick wall. I will turn right so that rack comes nearer the middle of my view before I walk on.", + "The rack bearing the 03 sign now lies roughly ahead of me, with a neighbouring rack marked 04 further right. The floor between us is open apart from scattered cartons and paper, so I will walk forward to close the gap.", + "The 03 placard is clearly legible ahead and the rack's yellow guard base is now visible at floor level. Nothing blocks the lane between me and it, so I will keep walking toward that rack.", + "The rack with the 03 sign has grown larger and sits just left of centre, with the brick wall running along my left. I am still several paces short of it, so I will continue forward.", + "I can now make out the fire extinguisher and the teal bin on the lower shelves of the rack under the 03 sign. That detail tells me I am close but not yet at its base, so I will step forward again.", + "The 03 rack now fills much of my view and its yellow guard rail is only a short walk ahead, with floor markings running across in front of it. I will advance once more to bring myself right up to the rack.", + "The rack's uprights, the red extinguisher and the yellow base are directly in front of me, and the marked lane at my feet runs right up to it. One more step should place me at the shelf itself.", + "The upright bearing the 03 placard is right in front of me, with its fire extinguisher, teal bin and stacked cartons filling my view at arm's length. I have arrived at the shelf marked 03, so I mark reaching it here. Now I turn my attention to the white electrical box on the brick wall to my left.", + "Standing this close to the 03 shelf, its frame blocks nearly everything ahead of me and only the brick wall is open on my left. My other destination, the white electrical box mounted on that wall, lies that way, so I will turn left to swing my heading off the racking and onto the wall.", + "The brick wall now dominates my view, but the stretch in front of me is bare masonry with only rack labels still hanging at the right edge. The electrical box is not in sight yet, so I will keep turning left to sweep further along the wall.", + "I am facing plain brickwork with nothing mounted on it anywhere in view. The white box must sit further along this wall, so another left turn should carry my gaze onward down it.", + "Still only bare bricks ahead, with the skirting just appearing at the bottom right as my heading comes round. I have not picked up the electrical box yet, so I will continue turning left to bring more of the wall into view.", + "I can now see the white electrical box on the wall, with its conduit running down to the floor, sitting off to my left along with smaller wall fittings. One more left turn should bring it closer to the middle of my view so I can walk straight at it.", + "The white electrical box with its red handle and posted notice now sits ahead of me on the brick wall, with clear floor between us and the pallet trolley well off to my left. My heading is good, so I will walk forward to close the gap.", + "The box has grown large in my view, its handle, casing and notice sheet all clearly readable just ahead on the wall. A short step forward should bring me right up to it.", + "The white electrical box on the brick wall fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_d/infos.json b/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6e47f148a46a36b5b93c09ac6b40239674b6614b --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t3_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Move to the yellow drum on the top shelf, then approach the shelf labeled 03.", + "Type": 3, + "Start_Pose": [ + -369.185, + -5998.777, + 98.15, + 0.0, + -49.92, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -369.185, + -5998.777, + 98.15, + 0.0, + -49.92, + 0.0 + ], + [ + -288.15, + -6095.077, + 98.15, + 0.0, + -49.92, + 0.0 + ], + [ + -288.15, + -6095.077, + 98.15, + 0.0, + -74.92, + 0.0 + ], + [ + -255.405, + -6216.602, + 98.15, + 0.0, + -74.92, + 0.0 + ], + [ + -255.405, + -6216.602, + 98.15, + 0.0, + -74.92, + 0.0 + ], + [ + -255.405, + -6216.602, + 98.15, + 0.0, + -74.92, + 0.0 + ], + [ + -255.405, + -6216.602, + 98.15, + 0.0, + -49.92, + 0.0 + ], + [ + -255.405, + -6216.602, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + -255.405, + -6216.602, + 98.15, + 0.0, + 0.08, + -0.0 + ], + [ + -129.547, + -6216.427, + 98.15, + 0.0, + 0.08, + -0.0 + ], + [ + -3.688, + -6216.251, + 98.15, + 0.0, + 0.08, + -0.0 + ], + [ + 122.171, + -6216.075, + 99.503, + 0.0, + 0.08, + -0.0 + ], + [ + 122.171, + -6216.075, + 99.503, + 0.0, + -24.92, + 0.0 + ], + [ + 236.312, + -6269.106, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + 350.454, + -6322.137, + 98.553, + 0.0, + -24.92, + 0.0 + ], + [ + 464.595, + -6375.168, + 108.1, + 0.0, + -24.92, + 0.0 + ], + [ + 464.595, + -6375.168, + 108.1, + 0.0, + -24.92, + 0.0 + ] + ], + "Rationale": [ + "The yellow drum is clearly visible on the upper level of the tall racking to my left, while the shelf marked 03 stands far off across the floor. Since the drum is the closer of my two destinations, I will step forward along the open floor beside the rack to close the distance to it.", + "After advancing, the yellow drum with its red neighbours now sits high on the rack off to my left, well outside my forward heading. I will turn left so the drum and its bay come square in front of me before I close in further.", + "The yellow drum now sits centred on the upper shelf of the rack directly ahead of me, with clear floor and a pallet edge between us. I will walk forward to bring myself right under that bay of the racking.", + "I am close enough that the rack beams and the stacked grey panels fill my view, and the yellow drum has passed above my line of sight. I will look up so the drum on the top shelf comes back into view and I can confirm I am standing at it.", + "Raising my gaze puts the yellow drum right overhead between the two red drums on the top shelf, an arm's reach beyond the beam. I have arrived at the yellow drum on the top shelf. I mark reaching it, and now I head for the tall shelf carrying the 03 placard across the floor.", + "The rack with the yellow drum fills my view and blocks any forward path from here. I will turn right to swing off this racking and bring the open floor and the distant 03 shelf back into my view.", + "The turn has opened the floor, and the tall shelf with the 03 placard is now visible at the far right edge of my view, still well off my heading. I will turn right again to bring it further toward the centre of my view.", + "The 03 shelf and its neighbour marked 04 now stand ahead but still to the right of my heading, with the rack upright and pallet crowding my left. One more turn to the right should line my heading up with the clear stretch of floor leading toward the 03 shelf.", + "The tall rack marked 03 now stands ahead of me across the open floor, left of the one marked 04. Nothing blocks the lane between me and it apart from scattered boxes further right, so I will walk forward to close the distance.", + "The 03 placard is larger and clearer now, confirming my heading is good. The gap ahead of me is still clear of the scattered cartons, so I will keep walking toward that rack.", + "The 03 rack and its yellow base guard fill more of my view, but I am still several strides short of standing at it. I will continue advancing along this clear stretch of floor.", + "The 03 rack sits noticeably left of center while the 04 bay dominates the middle of my view. A small left turn should put the 03 uprights straight ahead before I close the last few strides.", + "The rack with the 03 label is now centered ahead of me with only bare floor between us. I will step forward to bring myself up to it.", + "The 03 bay is close enough that I can pick out the extinguisher and the teal bin on its lower shelf, yet I am not yet standing at its base. Another step forward should bring me right up against it.", + "The yellow guard at the foot of the 03 rack is nearly within arm's reach and its frame now fills most of my view. One more step should place me right at the shelf.", + "I am standing directly at the 03 rack, close enough to touch its frame and the bin on its shelf. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t5_a_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf9023fe57605c915a7699c5e49c679c59cbabfb --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000369_y-005999_z000098_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the metal bucket at shelf 03, then leave it by the white electrical box on the wall.", + "Type": 5, + "Start_Pose": [ + -369.185, + -5998.777, + 98.15, + 0, + -49.92, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 425.291, + -6338.659, + 20.698, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -369.185, + -5998.777, + 98.15, + 0, + -49.92, + 0 + ], + [ + -369.185, + -5998.777, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + -255.044, + -6051.808, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + -140.903, + -6104.839, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + -26.762, + -6157.87, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + 87.38, + -6210.901, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + 201.521, + -6263.932, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + 201.521, + -6263.932, + 98.15, + 0.0, + -24.92, + 0.0 + ], + [ + 315.662, + -6316.963, + 99.472, + 0.0, + -24.92, + 0.0 + ], + [ + 315.662, + -6316.963, + 99.472, + 0.0, + -24.92, + 0.0 + ], + [ + 315.662, + -6316.963, + 99.472, + 0.0, + -49.92, + 0.0 + ], + [ + 315.662, + -6316.963, + 99.472, + 0.0, + -74.92, + 0.0 + ], + [ + 315.662, + -6316.963, + 99.472, + 0.0, + -99.92, + 0.0 + ], + [ + 315.662, + -6316.963, + 99.472, + 0.0, + -124.92, + 0.0 + ], + [ + 243.616, + -6420.161, + 98.297, + 0.0, + -124.92, + 0.0 + ], + [ + 195.614, + -6479.854, + 97.924, + 0.0, + -124.92, + 0.0 + ], + [ + 236.829, + -6420.818, + 97.924, + 0.0, + -124.92, + 0.0 + ], + [ + 236.829, + -6420.818, + 97.924, + 0.0, + -124.92, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 425.291, + -6338.659, + 20.698, + 0.0, + 0.0, + 0.0 + ], + [ + 425.291, + -6338.659, + 20.698, + 0.0, + 0.0, + 0.0 + ], + [ + 425.291, + -6338.659, + 20.698, + 0.0, + 0.0, + 0.0 + ], + [ + 425.291, + -6338.659, + 20.698, + 0.0, + 0.0, + 0.0 + ], + [ + 425.291, + -6338.659, + 20.698, + 0.0, + 0.0, + 0.0 + ], + [ + 425.291, + -6338.659, + 20.698, + 0.0, + 0.0, + 0.0 + ], + [ + 425.291, + -6338.659, + 20.698, + 0.0, + 0.0, + 0.0 + ], + [ + 425.291, + -6338.659, + 20.698, + 0.0, + 0.0, + 0.0 + ], + [ + 425.291, + -6338.659, + 20.698, + 0.0, + 0.0, + 0.0 + ], + [ + 324.106, + -6297.34, + 68.256, + -28.202, + 25.224, + 1.862 + ], + [ + 330.876, + -6303.356, + 68.529, + -28.189, + 0.237, + 1.872 + ], + [ + 335.182, + -6311.865, + 67.862, + -28.215, + -24.793, + 1.849 + ], + [ + 341.295, + -6326.955, + 68.043, + -14.175, + -57.728, + 6.959 + ], + [ + 333.098, + -6328.654, + 67.932, + -28.208, + -74.778, + 1.851 + ], + [ + 261.53, + -6431.816, + 68.353, + -28.189, + -74.762, + 1.869 + ], + [ + 213.657, + -6491.316, + 68.784, + -28.196, + -74.771, + 1.867 + ], + [ + 196.759, + -6478.215, + 57.924, + 0.0, + -124.92, + 0.0 + ], + [ + 196.759, + -6478.215, + 57.924, + 0.0, + -124.92, + 0.0 + ] + ], + "PD_Dist_2D": [ + 864.1, + 864.1, + 738.3, + 612.6, + 486.9, + 361.3, + 235.9, + 235.9, + 111.8, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "My current heading points along the loaded racking beside me, while the numbered shelf bays sit off to my right across the open floor. I need the aisle toward shelf 03 centered before I commit to walking. Turning right should bring that bay and the clear floor lane into view ahead.", + "The tall numbered bays now sit ahead of me across an open, mostly clear floor, with a grey drum-shaped container resting at the base of the far rack. Nothing blocks the lane between me and that area. I will walk forward to close the long distance toward shelf 03.", + "The bay labeled 03 is now legible ahead on the brick wall side, with the grey bucket standing at its foot. I am still several strides short of anything I could reach. I keep walking straight since the path stays open apart from scattered cartons off to the right.", + "Shelf 03 and the grey bucket beside it are growing larger and sit almost straight ahead of my heading. The debris and cartons stay clear of my line, so no course change is needed. I advance again to keep closing on the bucket.", + "The grey bucket in front of shelf 03 now reads clearly as a floor-standing container just ahead, but it is still too far for my hands. The lane in front of me remains unobstructed. I take another step forward to bring it within reach.", + "The grey metal bucket sits on the floor at the foot of the rack marked 03, still a couple of body lengths ahead of me. I will walk forward again to close that remaining gap before reaching for it.", + "The metal bucket now fills the lower centre of my view directly in front of shelf 03, with nothing between me and it. I will attempt to grasp it here, since it may already be within reach.", + "My grasp attempt did not take hold, as my hands remain empty. The bucket was likely still slightly beyond reach from where I stood by the rack. I will step forward once more to stand right over it.", + "The bucket's rim now rises into the near foreground of my view, right at the base of the rack with the fire extinguisher, so I am standing essentially on top of it. I will try the grasp again from this much closer stance.", + "This time the grasp took hold, and the bucket is now carried with me rather than resting by the rack. The white electrical box I need to reach is mounted on the brick wall behind my left shoulder, so I will turn left to bring that wall into view.", + "The metal bucket is secured in my hands, so the remaining job is the white electrical box on the wall. From this heading I only see dark brick and the shelf uprights, with no box in sight. I will turn further left to sweep more of that wall into view.", + "The rack has passed out of view and I now face a bare stretch of brick with only a posted notice, still no white electrical box. The wall fittings must lie further around to my left. I will keep turning left to continue scanning along the wall while carrying the bucket.", + "The white electrical box with its warning label is now visible on the wall, but it sits off to the left side of my view rather than in front of me. A further left turn should bring it toward the center of my heading. I will turn left again to line up my approach.", + "The white electrical box is now roughly ahead of me on the brick wall, with clear open floor between us. I am still too far away to set the bucket beside it. I will walk forward to close that gap.", + "The electrical box and its conduit now fill much of my view, so I am close but not yet right at the wall beneath it. A short further step should put the bucket within placing range of the box. I will move forward again.", + "The white electrical box on the brick wall now fills my view at arm's length, so I am at the intended delivery spot with the bucket still carried. There is clear floor right beneath the box, so I will release the bucket here and it should come to rest against the wall.", + "The metal bucket now rests on the floor directly under the white electrical box, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t3_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67d016805584dc21dbd8f12e1433c96d68aca5d1 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t3_a/infos.json @@ -0,0 +1,326 @@ +{ + "Instruction": "Walk to the red door, then head toward the yellow safety barrier.", + "Type": 3, + "Start_Pose": [ + -417.149, + -38.694, + 98.15, + 0.0, + -39.52, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -417.149, + -38.694, + 98.15, + 0.0, + -39.52, + 0.0 + ], + [ + -417.149, + -38.694, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -295.31, + -70.249, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -173.471, + -101.804, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -51.632, + -133.359, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + 70.207, + -164.914, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + 70.207, + -164.914, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 193.967, + -142.022, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 317.726, + -119.129, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 432.131, + -112.677, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 432.131, + -112.677, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 341.272, + -129.484, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 341.272, + -129.484, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + 341.272, + -129.484, + 98.15, + 0.0, + -39.52, + 0.0 + ], + [ + 341.272, + -129.484, + 98.15, + 0.0, + -64.52, + 0.0 + ], + [ + 341.272, + -129.484, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + 341.272, + -129.484, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + 341.272, + -129.484, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + 341.272, + -129.484, + 98.15, + 0.0, + -164.52, + 0.0 + ], + [ + 219.979, + -163.076, + 98.15, + 0.0, + -164.52, + 0.0 + ], + [ + 98.686, + -196.668, + 98.15, + 0.0, + -164.52, + 0.0 + ], + [ + -22.608, + -230.26, + 98.15, + 0.0, + -164.52, + 0.0 + ], + [ + -22.608, + -230.26, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + -22.608, + -230.26, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + -74.84, + -344.768, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + -74.84, + -344.768, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -73.786, + -470.623, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -73.119, + -596.377, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -72.065, + -722.231, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -71.01, + -848.086, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -71.01, + -848.086, + 98.15, + 0.0, + -89.52, + 0.0 + ] + ], + "Rationale": [ + "From here the red door sits well off to my right, set into the grey wall beneath the D SECTOR lettering, while my heading points down the open blue floor. Turning right should bring that door nearer the centre of my view so I can walk straight at it.", + "The red door now stands ahead of me in the grey wall, with the green exit sign above it and clear blue floor between us. Nothing blocks that lane, so I will walk forward to close the distance.", + "The red door has grown larger and its frame and handle are becoming distinct, which tells me the previous step gained ground. The floor ahead is still open past the shelving on either side, so I keep walking toward it.", + "The red door and the small shelving unit beside it are noticeably closer now, and the bins on the blue wall to my left are sliding past. I am still some way short of the door, so another step forward is the direct move.", + "The red door fills much more of my view now, with its handle and threshold clearly readable, but I am still a few paces out. The route stays clear of the cartons stacked along the left, so I advance again.", + "As I closed in, the red door drifted off to the right of my view, with the bins and cartons now dominating the left half. A turn to the right should square my heading onto the doorway before I take further steps.", + "The red door is now set squarely ahead of me with the exit sign above it and the first aid board to its right. The blue floor in front is clear of the table and cartons, so I walk forward to reach it.", + "The red door now towers ahead with its handle at arm height and the caution panel beside its frame, so I am nearly upon it. One more step forward should bring me right up to the doorway.", + "The red door now fills the left of my view with its handle at arm's height, so only a short gap remains. I will step forward once more to stand directly at the door rather than beside the workbench.", + "The painted red door panel fills my view from edge to edge, its frame right in front of me. I have arrived at the red door. I mark reaching it and now set off to find the yellow safety barrier.", + "Pressed this close, the door panel blocks almost everything and I can see nothing of the surrounding floor. I will step back to open up my view and give myself room to swing around toward the yellow safety barrier.", + "With some standoff regained, the door and its first aid board sit ahead of me while the open floor lies off to my left. I will turn left to swing my heading off the doorway and begin scanning for yellow barrier railings.", + "The doorway has slid toward the right of my view and a caution panel and steel column now face me, with no yellow railing yet in sight. I will keep turning left to bring the open warehouse floor into view.", + "I can now see the bin racks and a yellow and black corner guard along the wall, but nothing that reads as a safety barrier. Another left turn should carry my gaze further into the aisle where the open floor runs.", + "The aisle with its yellow floor lines is opening ahead of me and racking stretches away on the left, still without a yellow railing in view. I will turn left again to sweep more of the hall into my field of view.", + "The long aisle toward the section 01 racking is now in front of me, and more open floor keeps appearing at the left edge. I will continue turning left to finish scanning that side for the yellow safety barrier.", + "The red door is behind me now and I need to work back out into the open warehouse floor toward the yellow guard railings. From here the racking bays and the clear blue lane still sit off to my left, so I will keep pivoting left.", + "My heading has swung further into the hall, but the wide unobstructed lane of blue floor still runs off to my left rather than straight ahead. One more left pivot should put that open route in front of me before I start walking.", + "I am now squared onto a broad, clear stretch of blue floor with the tall racking rows opening up ahead, and yellow protective railings are visible among the pallet bays in the distance. Nothing blocks the lane, so I will walk forward to close that gap.", + "The racking aisle ahead has grown noticeably larger and the yellow post-protection railings by the pallet bays are becoming clearer. The floor in front of me is still open, so I will keep walking straight toward them.", + "Yellow safety railings are now distinct beside the pallet racks ahead of me, though still several strides away. The lane remains clear, so another step forward should bring me closer to them.", + "I have come far enough down the hall that the yellow safety railings guarding the pallet bays now sit off toward my right rather than straight ahead. Turning right should start bringing them into the middle of my view.", + "The pair of yellow railings beside the orange pallet racking is still off to the right of centre after that first pivot. Another right turn should line my heading up with them so I can walk in directly.", + "The yellow safety railings in front of the pallet bays are now roughly ahead of me with clear floor between us. I will walk forward to close the remaining distance to them.", + "The yellow guard rails stand ahead of me, and the nearest one sits off to my right at the mouth of the rack aisle rather than straight ahead. I will turn right to bring that yellow barrier into the center of my path so I can walk straight at it.", + "The yellow safety barrier now lies ahead of me down the open lane between the pallet racking, with nothing blocking the floor in between. I will step forward to close the remaining distance toward it.", + "The yellow rail has grown larger and stays near the middle of my view, so my heading down this aisle is still good. I will keep walking forward to shorten the gap to the barrier.", + "The yellow guard rail is clearly closer now, standing on the floor just past the pallets in front of me. A few more paces should bring me right up beside it, so I will step forward again.", + "The yellow barrier now fills the lower center of my view, close enough that one more step should put me directly at it. I will advance that last stretch.", + "The yellow safety barrier stands directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t3_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9483080292e04445bb5771f98aa088b9416babfa --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t3_b/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Approach the red fire extinguisher near the red door, then move to the yellow safety barrier.", + "Type": 3, + "Start_Pose": [ + -417.149, + -38.694, + 98.15, + 0.0, + -39.52, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -417.149, + -38.694, + 98.15, + 0.0, + -39.52, + 0.0 + ], + [ + -417.149, + -38.694, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -295.31, + -70.249, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -173.471, + -101.804, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -173.471, + -101.804, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + -49.711, + -78.911, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 74.048, + -56.019, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 197.808, + -33.126, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 321.567, + -10.233, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 377.062, + 17.234, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 377.062, + 17.234, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 286.203, + 0.427, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 286.203, + 0.427, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + 286.203, + 0.427, + 98.15, + 0.0, + -39.52, + 0.0 + ], + [ + 286.203, + 0.427, + 98.15, + 0.0, + -64.52, + 0.0 + ], + [ + 286.203, + 0.427, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + 286.203, + 0.427, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + 286.203, + 0.427, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + 190.471, + -81.279, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + 94.738, + -162.984, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + -0.994, + -244.69, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + -0.994, + -244.69, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + -53.227, + -359.198, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + -53.227, + -359.198, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -52.172, + -485.053, + 130.304, + 0.0, + -89.52, + 0.0 + ], + [ + -52.334, + -610.773, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -51.28, + -736.628, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -50.966, + -862.368, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -50.966, + -862.368, + 98.15, + 0.0, + -89.52, + 0.0 + ] + ], + "Rationale": [ + "From here the red door sits well off to my right, beyond the racking and the sector wall, so my current heading points across the open blue floor instead of toward it. I will turn right to bring that doorway and the wall beside it into the center of my view before walking.", + "The red door now sits ahead of me across the open floor, with clear painted decking between us and no shelving in the way. I will walk forward to close that distance and get near enough to pick out the safety equipment mounted beside the door.", + "The doorway has grown noticeably larger and the small wall panel to its right is starting to resolve into red equipment. The lane ahead is still clear, so I will keep walking straight to close in on that corner.", + "From this distance I can see the red extinguisher hanging on the wall panel just right of the red door, and my heading is aimed a little left of it. I will turn right so that panel and extinguisher sit squarely ahead of me for the final approach.", + "The red door and the extinguisher board beside it are now lined up ahead of me, with only open floor between. I will step forward to shorten the gap to that equipment.", + "The extinguisher on the wall beside the red door is clearly readable now, sitting just right of the door frame. I will continue walking straight toward it, since nothing blocks the path except the boxes off to the side.", + "The red door fills much of the left of my view and the mounted extinguisher is close on the panel ahead. I will take another step forward to bring myself right up beside that equipment.", + "The red extinguisher hangs directly in front of me on its board, with the bench and cartons crowding the narrow space at my feet. A short step forward should put me right at it, so I will advance carefully.", + "The red fire extinguisher on the wall panel beside the red door now fills the left of my view, with only the small table and its bins between us. I will take one more short step forward to close the last of that gap and stand right at it.", + "The red fire extinguisher hangs directly beside me on its panel, with the red door frame at my shoulder, close enough to reach out and touch. I have arrived at it. I mark reaching this spot before heading off toward the yellow safety barrier out among the racking.", + "I am pressed right up against the extinguisher panel and the green shelf unit, with almost no floor visible ahead of me. Since my next destination lies back out in the open aisles, I will step backward to open up space around me before turning.", + "Backing off has given me a clear view of the whole corner again, with the table, shelving and the red door frame on my left. The yellow safety barrier is not in this corner, so I will begin swinging left toward the open warehouse floor beyond the door.", + "The red door has swung toward the middle of my view and a strip of blue floor is appearing at the lower left. I still face the wall rather than the aisles, so I keep rotating left to bring the open bay into view.", + "The door has slid to the center-right and the aisle with its red bin racks and yellow floor lines is opening on my left. That open lane is the way out of this corner, so I continue turning left toward it.", + "The door is now hard against my right edge and the long blue aisle stretches away ahead and to my left. I am still angled into the wall, so another left turn should line my heading up with that open lane.", + "The corner is behind me now and I look down the open bay past the racking and the numbered shelf, with yellow guard rails standing further out on the floor to my left. I will turn left once more to face squarely toward that yellow safety barrier before walking.", + "My heading has swung well clear of the extinguisher alcove and now faces the open blue floor under the racking, but I still cannot pick out a yellow safety barrier along this line. I will turn left once more to bring the far aisle and its guard rails into the middle of my view.", + "The sweep has settled on the wide open floor toward the A bay, and I can make out yellow guard railings standing at the rack edges across the hall. The way ahead is clear blue floor, so I will walk forward to close that distance.", + "The racking and the yellow rails ahead have grown larger, confirming this heading leads toward the barrier area. Nothing blocks the marked floor in front of me, so I will keep walking forward.", + "Yellow protective railings are now clearly visible in front of the pallet racks a short way ahead and slightly to my right. I still have open floor between us, so I will step forward again to shorten the gap.", + "The yellow barriers sit off to the right of my current heading, in front of the rack row, so walking straight would carry me past them. I will turn right to put those railings squarely ahead of me.", + "The turn has brought the yellow guard railings in front of the racking into the middle of my view. With clear floor between us, I will walk forward to draw close to them.", + "From here two yellow railings stand along the edge of the rack row, and my heading would take me across the open floor rather than up beside them. I will turn right to line up with the aisle running along the racking so I can walk right to the barrier.", + "The aisle beside the racking now runs straight ahead with the yellow railing standing partway along it. I will walk forward along this lane to close on the barrier.", + "The yellow guard rail barrier stands ahead on the open blue floor, just past the pallet racking on my left, and my heading points straight down that aisle toward it. Nothing blocks the lane between us, so I will step forward to cut the remaining distance.", + "The yellow barrier is noticeably larger and now sits slightly left of centre, confirming my heading is carrying me onto it. The aisle floor ahead remains clear, so I will walk forward again to close in.", + "The yellow rail barrier now fills much of the lower left of my view, its bolted feet clearly visible on the floor just ahead. One more step should bring me right up beside it.", + "The yellow safety barrier is directly in front of me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t5_b_pd/infos.json b/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91689bd63896f2d53ef48b58f0dbe7d9b479f3ce --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000417_y-000039_z000098_t5_b_pd/infos.json @@ -0,0 +1,544 @@ +{ + "Instruction": "Lift the metal bucket by the red fire extinguisher near the red door, then set it down by the yellow safety barrier.", + "Type": 5, + "Start_Pose": [ + -417.149, + -38.694, + 98.15, + 0, + -39.52, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 360.339, + -22.841, + 18.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -417.149, + -38.694, + 98.15, + 0, + -39.52, + 0 + ], + [ + -417.149, + -38.694, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -295.31, + -70.249, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -173.471, + -101.804, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -51.632, + -133.359, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + -51.632, + -133.359, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 72.128, + -110.467, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 195.887, + -87.574, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 195.887, + -87.574, + 98.15, + 0.0, + 10.48, + -0.0 + ], + [ + 195.887, + -87.574, + 98.15, + 0.0, + -14.52, + 0.0 + ], + [ + 195.887, + -87.574, + 98.15, + 0.0, + -39.52, + 0.0 + ], + [ + 195.887, + -87.574, + 98.15, + 0.0, + -64.52, + 0.0 + ], + [ + 195.887, + -87.574, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + 195.887, + -87.574, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + 195.887, + -87.574, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + 100.155, + -169.279, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + 4.422, + -250.984, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + -91.311, + -332.689, + 98.15, + 0.0, + -139.52, + 0.0 + ], + [ + -91.311, + -332.689, + 98.15, + 0.0, + -114.52, + 0.0 + ], + [ + -91.311, + -332.689, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -90.257, + -458.544, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -89.203, + -584.399, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -88.149, + -710.253, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -87.095, + -836.108, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -86.041, + -961.962, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -86.644, + -889.965, + 98.15, + 0.0, + -89.52, + 0.0 + ], + [ + -86.644, + -889.965, + 98.15, + 0.0, + -89.52, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 360.339, + -22.841, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + 360.339, + -22.841, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + 360.339, + -22.841, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + 360.339, + -22.841, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + 360.339, + -22.841, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + 360.339, + -22.841, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + 360.339, + -22.841, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + 360.339, + -22.841, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + 191.403, + -66.687, + 68.256, + -28.202, + 60.624, + 1.862 + ], + [ + 200.407, + -67.669, + 68.529, + -28.189, + 35.637, + 1.872 + ], + [ + 208.846, + -72.111, + 67.862, + -28.215, + 10.607, + 1.849 + ], + [ + 222.57, + -80.87, + 68.043, + -14.175, + -22.328, + 6.959 + ], + [ + 216.873, + -87.004, + 67.932, + -28.208, + -39.378, + 1.851 + ], + [ + 214.107, + -95.526, + 68.6, + -28.198, + -64.374, + 1.867 + ], + [ + 209.269, + -111.612, + 68.043, + -14.175, + -97.328, + 6.959 + ], + [ + 114.572, + -185.049, + 68.482, + -28.198, + -89.375, + 1.865 + ], + [ + 18.616, + -266.949, + 67.945, + -28.191, + -89.362, + 1.871 + ], + [ + -77.219, + -348.728, + 67.664, + -28.214, + -89.39, + 1.852 + ], + [ + -70.509, + -341.304, + 68.889, + -28.191, + -64.37, + 1.872 + ], + [ + -68.863, + -332.727, + 67.797, + -28.201, + -39.376, + 1.857 + ], + [ + -68.911, + -457.767, + 68.175, + -28.206, + -39.382, + 1.858 + ], + [ + -67.854, + -583.352, + 68.599, + -28.192, + -39.369, + 1.869 + ], + [ + -66.807, + -709.03, + 68.867, + -28.203, + -39.379, + 1.863 + ], + [ + -65.743, + -835.008, + 68.797, + -28.183, + -39.36, + 1.88 + ], + [ + -64.692, + -961.122, + 68.38, + -28.191, + -39.367, + 1.874 + ], + [ + -86.058, + -959.963, + 58.15, + 0.0, + -89.52, + 0.0 + ], + [ + -86.058, + -959.963, + 58.15, + 0.0, + -89.52, + 0.0 + ] + ], + "PD_Dist_2D": [ + 777.6, + 777.6, + 657.4, + 539.6, + 426.5, + 426.5, + 301.2, + 176.7, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 27.5, + 21.4, + 21.4, + 21.4, + 22.5, + 22.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red door I need is far off to my right, past the shelving and the yellow wall panels, while my current heading points across the open blue floor. I will turn right to bring that doorway and the area around it into the center of my view before walking toward it.", + "The red door under the D SECTOR sign now sits ahead of me with a clear stretch of blue floor between us. Nothing blocks the lane, so I will walk forward to close the distance toward the door where the bucket should be.", + "The red door is larger in view and the grey bin near it is becoming visible, so I am still too far to interact. I will keep walking forward along the open floor to reach the door area.", + "I can now make out the red fire extinguisher on the wall to the right of the red door and a metal bucket standing on the floor nearby. Still several strides away, so I will advance again to get within reach of it.", + "The bucket beside the extinguisher sits toward the right of my view while I am aimed slightly left of it, at the door itself. I will turn right to line my heading up with the bucket so a straight walk brings me to it.", + "With the turn done, the grey metal bucket now sits near the middle of my view on the open floor by the red door. I will step forward to close the remaining gap toward it.", + "The bucket is centered ahead with the red fire extinguisher on the wall just behind it, confirming this is the right container. It is still a stride or so beyond grasping range, so I will walk forward once more.", + "The metal bucket now fills the lower center of my view, close beside the red door and the mounted fire extinguisher, so it should be within reach. I will attempt to pick it up so I can carry it to the yellow safety barrier.", + "The metal bucket is now in my hands, so the pick by the extinguisher succeeded. Facing this dead-end corner with the red door gives me nothing toward a yellow safety barrier, so I will turn left to begin sweeping the wider warehouse floor for the drop location.", + "With the bucket secured, my heading still shows the red door, the first aid board and the extinguisher, all part of the pickup area. No yellow safety barrier is visible in this arc, so I will keep rotating left to bring more of the open bay into view.", + "The bucket stays in my grip while the red door has slid to my right edge and the picking bins line the wall ahead. Only a small yellow hazard post is here, not the safety barrier I need, so I continue turning left to scan farther around the bay.", + "Carrying the bucket, I now look down the bin aisle toward the workbench under the 01 sign. The route out of this corner appears to open farther left, so I will rotate again to face the main floor rather than this narrow aisle.", + "The wide blue floor and the A section racking are opening up ahead while the bucket remains in my hands. My heading still points partly at the workbench island in front of me, so another left turn should clear that obstruction and line me up with the open lane.", + "From here the aisle marked A stretches to my left across clear floor, while the equipment bench still sits directly in front of me. I will turn left once more to put that unobstructed lane straight ahead before walking the bucket out.", + "My heading now runs down the open blue lane with the racking bays ahead and nothing blocking the floor. Still holding the bucket, I will step forward to carry it away from the extinguisher corner toward the storage aisles where a yellow safety barrier is likely to stand.", + "The pallet racks under the A marking have grown closer and the floor ahead of me is still clear. I will keep walking with the bucket to close the remaining distance to that racking area and get a better look at the yellow barriers around it.", + "The bucket is still in my hands from the lift, so I only need to carry it to a yellow safety barrier. Two yellow guard rails stand ahead beside the orange pallet racking, still several strides away. I will keep walking forward to close that gap.", + "Carrying the bucket, I am now much closer to the racking, but the yellow barriers sit off to my right rather than straight down my heading. Walking on as I am aimed would carry me past them. I will turn right to bring the barrier area toward the center of my path.", + "The turn moved the yellow barriers inward, yet the aisle between the pallet racks still runs to my right of where I face. One more right turn should put the barrier and its aisle squarely in front of me before I advance with the bucket.", + "My heading now runs straight down the aisle with the yellow safety barrier standing ahead beside the loaded racks. The bucket is still in my hands, so nothing remains but distance. I will step forward along the open floor toward that barrier.", + "The yellow barrier ahead has grown larger but is still too far for me to set the bucket beside it. My route down the aisle stays clear of the rack uprights on the right. I keep walking forward to shorten the remaining distance.", + "The yellow guard rail now stands clearly ahead of me between the pallet racks, though still beyond arm's reach for placing the bucket. The floor in front remains open. Another forward step should bring me closer to a workable drop position.", + "The yellow barrier now fills much of the lower view, so I am nearly beside it while still holding the bucket. A little more distance remains before the bucket would rest right at its base. I will advance one more step toward it.", + "The yellow railing is right in front of me, close enough that its posts and floor plates dominate my view. I want the bucket set down directly beside it rather than short of it. One more forward step should place me at the barrier for the drop.", + "The bucket is still in my hands and the yellow guard rail is right at the edge of my view, its post capping the bottom of the frame, so I have reached the safety barrier. This is the intended set-down spot, so I will release the bucket here and it should come to rest beside the barrier.", + "The metal bucket now stands on the floor at the yellow barrier and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000486_y000023_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000486_y000023_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d248a5350f6e9b1c4ff685a7701d340b95a04540 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000486_y000023_z000098_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search the area for the red bin sitting on the blue warehouse floor and approach it.", + "Type": 1, + "Start_Pose": [ + -485.748, + 22.794, + 98.15, + 0, + 55.52, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -485.748, + 22.794, + 98.15, + 0, + 55.52, + 0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + 80.52, + -0.0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + 105.52, + -0.0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + 130.52, + -0.0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + 155.52, + -0.0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + -179.48, + 0.0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + -154.48, + 0.0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + -129.48, + 0.0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + -104.48, + 0.0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + -79.48, + 0.0 + ], + [ + -485.748, + 22.794, + 98.15, + 0.0, + -54.48, + 0.0 + ], + [ + -412.626, + -79.644, + 98.15, + 0.0, + -54.48, + 0.0 + ], + [ + -339.503, + -182.083, + 98.15, + 0.0, + -54.48, + 0.0 + ], + [ + -266.381, + -284.521, + 98.15, + 0.0, + -54.48, + 0.0 + ], + [ + -266.381, + -284.521, + 98.15, + 0.0, + -29.48, + 0.0 + ], + [ + -156.817, + -346.458, + 98.15, + 0.0, + -29.48, + 0.0 + ], + [ + -47.253, + -408.396, + 98.15, + 0.0, + -29.48, + 0.0 + ], + [ + -47.253, + -408.396, + 98.15, + 0.0, + -29.48, + 0.0 + ], + [ + -47.253, + -408.396, + 98.15, + 0.0, + -29.48, + 0.0 + ] + ], + "Rationale": [ + "From this starting spot I only see pallet racking, yellow drums, a wooden pallet and a grey wall, with just a narrow strip of blue floor at my feet and no red bin anywhere in view. I will turn right to begin a steady clockwise sweep of the surroundings, hoping to open up more of the blue floor area where the bin should sit.", + "The view now shows a blue tote with a cardboard box, stacked grey trays and the same wall, still with no red bin on the blue floor. Since this heading is blocked by close clutter, I will keep rotating right in the same direction to bring fresh, less obstructed parts of the bay into view.", + "A reddish container has just edged into the right side of my view, but it sits in a dark, shadowed nook among stacked totes rather than out on the open blue warehouse floor described in my task. I will continue the rightward sweep to see it more fully and to keep uncovering the brighter floor area beyond.", + "The pinkish bin is now centred in front of me, but it rests in a dim storage nook beside stacked blue totes with no blue floor around it, so it does not match the target description. I will keep turning right to leave this cluttered pocket and search toward the open floor.", + "Ahead of me now are stacked blue crates, a yellow tray and cardboard cartons behind a yellow railing, all close to my body and hiding anything further out. Nothing red is on a blue floor here, so I will maintain the same rightward rotation to keep the scan consistent.", + "This heading faces a wall of fragile-marked cartons, conduit and electrical boxes with a yellow guard rail, which is another dead end for the search. I will turn right again, since the brighter open space seems to lie further around in that direction.", + "The right side of my view has finally opened onto a wide expanse of blue warehouse floor with keep-clear markings and tall racking beyond. I will continue turning right to bring that open blue floor fully in front of me and check it for the red bin.", + "I am now looking across the open blue floor toward the aisle marked A, with racking and pallets in the distance but no red bin clearly resolved yet. I will keep rotating right to sweep the rest of this open bay, where a bin standing on the blue floor should be easy to spot.", + "The open blue warehouse floor has just come into view ahead of me, but I still see only pallets, racks and yellow guard posts, with no red bin among them. I will keep rotating right at the same steady rate to bring more of this open bay into view.", + "This part of the bay shows shelving, pallets and yellow racks over the blue floor, and I can only make out a small dark reddish container far to the right edge near the workbench area. I will continue turning right to bring that right-hand section of the floor properly in front of me before deciding.", + "Now that I face the far side of the bay, I can pick out a reddish bin resting on the blue floor beside the workbench under the shelving straight ahead. The floor between me and it is clear, so I will walk forward to close the distance and confirm it is the red bin.", + "The reddish bin next to the workbench under the numbered rack is clearer and larger now, confirming I am heading toward it. The lane ahead remains open, so I will keep walking forward to close more distance.", + "The red bin sitting on the blue floor beside the workbench is now clearly identifiable a short way ahead and slightly right of my heading. I will step forward again to continue closing on it.", + "The red bin sits just right of my current heading, near the yellow guard rail at the foot of the rack. I will turn right to place it more centrally in front of me before stepping in closer.", + "With the turn done, the red bin on the blue floor now sits nearer the middle of my view beyond the yellow guard rail. I will walk forward to reduce the remaining gap to it.", + "The red bin is close now at the lower left, resting on the blue floor beside the bench and yellow guard. One more forward step should bring me right up beside it.", + "I have closed almost all the distance to the red bin on the blue floor, but at eye level my view is filled by the equipment table and the upper racking, leaving the bin below the bottom edge of my view. I will tilt my gaze downward so the bin and the floor right in front of my feet should come back into view. That should let me confirm I am standing directly beside the red bin before I stop.", + "The red bin now sits directly at my feet on the blue floor, within arm's reach at the lower left. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_b/infos.json b/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b2fb964ffc217614dda984dac5ca1e388e969fcf --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Look around for the open doorway beneath the green illuminated EXIT sign, then approach the doorway.", + "Type": 1, + "Start_Pose": [ + -567.194, + -3794.583, + 98.15, + 0.0, + 72.0, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 72.0, + -0.0 + ], + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 97.0, + -0.0 + ], + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 122.0, + -0.0 + ], + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 147.0, + -0.0 + ], + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 172.0, + -0.0 + ], + [ + -691.828, + -3777.067, + 98.15, + 0.0, + 172.0, + -0.0 + ], + [ + -816.462, + -3759.551, + 98.15, + 0.0, + 172.0, + -0.0 + ], + [ + -941.096, + -3742.034, + 98.15, + 0.0, + 172.0, + -0.0 + ], + [ + -941.096, + -3742.034, + 98.15, + 0.0, + 172.0, + -0.0 + ] + ], + "Rationale": [ + "From here I only see storage racks, stacked cartons, yellow guard rails and a far wall, with no green EXIT sign or open doorway in view. I will turn right to begin a steady scan of the warehouse in one consistent direction, which should reveal unseen walls where an exit is likely posted.", + "The new heading still shows only racking, stacked pallets and a low guard rail, with no green EXIT glow or open doorway. I will keep rotating right in the same direction to continue the scan across the still unexamined part of the room.", + "A green glow has just appeared at the right edge of my view, along the dark brick wall where a lit opening seems to begin. I will continue turning right to bring that promising area fully into view and confirm whether it is the EXIT doorway.", + "The open doorway under the green illuminated EXIT sign is now clearly visible in the brick wall, sitting to the right of my heading. I will turn right once more to center that doorway before walking toward it.", + "The doorway with the green EXIT sign above it now sits near the center of my view, with clear floor between me and it. I will step forward to close the distance toward that opening.", + "The lit doorway and its green EXIT sign are noticeably larger and still centered, so my heading remains good. I will keep walking forward to reach the threshold.", + "The door frame now fills much of my view and the green light spills over its top edge, so I am right at the opening. One more step forward should carry me into the doorway itself.", + "I am standing inside the open EXIT doorway with its corridor and shelving surrounding me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_c/infos.json b/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..66b51f7de43f46a80641efe60c61a94200ebba54 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search the warehouse for the red fire extinguisher mounted on the dark wall and approach it.", + "Type": 1, + "Start_Pose": [ + -567.194, + -3794.583, + 98.15, + 0.0, + 72.0, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 72.0, + -0.0 + ], + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 97.0, + -0.0 + ], + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 122.0, + -0.0 + ], + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 147.0, + -0.0 + ], + [ + -672.748, + -3726.035, + 98.15, + 0.0, + 147.0, + -0.0 + ], + [ + -672.748, + -3726.035, + 98.15, + 0.0, + 172.0, + -0.0 + ], + [ + -797.382, + -3708.519, + 98.15, + 0.0, + 172.0, + -0.0 + ], + [ + -797.382, + -3708.519, + 98.15, + 0.0, + 147.0, + -0.0 + ], + [ + -902.937, + -3639.971, + 98.15, + 0.0, + 147.0, + -0.0 + ], + [ + -902.937, + -3639.971, + 98.15, + 0.0, + 147.0, + -0.0 + ] + ], + "Rationale": [ + "From here I only see pallet racking, stacked cartons, and yellow safety rails, with no red fire extinguisher on any wall surface. I will turn right to begin a steady scan in one consistent direction and expose the darker walls off to my side.", + "The new heading shows more racking, stacked pallets, and dark shelving, but still no red extinguisher mounted anywhere in sight. I will continue turning right in the same direction to keep the scan consistent and reveal the wall area beyond the pallet stack.", + "A red fire extinguisher is now visible on the dark brick wall toward the right side of my view, next to the signage panel and the lit green exit area. I will turn right once more to bring that wall mounting nearer the center of my heading before advancing.", + "The extinguisher and its dark brick wall are now roughly ahead of me, with open floor between my position and the KEEP CLEAR marking. I will walk forward to close the distance toward that wall mounting.", + "I am closer now, but the loaded pallet trolley sits directly in my forward path on the left, and the extinguisher wall runs off to that side. I will turn right to face the open floor beside the doorway so I can keep advancing without walking into the trolley.", + "The floor ahead toward the doorway is clear, and the red extinguisher stays plainly visible on the dark brick to my left. I will step forward along this clear lane to draw nearer to the wall mounting.", + "I am now close to the dark wall, but the extinguisher has drifted to the left edge of my view while the doorway fills the center. I will turn left to bring the mounted extinguisher back in front of me for a final straight approach.", + "The red extinguisher on its dark brick wall panel is now centered ahead of me, with only a short stretch of floor left and the pallet cart clear to my left. I will walk forward to close that remaining gap and stand at the mounting.", + "The red fire extinguisher on the dark brick wall now fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_d/infos.json b/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..214f5b817c9e90f2bd792a0fe300a9d1b136e751 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000567_y-003795_z000098_t1_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Scan the surrounding area for the stacked blue pallets on the warehouse floor, then go to them.", + "Type": 1, + "Start_Pose": [ + -567.194, + -3794.583, + 98.15, + 0.0, + 72.0, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 72.0, + -0.0 + ], + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 97.0, + -0.0 + ], + [ + -567.194, + -3794.583, + 98.15, + 0.0, + 122.0, + -0.0 + ], + [ + -633.889, + -3687.849, + 98.15, + 0.0, + 122.0, + -0.0 + ], + [ + -633.889, + -3687.849, + 98.15, + 0.0, + 147.0, + -0.0 + ], + [ + -739.443, + -3619.301, + 98.15, + 0.0, + 147.0, + -0.0 + ], + [ + -832.699, + -3566.885, + 98.15, + 0.0, + 147.0, + -0.0 + ], + [ + -832.699, + -3566.885, + 98.15, + 0.0, + 147.0, + -0.0 + ], + [ + -832.699, + -3566.885, + 98.15, + 0.0, + 147.0, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, the open floor ahead shows racking, yellow guardrails and cardboard boxes, but no stacked blue pallets anywhere in view. I will turn right to begin a consistent scan of the surrounding area toward the unseen side of the aisle.", + "The new heading reveals more shelving, leaning wooden pallet boards and stacked panels, but still nothing that matches stacked blue pallets on the floor. I will continue turning right in the same direction to keep the scan consistent and uncover the next portion of the room.", + "Now I can see a low trolley near the dark brick wall on the right carrying pallets with blue coloured sides, which fits the stacked pallets I am looking for. I will walk forward to close the distance and get a clearer look at that stack.", + "The stacked pallets with blue sides now sit to my right, partly cut by the edge of my view, while the rack column takes up the centre. I will turn right to place that stack squarely ahead of me before continuing forward.", + "The stacked pallets on their wheeled base are centred ahead of me against the black brick wall, inside the keep clear markings. I will step forward to reduce the remaining gap to them.", + "The blue pallet stack fills much of my view now, but there is still a short gap of floor before I am standing at it. I will take one more step forward to come right up to the stack.", + "I am standing right at the pallets, and their upper boards crowd the lower part of my view while my gaze sits high on the brick wall and first aid board. I will look down to bring the whole stacked pallet unit into view and confirm I am at it.", + "The stacked blue pallets are directly in front of me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000637_y-000577_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000637_y-000577_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3ee8536edf84fb93f259d2dc231edc5b41feeda1 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000637_y-000577_z000098_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the shelves to find the green barrel on the lowest shelf near the blue crates and approach it.", + "Type": 1, + "Start_Pose": [ + -637.358, + -576.689, + 98.15, + 0, + -148.96, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -637.358, + -576.689, + 98.15, + 0, + -148.96, + 0 + ], + [ + -637.358, + -576.689, + 98.15, + 0.0, + -173.96, + 0.0 + ], + [ + -637.358, + -576.689, + 98.15, + 0.0, + 161.04, + -0.0 + ], + [ + -637.358, + -576.689, + 98.15, + 0.0, + 136.04, + -0.0 + ], + [ + -637.358, + -576.689, + 98.15, + 0.0, + 111.04, + -0.0 + ], + [ + -637.358, + -576.689, + 98.15, + 0.0, + 86.04, + -0.0 + ], + [ + -637.358, + -576.689, + 98.15, + 0.0, + 61.04, + -0.0 + ], + [ + -637.358, + -576.689, + 98.15, + 0.0, + 36.04, + -0.0 + ], + [ + -637.358, + -576.689, + 98.15, + 0.0, + 11.04, + -0.0 + ], + [ + -637.358, + -576.689, + 98.15, + 0.0, + -13.96, + 0.0 + ], + [ + -515.216, + -607.052, + 98.15, + 0.0, + -13.96, + 0.0 + ], + [ + -393.075, + -637.415, + 98.15, + 0.0, + -13.96, + 0.0 + ], + [ + -270.933, + -667.777, + 98.15, + 0.0, + -13.96, + 0.0 + ], + [ + -148.791, + -698.14, + 98.15, + 0.0, + -13.96, + 0.0 + ], + [ + -148.791, + -698.14, + 98.15, + 0.0, + -38.96, + 0.0 + ], + [ + -50.925, + -777.278, + 98.15, + 0.0, + -38.96, + 0.0 + ], + [ + -50.925, + -777.278, + 98.15, + 0.0, + -38.96, + 0.0 + ] + ], + "Rationale": [ + "From here I see a racking bay with cartons, a fire extinguisher and dark equipment on the lower level, but no green barrel and no cluster of blue crates on any low shelf. The aisle continues off to my left where the shelving keeps running, so I will turn left to begin a steady scan of the storage bays in one consistent direction.", + "The aisle now opens straight ahead between two rack rows, with cartons and a few blue containers high on the left racking, but nothing resembling a green barrel on a bottom shelf. I will keep turning left to sweep the shelving on that side rather than commit to this corridor yet.", + "The left racking is now filling most of my view, stacked with metal panels, boxes and a blue bin on an upper level, and the low shelves here hold only cardboard. Since this bay does not match the green barrel and blue crate description, I will continue the same leftward sweep to inspect the next section.", + "A yellow guardrail and the rack upright dominate this view, and behind them I only see stacked panels and boxes rather than any barrel near blue crates. I will keep rotating left to bring the far side of the hall into view and continue the search.", + "Turning has revealed a corner of the room with a wall, a trolley and low pink shelving carrying small items, which still does not match a green barrel beside blue crates. I will maintain the leftward scan to cover the remaining open area of this hall.", + "This side of the room shows light shelving with jugs and small containers against the far wall, nothing like the heavy racking where a green barrel would sit with blue crates. Continuing the same leftward rotation should bring more of the room into view without breaking my consistent sweep.", + "I now face an open stretch of blue floor toward a red door and the sector wall, with only small utility shelves along it and no target. I will turn left again to keep sweeping toward the heavier pallet racking that I expect on the remaining side.", + "On the left edge of my view the tall pallet racking reappears, and low on it I can make out rounded green containers next to teal blue bins, which fits the barrel and blue crates I am looking for. I will turn left once more to bring that racking bay toward the centre of my view before moving toward it.", + "Ahead of me the racking on the left edge shows blue crates stacked on its shelves, which is exactly the semantic cue the task ties to the green barrel. I will turn left once more to bring that shelving bay and its lower levels into the center of my view before committing to an approach.", + "The shelving bay with the blue totes is now centered in front of me, and on its lowest level I can make out rounded drum shapes, one of them greenish, beside the yellow guard rail. I will walk forward toward that rack to close distance and confirm the barrel.", + "The rack is larger in view now and the low shelf clearly holds two barrels, the left one green, sitting on a pallet next to the blue bins. I will keep walking straight ahead since the target still lies well beyond arm's reach.", + "The green barrel on the lowest shelf is plainly resolved just left of the rack upright, with the blue crates directly above and to its right. I continue forward to shorten the remaining gap across the open floor.", + "I am close enough that the lowest shelf fills much of my lower view, with the green barrel and its grey neighbor sitting on the pallet to my left. One more step forward should bring me right up against the bay holding the target.", + "At this range the green barrel sits toward the left side of my view while the blue bins and rack upright dominate the center. I will turn left to put the barrel squarely in front of me before making the final step in.", + "The green barrel on the lowest shelf is now centered ahead of me on its pallet, with the blue crates just to its right. I will take one more step forward to stand directly at the barrel.", + "The green barrel on the lowest shelf fills my view at arm's length, beside the blue crates. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000658_y-002241_z000398_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-000658_y-002241_z000398_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9be9b20ed65f78df88303d0e07a63ac853517f99 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000658_y-002241_z000398_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search the surrounding area for the large yellow letter A on the wall and move toward it.", + "Type": 1, + "Start_Pose": [ + -657.626, + -2241.1, + 398.15, + 0, + 166.08, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -657.626, + -2241.1, + 398.15, + 0, + 166.08, + 0 + ], + [ + -657.626, + -2241.1, + 398.15, + 0.0, + -168.92, + 0.0 + ], + [ + -657.626, + -2241.1, + 398.15, + 0.0, + -143.92, + 0.0 + ], + [ + -657.626, + -2241.1, + 398.15, + 0.0, + -118.92, + 0.0 + ], + [ + -657.626, + -2241.1, + 398.15, + 0.0, + -93.92, + 0.0 + ], + [ + -657.626, + -2241.1, + 398.15, + 0.0, + -68.92, + 0.0 + ], + [ + -657.626, + -2241.1, + 398.15, + 0.0, + -43.92, + 0.0 + ], + [ + -657.626, + -2241.1, + 398.15, + 0.0, + -18.92, + 0.0 + ], + [ + -657.626, + -2241.1, + 398.15, + 0.0, + 6.08, + -0.0 + ], + [ + -532.475, + -2227.769, + 398.15, + 0.0, + 6.08, + -0.0 + ], + [ + -407.324, + -2214.439, + 398.15, + 0.0, + 6.08, + -0.0 + ], + [ + -282.173, + -2201.108, + 398.15, + 0.0, + 6.08, + -0.0 + ], + [ + -157.022, + -2187.778, + 398.15, + 0.0, + 6.08, + -0.0 + ], + [ + -157.022, + -2187.778, + 398.15, + 0.0, + 6.08, + -0.0 + ] + ], + "Rationale": [ + "My opening view shows only the loading platform, stacked pallets and shelving racks, with no large yellow letter anywhere on these walls. I need to inspect the rest of the room, so I will turn right to swing my view onto the walls currently behind my shoulder.", + "The rotation brought a dark corrugated panel with a safety sign and red indicator lamp into view, but still no yellow letter on any wall. The unseen part of the room continues clockwise, so I will keep turning right to extend the sweep.", + "This heading is dominated by the labelled metal panel and its handwritten rack tags, which is not the marking I am looking for. I will continue turning right to carry the search past this wall section.", + "Most of my view is now taken up by a near, unlit surface that hides whatever lies beyond it. Nothing here resembles a large yellow letter, so I will turn right again to clear this obstruction from my line of sight.", + "The view is almost entirely a blank dim wall face with a black edge beside it, giving me no landmark and no yellow marking. Continuing the same clockwise sweep is the quickest way past this blind stretch, so I will turn right once more.", + "Faint outlines of stacked crates and labelled cartons are emerging from the gloom on the right, which means the room opens further in that direction. There is still no yellow letter here, so I will keep turning right to reveal the wall beyond these stacks.", + "At the far right edge of my view a yellow stroke on a red wall has appeared under a strip light, which looks like the marking I am searching for. It is cut off by the frame border, so I will turn right to bring the whole letter into view.", + "The large yellow A with its SECTOR label is now fully visible on the red wall, but it sits to the right of my heading while dark racking crowds the left of my view. One more turn to the right should place the letter near the centre of my view and open a clear floor lane toward it.", + "The yellow A and its SECTOR label now sit squarely ahead between the two racking runs, with open concrete floor and no clutter in the lane. The search is settled, so I will stop scanning and walk straight toward the marked wall.", + "The letter has grown noticeably and the racking has fallen away to the sides, confirming the step closed real distance on the wall. My heading still points at the middle of the A, so another stride forward is the direct continuation.", + "The A now spans most of my view with the red panel filling the background and only a narrow band of floor left below it. Nothing stands between me and that wall, so I keep advancing to close the remaining gap.", + "At this range the strokes of the letter and the SECTOR text run off the edges of my view, so I am nearly at the painted wall. One more step should bring me right up against it and satisfy the approach.", + "A single yellow stroke of the letter fills my view against the red wall directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-000794_y-002204_z000398_t5_a_p/infos.json b/dataset/trajectory/Storagehouse/task_x-000794_y-002204_z000398_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d941190f36a8e8f4a16fa89201fbc87d4508b05 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-000794_y-002204_z000398_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the ceramic pot near the wall displaying the yellow letter A.", + "Type": 5, + "Start_Pose": [ + -793.731, + -2203.713, + 398.15, + 0, + -15.36, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -199.745, + -2316.251, + 313.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -793.731, + -2203.713, + 398.15, + 0, + -15.36, + 0 + ], + [ + -672.368, + -2237.051, + 398.15, + 0.0, + -15.36, + 0.0 + ], + [ + -551.431, + -2266.174, + 398.15, + 0.0, + -15.36, + 0.0 + ], + [ + -440.183, + -2271.485, + 398.15, + 0.0, + -15.36, + 0.0 + ], + [ + -440.183, + -2271.485, + 398.15, + 0.0, + -15.36, + 0.0 + ], + [ + -320.467, + -2294.821, + 398.15, + 0.0, + -15.36, + 0.0 + ], + [ + -320.467, + -2294.821, + 398.15, + 0.0, + -15.36, + 0.0 + ], + [ + -320.467, + -2294.821, + 398.15, + 0.0, + -15.36, + 0.0 + ], + [ + -320.467, + -2294.821, + 398.15, + 0.0, + -15.36, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -199.745, + -2316.251, + 313.15, + 0.0, + 0.0, + 0.0 + ], + [ + -199.745, + -2316.251, + 313.15, + 0.0, + 0.0, + 0.0 + ], + [ + -199.745, + -2316.251, + 313.15, + 0.0, + 0.0, + 0.0 + ], + [ + -199.745, + -2316.251, + 313.15, + 0.0, + 0.0, + 0.0 + ], + [ + -199.745, + -2316.251, + 313.15, + 0.0, + 0.0, + 0.0 + ], + [ + -199.745, + -2316.251, + 313.15, + 0.0, + 0.0, + 0.0 + ], + [ + -199.745, + -2316.251, + 313.15, + 0.0, + 0.0, + 0.0 + ], + [ + -315.399, + -2274.068, + 368.256, + -28.202, + 34.785, + 1.862 + ], + [ + -315.399, + -2274.068, + 368.256, + -28.202, + 34.785, + 1.862 + ] + ], + "PD_Dist_2D": [ + 604.6, + 479.2, + 355.2, + 244.6, + 244.6, + 122.6, + 122.6, + 21.4, + 21.4 + ], + "Rationale": [ + "Through the doorway I can see the red wall marked with the large yellow letter A, and a pale ceramic pot sits on the floor in front of it. The pot is still far off down the aisle, so I will walk forward to close that gap before any grasp is possible.", + "The pot in front of the yellow A is larger in view now, but still several strides away across the open floor. The path between the shelving on my left and the racks on my right stays clear, so I will keep walking straight toward it.", + "The ceramic pot is now clearly framed at the base of the wall with the yellow A, but it still sits well beyond arm's reach. Nothing blocks the lane ahead, so I will advance again to bring it close enough to attempt a grasp.", + "The ceramic pot now fills a good part of my view, centered on the floor beneath the yellow A on the red wall, with no other object competing for the grasp. It looks close enough to reach, so I will try to pick it up.", + "My hands are still empty, so that grasp attempt did not take hold. I judge I was simply still too far from the pot. I will step forward to stand right over it before trying again.", + "My hands are still empty and the ceramic pot remains on the floor, with only a sliver of its rim showing at the very bottom of my view under the yellow letter A. My gaze is aimed too high at the wall to frame it for a grasp. I will look down so the pot sits properly within reach in front of me.", + "The ceramic pot beneath the yellow A is now fully framed and close in front of me, its open mouth clearly within arm's reach. An earlier grasp attempt from farther back left it untouched on the floor, but the distance and framing look right now. I will attempt the pick.", + "The ceramic pot is now held in my hands, lifted clear of the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-001741_y-003634_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-001741_y-003634_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5537b4f372c2fe4fd5c4b459050cc1ce82c1b1e5 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-001741_y-003634_z000098_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the area to locate the red fire extinguisher mounted on the wall and go to it.", + "Type": 1, + "Start_Pose": [ + -1740.852, + -3634.204, + 98.15, + 0, + -82.56, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1740.852, + -3634.204, + 98.15, + 0, + -82.56, + 0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + -107.56, + 0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + -132.56, + 0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + -157.56, + 0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + 177.44, + -0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + 152.44, + -0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + 127.44, + -0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + 102.44, + -0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + 77.44, + -0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + 52.44, + -0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + 27.44, + -0.0 + ], + [ + -1740.852, + -3634.204, + 98.15, + 0.0, + 2.44, + -0.0 + ], + [ + -1615.107, + -3628.846, + 98.15, + 0.0, + 2.44, + -0.0 + ], + [ + -1489.362, + -3623.488, + 98.15, + 0.0, + 2.44, + -0.0 + ], + [ + -1489.362, + -3623.488, + 98.15, + 0.0, + 27.44, + -0.0 + ], + [ + -1489.362, + -3623.488, + 98.15, + 0.0, + 52.44, + -0.0 + ], + [ + -1489.362, + -3623.488, + 98.15, + 0.0, + 52.44, + -0.0 + ] + ], + "Rationale": [ + "My view is filled by stacked white panels and cardboard boxes against a dark brick wall, with no red extinguisher or wall mount anywhere in sight. This storage corner is too cluttered and enclosed to judge where the wall fixtures are, so I need to open up my field of view. I will turn left to begin a steady scan of the surrounding room.", + "The rotation has brought a white brick corner and more stacked panels into view, but there is still no red extinguisher or wall bracket here. The corner appears to be a dead end for the target, so continuing the same sweep is the efficient way to cover new wall surface. I will turn left again to keep the scan consistent.", + "Now I see a bare white brick wall with a teal rack upright and a yellow bin near the floor, but nothing mounted that resembles a fire extinguisher. Rack framing and blank brick suggest a working aisle rather than the fixture wall I want. I will keep rotating left to bring more of the room into view.", + "A large pale panel now blocks most of my view, leaving only a strip of brick and the teal upright visible on the right. Almost nothing useful can be read from this heading, so pausing here would waste the scan. I will continue turning left to move past this obstruction and look at open wall.", + "The stacked sheet material still fills nearly the whole view, showing only its blank surface and the brick course above it. There is no bracket, signage, or red object to indicate the extinguisher on this side. I will turn left again to clear this flat surface from my line of sight.", + "I am still facing the broad leaning panel and the wall behind it, with no fixture or passage in view. Since the sweep has consistently uncovered new surface, holding the same turn direction should soon reveal the rest of the room. I will turn left once more.", + "A lit doorway has appeared at the left edge, opening onto a racked warehouse area with hazard tape on the floor, while the panel still covers my right side. A doorway and marked corridor are exactly the kind of place where an extinguisher would be mounted, but I cannot see one yet. I will turn left to bring that opening and the wall around it fully into view.", + "The open yellow door, a red waste bin, and the bright warehouse beyond are now centered, yet the wall segments I can see hold no extinguisher. The wall to the left of this doorway is still outside my view and is the most likely place for a mounted unit. I will turn left again to inspect that remaining stretch of wall.", + "From this spot I only see an open yellow door into a storage bay, a red waste bin, and bare brick, with no red extinguisher on any wall in front of me. I will keep rotating left in the same steady direction to sweep the remaining unseen walls of this room.", + "At the far left edge of my view I can now make out a red cylinder mounted on the white brick wall beside a safety notice board, which matches the wall mounted fire extinguisher I am looking for. I will turn left again to bring that wall properly into view instead of continuing a blind sweep.", + "The red extinguisher is clearly visible on the white brick wall beside the notice board, slightly to the left of my heading, and a corridor with an illuminated exit sign runs past it. One more left turn should line my heading up with that corridor so I can walk straight toward the extinguisher.", + "I am now facing straight down the corridor, with the red extinguisher mounted on the right hand wall ahead of me and clear floor in between. I will walk forward to close the distance to it.", + "The extinguisher on the right wall is much larger now, with its instruction placard and EN3 sign readable, so my approach along the corridor is working. I will step forward once more to draw level with the mounting bracket.", + "I have advanced far enough that the mounted extinguisher has passed out of my forward view and now sits off to my right, leaving only brick wall and the doorway ahead. I will turn right to swing my facing back toward the wall panel where it is mounted.", + "The mounting board with the red extinguisher and its hose is now appearing at the right edge of my view, so I am nearly facing it. A second right turn should bring the extinguisher into the center of my view at close range.", + "The red wall mounted fire extinguisher is centered directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x-001790_y-003655_z000098_t1_a/infos.json b/dataset/trajectory/Storagehouse/task_x-001790_y-003655_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6270ebcd4f0e3657aaea801461b5ebe525e5facc --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x-001790_y-003655_z000098_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search the surrounding warehouse area for the yellow door near the trash bin and approach it.", + "Type": 1, + "Start_Pose": [ + -1790.483, + -3654.724, + 98.15, + 0.0, + -100.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1790.483, + -3654.724, + 98.15, + 0.0, + -100.8, + 0.0 + ], + [ + -1790.483, + -3654.724, + 98.15, + 0.0, + -75.8, + 0.0 + ], + [ + -1790.483, + -3654.724, + 98.15, + 0.0, + -50.8, + 0.0 + ], + [ + -1790.483, + -3654.724, + 98.15, + 0.0, + -25.8, + 0.0 + ], + [ + -1790.483, + -3654.724, + 98.15, + 0.0, + -0.8, + 0.0 + ], + [ + -1790.483, + -3654.724, + 98.15, + 0.0, + 24.2, + -0.0 + ], + [ + -1790.483, + -3654.724, + 98.15, + 0.0, + 49.2, + -0.0 + ], + [ + -1790.483, + -3654.724, + 98.15, + 0.0, + 74.2, + -0.0 + ], + [ + -1756.214, + -3533.62, + 98.15, + 0.0, + 74.2, + -0.0 + ], + [ + -1721.945, + -3412.517, + 98.15, + 0.0, + 74.2, + -0.0 + ], + [ + -1721.945, + -3412.517, + 98.15, + 0.0, + 74.2, + -0.0 + ] + ], + "Rationale": [ + "My view is filled with stacked white panels, cardboard boxes and a brick corner, so no yellow door or trash bin is anywhere in sight. I will turn right to begin a consistent scan of this storage area for the target.", + "Turning has only brought more stacked panels and boxes against the dark brick wall into view, still with no door or trash bin. I will keep rotating in the same rightward direction to sweep past this cluttered corner.", + "The scan has now opened onto a lit passage on the right, with a green exit sign and an open doorway leading further into the warehouse. I will continue turning right to bring that open corridor and whatever lies beyond it fully into view.", + "The corridor with the exit sign is centered now, but the doorway ahead is plain and I still see no yellow door or trash bin. I will keep turning right to inspect the wall and space on that side of the passage.", + "Rotating further reveals a blue steel rack and a large reddish trash bin sitting against the wall on my right, which matches the landmark named in the task. I will continue turning right toward that bin, since the yellow door should be near it.", + "The trash bin is in view and just beyond it an orange-yellow door stands open on the right edge of my view, revealing racking inside. I will turn right again to bring that door closer to the center of my heading.", + "The yellow door beside the trash bin is now clearly identified, though it still sits right of my heading. I will make one more right turn to line my body up with the doorway before walking toward it.", + "The open yellow door with the trash bin at its left is now roughly centered ahead of me and the floor between us is clear. I will walk forward to close the distance to the door.", + "The yellow door now fills much of my view with the pink trash bin close on my left, confirming this is the door described in the task. I am still a step short of it, so I will walk forward again to close the remaining gap and stand directly at the doorway.", + "The yellow door panel is directly beside me at arm's length, filling the left of my view. The approach condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_d/infos.json b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ef62f73a40ec96b6535342dca1409761d2d5a3ad --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_d/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head toward the blue barrel, then proceed to the fire extinguisher on rack 06.", + "Type": 3, + "Start_Pose": [ + 54.452, + -6331.204, + 98.15, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 54.452, + -6331.204, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -59.203, + -6277.139, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -59.203, + -6277.139, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -184.933, + -6275.061, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -310.788, + -6274.094, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -436.64, + -6273.031, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -436.64, + -6273.031, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -550.295, + -6218.966, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -663.95, + -6164.902, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -663.95, + -6164.902, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -789.805, + -6163.935, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -789.805, + -6163.935, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -697.408, + -6164.645, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -697.408, + -6164.645, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -697.408, + -6164.645, + 98.15, + 0.0, + 129.56, + -0.0 + ], + [ + -697.408, + -6164.645, + 98.15, + 0.0, + 104.56, + -0.0 + ], + [ + -697.408, + -6164.645, + 98.15, + 0.0, + 79.56, + -0.0 + ], + [ + -697.408, + -6164.645, + 98.15, + 0.0, + 54.56, + -0.0 + ], + [ + -624.429, + -6062.105, + 98.15, + 0.0, + 54.56, + -0.0 + ], + [ + -624.429, + -6062.105, + 98.15, + 0.0, + 54.56, + -0.0 + ] + ], + "Rationale": [ + "From this spot between the tall racks I can pick out the pair of blue drums sitting on a cart against the far brick wall, well down the open floor. The lane in front of me is clear of pallets and cable, so I will walk forward to cut down that distance.", + "After closing some ground the blue drums on their cart now sit right of my center of view, while my heading points down the empty bay ahead. I will turn right so the drums move toward the middle of my view and the aisle beside the racking opens straight toward them.", + "The turn has lined the aisle up with the blue drums, which now sit ahead of me against the brick wall with the shelving running down both sides. Nothing blocks the floor between us, so I will walk forward along this lane.", + "The blue drums on the wheeled cart have grown noticeably larger ahead of me, but they are still several strides off near the brick wall. The lane stays open past the loaded shelving, so I will keep walking toward them.", + "I can now read the detail on the two blue drums and the red frame of the cart holding them, yet a gap of open floor still separates us. I will step forward again to bring myself up close to them.", + "The blue drums have drifted to the left of my center as I advanced, and my heading now points into the racking and the yellow drums on my right. Turning left should swing the cart with the blue drums back in front of me for a straight approach.", + "The turn has put the blue drums and their red-railed cart squarely ahead against the brick wall, with clear floor and a painted arrow leading that way. I will walk forward to close the remaining gap.", + "The two blue drums now fill a good part of my view on their cart by the brick wall, though a short stretch of floor still lies between us. One more step forward should bring me right up beside them.", + "The cart with the two blue barrels sits just to the right of my heading, tucked against the brick wall ahead. A short turn to the right should put the barrels squarely in front of me for a straight walk in.", + "The pair of blue barrels on their wheeled cart is now centered in front of me behind the red railing, still a short distance off. Walking forward should close that last gap and bring me right up beside them.", + "The blue barrels loom directly in front of me behind their red railing, close enough that the brick wall behind them fills the rest of my view. I have arrived at the blue barrel. I mark reaching it, and now I set off for the fire extinguisher on rack 06.", + "The barrels and their railing crowd my view at arm's length, boxed in by the brick wall, so there is no room to swing my heading around here. Backing up a step should give me the clearance I need before turning toward the racks.", + "With a little space regained, the barrel cart and brick wall still sit straight ahead while the racking opens off to my left. Turning left should begin swinging my heading off this wall and back toward the aisle where rack 06 stands.", + "The green bins on the rack shelf have come into the left of my view, but the barrels and brick still occupy most of my heading. Another turn left should carry me further around toward the open aisle.", + "The striped aisle floor is opening on my left while the rack end and barrel cart still cut across the front of my view. Continuing to turn left should bring that aisle running out ahead of me.", + "The long aisle between the racking now stretches away, but it still runs off toward the left rather than straight from me. One more turn left should square my heading down that aisle toward the rack numbered 06.", + "The red extinguisher mounted on a rack upright sits right at the left edge of my view, so my heading still points straight down the open aisle instead of at it. I will turn left once more to bring that rack face and its extinguisher into the center of my view.", + "The numbered rack bay is now squarely ahead of me and the red extinguisher hangs on its upright to my left, but it is still a few strides off. The floor between me and that bay is clear apart from the low yellow guard, so I will walk forward to close the remaining distance.", + "The red fire extinguisher on the rack upright is directly beside me at arm's length. The task destination is reached, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_e/infos.json b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..122c52db837e86966ca2dbcc31b891cc498f4591 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t3_e/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Move to the FRAGILE labeled box on rack 07, then approach the blue barrel.", + "Type": 3, + "Start_Pose": [ + 54.452, + -6331.204, + 98.15, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 54.452, + -6331.204, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + 54.452, + -6331.204, + 98.15, + 0.0, + 129.56, + -0.0 + ], + [ + -25.706, + -6234.172, + 98.15, + 0.0, + 129.56, + -0.0 + ], + [ + -105.864, + -6137.14, + 98.15, + 0.0, + 129.56, + -0.0 + ], + [ + -105.864, + -6137.14, + 98.15, + 0.0, + 129.56, + -0.0 + ], + [ + -105.864, + -6137.14, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -105.864, + -6137.14, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -231.719, + -6136.174, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -357.574, + -6135.207, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -483.43, + -6134.24, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -609.285, + -6133.274, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -735.14, + -6132.307, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -827.098, + -6134.915, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -827.098, + -6134.915, + 98.15, + 0.0, + 179.56, + -0.0 + ] + ], + "Rationale": [ + "The rack under the 07 sign stands to my left, with cartons stencilled FRAGILE on its lower bays, while the open aisle ahead leads away from it. I will turn left to put that rack and its fragile-marked cartons squarely in front of me before walking in.", + "The rack carrying the 07 sign is now ahead on my left, and the carton stencilled FRAGILE sits at its base beside the yellow post guard. The floor between me and it is clear, so I will walk forward to close that gap.", + "The FRAGILE carton on the low shelf of the 07 rack is much larger in view now, but I am still a couple of paces short of standing beside it. The lane past the yellow guard remains unobstructed, so I will step forward again.", + "The FRAGILE stencilled carton on rack 07 is right beside me, close enough to read its lettering at arm's length. I have reached the fragile-labelled box, so I mark arriving here before setting off toward the blue barrel further down the hall.", + "Standing at the fragile-labelled carton, my view is filled by the rack face, so I need to swing toward the open hall where the barrels stand on their trolley. I will turn right to bring that far wall and the barrels into my heading.", + "The pair of blue barrels on the wheeled trolley has come into view against the brick wall, but they still sit off to my right rather than straight ahead. I will turn right once more to line my walking direction up with them.", + "The blue barrels on their trolley now sit near the middle of my view against the brick wall, with racks framing a clear lane on both sides. I will walk forward down that lane to close the distance to them.", + "The blue barrels are noticeably nearer and centred ahead behind their red trolley rail, yet still several paces off. Nothing blocks the painted floor between us, so I will keep walking toward them.", + "The two blue barrels sit on their low trolley against the brick wall, a little left of my heading but well within the open bay ahead. Only cables cross the painted floor between us, so I will keep advancing to shorten the remaining gap.", + "The barrels and the red rail around their trolley are now clearly resolved just left of centre, with the wall behind them filling the end of the bay. I am still several paces off, so another step forward should bring me close to them.", + "I can now make out the lids and the mottled sheen on the barrels, and the red guard rail stands only a short walk ahead. A further step should put me right at the trolley rather than looking at it from across the bay.", + "The pair of barrels fills most of my view behind the red rail, but there is still a little floor between me and that rail. I will take one more short step to stand directly at them.", + "The blue barrels are directly in front of me, their lids and the trolley rail within arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t5_b_pd/infos.json b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..43dff1ae504af4bfb56e57b03acf441a6fa536ce --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x000054_y-006331_z000098_t5_b_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Grab the trash bag by the blue barrel, then leave it near the fire extinguisher on rack 07.", + "Type": 5, + "Start_Pose": [ + 54.452, + -6331.204, + 98.15, + 0, + 154.56, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -735.571, + -6182.873, + 18.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 54.452, + -6331.204, + 98.15, + 0, + 154.56, + 0 + ], + [ + -59.203, + -6277.139, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -172.858, + -6223.075, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -172.858, + -6223.075, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -298.714, + -6222.108, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -424.569, + -6221.142, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -550.424, + -6220.175, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -550.424, + -6220.175, + 98.15, + 0.0, + 179.56, + -0.0 + ], + [ + -550.424, + -6220.175, + 98.15, + 0.0, + 154.56, + -0.0 + ], + [ + -550.424, + -6220.175, + 98.15, + 0.0, + 129.56, + -0.0 + ], + [ + -550.424, + -6220.175, + 98.15, + 0.0, + 104.56, + -0.0 + ], + [ + -550.424, + -6220.175, + 98.15, + 0.0, + 79.56, + -0.0 + ], + [ + -550.424, + -6220.175, + 98.15, + 0.0, + 54.56, + -0.0 + ], + [ + -550.424, + -6220.175, + 98.15, + 0.0, + 29.56, + -0.0 + ], + [ + -440.947, + -6158.084, + 98.15, + 0.0, + 29.56, + -0.0 + ], + [ + -331.47, + -6095.994, + 98.15, + 0.0, + 29.56, + -0.0 + ], + [ + -231.162, + -6047.839, + 98.15, + 0.0, + 29.56, + -0.0 + ], + [ + -293.791, + -6083.359, + 98.15, + 0.0, + 29.56, + -0.0 + ], + [ + -293.791, + -6083.359, + 98.15, + 0.0, + 29.56, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -735.571, + -6182.873, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -735.571, + -6182.873, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -735.571, + -6182.873, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -735.571, + -6182.873, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -735.571, + -6182.873, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -735.571, + -6182.873, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -735.571, + -6182.873, + 18.15, + 0.0, + 0.0, + 0.0 + ], + [ + -549.978, + -6241.533, + 68.256, + -28.202, + -130.295, + 1.862 + ], + [ + -558.632, + -6238.863, + 68.529, + -28.189, + -155.283, + 1.872 + ], + [ + -566.077, + -6232.903, + 67.862, + -28.215, + 179.687, + 1.849 + ], + [ + -577.894, + -6221.703, + 68.043, + -14.175, + 146.752, + 6.959 + ], + [ + -571.138, + -6216.76, + 67.932, + -28.208, + 129.702, + 1.851 + ], + [ + -566.807, + -6208.916, + 68.6, + -28.198, + 104.706, + 1.867 + ], + [ + -559.01, + -6194.037, + 68.043, + -14.175, + 71.752, + 6.959 + ], + [ + -452.116, + -6139.869, + 68.482, + -28.198, + 79.705, + 1.865 + ], + [ + -342.383, + -6077.63, + 67.945, + -28.191, + 79.719, + 1.871 + ], + [ + -242.003, + -6029.435, + 67.798, + -28.202, + 79.704, + 1.857 + ], + [ + -232.902, + -6048.826, + 58.15, + 0.0, + 29.56, + -0.0 + ], + [ + -232.902, + -6048.826, + 58.15, + 0.0, + 29.56, + -0.0 + ] + ], + "PD_Dist_2D": [ + 803.8, + 682.9, + 564.1, + 564.1, + 438.6, + 313.3, + 188.9, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 27.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this aisle opening I can see the grey trash bag sitting on the floor beside the blue barrels near the far wall, roughly straight ahead. The open painted floor between me and it is clear, so I will walk forward to close that long distance.", + "The bag and the pair of blue barrels on their cart are noticeably larger now, confirming I am closing on the correct target. Still too far to reach it, so I will keep walking straight ahead.", + "The trash bag now sits well right of my heading, past the rack upright, so walking straight would carry me along the wrong aisle line. I will turn right to bring the bag toward the center of my view before advancing again.", + "After the turn the trash bag sits near the middle of my view with clear floor leading to it. I will step forward along this heading to shorten the gap.", + "The bag and the blue barrel cart against the brick wall are clearly closer and still lined up with my heading. It remains out of arm's reach, so I will keep walking forward.", + "The trash bag now fills a good part of the lower view but still sits a step or two beyond grasping distance. One more forward step should bring it right in front of me for a grab.", + "The trash bag is directly in front of me at the base of my view, close beside the barrel cart, well within reach. I will attempt to pick it up so I can carry it toward the fire extinguisher on rack 07.", + "The grab worked: the trash bag is now held right in front of me instead of resting on the floor. Rack 07 with its fire extinguisher lies back down the aisle behind me, so I will turn left to begin swinging my heading around toward it.", + "The trash bag is in my hands, but my heading still faces the brick wall with the drum carts near rack 05, away from where I must deliver it. I will keep rotating left to swing my view back onto the main aisle that leads toward rack 07 and its fire extinguisher.", + "The long aisle between the racking is now opening on my left, but my heading still points across the shelving of rack 05 instead of down that lane. Another left rotation should bring the aisle and the racks numbered toward 07 closer to the center of my view.", + "A red fire extinguisher mounted on a rack upright is now visible on the left side of the aisle ahead, which is the delivery region I need. My heading is still offset to the right of that lane, so I continue turning left to line up with it while carrying the bag.", + "The aisle with the extinguisher-equipped rack upright is nearly centered, but a yellow guard post and rack frame sit directly in my forward path. I will turn left once more to place the open lane in front of me before walking the bag down it.", + "The rack 07 sign and its extinguisher are now on my right front, with racking still cutting across my straight path. One more left rotation should set my heading down the clear aisle so I can carry the bag alongside rack 07 toward the extinguisher.", + "My heading is now down the open aisle with rack 07 running along my right and clear floor ahead. Still holding the trash bag, I step forward to close the distance toward the extinguisher position on that rack.", + "I am moving along rack 07, whose signage now hangs almost overhead on my right, and the aisle ahead remains unobstructed. I keep walking forward with the bag to reach the section of the rack where the extinguisher is mounted.", + "The red fire extinguisher on the rack upright is now clearly visible ahead beside the pallet loads of rack 07. One more step forward should place me close enough beside it to set the trash bag down there.", + "The trash bag is still held with me, and I am now right at the rack upright with the red fire extinguisher mounted beside me at arm's length. This is the delivery spot the task named, so I will release the bag here and expect it to settle on the floor next to the extinguisher.", + "The released trash bag now rests on the floor beside the rack upright with the fire extinguisher. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t5_a_pd/infos.json b/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e935e464840a9b4649a0fca8639f431f43f70977 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t5_a_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Lift the wicker basket at the gray electrical panel, then set it down near the small red bin on the floor.", + "Type": 5, + "Start_Pose": [ + 129.523, + 77.07, + 114.74, + 0, + -143.2, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -637.259, + -225.528, + 38.15, + 90, + -163.2, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 129.523, + 77.07, + 114.74, + 0, + -143.2, + 0 + ], + [ + 28.744, + 1.677, + 98.15, + 0.0, + -143.2, + 0.0 + ], + [ + -72.036, + -73.715, + 98.15, + 0.0, + -143.2, + 0.0 + ], + [ + -172.815, + -149.108, + 98.15, + 0.0, + -143.2, + 0.0 + ], + [ + -172.815, + -149.108, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -296.014, + -174.845, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -419.213, + -200.583, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -419.213, + -200.583, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -542.413, + -226.321, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -542.413, + -226.321, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -542.413, + -226.321, + 98.15, + 0.0, + -143.2, + 0.0 + ], + [ + -542.413, + -226.321, + 98.15, + 0.0, + -118.2, + 0.0 + ], + [ + -542.413, + -226.321, + 98.15, + 0.0, + -93.2, + 0.0 + ], + [ + -542.413, + -226.321, + 98.15, + 0.0, + -68.2, + 0.0 + ], + [ + -542.413, + -226.321, + 98.15, + 0.0, + -43.2, + 0.0 + ], + [ + -542.413, + -226.321, + 98.15, + 0.0, + -18.2, + 0.0 + ], + [ + -422.85, + -265.63, + 98.15, + 0.0, + -18.2, + 0.0 + ], + [ + -303.287, + -304.94, + 98.15, + 0.0, + -18.2, + 0.0 + ], + [ + -183.724, + -344.249, + 98.15, + 0.0, + -18.2, + 0.0 + ], + [ + -183.724, + -344.249, + 98.15, + 0.0, + -43.2, + 0.0 + ], + [ + -91.977, + -430.405, + 98.15, + 0.0, + -43.2, + 0.0 + ], + [ + -144.463, + -381.118, + 98.15, + 0.0, + -43.2, + 0.0 + ], + [ + -144.463, + -381.118, + 98.15, + 0.0, + -43.2, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -637.259, + -225.528, + 38.15, + 90.0, + -163.2, + 0.0 + ], + [ + -637.259, + -225.528, + 38.15, + 90.0, + -163.2, + 0.0 + ], + [ + -637.259, + -225.528, + 38.15, + 90.0, + -163.2, + 0.0 + ], + [ + -637.259, + -225.528, + 38.15, + 90.0, + -163.2, + 0.0 + ], + [ + -637.259, + -225.528, + 38.15, + 90.0, + -163.2, + 0.0 + ], + [ + -637.259, + -225.528, + 38.15, + 90.0, + -163.2, + 0.0 + ], + [ + -637.259, + -225.528, + 38.15, + 90.0, + -163.2, + 0.0 + ], + [ + -637.259, + -225.528, + 38.15, + 90.0, + -163.2, + 0.0 + ], + [ + -637.259, + -225.528, + 38.15, + 90.0, + -163.2, + 0.0 + ], + [ + -537.448, + -247.098, + 68.256, + -28.202, + -118.055, + 1.862 + ], + [ + -528.553, + -243.817, + 68.529, + -28.189, + -93.043, + 1.872 + ], + [ + -522.635, + -237.099, + 67.862, + -28.215, + -68.072, + 1.849 + ], + [ + -516.216, + -233.261, + 67.916, + -14.092, + -50.856, + 6.87 + ], + [ + -522.644, + -217.943, + 67.932, + -28.208, + -18.057, + 1.851 + ], + [ + -527.387, + -209.552, + 68.6, + -28.198, + 6.947, + 1.867 + ], + [ + -535.095, + -204.594, + 68.247, + -28.195, + 31.946, + 1.865 + ], + [ + -417.041, + -245.06, + 68.657, + -28.195, + 31.95, + 1.87 + ], + [ + -297.603, + -284.33, + 68.884, + -28.197, + 31.944, + 1.87 + ], + [ + -177.935, + -323.678, + 68.748, + -28.211, + 31.938, + 1.853 + ], + [ + -169.877, + -328.969, + 68.071, + -28.211, + 6.93, + 1.853 + ], + [ + -77.942, + -414.285, + 68.503, + -28.192, + 6.956, + 1.866 + ], + [ + -93.435, + -429.036, + 63.15, + 90.0, + -43.2, + 0.0 + ], + [ + -93.435, + -429.036, + 63.15, + 90.0, + -43.2, + 0.0 + ] + ], + "PD_Dist_2D": [ + 824.3, + 703.7, + 585.3, + 470.7, + 470.7, + 345.0, + 219.5, + 219.5, + 94.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 21.4, + 20.6, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The task target is the wicker basket over by the gray electrical panel on the wall to my left, and I can see its round woven shape resting near the yellow guard rail far ahead. I am far too distant to reach it from here, so I will walk forward across the open blue floor to close that gap.", + "The basket beside the wall-mounted panel boxes has grown noticeably larger in view, confirming my heading is carrying me toward it. The lane ahead is still clear of pallets and guard rails, so I will keep walking forward to shorten the remaining distance.", + "The basket and the gray panel enclosures on the wall are clearly resolved now, but the basket sits off toward the left edge of my path rather than straight ahead. I will advance again to keep closing distance before I refine my heading.", + "I am now close to the wall with the electrical panels, but the wicker basket sits to the left of my current heading, so walking straight would carry me past it toward the racking. I will turn left to bring the basket and the panel wall into the center of my view.", + "The turn has put the wicker basket and the gray panel boxes squarely ahead of me, with the yellow guard rail and trolley off to the side rather than blocking my line. I will step forward to bring the basket within grasping range.", + "The wicker basket is now clearly visible leaning against the wall just below the gray electrical panel, slightly left of my heading. It is still several paces off, too far for my hands to reach. I will keep walking straight toward it to close that gap.", + "The wicker basket stands directly ahead of me at the foot of the gray electrical panel, filling much of my view. This looks close enough for a grasp, so I will reach out and try to lift it. If my hands close on nothing, I still have room to step nearer.", + "My hands came up empty, so that grasp did not take hold. I was judging the distance optimistically and stopped outside true reach. I will step forward once more to stand right over the basket before trying again.", + "I am now right at the gray electrical panel, with the woven rim of the basket rising into the bottom of my view. The earlier attempt failed only because I stood too far back, and that gap is closed. I will reach down and try to lift the basket now.", + "The basket is in my hands now, held against me and lifted clear of the floor, so the grasp took hold. I am still facing the wall and the panel, with no small red bin anywhere in sight from this heading. I will turn right to sweep the open floor behind me for the drop spot.", + "The wicker basket is in my hands, so the pickup at the panel is done and I now need the floor area with the small red bin. My view is still filled by the gray panel wall on my left and the yellow guard rails of this narrow corner, with no drop target in sight. I will keep turning right to swing my heading away from this wall and out toward the open aisle.", + "Carrying the basket, I have rotated far enough that the racking and the yellow wall marked A now fill my view instead of the panel. Nothing resembling the small red floor bin appears along this line. I will continue turning right to bring more of the open warehouse floor into view.", + "The clear blue floor and the striped barrier tape are opening up ahead of me while I hold the basket. Still only pallet racks and the A wall lie in this direction, with no small red bin on the ground. Another right turn should sweep my gaze further across the floor toward a possible drop area.", + "My heading has swept past the A wall to a long line of shelving and crates, and I am still holding the basket. No small red bin stands on the floor along this direction. I will turn right again to keep scanning the far side of the bay.", + "Ahead and to my right the bay opens toward the work bench area, where a reddish container sits low beside the yellow barrier and colored bins line the blue wall beyond. That matches the small red bin I need to set the basket down near. One more right turn should put that area squarely in front of me before I walk over.", + "The wicker basket is secure in my hands, so the remaining job is to carry it to the small red bin. From here I can see the D Sector bay ahead with a low reddish bin standing on the floor beside the yellow guard rail near the racking. I will walk forward to close that long gap.", + "Still holding the basket, and the red floor bin by the workbench and yellow rail is now clearly larger in front of me. The distance is far too great to set the basket down beside it yet. I will keep walking straight along the open aisle toward it.", + "The basket remains in my hands and the small red bin now sits plainly at the left of the workbench, a few paces ahead. I am not yet close enough for a controlled placement beside it. I will advance once more to shorten the remaining distance.", + "The red bin has slid to the lower left corner of my view, so continuing straight would carry me past it toward the red door instead. Turning left should swing the bin back in front of me for a clean final approach. I still have the basket in hand.", + "The turn worked, and the red bin now sits squarely ahead of me at the foot of the workbench. I am still a step short of standing right beside it with the basket. I will move forward so the basket can be released close to the bin.", + "The wicker basket is still in my hands and I am now standing at the workbench aisle where the small red bin sits on the floor just to my left. This open floor patch beside the bin matches the requested placement, so I will release the basket here and expect it to settle on the ground near the bin.", + "The wicker basket now rests on the floor close to the small red bin and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t5_b_pd/infos.json b/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b57879f0a15da7afc5e9ec5f0f6c097c3ada99c --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x000130_y000077_z000115_t5_b_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the green bell pepper by the small red bin on the floor, then place it near the gray electrical panel.", + "Type": 5, + "Start_Pose": [ + 129.523, + 77.07, + 114.74, + 0, + -143.2, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -74.719, + -467.798, + 39.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "Pick", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 129.523, + 77.07, + 114.74, + 0, + -143.2, + 0 + ], + [ + 129.523, + 77.07, + 114.74, + 0.0, + -118.2, + 0.0 + ], + [ + 70.048, + -33.85, + 98.15, + 0.0, + -118.2, + 0.0 + ], + [ + 10.573, + -144.77, + 98.15, + 0.0, + -118.2, + 0.0 + ], + [ + -48.901, + -255.69, + 98.15, + 0.0, + -118.2, + 0.0 + ], + [ + -48.901, + -255.69, + 98.15, + 0.0, + -118.2, + 0.0 + ], + [ + -48.901, + -255.69, + 98.15, + 0.0, + -93.2, + 0.0 + ], + [ + -48.901, + -255.69, + 98.15, + 0.0, + -93.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -93.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -93.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -118.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -143.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + -168.2, + 0.0 + ], + [ + -55.927, + -381.353, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -178.461, + -352.613, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -300.994, + -323.873, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -423.528, + -295.133, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -546.062, + -266.393, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -629.191, + -226.263, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -559.093, + -242.704, + 98.15, + 0.0, + 166.8, + -0.0 + ], + [ + -559.093, + -242.704, + 98.15, + 0.0, + 166.8, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -74.719, + -467.798, + 39.15, + 0.0, + 0.0, + 0.0 + ], + [ + -74.719, + -467.798, + 39.15, + 0.0, + 0.0, + 0.0 + ], + [ + -74.719, + -467.798, + 39.15, + 0.0, + 0.0, + 0.0 + ], + [ + -74.719, + -467.798, + 39.15, + 0.0, + 0.0, + 0.0 + ], + [ + -74.719, + -467.798, + 39.15, + 0.0, + 0.0, + 0.0 + ], + [ + -74.719, + -467.798, + 39.15, + 0.0, + 0.0, + 0.0 + ], + [ + -74.719, + -467.798, + 39.15, + 0.0, + 0.0, + 0.0 + ], + [ + -74.719, + -467.798, + 39.15, + 0.0, + 0.0, + 0.0 + ], + [ + -74.719, + -467.798, + 39.15, + 0.0, + 0.0, + 0.0 + ], + [ + -34.572, + -381.935, + 68.256, + -28.202, + -43.055, + 1.862 + ], + [ + -37.656, + -390.451, + 68.529, + -28.189, + -68.043, + 1.872 + ], + [ + -43.968, + -397.6, + 67.862, + -28.215, + -93.073, + 1.849 + ], + [ + -55.724, + -408.864, + 68.043, + -14.175, + -126.008, + 6.959 + ], + [ + -60.336, + -401.878, + 67.932, + -28.208, + -143.058, + 1.851 + ], + [ + -182.659, + -373.568, + 68.353, + -28.189, + -143.042, + 1.869 + ], + [ + -304.921, + -344.881, + 68.736, + -28.205, + -143.065, + 1.859 + ], + [ + -427.412, + -316.16, + 68.889, + -28.191, + -143.05, + 1.872 + ], + [ + -550.107, + -287.371, + 68.664, + -28.206, + -143.063, + 1.863 + ], + [ + -633.781, + -247.124, + 67.669, + -28.197, + -143.054, + 1.86 + ], + [ + -627.244, + -226.719, + 88.15, + 0.0, + 166.8, + -0.0 + ], + [ + -627.244, + -226.719, + 88.15, + 0.0, + 166.8, + -0.0 + ] + ], + "PD_Dist_2D": [ + 581.9, + 581.9, + 457.5, + 334.1, + 213.7, + 213.7, + 213.7, + 213.7, + 88.5, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "I can see the green bell pepper sitting on the blue floor beside the small red bin, well off to my right and far across the bay. My current heading points too far left of it, so I will turn right to bring the pepper and its bin toward the center of my view before walking over.", + "The green pepper and the red bin now sit near the middle of my view, so my heading is usable. The pepper is still far away across the open floor, so I will walk forward to close that distance.", + "The pepper and the small red bin beside it have grown noticeably in front of me, confirming I am tracking the right target. The floor ahead is clear of racks and barriers, so I will keep walking forward to get within reach.", + "I see the pepper clearly now, low in my view with the red bin right next to it, but it still sits a few paces beyond my reach. Nothing blocks the lane in front of me, so I will step forward again to close the last of the gap.", + "The pepper now fills the lower right of my view right beside the red bin, so I judge it close enough to grab. My hands are empty, so I will attempt a pick here and hope the pepper is within grasping range despite sitting off to my right.", + "My grasp attempt left my hands empty, so it did not take hold. The pepper sat off to my right rather than straight ahead, which likely spoiled the reach. I will turn right to put it squarely in front of me before trying again.", + "The green pepper now sits centered ahead of me next to the small red bin, which is the alignment my previous empty-handed attempt lacked. With it framed straight in front, I will try the grasp again and hope my hands close on it this time.", + "That second attempt also failed, since my hands are empty. Alignment was not the problem, so the remaining gap to the pepper by the red bin must be too large. I will step forward to close that distance.", + "I am now right up against the small red bin at the lower right of my view, far closer than during my earlier empty-handed attempts. At this range the pepper resting by the bin should finally be within reach, so I will attempt the grasp again.", + "This time the grasp worked, and the large green pepper is held in my hands. The gray electrical panel is not anywhere ahead of me here among the racks and the bin, so I will turn left to sweep toward the wall side and locate it.", + "The pepper is secured in my hands, so the remaining job is finding the gray electrical panel. Straight ahead I see only pallet racking, yellow safety rails and the tall bay wall, nothing resembling a wall-mounted panel. I will keep rotating left to sweep more of the surrounding walls.", + "This heading brings a plain gray wall section with an extinguisher and bay markings into view, but I still cannot make out the gray electrical panel I need to reach with the pepper. The wall continues further to my left, so another left turn should reveal that unscanned stretch.", + "Now the long gray wall with small white wall-mounted boxes and conduit sits toward the left side of my view, which matches the electrical panel area I need. Turning left once more should bring that wall onto my forward heading before I close the distance.", + "The gray wall with its white electrical cabinet and conduit run is now centered ahead of me across open blue floor. Carrying the pepper, I will walk straight forward to shorten that gap before setting it down near the panel.", + "The wall-mounted electrical box and its conduit have grown larger and stay on my forward line, so my heading is good. I am still several strides away from a sensible placement spot, so I will keep walking forward with the pepper.", + "The green pepper is still held in my hands, and the gray electrical cabinet with its small white boxes sits on the wall ahead of me, past the yellow guard rail. It is still several paces away, so I will keep walking straight toward that wall to close the gap.", + "The gray panel and its warning label are now plainly in front of me, but the pepper I am carrying cannot yet be set down beside them from this distance. I will step forward again to bring the panel wall within placing range.", + "The two gray cabinets now dominate my view, so I am close to the wall yet still short of the spot right under the panel. Holding the pepper, I advance once more to reach the panel base before releasing it.", + "I am now right at the gray panel, its casing filling my view at arm's length, and the pepper is still in my hands. This is as close to the panel as I can stand, so I will release the pepper here so it should come to rest beside it.", + "The green pepper now rests on the floor directly below the gray electrical panel, and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Storagehouse/task_x000162_y-004110_z000098_t1_b/infos.json b/dataset/trajectory/Storagehouse/task_x000162_y-004110_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac52a73170c7ac7bc5fcca30cdd0aefc83739916 --- /dev/null +++ b/dataset/trajectory/Storagehouse/task_x000162_y-004110_z000098_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search the warehouse shelving for the blue barrel stored on the lowest rack shelf and approach it.", + "Type": 1, + "Start_Pose": [ + 161.921, + -4110.094, + 98.15, + 0.0, + 63.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 161.921, + -4110.094, + 98.15, + 0.0, + 63.36, + -0.0 + ], + [ + 161.921, + -4110.094, + 98.15, + 0.0, + 38.36, + -0.0 + ], + [ + 161.921, + -4110.094, + 98.15, + 0.0, + 13.36, + -0.0 + ], + [ + 161.921, + -4110.094, + 98.15, + 0.0, + -11.64, + 0.0 + ], + [ + 161.921, + -4110.094, + 98.15, + 0.0, + -36.64, + 0.0 + ], + [ + 161.921, + -4110.094, + 98.15, + 0.0, + -61.64, + 0.0 + ], + [ + 161.921, + -4110.094, + 98.15, + 0.0, + -86.64, + 0.0 + ], + [ + 161.921, + -4110.094, + 98.15, + 0.0, + -111.64, + 0.0 + ], + [ + 161.921, + -4110.094, + 98.15, + 0.0, + -136.64, + 0.0 + ], + [ + 70.415, + -4196.507, + 98.15, + 0.0, + -136.64, + 0.0 + ], + [ + 70.415, + -4196.507, + 98.15, + 0.0, + -161.64, + 0.0 + ], + [ + -49.038, + -4236.15, + 98.15, + 0.0, + -161.64, + 0.0 + ], + [ + -168.49, + -4275.794, + 98.15, + 0.0, + -161.64, + 0.0 + ], + [ + -168.49, + -4275.794, + 98.15, + 0.0, + -136.64, + 0.0 + ], + [ + -259.996, + -4362.207, + 98.15, + 0.0, + -136.64, + 0.0 + ], + [ + -351.503, + -4448.619, + 98.15, + 0.0, + -136.64, + 0.0 + ], + [ + -351.503, + -4448.619, + 98.15, + 0.0, + -136.64, + 0.0 + ] + ], + "Rationale": [ + "From here I see an open blue floor lane with racking on my left and a tall shelf edge close on my right, but no blue barrel on any lower rack shelf. I will turn left to begin a steady scan of the shelving aisles rather than commit to this narrow view. This should open up the lower shelf levels of the racks on that side.", + "The rotation has brought more pallet racking into view, with cartons, a yellow drum high up, and cabling on the floor, but no blue barrel resting on a bottom shelf. I will keep turning left in the same direction to extend the sweep across the next bay of shelving. Continuing one consistent direction should keep my coverage of the storage area systematic.", + "This bay shows red-framed racks with boxes and equipment on the low levels, plus a dark brick wall behind, and still nothing matching a blue barrel. I will continue the left sweep to bring the next section of shelving into the center of my view. Holding the same turn direction avoids rechecking bays I have already scanned.", + "I can now read a rack label and see stacked cartons and totes on the shelves ahead, with a small green cart against the wall, but no blue barrel at floor level. I will turn left again to keep the scan moving toward the deeper part of the warehouse. Labeled racking suggests an organized storage area worth sweeping fully before I move.", + "The view is opening into a brighter, deeper part of the warehouse with long rows of racking and floor bay markings, which looks like the main storage zone. I will keep turning left to bring more of those aisles into view. That area is a stronger candidate for barrel storage than the equipment-cluttered bays behind me.", + "A marked floor bay is now directly in front of me and long shelving rows run away to either side, but the barrel I need is still not identifiable on a bottom shelf. I will continue the left rotation to inspect the racking rows on that side before choosing a lane to walk down. Keeping one turn direction should let me cover the remaining unscanned area cleanly.", + "Ahead of me now are heavily loaded racks with a walkable aisle between marked floor bays, and I can just make out drums or containers low on the shelving further along. I will turn left once more to line myself up with that aisle instead of facing the rack ends. Squaring onto the lane should give me a clear look down the lowest shelf level.", + "I am nearly aligned with the aisle, with tall racking on the left and blue drums showing among the lower shelf loads down that row. I will make one more left turn to face straight along the open lane. That heading should let me walk in and check the lowest rack shelves for the blue barrel.", + "My scan has brought me back around to a view that overlaps where I started, and the most promising cue is the aisle ahead of the B1 and 03 bays, where blue drums are visible low on the pallet racking. No blue barrel is clearly identified yet from this distance, so I will walk forward along the open floor to bring those lower rack shelves into closer view.", + "From here the racking on my right is angled steeply and the aisle running deeper into the storage bays opens to my left. I will turn left to face down that aisle so I can inspect the lowest shelves along it for the blue barrel.", + "The aisle now runs straight ahead of me with the 03 bay on my right and the 04 shelving further along on the left. I will step forward to close distance and get a clearer look at what is stored on the bottom rack levels along this run.", + "Blue barrels are now clearly visible on the lowest rack level of the bay to my right, sitting on a pallet under the boxed shelf. I will keep walking forward to close in on them.", + "The blue barrels on the lowest shelf are now close but sit off to my right rather than in front of me. I will turn right to square up with that bottom rack position before advancing further.", + "The turn has centered the row of blue barrels on the lowest rack shelf in my view, with the aisle in front of them clear. I will move forward to close the remaining gap to them.", + "The blue barrels on the bottom rack level fill much of my view but I am still a short distance short of them. I will take one more step forward to stand directly at the barrel.", + "The blue barrel on the lowest rack shelf is directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/000.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..8df9adbe031a3a644abddc670b73720ea7dff15b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:35173613d5bd574d3742109dc3b110af443447f74d629ca51d4076e1ad8be683 +size 127180 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/001.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b507e01da5c35939da744337b977b41de84a124d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40adc250bfd5970c6fc770938c5175a2ddf16048277fad853a64ad9c7f78c5f3 +size 131283 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/002.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..bf894c39e585d143b6172e0b1fd6f2f6c07a94af --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ec347744fbbcbd816298e460147b3bb47a02c6d4ba8d044a78ea10f87748041 +size 132697 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/003.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..09703e865abd1c27a6bc788a125d2ab7c1a0e751 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:00c69eca1cc836ed658ef0621c31ae67b91aea9ff9895fb1844579cffecf6b92 +size 131575 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/004.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..786f1ac5cb0abcfd952965b7c5863e0a262e7db1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:182148465ac6860ad8efe71e153b96ee94aaecf6e4522169ce45f838d6d1d0a5 +size 128780 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/005.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ab906c09008d04f290637a7f3400ac3e2f31f514 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:70902d263c4d37154f584c654f3e15183d7d272a864b3a4c84de589940f58bee +size 118099 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/006.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..31a4cb5a649fd001d96ab2cc429ce53c4e8535d1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:181176f0b01be0334f33b662b1b3f43d18f61c75a95cbe7cc3f310a66ab22c74 +size 127787 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/007.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9de8300ae6da0c98fc706f110f6739fad72e4206 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e56109953c5fee537881ca216a892522cb8140ba62635bec697adf8ac0255cc4 +size 127651 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/008.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..09427a1a32153d5500900247f0796dd1dd01de73 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c130f8e580afc5a0edf98f0b0f0ff7ca511adcb8a822717720f5108463393c4b +size 121027 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/009.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1dfdbd8aa1a6084319ff4306cc5a819a0f14cd95 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46399471a5f6152dc5968f84a993bd0bc754545471de15487bc2e0d1eeac5b21 +size 129474 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/010.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f0688dde1d4626b12f3f76f870033ec3f5661d1c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77861da85a214b9249f3a68a39f52598f599b97b1661bf4ea65f5cefe8b53141 +size 124660 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/011.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/011.jpg new file mode 100644 index 0000000000000000000000000000000000000000..954f6759f2585e85bdd71d31c292ca6f14792d80 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/011.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:50733dac45fd7206dd0906f76edd3844b5514d138290999ac010182969871eb4 +size 116638 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/012.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/012.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cdb9102e7d1867e5e1a429890b5ca033ea2d16ef --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/012.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:75d43e29e6372efe2374081fee9b9b6ee4307296ff60eb9e32f17354b27c25c6 +size 119563 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/013.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/013.jpg new file mode 100644 index 0000000000000000000000000000000000000000..09b702a2e80ff76ee2934eba73ec2037344d3278 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/013.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:68398c18b9ef3141b6bb743c96375af7f03628827330439ece031e9e677c84a7 +size 119369 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/014.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/014.jpg new file mode 100644 index 0000000000000000000000000000000000000000..75ec14b533775a9bba58cf407b2c4551d42a469a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/014.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66f29d345814cf3579388669fc96622496338080145f314e3ad626e52fbdeec5 +size 121233 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/015.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/015.jpg new file mode 100644 index 0000000000000000000000000000000000000000..fe376831626d08252bfb9931bf012c6bb2c7aaf8 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/015.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bf7cc8cd1e51acdbf66fb0dad40618ae80180f63ac60e7dafad01e650d99f3f +size 121545 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/016.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/016.jpg new file mode 100644 index 0000000000000000000000000000000000000000..778b79158996276b6a9588066a85687dad3abf41 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/016.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d977020f1752e62a501ddcf6e2dd1c849e56e6093b22352fd7989845c90f7601 +size 120262 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/017.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/017.jpg new file mode 100644 index 0000000000000000000000000000000000000000..25cb58a933ec2494f5479cb8192f53834e581ab0 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/017.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c210de0d8623f805e696844252470ee95d492e0bc55691f233fc80bc8c5980a +size 119865 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/018.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/018.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f38883c7b8811ac9847f8e8e4d53e3fbb438c739 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/018.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e62bfb583eb7b2bcbbd3eed958ee7ef3714392b76edde1fb558f41d3dd7fc1f3 +size 121866 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/019.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/019.jpg new file mode 100644 index 0000000000000000000000000000000000000000..029e50ea9555b9d1ea93c8938a944b9799dac920 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/019.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66adf3da5932a79ab559a95de065e194d9599bbda83eef6751e7d3c8b446c29a +size 119177 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/020.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/020.jpg new file mode 100644 index 0000000000000000000000000000000000000000..371174ffe5502212753a08d2617b1a3884b38ebe --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/020.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bf0d0772fc73d491c7444574ef4ba2010ed23f0bfb046e99e92705d2c0d3f61 +size 89597 diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/021.jpg b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/021.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e85797122baf1961c013e75064a216a67e484b15 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/021.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:129e45861f4441a40db9a872e7f462d3d9a52776d69782c6679d1aa075f87db3 +size 87841 diff --git a/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/000.jpg b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..adcc00d21b253a065ce5c50d6a8689e7d4f614f3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:537d32ca3d99b2b7c6976f5019dbc6e751c93718284f65b00414dedd3fdb2d8d +size 144903 diff --git a/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/001.jpg b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..93f665fc60bf78cc86ebf4b6c6666ca6f8b0741d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:720bddd8aa465ef628812c6140cf95ddeec5f094ee2804f0f0e9ad2dd4908e1e +size 142632 diff --git a/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/002.jpg b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..8c0a9ec092d6b35b72b3d947d6f2a1c2cf47b7c5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:38b182a3988cc3d069139de9409900aa98cee123b3b49c10fedb44b41c31c5f9 +size 142353 diff --git a/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/003.jpg b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ffad381dac3396fbefd2a658fbbe55cfcc7e5140 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:834cfdd11bac23444dce9df39b7013735d3d8b549a80cfbafe7b4d4b945ad19f +size 141870 diff --git a/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/004.jpg b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..64387295f947e5cf7bad0d1ae006cf3ae23006a2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92500058b2d5dcc01d296d6cd133bfe0d3f4bd3d15d95ba7605794f74b5131c2 +size 140476 diff --git a/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/005.jpg b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..31b8836666e19a7f1a44f0fb676709201b8ffecc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:968bf5c7e95b5325fe0df47e277ada7481caa302a8dd8b53f5d89b6a14961785 +size 132471 diff --git a/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/006.jpg b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7901cd6f520570ed976ae3487141039536ca599b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a70f1e8cdfe02cde39239bd41faf69b1da91e9a6f2ec00ae7094b3cc1de1124 +size 132605 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/000.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..4836f857adc1f95b0eceaa9605acded3ada905fa --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:79495b232001fd1e3e4ec9164f08954bd28251fdadcdfe86e5b53e7d9f8a5e4c +size 122050 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/001.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7bd5114f3c3b051b6624bf16ed7208b1e691386e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9bdcc6b3b5218e1ce01b10ff4a392ff5d42907e7d328594424437dab4bd6e98d +size 125478 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/002.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..83e181c70f225db0e7b9195f5d71b09868882d29 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c25702d34360bb9312d546e03f056363d7a66305ebfcd45a4ff136f478a3f91c +size 126764 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/003.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7fba6ac78813a0e0e750a71c52ee38b83f2babc4 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:db9edeb59b8a17373658e3834d91d74792d7a6f990876f12a7e59396d222f28d +size 127532 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/004.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6305c7ce986e22d486da8b3d94a8dcba0968352d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d696dad7e88980af5160a51fec5a2357b3507a920ef34a336af6f40b4aa7e5a +size 131425 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/005.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..caed86c1da0fd8074f2aa7a0b30543269212d3db --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3cd1184bf2b04fc9b3ffb899acc29cb80260ffc59c2fd353e78137d4219e112 +size 132034 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/006.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..86865b0849d52e3f09a6186b021fd15e5aa43e43 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fa5c736da649203de232d240bb50bf90e73845508a357ce4db04d24d9b180cda +size 130287 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/007.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..fed32b436ea221436c7f94121ba3f65f5eee16bc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb7d1d165e9253d13ff33e6ccf5c880c41b9cb584cc3610f3bc6ff4bca127687 +size 133299 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/008.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a361668297c37e30e114a24e9d190dc50fdc9f80 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5edeffd104bb8e35d757de19142be66b853df4eaf7952dc515a058f58713dfab +size 139641 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/009.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..8ad4f923ccc0ee230c48bafb3625cb3f0eae5871 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54662a5d0929c632901505f684f3bc901aa848b8fae48c6b5c1319155b4a805b +size 127532 diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/010.jpg b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e68094dc5464222549d21d48efae68b8fbe21588 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:21565ac384f18dea09898a6fb445042cc09d0b376fe931d0224b0fadc58c64ae +size 127165 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/004.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2e32a70f8e71fdece4cbec16b507fbe488042035 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57a01edbb7f6970a1a541b38361c919eb9e84fae80b5c7d58303903b20ea1328 +size 122113 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/000.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1c79d7f498eac947e4d9c8bb3f5ef4dbb5f6b686 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bfefea3825c4328e93b2f0799cad78c58e5488b2fdf48f684ea9f4834fbcf338 +size 128205 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/001.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0f40945c0c73632ffdfedded4f8af703a1cbc45a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:089a4522c0ffd188951470126850d352ef90d056efb0060fdd89ec6136bb0d6c +size 130346 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/002.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..58cef2f417525775ada5bc2d60bce2aba5978db8 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0501139628edbb3f793001bc0433a6aa6891949273c9be0dec0174022c2741b4 +size 131451 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/003.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..afb57e2dbe67ebb80f5b8847d57b20210bd8f27a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c1dfe71429bb62f514f459a1b4c4a77b8b12b8434fc6fe8639275c2068241b8 +size 118680 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/004.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6eddb5c6e28bdc703ba643eb2e1932c29cda675e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bb3770834aeeb3e28338800956ec20fe8deb94aa97c4e2c6be5a38b11fc7bd31 +size 122141 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/005.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a365f0f1b0540e59ad028fc812e8f31ce21019b0 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f003ea5c509cd48d4df87535380a8c3cd7a7af657f352f5c38619c8657559a69 +size 122954 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/006.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cf8b10fbfe27e7bdc1ec8469598e9a6fa44574d3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4ce4b462911202c116d9eb26bd169cadac6f59d7979d87b76cd0f2da1543973 +size 105146 diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/007.jpg b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..55e4190cf011c23593f76d8b8e9bf1d257b7fe2e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:48752daf03e46b341de7519ac32edc1672ab6b61337a593b629850bfc68f6b1d +size 103461 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/000.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..81f48be0d35eea7ecad328a397c49699542003e0 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b0021ab17b9c698dea4ffa50ab7c98c7bde3ff1690b42afe07d9d321924d0dea +size 127952 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/001.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9bfda9ff8642ac30a268a9f94a8799266e4d3cf1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:15c43bf1c94e93766262617331f7707f92b01b54862758564698d1020eadae3d +size 123923 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/002.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ddb8faec37871d0b91b177858bfbfd5dcfe40c8c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:705be6c92369199ef02781b0ae7679f266a6e419cb567c1dd439d5af8de3e54a +size 104475 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/003.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e65f42d89cc69d908b70d761883b1a3845b5c36f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ce97c13bd0ff6a670aba1bb47a5bc70c2ac5470626671962f58049837436753 +size 112531 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/004.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2064808005ad4e29d2f93b1146ff5c31481a0a8f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:08fbe0dc0b387d9de28bade13d85bc7bd6e5895121d6e93bf3909181c3d8974a +size 119036 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/005.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1141ac53164c7c3041815e6904c3ca98c931815a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63d58187eb7b57248672af5d9a72745bdbd3a0a390b071c8980dd6b9bc30c95b +size 148180 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/006.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1bfdfb8d0b8c4fe6fc57eb8dc92e345d13e7e98d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2f61e95546f8ac1a64299e61c821e55baa05fa88effa3d4824b38770506b92c5 +size 141163 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/007.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..65032953a2b6ee6fb79c88b5973e5c310ce3bbdf --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ee0350b0061752f0f7edf6d3962ea965eec21aee6913b55861e5ad048f44c62e +size 98757 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/008.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a78fb60710e47ce20dc9aef57465c9daf1a5687c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36a3d516a1915641c24542b6e204b987105c1dddab7cb9cd38a58424a3c7852f +size 98950 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/000.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..17e4d1ff2a30cb175a599d6cf99db921b5d239e9 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eae7c682be5a9163428956d52fcdcd0ca35987d17d3977f65d71e1e471d41ff7 +size 127911 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/001.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f36936bb3315a62efa192b057a64b21ee147fea4 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47fabc24b7c6c8ba1caf05edff3d75ba4c77dc99f02e9eaf146e90556fe485c1 +size 123970 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/002.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a64b6d723a71bf1889923f7f2e194a25d3e49ec4 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2a90c17f96fb10e789ad5100506c63bdda5c6058d8770e632475e90d8529c1ad +size 102113 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/003.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a22f5eb8f4178a07343f0b02e49145f372ade2cc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d4e5b9865ddf4aa269eac00173e50b16591d761cece72f1441f19ec2cadededb +size 106057 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/004.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..dcd19a644d0665d30f16a4c2b33efe5b97c5d065 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69313d82ced30436ac34a3a2df4e9b86cf606dc244e4604133031880a2f3f811 +size 107499 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/005.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cee46dd3e4ef5a856785e7a812df07d1c71f9893 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7fe2c0f399a1d3c7405273046ed76355fb0062a5519e18c04b4e7e6003d2bf1a +size 114640 diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/006.jpg b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b026f75f39bcef1de6e25593dedd7e36085f9616 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b40b5c9dcdebadfe3ebe61d823d3af5939804b3b9ac5ce4a54f08412897ac31a +size 114760 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/000.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a2d9a6f838a57535995b10cc46596bc0cb3645cc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6b55a20afcf05a548f7dcbd80c9082eec871d845e1d3427e6d8b9103d92d368 +size 106954 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/001.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..52053a2998ea469b7a49f36aadf1db54621fc6de --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5fe1a6913771dddde6bc088271512341504ff3a13dc7d5c35bc45216bdc4931 +size 106931 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/002.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1b4baa473a3d16c0cbc299f91884240174e7d3e7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c722d89b78e5e14e705c23f25ba1b29b41e700ebe07666cb35b50fa14f41bc3 +size 96795 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/003.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9408760b316b7ef145e419c9d70f7ed04de8c3dd --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c25d489774acfa28a1814afff1e7e1741a5930354e01add6c2096c130f6f16b +size 112367 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/004.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2ccab717333750c5162b4fbc9dd00607258476b7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9520e89fe3947eb18be905f597c41daec7ad2713bee5f04daa42ea3fcdceb2c4 +size 124303 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/005.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9f7ddc39490470b11dd4c539b3ee35d89abadfa2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1058eff288b82032a29c6dcf8102a5d77e4facee7cbe9154ed9c1dc539d54855 +size 125956 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/006.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f9e247d340f96b2c303d25d6a999a6c6366032d2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a8684072e0da15070adb30bb0f8b1f872c07dd65923fb62bbc123d82ab00730e +size 115894 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/007.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..4af9bdf8c350728fd2a58df5745ec513cdcb223a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:05149665277f57dd9632cc7aa67bab5bcd5c746aaafe7323cfca01c4be3843b3 +size 106450 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/008.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e7f53368b15d0f9131573cc5022e32e93ab91f49 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ae287252e31c151d57bfbf19bcfaa50ac98ee77dd51d686fdb94c1f0b0c79f6a +size 101683 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/009.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ea249f55ea90d1455932b256f32197a191dd7876 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b5bfe0dd6340a108f44445dc6aee481e80fe651a74fc54ab72c7b2e439f55cf +size 107146 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/010.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..31bcc6cb2c8f14f2e86d748c4883b812ecf148f8 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4846a8bb22456ddf590b738533f4f48bd744c34b5b9358cb8b25c6dbd86372ed +size 102592 diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/011.jpg b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/011.jpg new file mode 100644 index 0000000000000000000000000000000000000000..936ee0eb077413e2cb3cf0b8b90eb38721eb4594 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/011.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9fbe3ab04dde046e3877a72c052c1e56b67b05b5eee66081e9fe748b61f26324 +size 102500 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/000.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..74319b8e5f9476b44fd645bc54d81e62d768c9e5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bb6517672a8f3dc3aaf49fba31776c20f8aeea2a47851db03f2178efe46f2d3 +size 108899 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/001.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..541049a760b9197b34c2e0979815975b03dc937b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f3acb320c56005a452a7d6da730175b10d9d68715aa2efcd1525a1f2c68ef2f +size 115358 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/002.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2d2d6aef32ac77035fe6425448c853ecd43166a2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c08ef0a7c6b0da070eb57976f2e6f01ad23ac789539d01a6ff37f053b59aa6ac +size 114877 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/003.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..778ca66dfd2f18173d677ea63a658f559b00df21 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c08161ec28adb717e80ff41753813af8c9173215e7458790874658c96c094ac2 +size 118624 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/004.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ae7a502d673193df52f490903b1bc678759ea30a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bce723ffa93b6315fb37e92413662b1b51a2fda0035ab94aa688c7a05a2d030a +size 125838 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/005.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9f60b35cde37f0eebc7b0639e0719c4b3fd1fcbf --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d8ffa22e92ec93f8a753a3aa408171580c971e50735ae67d095b8073e3a7fc4 +size 122637 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/006.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b836ca1b7f688a82ad6cefbc534cda4250d7d413 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c9cc4ca0825d09e81d03e4ed47f766ca26fed781f1de701cecf6885e3fab397 +size 122081 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/000.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c32308c2db845ef75837b6dee35cde42d1d099c1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f8577d334b942609ef490e5143993f684518d56523347f27919aed0a53e5bdd +size 108941 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/001.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..fe726ca3bb187803c865b0d8043e343fad4a77e6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:10003b3a61478006d94e2ace640168dde48ee68d84cab6b202f5c17e64d4a1e1 +size 115721 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/003.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5f3782723d5424c7bb6d73719acc867a06025ee0 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42cb64e2a76e90f183ff334ea7409c01ae51793ac2b7a9a9fdc82741eb5832fd +size 116746 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/005.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..92a6bfa6e44e359df1b1794668860bae650f4186 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:94f75153e5d3a982b1f53e89534ab03eb4d6f4446ca56e4ca0562aec06ab207b +size 121516 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/006.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..770890829bfd3748db0054931ca216a6e9b8aaca --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:77037aae251e4cf0d8cf4a1b8dc6eab3fc9556fffbbb7cdb22192e8e2b93702a +size 120356 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/007.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..be3eb2da9dbc3c1c2e4ed2569731a3baecec22c1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed5b856d68eadb247c272f5a83a0a7dd279d7825e7e5aae5619ee9adf938c5e0 +size 118055 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/008.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1148f55b9701f13d4b089805a82ea338440a4ff3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:370958487833330aa353f6700b270d4147f595e859c769cbf9b450406d397241 +size 116313 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/009.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c044086da6932a0c81112ed629327272350925c9 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad29d31a4b48d2a734d102bfdbb64d86447dca24b4e65053fc8343b669272dbf +size 118167 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/010.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..4a369172bd2ee09fc41f69b98752204692bef378 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9950154e72f281e0d5fdfd45a2dd969aaa50c66dc5ce39dcb9d57785fdaa7942 +size 113455 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/011.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/011.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5e329ddabf21449b24144a360213a82fe224af12 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/011.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c739d950775f5eefbd775556028856e53f547b2b5083fecdd5900aca5d9b1d5 +size 120076 diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/012.jpg b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/012.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7462bb7e0761e76f02357d150add1025e05e6c50 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/012.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a10e17d549f53c00ddece622ad9bf35f69f3cf27e89b6e525473b67a4b6d2e23 +size 117176 diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/000.jpg b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ace19eb33d9d786d392366a865a23652b70664ba --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32a33afbcca25f85ce225445290ee11aca3cdc60f764e58e39790c6eec6c26b9 +size 119745 diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/001.jpg b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6233101fc33dfb5a6f1865bb67852104f1f03a89 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53ae2c8dfe82e8f2cd94c6451bca363760a2267d80adb89c1a23e60615cf0e77 +size 116020 diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/002.jpg b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c3536a8b9a272167c11d0f19a177bc118a05ee74 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:114d7903c3f78b5669cea5a92a99395b234a622bd939c3d8c428cfd37ec45fd4 +size 116132 diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/003.jpg b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b84dc83dc3c95ebe261a3779f8aea7375c8dc731 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed194610bb261ebc43f4ac0946a945da7b3a80a6a70746e69fb5430aa065dd58 +size 122418 diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/004.jpg b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b502681fcc45b62e49ba3f0e321f384f9ef84a7b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b946c6f7a42872ca6841ae2a41ba5e0e7dcfd7698a02e14aeb1fa6f31272a5db +size 126424 diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/005.jpg b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..96d3531a66c42f257684cdd258b339d206028881 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32999cb0216db99c54848c3fa2ac110fbc6f5731fcc0d7bba8a47ff3114cd16e +size 133946 diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/006.jpg b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0a186b0fe86e08a72d891c3d376aca38f841caaa --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34718476501a42e63a79d5dbe76246ef529fe74374283146e282a34b19d7d2d5 +size 127340 diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/007.jpg b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..3dbdf6a0b07f49b48f5b4ac1661ff02908ce74c6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:74112dc13cf18dbe6133e93515271ad6fec52574946a5871bcd7846f355fbdc7 +size 106037 diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/008.jpg b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9bbd4503a2df057da4ad2f58a745a0788e641e80 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5c7166a0943cd0ab977fe33b443cfc42818b3bf0a19120c018677ac7cb955379 +size 106103 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/000.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..00f298f1a52e679ae6661d53319507af818b7c58 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e56e0f3bb5259083dfd1c57043bf7f4c66230fe83053046377de41b00440473 +size 136180 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/001.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ce5c5b72fa35f55a6576791a51454f3b22ef5af4 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5179e0d1b027e593d519853c4e45e4ddcefc6c7e5a55e12714f7a623684fe93d +size 139563 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/002.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7a08210436c9ebdda2f988ccb9d71339a580accd --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8bc22d6c778a7cf145c45ad95d9949d058f2523970e98f2c72c0e1dd2474db3c +size 137557 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/003.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5b34288b40aaa3515982d9cbf5849a834685726a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ceabf75e273e31ab2bd37892c44d3b241554f26107e6a56ca62825be624d76d +size 140967 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/004.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..3cdadc252a180fd34c54a1f00678468f4334e4c6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66d489317a69c89715f0a8187d9946ceaf98d88a747aa837a083778e3d6f460d +size 132532 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/005.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..d6adc37caf89a11ccba3acaa5fa22d281281829b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4ae813a6eed87c50e95ed392aa977f160894668f7eaab18dda2468fc3b865fc +size 111757 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/006.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0c19b3bf6eae356496016152d4de436bf98fae53 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c2e533b886e0faf04fa29ab09f5c514d99640819e95f41e0f42d28c8cf9f2dec +size 110559 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/007.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2ccfeaf66b2f67becb7a046c07171ded88a9c249 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51334c4da02ff3ed5f5b63167e89eeead6d53026f1aa25010addca16d36bb330 +size 128709 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/008.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..fd683f8a98ba829d28fff917eab092d7b1a52d3c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0ca1f494cac4d129864d5ad355a854af8a686b0400f30a3d3a7775f8469c2146 +size 137455 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/009.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..01ad55a2f51e0b48bf3fe019795f4fcb02218b20 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d52951e12755ed53573d073b20369da9e01c1a29618af77ef80c887651342f9 +size 155423 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/010.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b7c15a71e4af3bc70b4e9d21532fb15d1dd23f3d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:af5d5432f7ba7bb2ad5b389a5dbf8a43ec2bd99ecfcec858c6f82ecc7aa0da12 +size 144397 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/011.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/011.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7a1574d815717a413d7a8021e749f50fae33eab3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/011.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c321f4bb2bfbc5dba773a3a412e67d86933107de8591c7131dda62a180a79f4 +size 147617 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/012.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/012.jpg new file mode 100644 index 0000000000000000000000000000000000000000..d5baa75c802609f1aa469f22a2b49dfc6be676db --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/012.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa71a8bdd5f0522185543ff38236ece220f0d9826aa2e26b3e6d8ad6bb9e85a0 +size 146370 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/013.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/013.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9b37681391bb17a96ec1281bfa9c35a686dc1411 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/013.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90d91b6a46d829c79dbfb62840137325d4977486b037be9d6445b8f0425fa05e +size 143094 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/014.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/014.jpg new file mode 100644 index 0000000000000000000000000000000000000000..66bd70a859b025dcdddd65280eed2e9abcab1972 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/014.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8712dca108c100a76f8df2376ef8852ae806c42dbd8883522d91bcaf351b78e5 +size 143880 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/015.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/015.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1267302f5eb08f8f5cdde217f559cc0adfe9b8f4 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/015.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:99212805a46b141ee9240548134ef9e351041095180fb6061ba325d6f6ea99fd +size 138052 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/016.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/016.jpg new file mode 100644 index 0000000000000000000000000000000000000000..aa59a4e7ef3ee0a7ae1f4e058701b725109e3a28 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/016.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6954dd93eadd869d9da7e23b235db7d4e237a74ee747a509aa61f4f5d6afb76 +size 143943 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/017.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/017.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1280e45eee9d3c43e21c750e24c8f7daef4b4d99 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/017.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4773c52fceab1657bb0cf4a2ebd22abe3ff68ff65be031871b869673f317357d +size 139115 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/018.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/018.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1f609d189384f044d61956e5acf4ae2a07a7374f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/018.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0463d0908db1e662a47998ab790925387f0b1bda070fa3c98176bf8ae1073de +size 151039 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/019.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/019.jpg new file mode 100644 index 0000000000000000000000000000000000000000..332c02e3572c295f610fbf758f20ce05b366fcf3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/019.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46a535c7ea04f2720224e525d6ab29591e247955d8478111ad131977a4da9f07 +size 149707 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/020.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/020.jpg new file mode 100644 index 0000000000000000000000000000000000000000..21d676a2db9777b2800419800b0858aa6dd916fc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/020.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6d0cccb3aa17ed3963197424a5a12637dd12111d4750b91ddf29d36e102a49c8 +size 134857 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/021.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/021.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ecfc8c516757f03639ffa5e20a913bb25804d84e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/021.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc9f254c3f6cbcb9945c183deda9c77950b4074bf7fec1ce900994f68c0b24f2 +size 130948 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/000.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a98558a1021fc11a157e6c65863666de6d09f822 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1c7dc78832f26e566602121e07d4f27675a25758239401a807df15d1ac959026 +size 136163 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/001.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..db77e770ec85ba1bce393d5f90a20992aabe63e9 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:04eba1fffeb4c14b41b79beb02f6191704056ce9556999664566720338aaa308 +size 143871 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/002.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..8908fdb3dcd8acda46a0f371f555247f34c93901 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eeda86b733286fea6728bb625d487a3c770732832a9e140649b0b9d3ce6f59fc +size 150524 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/003.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0de1b32299ff9ddb1cd442299f8cc3641e5b7020 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c79bcaf7076820ed79ccd5a7572978399b8aa812f13cced06261735a5d1c6158 +size 152339 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/004.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..89c77bead461e296324eac94cd3fd56c68c8f88f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:98d97fa761305adc88112b88ddbd504c5839af6292eb089db3674d3fc124b275 +size 151464 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/005.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c46941bea15e89c69bba98ce565ae2ee538f0255 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2eb5059ea6296a1d242509aabed8319eef6def023ae299edc7ae798b6861ca63 +size 150047 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/006.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..370c494b882de637a803537c1ad8eba9e43e6de7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a25be4d8cceae19bbba929eb40d0ccaad5918b3229b7de349b1b1c79c061b298 +size 149606 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/007.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1f4d4369327ccf73950efa36f1dcedc73b2dafb5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:18216f3dba16b584af9df250bc90c4ca5abc87d6dbf64823b862ac1131c95be9 +size 145651 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/008.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ce890c7c6199ab03726f71d3ff3f2af3a2bafe14 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c2c521bb929050ba64cd7b6a6dc8d87662e5dd86418d7292af63be235bc279f +size 141028 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/009.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..09935de01c1002c185e997463241bc02af52fe65 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:856b7737c95f76e7b6305905363423a793e4c08863aa2403e94b13e819680198 +size 139032 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/010.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6322a8fd1a35ef427bc6f1eb5f56ba63e065c9a0 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76749487e58dc71dfa79d401b8eb3080797a552e5e6217069ebc4f229f8d83f6 +size 146702 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/011.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/011.jpg new file mode 100644 index 0000000000000000000000000000000000000000..bda6ce0989ca0f9942bcd4a4b4d3ae21e1f1bade --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/011.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:09daecf7a0cf62d5497c2acd6d7a1162ea9b9e7c0846f6c06d69dbf5e367f582 +size 140895 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/012.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/012.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c2817945b5e1038501df4dd7baf2fade0f2f9d5f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/012.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a7d218a45ab599f606b3e49ae40650c37551c1d14174c9c92fe133ca466c4418 +size 151833 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/013.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/013.jpg new file mode 100644 index 0000000000000000000000000000000000000000..709017d3e2560c981995179a8b61794031b9a713 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/013.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7630f03546f1ea5755f8f603bbd9ddf13f826044cc39bdbc5833553d395ab138 +size 150158 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/000.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5bf7aa9f854f61ef674257cfe17f222f9b4db6ca --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca369e77b9925534517bf15c45555c00691772d64d4941eef6d237699ba15b29 +size 136166 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/001.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..503a421be56b58a7d5936ca458db74d3e630311e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:01ccdf6986fbf1b080b92ad8906190d563dee21aa2780acf66ad88a314267079 +size 143850 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/005.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0ef7f29b820dda0750b411b014920e1448c7e3ca --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9cf3366f739bcaaf57fd1d961983ff25fc13706f138587936277a88cc2b73ea9 +size 151275 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/006.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..36da671d40e3de97100fe3b2a2e897f70e79cadc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8571895f5985613f751d7330486277fac2b809f7b79cadb293a92c749066de0c +size 141859 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/007.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..38d37136025142111b6be9a6ece39b116b29aaf1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a28e1533406243faf6f43d1293b9ffa0ac572ebacf142ee63a50e7e1e292ee3d +size 144854 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/008.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b7fdee683e738c41626f10785316d4f860e05e80 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e02ea2343fa3408c336eed329c46af758b0258c942410ed52f1ef940dc38c7f2 +size 139491 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/009.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..14a1853841c3884fb82eacabcf03bcc3733e43f4 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:811dd92a49acefc63f32ce78853bef6ea9c9a4f876f0bc932817710139357b18 +size 140742 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/010.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7418dc4a292832509f6a378c5d5fd292f14b1c03 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1acddcc1f35203a41166ae8d3033e88b2c7d64e8c2143385074d5e56f41c693 +size 148572 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/011.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/011.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ebd1d16f4a8f2ea8995ca7d738ee82de535fbf0e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/011.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f8238dd67c2dda9e843be95cbc8945b8d27b6dbb166bf53da550110cd5d17d5 +size 143668 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/012.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/012.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f768139124dfca148f26266fe134186452eb9b68 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/012.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be41428d30352c299b7bf9eee17c970e4cfc13a9dad71b26162488f8c0e55e9f +size 152653 diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_d/004.jpg b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_d/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..3a769c5198742fa54b5ded27cb7c36a9f33b45dc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_d/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f74a4b4d2e47cff7e489ab733563db101b82b890b7dc7f165777035c0f29b09b +size 144962 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/000.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a1b71ada3ea3377cf997657b1c78bde0b7f0d970 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cc13befd0f57dc1b19484575dd3b16fd770f1439f3e637b7a86a7480fe7389f +size 47082 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/001.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..8f341d40b7b103d75dae144d7ca47a9ccc5c0be7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e7e1b3e6d3a410594dfdabb056ac060dd979ada9b81f86a45d664fd497869b1 +size 39669 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/002.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..d0d75bd50dd5326d4879b4ee9d2899ea25c92d12 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:375def1ccbd2b690d8d947e33a5a6303fe50ee67b235484eb463d10409f00977 +size 33549 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/003.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..4b1c0ecc18bbfde7a5a8016d22a44a8fc75f7460 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a3177ae827e87098120d7b4c75d2113c76ec1c21eae942120d6648eaf045712e +size 45327 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/004.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cd66ed0c640216da8b0091fcebcc60fa04a93e9e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc6007fef77fde0f512d9ae1dd6ec5383b10b8b8f6537e71492d65ae7881f455 +size 53611 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/005.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a48f1450f171688e618cf04ec6faee1edf404c2a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:944cfae45297223d408c203534c323f477d3e1116331cc6d389fad0e7ca4f495 +size 64364 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/006.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9babe5b6eebd33ca9b84f005447456b35257d74f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:69386185f4b18073b3f6ad427b7f056b6eed0a20dd171fdd88a5ee25bf99039a +size 65850 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/007.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..54dee27f8a9b16c3ec383e7ddd20104195f57b8c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8aa0fb092a0d4c4e35881af85d46a2da007262093f62db597678eff6d8a82c6a +size 80222 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/008.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6349810a058fa2778baf93c10bc1e8729f69b69b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d45747dcabb66807c4a536486147facb628fa1a2af744d2326477088b263c21 +size 98166 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/009.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..038451855adfd67ea8d9e1a00f08ab7c8cbdfaf1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6ed5ec7a59e7d7ec2cb3445e99dbb237cb1b7a28d8c6d7f4b9f1e69a6a75a294 +size 87250 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/010.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..3064f03e1e93df9d07640e16fdcec9360a5d27d4 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cebc0fe1a96778e775c68c3bcc84d45b02b6fdf62db8c66a128a5b21071098c0 +size 86381 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/011.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/011.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cc97743be3a642edab8e6dc9726e132851f2a064 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/011.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c495d854c44972d7fd97b908fd7f7ab8a365b23f7b69f60e46dd998fe67a08a6 +size 85252 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/012.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/012.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c881b4713ca444cd884f9c9bacb8b2423f5cb8d7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/012.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0e6b2e6af66c7f5b3c57ec36e7b4ddb5d6964b3cde7a9382518545b78d77c7a +size 99744 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/013.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/013.jpg new file mode 100644 index 0000000000000000000000000000000000000000..da687bdd25e7bff1ac937a530c85d036b2f606d7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/013.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e29bb3197c6dbe105c959005c7dd6a9e8d010dc89310d616046912d0fd7b92e4 +size 124746 diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/014.jpg b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/014.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1cc4ff506e4f62bbc39e3d08ed61ed518d902023 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/014.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:39e976ba7cbc6fd2e201a95213806c046863d216d2b9956b661174ddf3d771f5 +size 124038 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/000.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..673c962da2f0c9dc180caf9709dde2648dba2a73 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b86ce2536f07d34507aa30052edee8801b69a8d686927c839147fd0c6b117ad +size 33939 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/001.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..fabdba313754e6d0ba1f7d638a76ae25103b3a66 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a19427874f0557bb075afdbbad580b1ecdbf08bb42187a1751012aab98adcd92 +size 29584 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/002.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2b91a097fdcac29e547e8c720064bbf026c4dbf2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cc7a2d08f58e4aa4960626ed8b638a7a503189de5342a7757bab814bb2511e2 +size 43982 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/003.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..d21fede2b2a659aeff684d5df2097927e4cfc4c7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91929a0499b05e49fef6140fd37d5231d7357c112da7c927e60636dd9a68f849 +size 68293 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/004.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c5a7ed85a282f710a4296e301db6dbd227a4a6e6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:202c07c4d99fa7cbdcfc97e063d4b7c83a8dd01f16c0a3205432ae9c6c1bd12a +size 80622 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/005.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..4603697358d0000e5b718ffb11440da8c76fcc66 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03ba439f5d0e544da4cbf9be6721cf68b0f15ff29dc8def6fc102a187864944d +size 92241 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/006.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f656d9f735a2ef04a9807c3cc9c148ff290d50cd --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dc18667dd38c3fedb2e2dd24c50662df90aead97ada8c6434288cd55463a925e +size 100763 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/007.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..716b2366ca28e60ac021978a2a8c07d499fafb3d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a2f7917bc4cc4d555c3e5797b257f5b3bb4e12f1c11d86af5521d1232ed30948 +size 100408 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/008.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5b0d2e52c028ce628d5ced18785be5f231bfae10 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d5d4ea578ce9231446bd7311d2098d8921829e1e6f36b9aa358bde197ec6e133 +size 87537 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/009.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0bb29c183f521f3021b115460bcef264ecdc7af6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47a5473ac34e8dd1874ffd420bc19d6dbb5805579f86fcef20cbddc4bb551db6 +size 83827 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/010.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f26e07df801194136e83d00b1cb50749da3a6e20 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:015e568f2cca910960e46f2d9ca0bedb0c34258be0fb3fbaeb8f9593f567e369 +size 67574 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/011.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/011.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6fd49a5fb5287b95cd2081089c42c59fdc5b1d0f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/011.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63bc4872a983d078dbd02cd9b04ffeaceb4b3764e0e9cfef8dea488b68fb672a +size 71209 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/012.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/012.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e48e2503b430e2918a58d09843a5c5f78f3bdab6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/012.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e644c7e7a97653e6a852bb4982521948555037767556803dcf130de8c238c7d3 +size 81367 diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/013.jpg b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/013.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ea6106646f20b8a51ac405062bc775ccbd8d6bdd --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/013.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:31505ca0f83cf6dc77d858d4097fc992ae7dd8ecd80f3892b5be8e38eababf33 +size 81167 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/000.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6264425ef3d8d7ddb330ca4605bfc3d40ee37037 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7a5a20a6302f1e8437d6aa44372074eb3566c0ff7d7e7b31510d4e6e89db21de +size 102810 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/001.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..94642b8442e2f8dd0a6ccb92e2e510b7f22f71e7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d1a3bd96b170a73cca12e9b5393c177143a871f3425653c652306248aa0d6792 +size 108697 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/002.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..af9fc2725158eb96b6665180697a033d5f83f5ab --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8ed0a64b1db6bf9c178fd5112e7361e04f7544cd7b11663fc1691eab1c924c3d +size 108851 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/003.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..19e9b11729285d3f6015ebb421d9f57f6686e09f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12267e9b9a3234ade7c363fa0ba974b1912a58a742e7dad79ba88124bb8d48ab +size 102078 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/004.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e70165424e96aa7062f2d81d9cdbffb9a3c7996d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:92ab513a77d83d199a54888a952a258c1766b9cbb4e783e527e1cbaf62571f32 +size 107112 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/005.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a77fe311d11b47f78d81dc877f9c920508aebf37 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03073661f913000c03d7ffc100dd46fc892ae2eeefd698342fd4e5aac796f330 +size 105110 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/006.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..a48c858054d63dd763655d65e9683f4443da8af3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8a3afc857e4d339dd406cc11d65ee04d2ec1ba06adcd35080ec5160d92b689fd +size 103041 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/007.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..ccd9748703fc7feebd04a33aa1cbd1b60410bf82 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd4b1c7d954154ade9ba1d7f13839697265d3e6bbc525652367520cab96c899a +size 101883 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/008.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..c2569cbeff011a72447bbac76d5071266f05bd7c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:41616ae7895029595e2bcf9885b9026df9974b5aa88a55638e43b4da489e54af +size 97197 diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/009.jpg b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9e4878640ffc37361d7a1d43188ed4d1de5884d1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb420a694f552bc9da7ead6d7d08a6c58b25a3723a244d9ac0825a5aeb2c25e1 +size 96776 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/000.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e3fd086d16f0cc691e83a470c94b515a6cb1058c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa7357f557be60d16fa08e6d478c36b09f25d2501f2da6ad86d68e3973df9f30 +size 142558 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/001.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5ed339ab0100fe90ca0454cb5d08a8b421da0732 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2686d3608da866203859a4aad938d7d5c242e493615686b725f2dc3ea680b880 +size 142875 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/002.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..7ebe861561382b25806753800c59587580febddd --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6009d5d78f68ba546c59075d5a03169a4d3e48343edcac238ed97e4ae143e6df +size 132238 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/003.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..12c4a34a7ec14aa4075a65eff49ba93746185765 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4bbd37be3cb3110a3e6b87b43d6d550920a219d40f0685b3ddf762437ff2762d +size 120924 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/004.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/004.jpg new file mode 100644 index 0000000000000000000000000000000000000000..b516ac252dd86b6fcb2d49a37b138ab785fff105 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/004.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e58f5b470ebb27e042a2db0a8c367da9c68893a92ac7786b7d1165664fd7f4b1 +size 114739 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/005.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/005.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cdc2dd15f82215b31446b88ac0d1b19cbfb8834b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/005.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a1504801f2a2a3040d60fa42438f64549bf90a7a75e14897e9393af1f8f8c2cd +size 116983 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/006.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/006.jpg new file mode 100644 index 0000000000000000000000000000000000000000..995b75258ae0f1600713d53b43d8bc96676ae53e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/006.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9a2c345b081f5169712ceefc6b7353dc7d1ef4cb911f5df0a9e00391ea25caf6 +size 114488 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/007.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/007.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0d150974b88b6c4aff0b9486191b97e28b0f8d1e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/007.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:994930f2ea620bfb19c4ea6481c4add4a4059a072901fc3ba49acb930b9360cc +size 114857 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/008.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/008.jpg new file mode 100644 index 0000000000000000000000000000000000000000..f9cc342870c8263259e8639865a6020d5c3205d3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/008.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed355e51edce664a3522914a4c9eea0f2aa169dde9380e5dcf7fd2ce7afe9940 +size 111757 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/009.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/009.jpg new file mode 100644 index 0000000000000000000000000000000000000000..bfbba32605ceb1279d2e37d92fbe48285eeebc48 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/009.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d5719ce0fe15e30f3d8e9f4cd5b1837c113d3ebde992e3910662da7eb44f4b9 +size 114814 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/010.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/010.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1c480d79e65c6dad2fe3f37b49cb3d4db42cf333 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/010.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d361b6a713b821b93d45187eb6109891a395b32720787ed163da41f6b6847764 +size 131698 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/011.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/011.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0ea028db371e3aab7ccd2e253db50b794f238677 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/011.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2efebdd8f94b89eb0733174ce43d777666b31c1fce4deb93f221f43186112128 +size 131694 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/012.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/012.jpg new file mode 100644 index 0000000000000000000000000000000000000000..9395cf9d2cf157829c71ded8d452e9336ab6140c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/012.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:713fcac7d7f676d22bd940e3f3b146b8e46d5252c21228f6639dbdd91a21a7bb +size 130825 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/013.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/013.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5fc5446d431439af1789153cee63cc72dd622aaf --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/013.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6b3a29a64fa966315d4d817db61f113a46f610b2bf4aa6c08b482fc2a533ce6 +size 138008 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/014.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/014.jpg new file mode 100644 index 0000000000000000000000000000000000000000..18999733359ad7c01578d6f25355db7724d6453e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/014.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:55f0ed3079e07d35738d6f2c976d7e96edae9469b4aaf90cc497ac9f0271c035 +size 139621 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/015.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/015.jpg new file mode 100644 index 0000000000000000000000000000000000000000..1cb0d90660aafd5b206c7d1f1aaa25c13d4d237c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/015.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6bdf0ea9f51368ea654289d89be4994ed5bafa9fd52f338dde676f9f92b0eb04 +size 128726 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/016.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/016.jpg new file mode 100644 index 0000000000000000000000000000000000000000..2349d4efa889f822a339c6a267634639c642f19c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/016.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5da3a6ad64e2c5733a74f707e35888bd54fe982dd0df8d00894e42801a7b3d0 +size 131640 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/017.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/017.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e6210e9ac23d8b221e077509889f071b9bd0118d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/017.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:315d883e1e9116cdbd9681cd513dc3b43fd7c800ddd5a8fe1d8d12bf53b16c96 +size 133323 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/018.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/018.jpg new file mode 100644 index 0000000000000000000000000000000000000000..cc53c3c872d6bcca5f978871de41fc13955bfaac --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/018.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:053306ad8fdb2d5fe4218fce8920bd1746836493712421739547f2734f5f10a0 +size 129678 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/019.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/019.jpg new file mode 100644 index 0000000000000000000000000000000000000000..616ffa3bdad937415fffc2b52d116ac9753d0c96 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/019.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83c4a9e94257c04a4e9bc11c2c3fb59869c576ff3bd4e2052e7a5ab18c213023 +size 121329 diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/020.jpg b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/020.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5e866e55b049bbb9ca80419c8775531e9c5ec659 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/020.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8d87a500cb94bd5370b7f6658aef47a9ec5e89d9d5ca04bc5549fa37548ab5e2 +size 121253 diff --git a/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_a_p/infos.json b/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d85b0d9c4443f16c2490e1321919f5aa760e40f8 --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the plate near the bottom of the stone stairs on the left side.", + "Type": 5, + "Start_Pose": [ + -2171.207, + 3671.474, + 98.25, + 0, + 40, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1377.899, + 3821.541, + 48.25, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2171.207, + 3671.474, + 98.25, + 0, + 40, + 0 + ], + [ + -2074.793, + 3752.375, + 98.25, + 0.0, + 40.0, + -0.0 + ], + [ + -2074.793, + 3752.375, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1953.223, + 3784.949, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1831.653, + 3817.524, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1710.082, + 3850.099, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1588.512, + 3882.674, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1588.512, + 3882.674, + 98.25, + 0.0, + -10.0, + 0.0 + ], + [ + -1464.565, + 3860.818, + 98.25, + 0.0, + -10.0, + 0.0 + ], + [ + -1464.565, + 3860.818, + 98.25, + 0.0, + -10.0, + 0.0 + ], + [ + -1464.565, + 3860.818, + 98.25, + 0.0, + -10.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1377.899, + 3821.541, + 48.25, + 90.0, + 0.0, + 0.0 + ], + [ + -1377.899, + 3821.541, + 48.25, + 90.0, + 0.0, + 0.0 + ], + [ + -1377.899, + 3821.541, + 48.25, + 90.0, + 0.0, + 0.0 + ], + [ + -1377.899, + 3821.541, + 48.25, + 90.0, + 0.0, + 0.0 + ], + [ + -1377.899, + 3821.541, + 48.25, + 90.0, + 0.0, + 0.0 + ], + [ + -1377.899, + 3821.541, + 48.25, + 90.0, + 0.0, + 0.0 + ], + [ + -1377.899, + 3821.541, + 48.25, + 90.0, + 0.0, + 0.0 + ], + [ + -1377.899, + 3821.541, + 48.25, + 90.0, + 0.0, + 0.0 + ], + [ + -1377.899, + 3821.541, + 48.25, + 90.0, + 0.0, + 0.0 + ], + [ + -1461.457, + 3881.954, + 68.356, + -28.202, + 40.144, + 1.862 + ], + [ + -1461.457, + 3881.954, + 68.356, + -28.202, + 40.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 807.4, + 700.3, + 700.3, + 576.5, + 453.8, + 333.4, + 219.3, + 219.3, + 95.2, + 21.4, + 21.4 + ], + "Rationale": [ + "A white plate rests upright in the sand ahead on the left, but the stone stairs mentioned in the task are hidden behind the buildings on that side. I will walk forward across the open sand to close distance and bring that left-hand area into clearer view.", + "Moving up has brought me nearer, but the plate now sits far to the left edge of my view and the left-side architecture is cut off. I will turn left to center that region and check whether the stone stairs lie behind it.", + "The turn revealed the stone staircase on the left with the upright plate sitting in the sand just below its lowest steps, matching the target description. I will walk forward along the sandy lane to close the remaining gap.", + "The plate near the foot of the stairs is growing larger and stays roughly ahead and slightly left, so my heading is still good. I will keep walking forward since the target is still several strides away.", + "The plate at the base of the stone steps is clearly closer now but remains out of reach for a grasp. I will continue stepping forward across the sand to shorten that distance.", + "The plate fills more of the left side of my view, so I am close but not yet within comfortable reach. I will advance one more stride toward the base of the stairs before attempting anything.", + "The plate has drifted to the lower left corner of my view and is nearly leaving it, which would make a grasp unreliable. I will turn left to bring the plate back to the center of my facing.", + "The turn has centered the plate in front of me at the foot of the stone steps, with clear sand between us. I will take one short step forward so the plate should come within reach for picking it up.", + "The plate at the foot of the stone stairs now fills the lower left of my view, close enough that no further stepping is needed. My hands are still empty, so I will reach out and try to grasp it now.", + "The plate is now held in my hands, lifted clear of the sand. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_a_pd/infos.json b/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c87dbf0e05a9000843b707ebf59677f79c8f315 --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_a_pd/infos.json @@ -0,0 +1,544 @@ +{ + "Instruction": "Pick up the metal bucket from the bottom of the stone stairs on the left side, then place it near the arched doorway with the lattice screen on the right.", + "Type": 5, + "Start_Pose": [ + -2171.207, + 3671.474, + 98.25, + 0, + 40, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1270.551, + 3776.441, + 48.25, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2171.207, + 3671.474, + 98.25, + 0, + 40, + 0 + ], + [ + -2074.793, + 3752.375, + 98.25, + 0.0, + 40.0, + -0.0 + ], + [ + -2074.793, + 3752.375, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1953.223, + 3784.949, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1831.653, + 3817.524, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1710.082, + 3850.099, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1588.512, + 3882.674, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1588.512, + 3882.674, + 98.25, + 0.0, + -10.0, + 0.0 + ], + [ + -1464.565, + 3860.818, + 98.25, + 0.0, + -10.0, + 0.0 + ], + [ + -1340.618, + 3838.963, + 98.25, + 0.0, + -10.0, + 0.0 + ], + [ + -1340.618, + 3838.963, + 98.25, + 0.0, + -10.0, + 0.0 + ], + [ + -1340.618, + 3838.963, + 98.25, + 0.0, + 15.0, + -0.0 + ], + [ + -1340.618, + 3838.963, + 98.25, + 0.0, + 40.0, + -0.0 + ], + [ + -1340.618, + 3838.963, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -1340.618, + 3838.963, + 98.25, + 0.0, + 90.0, + -0.0 + ], + [ + -1340.618, + 3838.963, + 98.25, + 0.0, + 115.0, + -0.0 + ], + [ + -1340.618, + 3838.963, + 98.25, + 0.0, + 140.0, + -0.0 + ], + [ + -1437.031, + 3919.864, + 98.25, + 0.0, + 140.0, + -0.0 + ], + [ + -1533.444, + 4000.765, + 98.25, + 0.0, + 140.0, + -0.0 + ], + [ + -1629.858, + 4081.666, + 98.25, + 0.0, + 140.0, + -0.0 + ], + [ + -1726.271, + 4162.567, + 98.25, + 0.0, + 140.0, + -0.0 + ], + [ + -1726.271, + 4162.567, + 98.25, + 0.0, + 115.0, + -0.0 + ], + [ + -1779.461, + 4276.634, + 98.639, + 0.0, + 115.0, + -0.0 + ], + [ + -1832.651, + 4390.701, + 98.639, + 0.0, + 115.0, + -0.0 + ], + [ + -1885.841, + 4504.768, + 98.639, + 0.0, + 115.0, + -0.0 + ], + [ + -1855.413, + 4439.514, + 98.639, + 0.0, + 115.0, + -0.0 + ], + [ + -1855.413, + 4439.514, + 98.639, + 0.0, + 115.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1270.551, + 3776.441, + 48.25, + 0.0, + 0.0, + 0.0 + ], + [ + -1337.511, + 3860.099, + 68.356, + -28.202, + 40.144, + 1.862 + ], + [ + -1346.989, + 3860.355, + 68.629, + -28.189, + 65.157, + 1.872 + ], + [ + -1354.978, + 3856.316, + 67.962, + -28.215, + 90.127, + 1.849 + ], + [ + -1362.363, + 3855.136, + 68.016, + -14.092, + 107.344, + 6.87 + ], + [ + -1362.084, + 3838.526, + 68.032, + -28.208, + 140.142, + 1.851 + ], + [ + -1360.796, + 3828.974, + 68.7, + -28.198, + 165.146, + 1.867 + ], + [ + -1355.481, + 3821.509, + 68.347, + -28.195, + -169.855, + 1.865 + ], + [ + -1450.063, + 3902.922, + 68.757, + -28.195, + -169.851, + 1.87 + ], + [ + -1546.376, + 3983.741, + 68.984, + -28.197, + -169.857, + 1.87 + ], + [ + -1642.873, + 4064.716, + 68.848, + -28.211, + -169.862, + 1.853 + ], + [ + -1739.518, + 4145.804, + 68.392, + -28.199, + -169.855, + 1.863 + ], + [ + -1744.52, + 4153.389, + 68.603, + -28.192, + 165.155, + 1.866 + ], + [ + -1798.389, + 4266.686, + 69.328, + -28.197, + 165.148, + 1.866 + ], + [ + -1851.591, + 4380.788, + 69.35, + -28.193, + 165.149, + 1.871 + ], + [ + -1904.873, + 4495.066, + 69.007, + -28.205, + 165.14, + 1.864 + ], + [ + -1884.996, + 4502.956, + 58.639, + 0.0, + 115.0, + -0.0 + ], + [ + -1884.996, + 4502.956, + 58.639, + 0.0, + 115.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 906.8, + 804.6, + 804.6, + 682.7, + 562.6, + 445.7, + 335.2, + 335.2, + 211.6, + 93.9, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 21.4, + 21.4, + 20.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket is visible far ahead on the left, sitting on the pale stone at the foot of the stairs. It is much too distant to grasp, so I will walk straight forward across the sand to cut down that gap before refining my heading.", + "After closing some distance, the bucket now sits well off to my left edge while my heading points along the white wall to the right. I will turn left so the stairs and the bucket move toward the center of my view and I can advance directly at them.", + "The turn has brought the stone staircase and the bucket at its base into the left half of my view with clear sand between us. I will walk forward along this heading to keep shrinking the distance to the bucket.", + "The bucket beside the low stone steps is noticeably larger than a moment ago, confirming my heading is carrying me toward it. Still well out of reach, so I will take another step forward.", + "The bucket now stands clearly on the stone landing to my left front, but it is still several strides away. I will continue walking forward to close in before adjusting my facing for the grasp.", + "The bucket has drifted further into the left portion of my view as I near the staircase, showing I am nearly abreast of it. One more forward step should bring me close enough that only a small turn is needed.", + "I am now level with the bottom of the stairs, but the bucket sits at my far left while my body still faces down the sandy corridor. I will turn left to put the bucket squarely in front of me for a clean approach.", + "The turn has centered the metal bucket on its stone step directly ahead of me. It is still a short distance beyond arm's reach, so I will step forward to get within grasping range.", + "The metal bucket now sits just ahead and slightly left, resting on the pale step at the foot of the stone stairs. It is still a stride too far for a reliable grasp, so I walk forward once more to close that last gap.", + "The bucket rim fills the near left of my view, close enough that its interior is visible over the bottom step. Nothing stands between me and it, so I will attempt the grasp now rather than adjust my stance further.", + "The grasp worked: the bucket is now in my hands and no longer resting on the stair step. The arched doorway with the lattice screen lies well behind my current heading, on the opposite side of the courtyard, so I begin swinging right to face back toward it.", + "Carrying the bucket, I am still looking at the blue stair block and the narrow passage beside it, which is not the side where the lattice doorway stands. I continue rotating right to keep sweeping my heading toward the sunlit courtyard.", + "My heading now falls on the plain white wall with its metal frieze, with only open sand in front of me. The arched entrances I need are further around to my right, so I turn again to keep bringing them into view.", + "I face a blank stretch of wall and frieze, but pale paving stones are appearing at the right edge, hinting that the entrance side is close. Another turn right should bring the arched openings squarely ahead of me.", + "A tiled niche and the first scattered paving slabs are now centered, with a lantern and deeper archway just beyond the right edge. I turn right once more to line my heading up with that row of arched openings before walking there with the bucket.", + "The tall arch with the red lattice screen and hanging lantern is visible ahead but still sits left of my center, with the paved approach angling away to the right. One more turn right should set a heading that lets me walk the stone path straight toward that doorway.", + "The bucket is still in my hands after the grasp, and my turning has brought the long pillared gallery of arched entries into view ahead and to my left. The archway fitted with the red lattice screen lies further along this colonnade, so I will walk forward over the open sand to close that distance.", + "Carrying the bucket, I can now see the lattice-screened opening more distinctly among the arches on my left, with its hanging pendants above the threshold. Nothing blocks the sandy strip in front of me, so another step forward should bring the target doorway within placing range.", + "The bucket remains with me and the red lattice panel over the arched entry is now clearly the nearest of the openings on my left. Scattered paving slabs mark the approach to that threshold, so I will keep walking forward along them.", + "The lattice screen and its fringe of pendants now fill the arch just off my left shoulder, and the interior floor is visible through it. I am still slightly short of the opening, so I will advance one more step along the paving before turning toward it.", + "The lattice-screened archway now sits off to my left rather than in front of me, so continuing straight would carry me past it. I will turn left to bring the opening squarely ahead and line up my carried bucket with the place it belongs.", + "The turn has centred the arched opening with its red lattice screen directly ahead, framed between the tiled pillars. Still holding the bucket, I will step forward onto the paving toward that threshold to reach a spot close enough for setting it down.", + "The lattice screen is now overhead at the arch mouth and the shadowed interior with its spiral column is open in front of me. The bucket is still in my hands, so I will step forward again to reach the threshold area rather than leave it out on the sand.", + "I have passed under the lattice screen and stand at the edge of the paved interior beside the doorway pillar, bucket still in hand. One more step forward should put me on firm ground clear of the jamb, a suitable spot near the arched doorway to release it.", + "The bucket is still in my hands and I have just carried it through the lattice-screened arch, with the paved floor of the doorway threshold right in front of me. This is the placement spot the task names, so I will release the bucket here and it should come to rest on the ground beside the arch.", + "The metal bucket now stands on the floor at the lattice-screened arched doorway, out of my hands. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_b_p/infos.json b/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fbac338162d290ec83eea0c8c04f2183d49c140f --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_b_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the jerry can near the side doorway with the teal ornamental frame.", + "Type": 5, + "Start_Pose": [ + -2171.207, + 3671.474, + 98.25, + 0, + 40, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1891.541, + 4536.951, + 22.582, + 0, + 60, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2171.207, + 3671.474, + 98.25, + 0, + 40, + 0 + ], + [ + -2074.793, + 3752.375, + 98.25, + 0.0, + 40.0, + -0.0 + ], + [ + -2074.793, + 3752.375, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -2021.603, + 3866.442, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -1968.413, + 3980.509, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -1915.222, + 4094.576, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -1915.222, + 4094.576, + 98.25, + 0.0, + 90.0, + -0.0 + ], + [ + -1915.222, + 4220.435, + 98.593, + 0.0, + 90.0, + -0.0 + ], + [ + -1915.222, + 4346.294, + 98.593, + 0.0, + 90.0, + -0.0 + ], + [ + -1915.222, + 4346.294, + 98.593, + 0.0, + 90.0, + -0.0 + ], + [ + -1915.222, + 4346.294, + 98.593, + 0.0, + 90.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1891.541, + 4536.951, + 22.582, + 0.0, + 60.0, + -0.0 + ], + [ + -1891.541, + 4536.951, + 22.582, + 0.0, + 60.0, + -0.0 + ], + [ + -1891.541, + 4536.951, + 22.582, + 0.0, + 60.0, + -0.0 + ], + [ + -1891.541, + 4536.951, + 22.582, + 0.0, + 60.0, + -0.0 + ], + [ + -1891.541, + 4536.951, + 22.582, + 0.0, + 60.0, + -0.0 + ], + [ + -1891.541, + 4536.951, + 22.582, + 0.0, + 60.0, + -0.0 + ], + [ + -1891.541, + 4536.951, + 22.582, + 0.0, + 60.0, + -0.0 + ], + [ + -1891.541, + 4536.951, + 22.582, + 0.0, + 60.0, + -0.0 + ], + [ + -1891.541, + 4536.951, + 22.582, + 0.0, + 60.0, + -0.0 + ], + [ + -1936.576, + 4345.684, + 68.756, + -28.202, + 140.144, + 1.862 + ], + [ + -1936.576, + 4345.684, + 68.756, + -28.202, + 140.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 909.5, + 805.7, + 805.7, + 683.0, + 561.7, + 443.0, + 443.0, + 317.4, + 192.1, + 21.4, + 21.4 + ], + "Rationale": [ + "From the sand courtyard I can see the row of teal framed arches along the wall to my right, with a small reddish can sitting in the recessed side doorway far ahead. It is much too distant to reach, so I will walk forward along the open sand to close the gap before refining my heading.", + "The jerry can and its teal framed doorway now sit far over on the right edge of my view, while my heading still points down the courtyard past them. I will turn right so the target archway moves toward the center of my view and my forward path leads to it.", + "The archway with the hanging lantern and its teal decorated frame is now roughly centered, and the small red jerry can stands on the paving just inside it. The paved stones between me and the doorway look clear, so I will walk straight forward to shorten the distance.", + "The can has grown larger and its doorway is clearly ahead, but it still sits several paces beyond the sand and stone edge. Nothing blocks the line between me and the threshold, so I will keep walking forward to bring the can into reach.", + "I am now close enough to make out the ridged sides of the jerry can standing in the shadowed opening, yet it is still beyond arm's length. I will advance again over the flagstones to keep closing on the doorway.", + "The can sits right of my center, tucked inside the narrow passage between the teal columns, so walking straight now would carry me into the wall pier instead of the opening. I will turn right to square myself with the passage and put the can directly ahead.", + "The passage is now framed squarely in front of me with the jerry can standing just inside on the tiled floor. With a clear run of flagstones between us, I will step forward to close the remaining distance for a grasp.", + "The jerry can now fills a good part of the lower view at the threshold of the narrow passage, but it still looks a step beyond comfortable reach. I will take one more step forward so it sits close in front of me before attempting to lift it.", + "The red jerry can now stands directly in front of me at the threshold of the side doorway with the teal ornamental frame, close enough that it fills the lower center of my view. My hands are still empty and nothing blocks the space between us, so I will reach out and attempt to grasp it.", + "The jerry can is now held in my hands rather than resting at the doorway. The task's pickup condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_b_pd/infos.json b/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d8f111f34a7c89788e1ae9b81084174ede2b3873 --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x-002171_y003671_z000098_t5_b_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Pick up the ceramic vase from the side doorway with the teal-framed columns, then place it at the base of the stone railing on the far left.", + "Type": 5, + "Start_Pose": [ + -2171.207, + 3671.474, + 98.25, + 0, + 40, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2003.315, + 4341.728, + 28.65, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2171.207, + 3671.474, + 98.25, + 0, + 40, + 0 + ], + [ + -2171.207, + 3671.474, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -2118.017, + 3785.541, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -2064.826, + 3899.608, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -2011.636, + 4013.675, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -1958.446, + 4127.742, + 98.25, + 0.0, + 65.0, + -0.0 + ], + [ + -1958.446, + 4127.742, + 98.25, + 0.0, + 90.0, + -0.0 + ], + [ + -1958.446, + 4127.742, + 98.25, + 0.0, + 90.0, + -0.0 + ], + [ + -1958.446, + 4253.601, + 98.541, + 0.0, + 90.0, + -0.0 + ], + [ + -1958.446, + 4253.601, + 98.541, + 0.0, + 90.0, + -0.0 + ], + [ + -1958.446, + 4253.601, + 98.541, + 0.0, + 65.0, + -0.0 + ], + [ + -1958.446, + 4253.601, + 98.541, + 0.0, + 40.0, + -0.0 + ], + [ + -1958.446, + 4253.601, + 98.541, + 0.0, + 15.0, + -0.0 + ], + [ + -1958.446, + 4253.601, + 98.541, + 0.0, + -10.0, + 0.0 + ], + [ + -1958.446, + 4253.601, + 98.541, + 0.0, + -35.0, + 0.0 + ], + [ + -1855.348, + 4181.412, + 98.25, + 0.0, + -35.0, + 0.0 + ], + [ + -1752.25, + 4109.223, + 98.25, + 0.0, + -35.0, + 0.0 + ], + [ + -1649.152, + 4037.033, + 98.25, + 0.0, + -35.0, + 0.0 + ], + [ + -1546.054, + 3964.844, + 98.25, + 0.0, + -35.0, + 0.0 + ], + [ + -1442.956, + 3892.655, + 98.25, + 0.0, + -35.0, + 0.0 + ], + [ + -1339.858, + 3820.465, + 98.25, + 0.0, + -35.0, + 0.0 + ], + [ + -1398.837, + 3861.763, + 98.25, + 0.0, + -35.0, + 0.0 + ], + [ + -1398.837, + 3861.763, + 98.25, + 0.0, + -35.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2003.315, + 4341.728, + 28.65, + 0.0, + 0.0, + 0.0 + ], + [ + -2003.315, + 4341.728, + 28.65, + 0.0, + 0.0, + 0.0 + ], + [ + -2003.315, + 4341.728, + 28.65, + 0.0, + 0.0, + 0.0 + ], + [ + -2003.315, + 4341.728, + 28.65, + 0.0, + 0.0, + 0.0 + ], + [ + -2003.315, + 4341.728, + 28.65, + 0.0, + 0.0, + 0.0 + ], + [ + -2003.315, + 4341.728, + 28.65, + 0.0, + 0.0, + 0.0 + ], + [ + -2003.315, + 4341.728, + 28.65, + 0.0, + 0.0, + 0.0 + ], + [ + -2003.315, + 4341.728, + 28.65, + 0.0, + 0.0, + 0.0 + ], + [ + -2003.315, + 4341.728, + 28.65, + 0.0, + 0.0, + 0.0 + ], + [ + -1979.8, + 4252.991, + 68.756, + -28.202, + 140.145, + 1.862 + ], + [ + -1977.196, + 4261.665, + 69.029, + -28.189, + 115.157, + 1.872 + ], + [ + -1971.293, + 4269.156, + 68.362, + -28.215, + 90.128, + 1.849 + ], + [ + -1960.185, + 4281.058, + 68.543, + -14.175, + 57.193, + 6.959 + ], + [ + -1955.19, + 4274.34, + 68.432, + -28.208, + 40.143, + 1.851 + ], + [ + -1947.313, + 4270.07, + 69.1, + -28.198, + 15.146, + 1.867 + ], + [ + -1843.518, + 4199.2, + 68.17, + -28.198, + 15.146, + 1.862 + ], + [ + -1740.255, + 4126.892, + 67.783, + -28.202, + 15.142, + 1.86 + ], + [ + -1637.189, + 4054.728, + 67.897, + -28.201, + 15.145, + 1.857 + ], + [ + -1534.297, + 3982.677, + 68.275, + -28.206, + 15.139, + 1.858 + ], + [ + -1431.417, + 3910.647, + 68.699, + -28.192, + 15.152, + 1.869 + ], + [ + -1328.467, + 3838.554, + 68.967, + -28.203, + 15.142, + 1.863 + ], + [ + -1341.496, + 3821.613, + 38.25, + 0.0, + -35.0, + 0.0 + ], + [ + -1341.496, + 3821.613, + 38.25, + 0.0, + -35.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 691.0, + 691.0, + 567.9, + 446.4, + 328.2, + 218.6, + 218.6, + 218.6, + 98.9, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic vase stands well off to my right, on the paving beside the arched side doorway framed by teal columns, while my heading points along the wall instead. I will turn right to put that doorway and the vase near the center of my view before walking toward them.", + "The arched side doorway with its teal columns now sits ahead of me, with the ceramic vase standing on the pale paving just in front of it. It is still far across the open sand, so I will walk forward to close that gap.", + "The vase and the columned doorway have grown noticeably larger, so my heading is carrying me straight toward them. I am still out on the sand well short of the paved threshold, so I continue walking forward.", + "The tiled floor inside the doorway is now visible and the vase stands just right of the opening, but it remains several paces off. Another step forward should bring me onto the paving near it.", + "I am close to the paved threshold now, with the ceramic vase standing to the right of the arched opening and its pattern clearly visible. It is still slightly too far for a grasp, so I will advance one more step to stand beside it.", + "The ceramic vase is standing at the very right edge of my view, cut off by the frame, while I am facing straight into the teal-framed side doorway. I will turn right so the vase sits centered ahead of me instead of at the periphery, which should give me a clean line for the grasp.", + "The vase is now framed in front of me, standing on the paving slabs just right of the doorway opening. It looks reachable from here, so I will attempt to grasp it rather than spend another step closing in.", + "My grasp attempt did not take hold, since my hands are still empty. That tells me I judged the reach wrong and I am still short of it. I will step forward to close the remaining gap before trying again.", + "After stepping in, the vase now fills the right side of my view at arm's length, far closer than when my earlier grasp failed. From this distance the reach should be valid, so I will try to pick it up again.", + "The grasp worked this time, as the vase is now in my hands rather than resting on the slabs. The stone railing I must reach lies well off to my left, away from this doorway. I will turn left to begin swinging my heading toward it.", + "The vase is secured in my hands, so the doorway alcove ahead no longer matters and I need the far-left railing instead. From this heading I still only see the teal-framed columns and paving of the side entrance, with no railing in view. I will keep rotating left to sweep my heading toward the far side of the courtyard.", + "Rotating has brought the white facade and its arched passage into view, but the stone railing I must reach is still outside my heading. Carrying the vase, I have no reason to stop on this stretch of wall. Another left turn should continue sweeping my view toward the open courtyard on the far side.", + "The courtyard is opening up on my left, where a blue balustrade and low steps are now entering the frame at the edge. That matches the stone railing I must deliver the vase to, but it sits too far left to walk straight at. I will turn left again to bring it nearer the centre of my heading.", + "The stone balustrade and its short flight of steps are clearly visible now, but still off toward the left of my heading rather than straight ahead. A straight walk from here would drift past them across the sand. One more left rotation should line my heading up with the base of that railing.", + "The stone railing with its steps now lies ahead of me across the open sand, roughly on my heading. With the vase in hand, the remaining work is distance rather than aim. I will walk forward to close on the base of that railing.", + "The vase is in my hands and travels with me, so I only need to close the remaining distance to the drop site. Ahead on the left stand the balustraded terrace and its short flight of steps, still several paces off across open sand. I will keep walking straight toward that railing base.", + "The railing posts and the steps have grown noticeably larger and now sit near the center of my view, confirming my heading leads straight to them. The carried vase is still with me and nothing blocks the sand ahead. I will advance again to shorten the gap.", + "I am now close enough to make out the individual stone treads and the carved railing panel above them, but I am still standing out on the sand rather than at the base of the balustrade. Placing the vase here would leave it away from the railing. Another step forward should bring me to the foot of the stairs.", + "The staircase and the railing pier now fill much of my view, so the drop target is nearly within reach. A little more distance remains before the lowest tread and the stone base sit directly in front of me. I will step forward once more to tighten that placement position.", + "The bottom tread and the base of the stone balustrade are right in front of me, with only a narrow strip of sand left between us. One more step should put me flush against the railing base so the vase can be set down exactly there. I will close that last bit of distance.", + "I am standing right at the foot of the stone steps, with the carved railing and its blue balustrade filling the view just ahead of me. This is the far-left railing base named as the destination, and the vase is still in my hands. I will release it here so it should come to rest against the stonework.", + "The vase now rests at the base of the stone railing steps, out of my hands. The placement goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_a_p/infos.json b/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5f7c5e05e8cddebc63f92df1c3622acf11435f8a --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the jerry can near the twisted teal column on the right side.", + "Type": 5, + "Start_Pose": [ + -3272.72, + 3776.492, + 121.399, + 0, + 20, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2848.7, + 4224.646, + 18.25, + 0, + 50, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3272.72, + 3776.492, + 121.399, + 0, + 20, + 0 + ], + [ + -3272.72, + 3776.492, + 121.399, + 0.0, + 45.0, + -0.0 + ], + [ + -3183.724, + 3865.488, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -3094.728, + 3954.483, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -3005.733, + 4043.479, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -2916.737, + 4132.475, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -2916.737, + 4132.475, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -2916.737, + 4132.475, + 98.25, + 0.0, + 45.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2848.7, + 4224.646, + 18.25, + 0.0, + 50.0, + -0.0 + ], + [ + -2848.7, + 4224.646, + 18.25, + 0.0, + 50.0, + -0.0 + ], + [ + -2848.7, + 4224.646, + 18.25, + 0.0, + 50.0, + -0.0 + ], + [ + -2848.7, + 4224.646, + 18.25, + 0.0, + 50.0, + -0.0 + ], + [ + -2848.7, + 4224.646, + 18.25, + 0.0, + 50.0, + -0.0 + ], + [ + -2848.7, + 4224.646, + 18.25, + 0.0, + 50.0, + -0.0 + ], + [ + -2932.268, + 4147.143, + 68.356, + -28.202, + 95.145, + 1.862 + ], + [ + -2932.268, + 4147.143, + 68.356, + -28.202, + 95.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 617.0, + 617.0, + 491.2, + 365.4, + 239.8, + 114.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The red jerry can sits at the base of the twisted teal column far to the right edge of my view, well off my current heading. I will turn right so the can and its column are centered ahead of me before I start walking.", + "After turning, the jerry can and the twisted teal column are now roughly centered in front of me with open sand between us. I will walk forward to close that distance toward the can.", + "The jerry can has grown larger and stays just left of the column base, confirming my heading is good. It is still several strides away, so I will keep walking forward.", + "The can now reads clearly as a ribbed metal container resting on the sand beside the column pedestal, but it is still beyond arm's reach. Another step forward should bring me close enough to consider grasping it.", + "The jerry can fills a good part of the lower view and the pedestal of the twisted column is right beside it, so I am nearly in range. I will take one more step forward to stand directly over the can before reaching for it.", + "The jerry can is now directly at my feet, filling the bottom of my view with the column pedestal beside it and nothing between us. This is close enough to reach it, so I will attempt to pick it up.", + "The jerry can is now held in my hands and no longer resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_a_pd/infos.json b/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..497e964369177c6224a121416504f04415f0c782 --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the metal bucket from the base of the ornate cylindrical pedestal in the center of the sandy courtyard, then place it on the ground near the twisted teal column on the right side.", + "Type": 5, + "Start_Pose": [ + -3272.72, + 3776.492, + 121.399, + 0, + 20, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2598.935, + 3739.861, + 23.25, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3272.72, + 3776.492, + 121.399, + 0, + 20, + 0 + ], + [ + -3154.451, + 3819.538, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -3154.451, + 3819.538, + 98.25, + 0.0, + -5.0, + 0.0 + ], + [ + -3029.071, + 3808.569, + 98.25, + 0.0, + -5.0, + 0.0 + ], + [ + -2903.691, + 3797.6, + 98.25, + 0.0, + -5.0, + 0.0 + ], + [ + -2778.311, + 3786.63, + 98.25, + 0.0, + -5.0, + 0.0 + ], + [ + -2778.311, + 3786.63, + 98.25, + 0.0, + -5.0, + 0.0 + ], + [ + -2778.311, + 3786.63, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -2778.311, + 3786.63, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -2778.311, + 3786.63, + 98.25, + 0.0, + 70.0, + -0.0 + ], + [ + -2778.311, + 3786.63, + 98.25, + 0.0, + 95.0, + -0.0 + ], + [ + -2789.28, + 3912.01, + 98.25, + 0.0, + 95.0, + -0.0 + ], + [ + -2800.248, + 4037.391, + 98.25, + 0.0, + 95.0, + -0.0 + ], + [ + -2811.217, + 4162.771, + 98.25, + 0.0, + 95.0, + -0.0 + ], + [ + -2804.942, + 4091.045, + 98.25, + 0.0, + 95.0, + -0.0 + ], + [ + -2804.942, + 4091.045, + 98.25, + 0.0, + 95.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2598.935, + 3739.861, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2598.935, + 3739.861, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2598.935, + 3739.861, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2598.935, + 3739.861, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2598.935, + 3739.861, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2598.935, + 3739.861, + 23.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2777.058, + 3807.956, + 68.356, + -28.202, + 45.144, + 1.862 + ], + [ + -2786.522, + 3807.386, + 68.629, + -28.189, + 70.157, + 1.872 + ], + [ + -2794.129, + 3802.665, + 67.962, + -28.215, + 95.127, + 1.849 + ], + [ + -2801.383, + 3800.846, + 68.016, + -14.092, + 112.343, + 6.87 + ], + [ + -2799.657, + 3784.324, + 68.032, + -28.208, + 145.142, + 1.851 + ], + [ + -2810.498, + 3909.453, + 68.453, + -28.189, + 145.158, + 1.869 + ], + [ + -2821.433, + 4034.56, + 68.836, + -28.205, + 145.135, + 1.859 + ], + [ + -2832.405, + 4159.893, + 68.989, + -28.191, + 145.149, + 1.872 + ], + [ + -2811.043, + 4160.779, + 58.25, + 0.0, + 95.0, + -0.0 + ], + [ + -2811.043, + 4160.779, + 58.25, + 0.0, + 95.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 674.8, + 561.2, + 561.2, + 435.6, + 310.2, + 185.4, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "I can see the metal bucket resting at the base of the ornate lattice pedestal in the sandy courtyard, but it is still far ahead of me. I will walk forward across the open sand to cut that distance before worrying about fine alignment.", + "The bucket and its pedestal now sit noticeably left of my heading, with empty sand filling the center of my view. I will turn left so the bucket lines up ahead of me and my next steps carry me straight at it.", + "After the turn the bucket and the vine covered pedestal sit near the middle of my view, so my heading is good. I will walk straight forward to close more of the remaining gap.", + "The bucket has grown larger and stays just left of center, so nothing blocks a straight approach. I will keep walking forward, since I am still too far away to reach it.", + "I now see the bucket clearly at the pedestal base, close but still a stride or two beyond my reach. I will take another step forward to bring it within grasping range before attempting the pickup.", + "The bucket is right in front of me, its open rim filling the lower part of my view beside the pedestal base. This is close enough to reach it, so I will attempt to pick it up.", + "The grasp worked, since the bucket is now held with me rather than sitting on the sand at the pedestal base. The twisted teal column is on the right side of the courtyard, so I will turn right to begin swinging my heading toward it.", + "I am carrying the bucket, and my view is still dominated by the vine covered pedestal with the blue facade behind it. The teal column I need is farther around to my right, so I will turn right again to keep rotating toward it.", + "The bucket is in my hands and the ornate pedestal has swung to my left edge, so my heading is still short of the destination. Ahead I see the blue wall and only the fringe of the twisted teal columns on the right side of the courtyard. I will turn right again to bring that teal column into the center of my view.", + "The twisted teal column on its white plinth is now visible, but it sits off to the right of my heading with open sand between us. One more right rotation should place that column and the sand at its base squarely in front of me. I will turn right again before walking over.", + "The twisted teal column and its white plinth are now centered ahead with unobstructed sand between us. Carrying the bucket, I will walk forward to close that gap toward the drop area beside the column.", + "The teal column has grown noticeably larger, so my previous step closed real distance while staying on line. Its plinth is still several paces off, too far for placing the bucket beside it. I will keep walking forward on this heading.", + "The white plinth of the twisted teal column now fills much of the lower view, so I am nearly at the intended placement spot. One more step should put the sand immediately beside the column within easy reach for setting the bucket down.", + "I am now right at the twisted teal column, its plinth and the strip of sand beside it filling my view at arm's length. This is the spot the task calls for, and I still hold the bucket. I will release it here so it should come to rest on the ground next to the column.", + "The metal bucket now stands on the sand right beside the twisted teal column and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_b_p/infos.json b/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7eef38016068fb56fa8b2e7bc5fc70e1f545b44a --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the trash bag near the base of the ornate cylindrical pedestal in the center of the courtyard.", + "Type": 5, + "Start_Pose": [ + -3272.72, + 3776.492, + 121.399, + 0, + 20, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2581.039, + 3949.383, + 22.753, + -3.004, + 38.518, + 38.895 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3272.72, + 3776.492, + 121.399, + 0, + 20, + 0 + ], + [ + -3154.451, + 3819.538, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -3036.182, + 3862.585, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -2917.914, + 3905.631, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -2799.645, + 3948.677, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -2681.376, + 3991.724, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -2681.376, + 3991.724, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -2681.376, + 3991.724, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -2681.376, + 3991.724, + 98.25, + 0.0, + 20.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2581.039, + 3949.383, + 22.753, + -3.004, + 38.518, + 38.895 + ], + [ + -2581.039, + 3949.383, + 22.753, + -3.004, + 38.518, + 38.895 + ], + [ + -2581.039, + 3949.383, + 22.753, + -3.004, + 38.518, + 38.895 + ], + [ + -2581.039, + 3949.383, + 22.753, + -3.004, + 38.518, + 38.895 + ], + [ + -2581.039, + 3949.383, + 22.753, + -3.004, + 38.518, + 38.895 + ], + [ + -2581.039, + 3949.383, + 22.753, + -3.004, + 38.518, + 38.895 + ], + [ + -2581.039, + 3949.383, + 22.753, + -3.004, + 38.518, + 38.895 + ], + [ + -2689.253, + 4011.581, + 68.356, + -28.202, + 70.145, + 1.862 + ], + [ + -2689.253, + 4011.581, + 68.356, + -28.202, + 70.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 713.0, + 587.9, + 463.3, + 339.7, + 218.6, + 108.9, + 108.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The ornate vine-covered pedestal stands ahead in the sandy courtyard, and a small dark trash bag rests against its base to the right. It is still far off, so I will walk straight forward along the open sand to close the distance.", + "The pedestal and the bag beside it now fill more of my view, confirming my heading is correct. The sand between us is unobstructed, so I will keep walking forward.", + "The trash bag is now clearly readable as a cinched sack sitting on the sand at the pedestal's base. It remains several paces away, too distant to reach, so I continue advancing.", + "The pedestal now looms at my left edge and the bag sits just right of its base, low in my view. I am close but not yet within grabbing range, so I step forward again.", + "The bag has dropped to the lower left corner beside the pedestal, meaning I am nearly on top of it. One more step should put it directly at my feet where I can reach it.", + "Standing beside the pedestal, my forward gaze shows only the arcade and open sand, with the bag now below my line of sight. I will look down to bring the trash bag back into view for a reliable grasp.", + "With my gaze lowered, the trash bag sits plainly at the pedestal's base within arm's reach at my lower left. Nothing blocks it, so I will attempt to pick it up now.", + "The trash bag is now held in my grasp rather than resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_b_pd/infos.json b/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e3c12ec8d7a1734024994e84bfb0c6b79de78ca --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x-003273_y003776_z000121_t5_b_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the tomato from the twisted teal column on the right side, then place it at the base of the ornate cylindrical pedestal in the center of the sandy courtyard.", + "Type": 5, + "Start_Pose": [ + -3272.72, + 3776.492, + 121.399, + 0, + 20, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2789.186, + 4255.148, + 68.25, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3272.72, + 3776.492, + 121.399, + 0, + 20, + 0 + ], + [ + -3154.451, + 3819.538, + 98.25, + 0.0, + 20.0, + -0.0 + ], + [ + -3154.451, + 3819.538, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -3065.455, + 3908.534, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -2976.46, + 3997.53, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -2887.464, + 4086.526, + 98.25, + 0.0, + 45.0, + -0.0 + ], + [ + -2887.464, + 4086.526, + 98.25, + 0.0, + 45.001, + -0.0 + ], + [ + -2887.464, + 4086.526, + 98.25, + 0.0, + 20.001, + -0.0 + ], + [ + -2887.464, + 4086.526, + 98.25, + 0.0, + -4.999, + 0.0 + ], + [ + -2887.464, + 4086.526, + 98.25, + 0.0, + -29.999, + 0.0 + ], + [ + -2778.466, + 4023.597, + 98.25, + 0.0, + -29.999, + 0.0 + ], + [ + -2669.469, + 3960.669, + 98.25, + 0.0, + -29.999, + 0.0 + ], + [ + -2731.823, + 3996.668, + 98.25, + 0.0, + -29.999, + 0.0 + ], + [ + -2731.823, + 3996.668, + 98.25, + 0.0, + -29.999, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2789.186, + 4255.148, + 68.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2789.186, + 4255.148, + 68.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2789.186, + 4255.148, + 68.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2789.186, + 4255.148, + 68.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2789.186, + 4255.148, + 68.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2789.186, + 4255.148, + 68.25, + 0.0, + 0.0, + 0.0 + ], + [ + -2902.995, + 4101.193, + 68.356, + -28.202, + 95.145, + 1.862 + ], + [ + -2895.02, + 4105.486, + 68.629, + -28.189, + 70.157, + 1.872 + ], + [ + -2885.55, + 4106.609, + 67.962, + -28.215, + 45.128, + 1.849 + ], + [ + -2869.279, + 4107.17, + 68.143, + -14.175, + 12.193, + 6.959 + ], + [ + -2768.42, + 4042.456, + 68.582, + -28.198, + 20.146, + 1.865 + ], + [ + -2659.165, + 3979.381, + 68.045, + -28.191, + 20.159, + 1.871 + ], + [ + -2671.201, + 3961.669, + 113.25, + 0.0, + -29.999, + 0.0 + ], + [ + -2671.201, + 3961.669, + 113.25, + 0.0, + -29.999, + 0.0 + ] + ], + "PD_Dist_2D": [ + 680.4, + 568.5, + 568.5, + 443.2, + 318.5, + 195.2, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato sits on the sand at the foot of the twisted teal column far to my right, while the ornate vine covered pedestal stands ahead in the courtyard. It is much too distant to reach from here, so I will walk forward to close the gap toward that right hand column.", + "The tomato lies well off to the right side of my view, near the base of the spiral column, so walking straight ahead would carry me past it. I will turn right to bring the fruit closer to the center of my heading before advancing further.", + "After the turn the tomato now sits just left of the twisted teal column and near the middle of my view, so my heading points at it. It is still several paces away, so I will step forward to shorten the distance.", + "The tomato has grown noticeably larger and stays centered ahead beside the pedestal of the spiral column, confirming my heading is good. I am still out of grasping range, so I will keep walking forward without changing direction.", + "The tomato is now clearly in front of me on the sand, but it still sits a step or two beyond my reach. I will advance once more so it comes near enough for my hands to take it.", + "The tomato now fills the lower right of my view, resting on the sand right at my feet beside the column base. This is close enough to reach it, so I will attempt to pick it up and carry it toward the ornate pedestal.", + "The grasp worked, and the tomato is now held in my hands rather than lying on the sand. The ornate vine draped pedestal stands back the other way, well to my left, so I will turn left to begin swinging my heading toward it.", + "Carrying the tomato, I am now looking down the sandy corridor between the buildings, with the ornate cylindrical pedestal only just clipping the far left edge of my view. One turn is not enough, so I will turn left again to bring that pedestal toward the center of my heading.", + "The tomato is secured in my grasp, so my remaining job is to carry it to the ornate vine-covered pedestal. That pedestal now sits slightly left of my view center, so one more left turn should place it directly ahead before I start walking.", + "The ornate vine-draped pedestal is now centered ahead of me across the open sand, with the tomato still carried. I will walk forward to close the remaining gap toward its base.", + "The pedestal has grown much larger and fills the middle of my view, but I am still a stride short of standing right at its base. I will step forward once more so the drop lands close against the plinth.", + "The carved pedestal and its trailing vines now fill my view at arm's length, so I am standing directly at its base. I will release the tomato here so it should come to rest against the plinth as the task requires.", + "The tomato now rests on the sand at the base of the ornate pedestal. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_a_p/infos.json b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ed5ed2c85589c4a7ecec8f1a05d04915df0361dc --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the tomato near the red banner on the left wall.", + "Type": 5, + "Start_Pose": [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2946.868, + 1561.934, + -318.843, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2243.835, + 1827.09, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2369.215, + 1816.121, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2494.595, + 1805.151, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2619.975, + 1794.182, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2619.975, + 1794.182, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2728.972, + 1731.252, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2728.972, + 1731.252, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2837.969, + 1668.323, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2837.969, + 1668.323, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2837.969, + 1668.323, + -301.75, + 0.0, + -30.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2946.868, + 1561.934, + -318.843, + 0.0, + 0.0, + 0.0 + ], + [ + 2848.118, + 1687.121, + -331.644, + -28.202, + 20.144, + 1.862 + ], + [ + 2848.118, + 1687.121, + -331.644, + -28.202, + 20.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 975.0, + 873.2, + 873.2, + 751.4, + 631.1, + 513.5, + 401.0, + 401.0, + 275.9, + 275.9, + 152.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The red banner hangs on the wall to my left, and a small red tomato sits on the sand at its base near the tiled skirting. It is still far off, so I will walk forward to close the open sandy distance before adjusting my heading.", + "After advancing, the tomato and its red banner sit far off at the left edge of my view while I am still facing the arcade ahead. Turning left should swing the banner wall and the tomato toward the center of my view so I can walk straight at them.", + "The banner and the tomato at its base are now well inside my view on the left, with clear sand between us. I will walk forward to shrink that gap along this heading.", + "The tomato against the green tiled skirting under the banner has grown larger, so my heading is carrying me toward it. It is still several paces away and too far to reach, so I will keep walking forward.", + "The tomato now sits clearly on the sand at the foot of the banner, closer than before but still out of arm's reach. The floor between us is open, so I will continue stepping forward to close in.", + "The red tomato sits on the sand at the base of the tiled wall directly beneath the red banner on my left, and it is still several strides away. I will walk forward to keep closing that gap before worrying about fine alignment.", + "The tomato has drifted to the far left of my view near the wall corner, so walking straight ahead would carry me past it rather than to it. I will turn left to bring the target back in front of me before advancing further.", + "The tomato now sits near the middle of my view at the foot of the decorated wall under the red banner, so my heading is usable. I will step forward to close the remaining distance until it is within arm's reach.", + "The tomato is large in front of me, resting on the sand against the tiled wall beneath the red banner, and nothing blocks the space between us. I will attempt to pick it up now, since it may already be close enough for my hands to reach.", + "My hands are empty and the tomato was not taken, so that grasp attempt did not connect. It was likely still beyond my reach, so I will step forward to stand closer to the wall base where it rests.", + "My earlier grasp attempt at this corner left my hands empty and the tomato still sitting on the sand against the tiled base. Now the tomato fills the lower part of my view right in front of me under the red banner, close enough to reach. I will try the pick again from this tighter range.", + "The tomato is now held in my hands and no longer resting against the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_a_pd/infos.json b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6151931835bcf0cd33efccd8ff46946320652ffc --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the wicker basket from the base of the ornate openwork pillar, then place it near the red banner on the left wall.", + "Type": 5, + "Start_Pose": [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2502.903, + 2278.198, + -365.5, + 90, + 20, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2207.451, + 1927.055, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2296.446, + 2016.051, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2385.442, + 2105.047, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2474.438, + 2194.042, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2474.438, + 2194.042, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2474.438, + 2194.042, + -301.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2474.438, + 2194.042, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2474.438, + 2194.042, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2474.438, + 2194.042, + -301.75, + 0.0, + -55.0, + 0.0 + ], + [ + 2546.627, + 2090.944, + -301.75, + 0.0, + -55.0, + 0.0 + ], + [ + 2618.816, + 1987.846, + -301.75, + 0.0, + -55.0, + 0.0 + ], + [ + 2691.006, + 1884.748, + -301.75, + 0.0, + -55.0, + 0.0 + ], + [ + 2763.195, + 1781.65, + -301.75, + 0.0, + -55.0, + 0.0 + ], + [ + 2835.384, + 1678.552, + -301.75, + 0.0, + -55.0, + 0.0 + ], + [ + 2907.573, + 1575.454, + -301.75, + 0.0, + -55.0, + 0.0 + ], + [ + 2907.573, + 1575.454, + -301.75, + 0.0, + -80.0, + 0.0 + ], + [ + 2895.071, + 1646.36, + -301.75, + 0.0, + -80.0, + 0.0 + ], + [ + 2895.071, + 1646.36, + -301.75, + 0.0, + -80.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2502.903, + 2278.198, + -365.5, + 90.0, + 20.0, + 0.0 + ], + [ + 2502.903, + 2278.198, + -365.5, + 90.0, + 20.0, + 0.0 + ], + [ + 2502.903, + 2278.198, + -365.5, + 90.0, + 20.0, + 0.0 + ], + [ + 2502.903, + 2278.198, + -365.5, + 90.0, + 20.0, + 0.0 + ], + [ + 2502.903, + 2278.198, + -365.5, + 90.0, + 20.0, + 0.0 + ], + [ + 2502.903, + 2278.198, + -365.5, + 90.0, + 20.0, + 0.0 + ], + [ + 2502.903, + 2278.198, + -365.5, + 90.0, + 20.0, + 0.0 + ], + [ + 2458.907, + 2208.71, + -331.644, + -28.202, + 95.144, + 1.862 + ], + [ + 2466.882, + 2213.003, + -331.371, + -28.189, + 70.156, + 1.872 + ], + [ + 2476.352, + 2214.126, + -332.038, + -28.215, + 45.127, + 1.849 + ], + [ + 2492.623, + 2214.687, + -331.857, + -14.175, + 12.192, + 6.959 + ], + [ + 2491.405, + 2206.404, + -331.968, + -28.208, + -4.858, + 1.851 + ], + [ + 2563.724, + 2103.768, + -331.547, + -28.189, + -4.842, + 1.869 + ], + [ + 2635.747, + 2000.89, + -331.164, + -28.205, + -4.865, + 1.859 + ], + [ + 2707.916, + 1897.834, + -331.011, + -28.191, + -4.851, + 1.872 + ], + [ + 2780.193, + 1794.593, + -331.236, + -28.206, + -4.863, + 1.863 + ], + [ + 2852.554, + 1691.264, + -331.744, + -28.203, + -4.861, + 1.855 + ], + [ + 2924.878, + 1587.97, + -332.185, + -28.201, + -4.853, + 1.862 + ], + [ + 2927.346, + 1579.773, + -331.033, + -28.203, + -29.859, + 1.863 + ], + [ + 2907.226, + 1577.423, + -336.75, + 90.0, + -80.0, + 0.0 + ], + [ + 2907.226, + 1577.423, + -336.75, + 90.0, + -80.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 697.3, + 584.4, + 584.4, + 458.9, + 333.7, + 209.2, + 88.8, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.2, + 70.0, + 70.0 + ], + "Rationale": [ + "The ornate openwork pillar stands ahead on the right side of the courtyard, with a dark round wicker basket resting at its base on the teal plinth. It is still far across the sand, so I will walk straight ahead to close that gap before refining my heading.", + "After advancing, the openwork pillar and the basket at its foot sit off to the right of my heading, while the red banner wall stays behind me on the left. I will turn right to put the pillar and its basket near the center of my view for a straight approach.", + "The pillar with the wicker basket at its base is now centered ahead of me with open sand in between. I will walk forward along this heading to shorten the distance toward the basket.", + "The openwork pillar has grown noticeably larger and the round wicker basket at its foot is clearly visible on the teal base. Nothing blocks the sand between us, so I will keep walking forward toward it.", + "The pillar now fills much of my view and the basket leans against its base slightly right of center. I am still a few paces short of grabbing range, so I will step forward again.", + "The carved lattice of the pillar is close enough to show individual scrollwork, and the basket's woven rim is just entering the lower right of my view. One more step forward should bring the basket within reach for a grasp.", + "I am standing right at the base of the openwork pillar, with the woven basket at the edge of my view beside the teal plinth and nothing between us. This is close enough to reach it, so I will attempt to pick up the wicker basket now.", + "The grasp worked: the wicker basket is now held in my hands rather than sitting on the sand at the pillar. The red banner wall lies well behind me to the left, so I will turn left to begin swinging my heading around toward it.", + "The basket is in my hands and no longer sitting at the pillar base, so the pickup held. The openwork pillar still fills the right edge of my view and the red banner is not yet in sight, so I will keep rotating left toward the far wall.", + "I now face a row of twisted columns and arched windows, with the red banner still outside my view to the left. Carrying the basket, I will turn left again to bring that banner wall into the center of my heading.", + "The red banner with the yellow star has come into view, but it sits off to the left edge rather than straight ahead. One more left turn should center it so my forward path leads directly to the drop area.", + "The red banner and its green tiled wainscot are now centered ahead with clear open sand between me and that wall. Holding the basket, I will walk forward to close the remaining distance to the banner wall.", + "The banner has grown larger and the corner below it is clearer, so my heading is still correct. I am carrying the basket and remain too far out to set it down near the wall, so I will step forward again.", + "The tiled skirting beneath the banner now spans much of my view, yet the floor at the wall base is still ahead of me rather than at my feet. I will continue forward to reach a spot close under the banner for placement.", + "The banner's fringe and the ornate green tiles are close in front, but there is still a strip of sand between me and the wall. Another step forward should place me near enough to release the basket beside the banner.", + "I am nearly at the banner wall, with the red cloth and tiled band dominating my view and only a narrow gap of floor left. I will advance once more to stand right at the base beneath the banner before setting the basket down.", + "The wicker basket is still secure in my hands and the red banner with its glazed dado now fills most of my view, so I am nearly at the left wall. I will take one more step forward to close the last bit of distance to the wall beneath the banner before setting the basket down.", + "I am right up against the tiled wall band, but the red banner has slipped to the far upper left edge of my view and the corner sits on my right. I will turn left to bring the banner back in front of me so the basket can be released beside it rather than off in the corner.", + "The red banner is now directly in front of me above the green tiled band, and the basket is still held. This spot at the foot of the left wall matches the requested placement, so I will drop the basket here and it should come to rest near the banner.", + "The wicker basket now sits on the ground against the left wall directly under the red banner, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_b_p/infos.json b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7765e0ecce2ac5e7dec01be9eca7275b7e044789 --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the ceramic pot near the ornate openwork pillar.", + "Type": 5, + "Start_Pose": [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2553.54, + 2299.559, + -386.75, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2207.451, + 1927.055, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2296.446, + 2016.051, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2385.442, + 2105.047, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2474.438, + 2194.042, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2474.438, + 2194.042, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2474.438, + 2194.042, + -301.75, + 0.0, + 45.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2553.54, + 2299.559, + -386.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2553.54, + 2299.559, + -386.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2553.54, + 2299.559, + -386.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2553.54, + 2299.559, + -386.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2553.54, + 2299.559, + -386.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2553.54, + 2299.559, + -386.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2553.54, + 2299.559, + -386.75, + 0.0, + 0.0, + 0.0 + ], + [ + 2458.907, + 2208.71, + -331.644, + -28.202, + 95.144, + 1.862 + ], + [ + 2458.907, + 2208.71, + -331.644, + -28.202, + 95.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 748.8, + 634.3, + 634.3, + 508.5, + 382.7, + 257.1, + 131.9, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the ornate openwork pillar ahead on the right side of the courtyard, with a small dark ceramic pot resting at its base. It is still far across the sand, so I will walk forward to close that gap before any grasp is possible.", + "The pot at the foot of the openwork pillar now sits well to the right of my heading, near the edge of my view. Walking straight would carry me past it along the arcade, so I will turn right to bring the pillar and pot toward the center of my path.", + "The openwork pillar is now roughly centered ahead of me, with the ceramic pot at its base on the tiled plinth. The distance is still too great to reach it, so I will keep walking straight toward it.", + "The pillar's carved lattice and the pot beside it are noticeably larger now, confirming my heading is good. I am still several paces short of arm's reach, so I continue walking forward.", + "The ceramic pot is clearly resting on the sand at the corner of the pillar's turquoise base, directly along my line of travel. It remains out of reach, so another step forward should bring me close enough to consider grasping it.", + "The pot now fills a good part of the lower view, just in front of the pillar's tiled plinth, but it is still a stride away from my hands. I will step forward once more to stand directly over it.", + "I am standing right at the carved pillar, and the rim of the ceramic pot appears at the very bottom of my view, within arm's reach. This is the pot named by the task, so I will attempt to pick it up now.", + "The ceramic pot from beside the openwork pillar is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_b_pd/infos.json b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e8a4dafefa491bcce8e6e7d1d92e095657b6bbcb --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_b_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the plate from the base of the red banner on the left wall, then place it near the ornate openwork pillar.", + "Type": 5, + "Start_Pose": [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2604.985, + 1648.711, + -351.75, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2243.835, + 1827.09, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2369.215, + 1816.121, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2494.595, + 1805.151, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2494.595, + 1805.151, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2494.595, + 1805.151, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2494.595, + 1805.151, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2494.595, + 1805.151, + -301.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2494.595, + 1805.151, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2494.595, + 1805.151, + -301.75, + 0.0, + 70.0, + -0.0 + ], + [ + 2494.595, + 1805.151, + -301.75, + 0.0, + 95.0, + -0.0 + ], + [ + 2483.626, + 1930.531, + -301.75, + 0.0, + 95.0, + -0.0 + ], + [ + 2472.657, + 2055.911, + -301.75, + 0.0, + 95.0, + -0.0 + ], + [ + 2461.688, + 2181.292, + -301.75, + 0.0, + 95.0, + -0.0 + ], + [ + 2461.688, + 2181.292, + -301.75, + 0.0, + 70.0, + -0.0 + ], + [ + 2504.735, + 2299.56, + -301.75, + 0.0, + 70.0, + -0.0 + ], + [ + 2480.109, + 2231.902, + -301.75, + 0.0, + 70.0, + -0.0 + ], + [ + 2480.109, + 2231.902, + -301.75, + 0.0, + 70.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2604.985, + 1648.711, + -351.75, + 90.0, + 0.0, + 0.0 + ], + [ + 2604.985, + 1648.711, + -351.75, + 90.0, + 0.0, + 0.0 + ], + [ + 2604.985, + 1648.711, + -351.75, + 90.0, + 0.0, + 0.0 + ], + [ + 2604.985, + 1648.711, + -351.75, + 90.0, + 0.0, + 0.0 + ], + [ + 2604.985, + 1648.711, + -351.75, + 90.0, + 0.0, + 0.0 + ], + [ + 2604.985, + 1648.711, + -351.75, + 90.0, + 0.0, + 0.0 + ], + [ + 2604.985, + 1648.711, + -351.75, + 90.0, + 0.0, + 0.0 + ], + [ + 2504.483, + 1823.138, + -331.644, + -28.202, + 20.144, + 1.862 + ], + [ + 2495.644, + 1826.498, + -331.371, + -28.189, + 45.157, + 1.872 + ], + [ + 2486.812, + 1825.73, + -332.038, + -28.215, + 70.127, + 1.849 + ], + [ + 2477.961, + 1821.538, + -331.115, + -28.205, + 95.138, + 1.861 + ], + [ + 2471.523, + 1819.367, + -331.984, + -14.092, + 112.344, + 6.87 + ], + [ + 2473.249, + 1802.845, + -331.968, + -28.208, + 145.142, + 1.851 + ], + [ + 2462.408, + 1927.974, + -331.547, + -28.189, + 145.158, + 1.869 + ], + [ + 2451.473, + 2053.08, + -331.164, + -28.205, + 145.135, + 1.859 + ], + [ + 2440.5, + 2178.414, + -331.011, + -28.191, + 145.15, + 1.872 + ], + [ + 2442.125, + 2188.202, + -332.103, + -28.201, + 120.144, + 1.857 + ], + [ + 2484.466, + 2306.301, + -331.725, + -28.206, + 120.138, + 1.858 + ], + [ + 2504.05, + 2297.68, + -331.75, + 90.0, + 70.0, + 0.0 + ], + [ + 2504.05, + 2297.68, + -331.75, + 90.0, + 70.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 622.2, + 522.1, + 522.1, + 402.8, + 289.2, + 191.5, + 191.5, + 20.5, + 21.4, + 22.0, + 23.4, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 20.7, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The dark plate is resting on the sand at the base of the red banner on the left wall, still far off across the open court. I will walk forward to close that distance before worrying about fine alignment.", + "The plate has drifted to the very left edge of my view and is nearly cut off by the frame, so walking straight ahead would carry me past it. I will turn left to bring the banner wall and the plate back toward the center of my heading.", + "The plate now sits ahead and slightly left, clearly in front of the tiled skirting under the red banner. With the path over open sand unobstructed, I will step forward to shorten the remaining gap.", + "The plate has grown noticeably larger and its rim detail is readable, but it is still several strides away from arm's reach. I will keep walking forward to close in on it.", + "The plate is now close on my left, leaning against the tiled base of the banner wall, yet still slightly beyond a comfortable grasping distance. One more step forward should bring me alongside it.", + "I am beside the banner wall now, but the plate has slipped almost entirely out of view at the lower left corner, leaving only a sliver of its rim. I will turn left so the plate sits squarely in front of me before attempting a grasp.", + "The plate is centered directly in front of me at the foot of the red banner, close enough that its bowl and rim fill the near foreground. Nothing stands between us, so I will attempt to pick it up now.", + "The grasp worked and the plate is now in my hands rather than lying against the banner wall. Facing the corner of the wall is useless for delivery, so I will turn right to swing my heading back toward the open court where the ornate openwork pillar stands.", + "The plate is in my hands and the banner corner behind me holds nothing more of interest, so I need to face the opposite side of the courtyard where the ornate openwork pillar stands. Only the wall corner and its columns fill my view now, so I will keep rotating right to bring that pillar into sight.", + "My sweep has moved the banner out of sight, but I still see only arched windows and twisted columns along this wall, with no sign of the openwork pillar. Carrying the plate, I will continue turning right to bring the drop target into view.", + "The tall openwork pillar has just come into view at the right edge, confirming the direction of my sweep. It is still too far off to the side to walk toward directly, so I will turn right once more to bring it closer to the center of my heading.", + "The openwork pillar now stands clearly ahead with the open passage and arched doorway beyond it. I will turn right once more so the pillar sits just off my left and the sand path opens straight in front, giving me a clear walking line beside it.", + "The openwork pillar is now on my left with clear sand between me and it, and I am still holding the plate. I will walk forward along this lane to close the remaining distance to the pillar's base.", + "The pillar has grown noticeably larger on my left, so my line of travel is bringing me alongside it. I am still short of its base, so I will step forward again to draw level with the tiled platform.", + "The pillar now fills the left side of my view and its green tiled base is close beside me, but I am not yet abreast of it. I will take one more step forward so the plate can be set down right next to the base.", + "I am level with the pillar, whose openwork face and tiled base are immediately to my left while my body still points down the passage. To place the plate near it, I will turn left so the pillar and the ground beside its base are directly in front of me.", + "The plate is still in my hands and the ornate openwork pillar now stands close on my left, its tiled base just ahead of me. One more step should bring me level with that base so a release would leave the plate right beside the pillar.", + "I am standing right against the carved openwork panel, with its base immediately beside me and open sand at my feet. This is as near the pillar as the task requires, so I will release the plate here and it should settle next to it.", + "The plate now rests on the ground directly beside the ornate openwork pillar. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_c_pd/infos.json b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..94e3c30b1737992948d2f70b427f5885e7b0a313 --- /dev/null +++ b/dataset/trajectory/brass_palace/task_x002000_y001795_z-000302_t5_c_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Pick up the jerry can from the base of the ornate openwork pillar, then place it at the base of the leftmost twisted rope column beside the stained-glass windows.", + "Type": 5, + "Start_Pose": [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2493.804, + 2209.207, + -386.75, + 0, + 20, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2000.186, + 1795.013, + -301.75, + 0, + 20, + 0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2118.455, + 1838.059, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2207.451, + 1927.055, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2296.446, + 2016.051, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2385.442, + 2105.047, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2385.442, + 2105.047, + -301.75, + 0.0, + 45.0, + -0.0 + ], + [ + 2385.442, + 2105.047, + -301.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2385.442, + 2105.047, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2385.442, + 2105.047, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2494.44, + 2042.118, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2603.437, + 1979.189, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2712.435, + 1916.26, + -301.75, + 0.0, + -30.0, + 0.0 + ], + [ + 2712.435, + 1916.26, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2837.815, + 1905.292, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 2963.195, + 1894.323, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 3088.575, + 1883.355, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 3016.849, + 1889.629, + -301.75, + 0.0, + -5.0, + 0.0 + ], + [ + 3016.849, + 1889.629, + -301.75, + 0.0, + -5.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2493.804, + 2209.207, + -386.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2493.804, + 2209.207, + -386.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2493.804, + 2209.207, + -386.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2493.804, + 2209.207, + -386.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2493.804, + 2209.207, + -386.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2493.804, + 2209.207, + -386.75, + 0.0, + 20.0, + -0.0 + ], + [ + 2369.911, + 2119.714, + -331.644, + -28.202, + 95.145, + 1.862 + ], + [ + 2377.886, + 2124.007, + -331.371, + -28.189, + 70.157, + 1.872 + ], + [ + 2387.356, + 2125.13, + -332.038, + -28.215, + 45.128, + 1.849 + ], + [ + 2403.627, + 2125.691, + -331.857, + -14.175, + 12.193, + 6.959 + ], + [ + 2504.486, + 2060.976, + -331.418, + -28.198, + 20.146, + 1.865 + ], + [ + 2613.741, + 1997.902, + -331.955, + -28.191, + 20.159, + 1.871 + ], + [ + 2722.843, + 1934.902, + -332.236, + -28.214, + 20.131, + 1.852 + ], + [ + 2713.603, + 1938.745, + -331.011, + -28.191, + 45.15, + 1.872 + ], + [ + 2838.826, + 1926.632, + -331.236, + -28.206, + 45.138, + 1.863 + ], + [ + 2964.494, + 1915.647, + -331.744, + -28.203, + 45.14, + 1.855 + ], + [ + 3090.11, + 1904.656, + -332.185, + -28.201, + 45.147, + 1.862 + ], + [ + 3086.583, + 1883.528, + -351.75, + 0.0, + -5.0, + 0.0 + ], + [ + 3086.583, + 1883.528, + -351.75, + 0.0, + -5.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 644.4, + 527.9, + 527.9, + 402.0, + 276.2, + 150.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 22.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The jerry can is visible ahead at the foot of the tall openwork pillar on the right side of the hall, still far across the sand. I will walk forward to close that distance before worrying about fine alignment.", + "After advancing, the can and its pillar sit well right of my heading, near the edge of my view. I will turn right so the target lies straight ahead and my next steps carry me directly to it.", + "The turn has brought the jerry can and its openwork pillar close to the center of my view. I will step forward along this heading to shorten the remaining gap to the can.", + "The can is larger and still centered, but it remains several strides beyond arm's reach. I will keep walking forward to get near enough for a grasp.", + "The jerry can now stands clearly at the foot of the pillar just ahead of me, though slightly too far to grab. One more step forward should place it within reach for picking.", + "The jerry can is directly in front of me at the pillar base, filling the lower part of my view within reach. I will attempt to pick it up so I can carry it toward the twisted rope columns by the stained-glass windows.", + "The grasp worked, and the jerry can is now held in my hands rather than resting on the sand. The row of twisted rope columns beside the stained-glass windows lies well to my left, so I will turn left to swing my heading toward that side of the hall.", + "Carrying the can, I can now see twisted rope columns and stained-glass windows on the left of my view, but the leftmost one is still outside my heading. I will turn left again to continue bringing that far column into the center.", + "The jerry can is in my hands, so the remaining work is to reach the drop location. Ahead I see the stained-glass wall with its twisted rope columns, but the far left end of that row is still cut off by the banner at the edge of my view. I will turn left again to bring the leftmost column into my heading.", + "Now the corner where the red banner meets the window wall sits ahead of me, with the leftmost twisted rope column and its pedestal just to its right. The can is still carried, so nothing blocks a direct approach. I will walk forward to close the distance to that end of the colonnade.", + "The banner and the corner have grown noticeably larger, confirming the previous step carried me toward the target wall. The pedestal of the leftmost rope column is still several paces off, slightly right of my heading. I will keep walking forward to shorten that gap before fine alignment.", + "I am close enough now that the tiled dado and the pedestal base fill much of the view, yet there is still floor between me and the wall. The leftmost rope column stands a little right of center, so a further straight step remains useful. I will advance again toward its base.", + "My heading is now aimed at the bare corner wall rather than at the pillar itself, which stands off to the right of center. To set the can down at its base I need that pedestal squarely in front of me. I will turn right to bring the leftmost rope column into my line of travel.", + "The turn placed the leftmost twisted rope column and its stepped pedestal near the middle of my view, with the neighboring column further right. There is still a stretch of sand between me and that base. I will step forward to reach a position close enough to release the can there.", + "The pedestal of the target column is clearly larger and slightly left of center, so my heading is holding well. I am not yet within easy setting-down range of its base. Another forward step should bring me right up against it.", + "The stepped white base of the leftmost rope column now fills the left side of my view at very close range, with the marble panel beside it. A final short step should place me directly at that base so the can lands there rather than out on the open sand. I will move forward once more.", + "I am still carrying the jerry can and I now stand right against the fluted pedestal of the leftmost twisted rope column by the stained-glass wall, with the marble slab immediately ahead. This is the delivery spot named in the task, so I will release the can here and it should settle at the column base.", + "The jerry can now rests on the sand at the foot of the leftmost twisted rope column and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_a_p/infos.json b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f2ea1e7628f81772576a55ef8c6c122d6eb4d03 --- /dev/null +++ b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_a_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the candelabra near the blue table under the green awning.", + "Type": 5, + "Start_Pose": [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + -2893.689, + -2869.813, + 283.084, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + [ + -1862.097, + -2689.753, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -1987.477, + -2700.722, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2112.857, + -2711.692, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2238.237, + -2722.661, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2363.617, + -2733.63, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2488.997, + -2744.6, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2488.997, + -2744.6, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2597.995, + -2807.529, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2706.992, + -2870.459, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2706.992, + -2870.459, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2819.547, + -2884.41, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2819.547, + -2884.41, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2819.547, + -2884.41, + 279.436, + 0.0, + -175.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2893.689, + -2869.813, + 283.084, + 0.0, + 0.0, + 0.0 + ], + [ + -2817.078, + -2905.629, + 249.542, + -28.202, + -124.855, + 1.862 + ], + [ + -2817.078, + -2905.629, + 249.542, + -28.202, + -124.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1047.2, + 1047.2, + 921.9, + 796.7, + 671.8, + 547.3, + 423.6, + 423.6, + 302.2, + 186.7, + 186.7, + 75.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The green awning and the blue draped table sit at the far right edge of my view, partly cut off, while most of my heading points at the plain courtyard wall. I will turn right to bring that market stall area into the center of my view before advancing toward the candelabra.", + "The green awning with its blue covered table now lies ahead and slightly right, but it is still far across the open sand. Nothing blocks the ground between me and it, so I will walk forward to close that distance.", + "The stalls have grown larger, yet the blue table under the green awning is still too distant for me to make out anything standing on it. The sand ahead stays clear, so I keep walking straight toward it.", + "The blue draped table under the green awning is clearer now, with small dark items on its surface that could include the candelabra. I am still several paces short of reach, so I continue forward.", + "The green awning and its blue table fill more of my view, with a bowl and a slim dark stand on the cloth. The robed figures stand aside and leave the ground open, so I keep advancing.", + "The blue table under the green awning is now off to my right, and the branched candlestick on it is nearly identifiable. I still need to cover ground before I can align on it, so I step forward again.", + "I can now clearly see the branched candelabra with its white candles standing on the blue draped table under the green awning, but it sits well to my right while my heading points at the veiled figure and the wooden posts. I will turn right to put the table and candelabra ahead of me.", + "The blue table under the green awning is now squarely ahead with the candelabra standing near its left end. It remains several paces away and too far to reach, so I walk forward to close in on it.", + "The candelabra stands on the blue cloth-covered table under the green awning, still several paces ahead and slightly left of my heading. The lane between the awning posts is clear, so I will keep walking forward to close the remaining gap before reaching for it.", + "I am now right at the table edge, but the candelabra sits far over at the left margin of my view while a robed bystander crowds the right side. Turning left should swing the candelabra toward the center of my heading so I can step straight at it.", + "The candelabra is now centered ahead on the blue table, with the bowl to its right and nothing between me and the table edge. One more step forward should bring it within arm's reach for the grasp.", + "The candelabra's dark base and candle now fill the view directly in front of me at the table's edge, so it is clearly within reach. My hands are empty, so I will attempt the pick now to take hold of it.", + "The candelabra is now held in my hands and no longer resting on the blue table. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_a_pd/infos.json b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d14090989e2729b663b4bfb2f1cb4cf32ffd1676 --- /dev/null +++ b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the plate from the wooden cart, then place it near the blue table under the green awning.", + "Type": 5, + "Start_Pose": [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2480.659, + -2403.765, + 239.436, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + [ + -1980.366, + -2646.707, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2098.635, + -2603.66, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2216.903, + -2560.614, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2335.172, + -2517.568, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2335.172, + -2517.568, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2335.172, + -2517.568, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2335.172, + -2517.568, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2444.169, + -2580.498, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2444.169, + -2580.498, + 279.436, + 0.0, + -125.0, + 0.0 + ], + [ + -2516.358, + -2683.596, + 279.436, + 0.0, + -125.0, + 0.0 + ], + [ + -2588.547, + -2786.694, + 279.436, + 0.0, + -125.0, + 0.0 + ], + [ + -2588.547, + -2786.694, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2697.544, + -2849.624, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2806.541, + -2912.554, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2744.187, + -2876.554, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2744.187, + -2876.554, + 279.436, + 0.0, + -150.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2480.659, + -2403.765, + 239.436, + 90.0, + 0.0, + 0.0 + ], + [ + -2480.659, + -2403.765, + 239.436, + 90.0, + 0.0, + 0.0 + ], + [ + -2480.659, + -2403.765, + 239.436, + 90.0, + 0.0, + 0.0 + ], + [ + -2480.659, + -2403.765, + 239.436, + 90.0, + 0.0, + 0.0 + ], + [ + -2480.659, + -2403.765, + 239.436, + 90.0, + 0.0, + 0.0 + ], + [ + -2341.902, + -2537.843, + 249.542, + -28.202, + -149.855, + 1.862 + ], + [ + -2332.613, + -2539.741, + 249.815, + -28.189, + -124.843, + 1.872 + ], + [ + -2324.043, + -2537.15, + 249.148, + -28.215, + -99.872, + 1.849 + ], + [ + -2433.239, + -2598.846, + 248.961, + -28.202, + -99.858, + 1.858 + ], + [ + -2425.292, + -2592.753, + 250.162, + -28.198, + -74.855, + 1.865 + ], + [ + -2498.407, + -2695.19, + 249.879, + -28.2, + -74.855, + 1.865 + ], + [ + -2570.764, + -2798.533, + 249.348, + -28.194, + -74.851, + 1.865 + ], + [ + -2577.774, + -2803.951, + 249.949, + -28.196, + -99.851, + 1.869 + ], + [ + -2685.972, + -2867.601, + 250.171, + -28.194, + -99.853, + 1.873 + ], + [ + -2795.068, + -2930.583, + 250.03, + -28.211, + -99.862, + 1.853 + ], + [ + -2804.809, + -2911.554, + 249.436, + 90.0, + -150.0, + 0.0 + ], + [ + -2804.809, + -2911.554, + 249.436, + 90.0, + -150.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 681.5, + 556.2, + 431.2, + 306.9, + 184.7, + 21.4, + 22.3, + 22.5, + 21.4, + 22.5, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate sits on the ground beside the wooden cart, well ahead of me across the open sand. Nothing blocks the straight line to it, so I will walk forward to close that distance before any grasp is possible.", + "The plate and the cart now fill more of my view, confirming the last step brought me closer along a clear path. I will keep walking straight since the plate is still too far to reach.", + "The plate is centered slightly left of my heading and growing steadily, so my current line is good enough without turning. I will step forward again to reach grasping range at the cart.", + "The plate now dominates the lower left of my view, but it still looks a stride beyond a comfortable grasp. One more forward step should place it directly at my feet before I attempt to lift it.", + "The plate is right in front of me, filling the near foreground beside the cart wheel, so I am within reach. I will attempt to pick it up now, which should put it in my hands for carrying.", + "The grasp worked and the plate is now held with me rather than resting on the ground. The blue cloth table under the green awning lies off to my right, so I will turn right to bring that delivery area into my heading.", + "The awning and blue table have shifted toward the center right of my view, but my heading still points too far toward the doorway and pots. I will turn right once more to line up with the covered stall area.", + "My heading now opens onto the green awning with the blue draped table beneath it, straight ahead and to the right of the standing figure. The route across the sand is clear, so I will walk forward to carry the plate closer to that drop area.", + "The plate is still in my hands, but the pergola posts and the robed figure crowd the space straight ahead of me. The market row with the blue cloth table and its green awning continues off to my right, so I will turn right to put that open route in front of me.", + "The sandy lane ahead is now clear of posts and people, with the blue draped table under the green awning off to my left. Carrying the plate, I step forward to close distance along the row before turning in toward the table.", + "The awning and the blue cloth table are now beside me on the left, with a robed figure standing on the open sand ahead. I am not yet level with the table's serving side, so I walk forward another step before turning in with the plate.", + "The blue table with its dark bowl is now close on my left, directly under the green awning. I turn left so the tabletop sits squarely ahead of me, which should give me a clean line to approach and set the plate down.", + "The blue table and its bowl now sit ahead of me beneath the green awning, but a couple of paces of sand still separate me from its edge. I walk forward to close that gap while keeping the plate with me.", + "The blue cloth now spreads across the lower part of my view with the bowl just beyond it, yet I am still slightly short of the table edge. One more step forward should put me right against the tabletop for releasing the plate.", + "I am right at the edge of the blue table under the awning, with the bowl directly in front of me and the plate still in my hands. This is as close to the target spot as I can stand, so I will release the plate here.", + "The plate now rests on the blue table under the green awning and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_b_p/infos.json b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6b42ef592654fd69220c663b58ed18f08010b829 --- /dev/null +++ b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the trash bag from the wooden cart.", + "Type": 5, + "Start_Pose": [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2627.603, + -2204.499, + 306.875, + -8.847, + -154.726, + 57.077 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + [ + -1980.366, + -2646.707, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2098.635, + -2603.66, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2216.903, + -2560.614, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2216.903, + -2560.614, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2305.899, + -2471.618, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2394.895, + -2382.622, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2483.891, + -2293.627, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2483.891, + -2293.627, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2483.891, + -2293.627, + 279.436, + 0.0, + 135.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2627.603, + -2204.499, + 306.875, + -8.847, + -154.726, + 57.077 + ], + [ + -2627.603, + -2204.499, + 306.875, + -8.847, + -154.726, + 57.077 + ], + [ + -2627.603, + -2204.499, + 306.875, + -8.847, + -154.726, + 57.077 + ], + [ + -2627.603, + -2204.499, + 306.875, + -8.847, + -154.726, + 57.077 + ], + [ + -2627.603, + -2204.499, + 306.875, + -8.847, + -154.726, + 57.077 + ], + [ + -2627.603, + -2204.499, + 306.875, + -8.847, + -154.726, + 57.077 + ], + [ + -2627.603, + -2204.499, + 306.875, + -8.847, + -154.726, + 57.077 + ], + [ + -2627.603, + -2204.499, + 306.875, + -8.847, + -154.726, + 57.077 + ], + [ + -2498.559, + -2309.158, + 249.542, + -28.202, + -174.855, + 1.862 + ], + [ + -2498.559, + -2309.158, + 249.542, + -28.202, + -174.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 906.4, + 783.9, + 662.7, + 543.6, + 543.6, + 418.1, + 293.1, + 169.1, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the wooden cart with a dark bundle resting on it across the courtyard, well ahead and slightly left of my heading. It is far too distant to reach for anything, so I will walk forward to close that gap.", + "The cart and the dark sack on its bed are noticeably larger now, confirming I am heading the right way. Still several strides of open ground remain, so I will keep walking forward toward it.", + "The cart sits to my left front with the bag clearly visible on its wooden bed, and nothing blocks the path between us. I will advance again to bring it within a comfortable working distance before adjusting my heading.", + "The cart and its dark bag now sit off to my left while my heading points past them toward the shaded stall. I will turn left so the cart moves toward the center of my view and I can walk straight at it.", + "After the turn the cart with the bag on it sits squarely ahead of me, framed between the striped planter and the potted plants. The distance is still too great to reach the bag, so I will step forward along this heading.", + "The cart fills much more of my view and the dark trash bag on its bed is clearly the target. I am still a stride or two short of grasping range, so I will move forward again.", + "The cart is directly in front of me with the trash bag resting on its planks, but I am still just outside comfortable reach. I will take one more step forward to close in on the bag before attempting to grasp it.", + "The trash bag now fills the center of my view right at the edge of the cart's wooden bed, close enough to reach without moving further. Nothing stands between my hands and it, so I will attempt to pick it up.", + "The trash bag is now held in my hands, off the cart. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_b_pd/infos.json b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..444c03db1d64844bcad82f270b8aeb09539a36aa --- /dev/null +++ b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_b_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the green bell pepper from the ground near the blue plant pots, then place it at the base of the stone staircase.", + "Type": 5, + "Start_Pose": [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2567.917, + -2471.067, + 234.436, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + [ + -1980.366, + -2646.707, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2098.635, + -2603.66, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2216.903, + -2560.614, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2335.172, + -2517.568, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2453.441, + -2474.521, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2453.441, + -2474.521, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2453.441, + -2474.521, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2453.441, + -2474.521, + 279.436, + 0.0, + 110.0, + -0.0 + ], + [ + -2453.441, + -2474.521, + 279.436, + 0.0, + 85.0, + -0.0 + ], + [ + -2453.441, + -2474.521, + 279.436, + 0.0, + 60.0, + -0.0 + ], + [ + -2390.511, + -2365.525, + 279.436, + 0.0, + 60.0, + -0.0 + ], + [ + -2327.581, + -2256.528, + 279.436, + 0.0, + 60.0, + -0.0 + ], + [ + -2327.581, + -2256.528, + 279.436, + 0.0, + 85.0, + -0.0 + ], + [ + -2316.611, + -2131.148, + 279.436, + 0.0, + 85.0, + -0.0 + ], + [ + -2305.64, + -2005.768, + 279.436, + 0.0, + 85.0, + -0.0 + ], + [ + -2311.916, + -2077.494, + 279.436, + 0.0, + 85.0, + -0.0 + ], + [ + -2311.916, + -2077.494, + 279.436, + 0.0, + 85.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2567.917, + -2471.067, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2567.917, + -2471.067, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2567.917, + -2471.067, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2567.917, + -2471.067, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2567.917, + -2471.067, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2567.917, + -2471.067, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2460.171, + -2494.796, + 249.542, + -28.202, + -149.856, + 1.862 + ], + [ + -2467.432, + -2489.383, + 249.815, + -28.189, + -174.844, + 1.872 + ], + [ + -2472.452, + -2481.274, + 249.148, + -28.215, + 160.127, + 1.849 + ], + [ + -2479.837, + -2466.764, + 249.329, + -14.175, + 127.192, + 6.959 + ], + [ + -2471.815, + -2464.368, + 249.218, + -28.208, + 110.142, + 1.851 + ], + [ + -2409.358, + -2355.449, + 249.639, + -28.189, + 110.158, + 1.869 + ], + [ + -2346.557, + -2246.696, + 250.021, + -28.205, + 110.135, + 1.859 + ], + [ + -2349.444, + -2254.782, + 248.969, + -28.202, + 135.141, + 1.86 + ], + [ + -2337.916, + -2129.635, + 249.083, + -28.201, + 135.144, + 1.857 + ], + [ + -2326.963, + -2004.503, + 249.461, + -28.206, + 135.138, + 1.858 + ], + [ + -2305.815, + -2007.76, + 269.436, + 0.0, + 85.0, + -0.0 + ], + [ + -2305.815, + -2007.76, + 269.436, + 0.0, + 85.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 738.9, + 613.2, + 487.7, + 362.3, + 237.3, + 114.5, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.9, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper is sitting on the ground ahead of me, just in front of the two small blue plant pots near the awning. It is still far across the open courtyard, so I will walk forward to close that distance. The ground between us looks clear of obstacles.", + "The pepper and the pair of blue pots have grown larger in view, confirming my heading is taking me toward the target. I am still several strides away and cannot reach it from here. I will keep walking straight ahead.", + "The pepper now reads clearly as a rounded green object resting on the mat beside the two blue pots, slightly right of my centerline but well within my forward path. Nothing blocks the sand between us. Another step forward should bring it into grasping range.", + "The pepper is now large and close in the lower center of my view, next to the grey bowl and the blue pots. I am still a stride short of a comfortable grasp. I will step forward once more before attempting to take it.", + "The pepper has slipped to the very bottom edge of my view, meaning it lies just below and ahead of me between the blue pots and the mat. One more short step should place it directly at my feet where I can reach it. I will advance.", + "The green bell pepper is right at the near edge of my view, close enough that only its top is still in frame. Nothing stands between my hands and it. I will attempt to pick it up now.", + "The grasp worked and the green pepper is now held in my hands rather than resting on the sand. The stone staircase is not ahead of me from this heading, it lies back to my left past the cart and the tall striped planter. I will turn left to bring that staircase into view.", + "With the pepper secured, my view has swung toward the cart and the large striped planter, and I can just see the edge of the stone stairway railing at the far left. The staircase is still not centered ahead of me. I will turn left again to line up with it.", + "With the pepper in hand, I still have the cart and the striped pot filling most of my view, and only the lower flight of the stone staircase shows at the far left edge. I will turn left again to bring the staircase toward the center of my heading before walking.", + "The staircase now sits ahead, but the tall potted plant and the cart wheel still crowd the right side of my path toward its base. One more left turn should point me at the open sand in front of the steps so I can carry the pepper there without weaving around the pots.", + "My heading is now clear of the cart, with the flight of stone steps and open ground straight ahead. Still holding the pepper, I will walk forward to close the distance to the staircase.", + "The staircase and its balustrade have grown noticeably larger, so my walking direction is carrying the pepper toward the right place. I am still too far from the bottom step to set it down, so I will keep advancing.", + "From here the staircase has drifted to the right half of my view while the striped plant pot blocks the left of my heading. A right turn should square me onto the lower steps so the last strides bring me straight to their base.", + "The full width of the staircase is now centered ahead with the two railings framing it evenly, so my heading points directly at the bottom step. I will step forward to reach the base while still carrying the pepper.", + "The lowest step and the strip of sand in front of it are close, filling the bottom of my view. One more stride forward should put me right at the foot of the staircase, close enough to release the pepper there.", + "I am standing right against the bottom of the stone staircase, with the steps rising directly in front of me and the pepper still in my hands. This is the placement spot the task asks for, so I will drop the pepper here at the stair base.", + "The green bell pepper now rests on the ground at the foot of the stone staircase, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_c_pd/infos.json b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..68a51bf9ff4949825547588bdc384519b3f716e9 --- /dev/null +++ b/dataset/trajectory/ef_lewis_2/task_x-001862_y-002690_z000279_t5_c_pd/infos.json @@ -0,0 +1,734 @@ +{ + "Instruction": "Pick up the ceramic vase from the bottom of the stone staircase, then place it near the wooden shelter with the blue rug.", + "Type": 5, + "Start_Pose": [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2420.2, + -2038.018, + 213.436, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1862.097, + -2689.753, + 279.436, + 0, + 160, + 0 + ], + [ + -1980.366, + -2646.707, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -1980.366, + -2646.707, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2069.362, + -2557.711, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2158.357, + -2468.715, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2247.353, + -2379.719, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2247.353, + -2379.719, + 279.436, + 0.0, + 110.0, + -0.0 + ], + [ + -2290.399, + -2261.451, + 279.436, + 0.0, + 110.0, + -0.0 + ], + [ + -2290.399, + -2261.451, + 279.436, + 0.0, + 110.0, + -0.0 + ], + [ + -2333.446, + -2143.182, + 279.436, + 0.0, + 110.0, + -0.0 + ], + [ + -2333.446, + -2143.182, + 279.436, + 0.0, + 110.0, + -0.0 + ], + [ + -2333.446, + -2143.182, + 279.436, + 0.0, + 135.0, + -0.0 + ], + [ + -2333.446, + -2143.182, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2333.446, + -2143.182, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2333.446, + -2143.182, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2333.446, + -2143.182, + 279.436, + 0.0, + -125.0, + 0.0 + ], + [ + -2405.635, + -2246.28, + 279.436, + 0.0, + -125.0, + 0.0 + ], + [ + -2477.824, + -2349.378, + 279.436, + 0.0, + -125.0, + 0.0 + ], + [ + -2550.013, + -2452.476, + 291.894, + 0.0, + -125.0, + 0.0 + ], + [ + -2580.454, + -2467.869, + 291.894, + 0.0, + -125.0, + 0.0 + ], + [ + -2580.454, + -2467.869, + 291.894, + 0.0, + -150.0, + 0.0 + ], + [ + -2580.454, + -2467.869, + 291.894, + 0.0, + -150.0, + 0.0 + ], + [ + -2580.454, + -2467.869, + 291.894, + 0.0, + -150.0, + 0.0 + ], + [ + -2500.434, + -2421.668, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2420.413, + -2375.468, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2420.413, + -2375.468, + 279.436, + 0.0, + -125.0, + 0.0 + ], + [ + -2420.413, + -2375.468, + 279.436, + 0.0, + -100.0, + 0.0 + ], + [ + -2442.267, + -2499.415, + 279.436, + 0.0, + -100.0, + 0.0 + ], + [ + -2464.122, + -2623.362, + 279.436, + 0.0, + -100.0, + 0.0 + ], + [ + -2464.122, + -2623.362, + 279.436, + 0.0, + -125.0, + 0.0 + ], + [ + -2464.122, + -2623.362, + 279.436, + 0.0, + -150.0, + 0.0 + ], + [ + -2464.122, + -2623.362, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2589.502, + -2634.332, + 279.436, + 0.0, + -175.0, + 0.0 + ], + [ + -2589.502, + -2634.332, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2707.771, + -2591.287, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2640.113, + -2615.912, + 279.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2640.113, + -2615.912, + 279.436, + 0.0, + 160.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2420.2, + -2038.018, + 213.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2353.303, + -2151.059, + 249.542, + -28.202, + 160.145, + 1.862 + ], + [ + -2348.786, + -2159.395, + 249.815, + -28.189, + -174.843, + 1.872 + ], + [ + -2341.293, + -2164.294, + 249.148, + -28.215, + -149.872, + 1.849 + ], + [ + -2336.579, + -2170.1, + 249.202, + -14.092, + -132.656, + 6.87 + ], + [ + -2322.334, + -2161.554, + 249.218, + -28.208, + -99.857, + 1.851 + ], + [ + -2314.706, + -2155.662, + 249.886, + -28.198, + -74.853, + 1.867 + ], + [ + -2387.847, + -2258.11, + 249.355, + -28.198, + -74.854, + 1.862 + ], + [ + -2460.154, + -2361.373, + 248.969, + -28.202, + -74.858, + 1.86 + ], + [ + -2532.318, + -2464.439, + 249.083, + -28.201, + -74.855, + 1.857 + ], + [ + -2562.466, + -2479.398, + 262.44, + -28.207, + -74.865, + 1.861 + ], + [ + -2569.816, + -2485.498, + 261.894, + -28.202, + -99.858, + 1.86 + ], + [ + -2569.879, + -2485.64, + 261.676, + -28.195, + -99.848, + 1.867 + ], + [ + -2569.652, + -2484.978, + 262.636, + -28.19, + -99.848, + 1.876 + ], + [ + -2489.061, + -2439.762, + 249.763, + -28.202, + -99.853, + 1.857 + ], + [ + -2409.398, + -2393.766, + 249.144, + -28.205, + -99.858, + 1.854 + ], + [ + -2401.693, + -2387.776, + 249.967, + -28.207, + -74.864, + 1.862 + ], + [ + -2398.022, + -2379.501, + 249.441, + -28.204, + -49.858, + 1.858 + ], + [ + -2421.086, + -2502.266, + 249.867, + -28.202, + -49.859, + 1.859 + ], + [ + -2442.916, + -2626.038, + 250.147, + -28.208, + -49.859, + 1.861 + ], + [ + -2447.018, + -2635.184, + 248.981, + -28.183, + -74.844, + 1.874 + ], + [ + -2454.374, + -2639.991, + 250.144, + -28.19, + -99.852, + 1.872 + ], + [ + -2467.177, + -2650.704, + 249.329, + -14.175, + -132.807, + 6.959 + ], + [ + -2586.914, + -2655.543, + 249.768, + -28.198, + -124.854, + 1.865 + ], + [ + -2596.032, + -2653.764, + 249.639, + -28.189, + -149.842, + 1.869 + ], + [ + -2714.158, + -2611.683, + 250.021, + -28.205, + -149.864, + 1.859 + ], + [ + -2705.892, + -2591.971, + 219.436, + 0.0, + 160.0, + -0.0 + ], + [ + -2705.892, + -2591.971, + 219.436, + 0.0, + 160.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 858.0, + 751.0, + 751.0, + 627.0, + 504.0, + 382.9, + 382.9, + 258.4, + 258.4, + 136.3, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 20.6, + 20.7, + 20.2, + 21.4, + 21.4, + 22.4, + 22.8, + 21.4, + 21.4, + 20.8, + 19.3, + 27.5, + 21.4, + 20.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The stone staircase stands well ahead on my left, with ceramic vessels resting at its base where the target vase should be. I am far from that spot across the open courtyard, so I will walk straight ahead first to cut the distance before adjusting my heading.", + "The vases at the foot of the staircase now sit at the left edge of my view while my heading points at the buildings ahead. Walking on this bearing would carry me past them, so I will turn left to bring the stair base and its ceramics into the center of my path.", + "The turn has put the staircase and the vessels at its base squarely in front of me, with clear sand between us. Nothing blocks this line, so I will walk forward to close in on the ceramics standing at the bottom of the steps.", + "The striped planter and the slimmer patterned ceramic vase beside it are noticeably larger now, but still too distant to reach. My path along the front of the stairs remains clear, so I will keep walking forward toward them.", + "The pale patterned ceramic vase next to the large striped planter is now clearly distinguishable at the foot of the steps, slightly left of my heading. It is still beyond arm's reach, so I will advance again to get close enough for a grasp.", + "The stone staircase now fills the left of my view, and the slim white ceramic vase stands at its base beside the large blue-striped planter, slightly off my current heading toward the cart. I will turn left so the vase lies straight ahead before closing the last stretch.", + "The slim white ceramic vase and the striped planter now sit ahead of me at the foot of the steps, but they are still several paces away and too small in view for a grasp. I will walk forward to close that gap.", + "The slim white ceramic vase at the bottom of the steps now stands large in front of me, just right of my heading. My hands are empty, so I will attempt to grasp it here and see whether it comes up.", + "My hands are still empty and the vase was not lifted, so that grasp attempt did not take hold. The likeliest reason is that I stopped short of reach, so I will step forward once more to stand closer to it.", + "The slim white patterned vase and the striped planter now loom directly in front of me at arm's length, much nearer than when my earlier grasp came up empty. From this closer stance I will try the pick again on the ceramic vase.", + "The ceramic vase is now in my hands, so the grasp at the foot of the staircase succeeded. The wooden shelter with the blue rug lies far around to my right, well off my current heading, so I will turn right to start swinging toward it.", + "I am carrying the vase, yet my heading still faces the stone steps and the tall striped planter beside them. The shelter I need is further around to my right, so another right turn should open more of the square in that direction.", + "The staircase has slid to the left edge and a wooden cart with a villager now fills my heading, so I am part way around. The rug and its shelter are still further clockwise, so I keep turning right rather than setting off on this heading.", + "The cart still blocks the middle of my view and only a sliver of the awning and blue matting shows at the far right. I will turn right again so the shelter area comes into the controllable center of my view before I start walking with the vase.", + "The wooden shelter with the blue rug is now in sight ahead, but it sits right of center with the cart crowding my left foreground. One more right turn should point me at the open ground leading to that rug so I can carry the vase straight there.", + "The vase is in my hands, so the remaining job is to carry it to the wooden shelter with the blue rug. That shelter and its blue rug now sit ahead of me across the open sand, well clear of the cart on my left. I will walk forward to close that distance.", + "The blue rug under the wooden shelter has grown noticeably larger and the potted plant beside it is now clearly on my left, confirming I am closing on the drop area. Nothing blocks the sand between me and the shelter. I will keep walking forward.", + "The shelter's wooden posts and the blue rug now fill much of my view, with a bowl and mats lying just ahead on the sand. I am close but still short of the rug itself, so I need a bit more distance before setting the vase down. I will step forward again.", + "I am right at the shelter now, with the blue rug spread just in front of me and the robed figure standing on it beside a support post. A little more forward motion should bring me onto or beside the rug where the vase belongs. I will advance once more.", + "That last step barely carried me forward, since the figure and the shelter post sit almost straight in my path. Turning left should swing my heading toward the open left portion of the blue rug near the wooden door, away from the blocked line. I will turn left to look for that clearer placement spot.", + "I am still carrying the vase, and the wooden shelter with the blue rug now fills the view just ahead of me. To set the vase down near the shelter I need to be closer to the rug, so I will step forward through the gap between the frame posts.", + "My previous step forward changed nothing in front of me, since the post and the robed figure on the rug sit exactly where they were, so something is holding me in place. The rug is only a stride away, so I will try one more forward step in case that was just a slight snag on the frame.", + "Two forward attempts have left me stuck in the same spot, with the same post and robed figure filling the shelter opening. I am pressed too close to the frame to push through or swing around it, so I will back up to open clearance while keeping the vase in hand.", + "Backing up freed me from the shelter frame, and now the posts, rug and potted plant are all visible at a distance. I am still close enough to that blocked opening that turning would scrape the posts, so I will step back once more for maneuvering room.", + "I now have clear space behind the shelter frame, but the opening I tried is still fenced by posts and occupied by the villager on the rug. Rather than press that blocked line again, I will turn right toward the open ground to look for a passable approach to the rug.", + "I still hold the vase, and my earlier attempts to push straight in under the shelter went nowhere against its posts and the person standing on the rug. From here the shelter frontage is off to my left and the open sand lies to my right, so I turn right again to swing my heading onto the clear ground and look for a way around.", + "Now the cluttered shelter posts sit behind my left shoulder and a wide, empty stretch of sand opens straight ahead between the wall stalls and the market canopies. Carrying the vase, I step forward along this clear lane to gain room outside the obstruction.", + "The path ahead is still open sand with the awning row on my left and the produce stalls on my right, and nothing blocks my stride. I walk forward once more to carry the vase past the crowded frontage before turning back toward the rug.", + "I have cleared the stretch that blocked me, and the wooden shelters with their blue cloth and rug now lie well to my left while empty desert stretches ahead. Continuing straight would only take me away from the drop area, so I turn left to bring that shelter row back toward the front of my view.", + "The turn brought the shelter row further into view, but the wooden posts and blue rug are still off toward my left rather than centered ahead. I turn left again to keep rotating my heading onto the shelter so I can approach it squarely with the vase.", + "The wooden shelter with the blue rug sits toward the left of my view, with its posts and the standing figure offset from my heading. I still hold the vase, so I turn left again to bring the rug and the shelter frame in front of me before advancing.", + "The shelter now sits squarely ahead with the blue rug spread under its posts, and the vase is still in my hands. I walk forward to close the remaining gap to the rug, keeping to the open sand beside the posts since a direct push toward the figure earlier gained me nothing.", + "The robed figure now fills the center of my view and blocks the straight line onto the rug. I turn left to swing my heading toward the clearer corner of the rug beside the plant pots, where I can still get close to the shelter.", + "With the figure moved out of my path, the shelter wall, its door, and the near edge of the blue rug are open ahead of me. I step forward to reach placing distance on the rug, still carrying the vase.", + "I am standing right at the shelter, with the blue rug under its wooden post and the plant pots immediately beside me. This is the spot the task asks for, so I release the ceramic vase here and expect it to settle on the ground next to the shelter.", + "The ceramic vase now rests on the blue rug beneath the wooden shelter, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_lewis_2/task_x-002510_y-003519_z000279_t5_a_p/infos.json b/dataset/trajectory/ef_lewis_2/task_x-002510_y-003519_z000279_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cdc4130fc2cdd541146b4729c48867d9b527f125 --- /dev/null +++ b/dataset/trajectory/ef_lewis_2/task_x-002510_y-003519_z000279_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the tomato near the wooden crate beside the red canopy stall on the left.", + "Type": 5, + "Start_Pose": [ + -2509.778, + -3519.255, + 279.436, + 0, + 0, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1800.985, + -4057.81, + 249.436, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2509.778, + -3519.255, + 279.436, + 0, + 0, + 0 + ], + [ + -2509.778, + -3519.255, + 279.436, + 0.0, + -25.0, + 0.0 + ], + [ + -2395.711, + -3572.445, + 279.436, + 0.0, + -25.0, + 0.0 + ], + [ + -2281.644, + -3625.636, + 279.436, + 0.0, + -25.0, + 0.0 + ], + [ + -2167.577, + -3678.826, + 279.436, + 0.0, + -25.0, + 0.0 + ], + [ + -2167.577, + -3678.826, + 279.436, + 0.0, + -50.0, + 0.0 + ], + [ + -2086.676, + -3775.239, + 279.436, + 0.0, + -50.0, + 0.0 + ], + [ + -2005.776, + -3871.653, + 279.436, + 0.0, + -50.0, + 0.0 + ], + [ + -1924.875, + -3968.067, + 279.436, + 0.0, + -50.0, + 0.0 + ], + [ + -1924.875, + -3968.067, + 279.436, + 0.0, + -50.0, + 0.0 + ], + [ + -1924.875, + -3968.067, + 279.436, + 0.0, + -50.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1800.985, + -4057.81, + 249.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1800.985, + -4057.81, + 249.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1800.985, + -4057.81, + 249.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1800.985, + -4057.81, + 249.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1800.985, + -4057.81, + 249.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1800.985, + -4057.81, + 249.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1800.985, + -4057.81, + 249.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1800.985, + -4057.81, + 249.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1800.985, + -4057.81, + 249.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1908.909, + -3953.873, + 249.542, + -28.202, + 0.144, + 1.862 + ], + [ + -1908.909, + -3953.873, + 249.542, + -28.202, + 0.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 890.2, + 890.2, + 767.6, + 646.4, + 527.3, + 527.3, + 401.8, + 276.8, + 153.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The red canopy stall with its wooden crates and the tomato sits far to the left edge of my view, while the busier blue stalls dominate the center and right. Turning left should bring that red canopy and its crate toward the middle of my heading before I start walking. That keeps the tomato in sight as I close the long distance.", + "The red canopy stall and the small red tomato beside its wooden crate now sit ahead of me, left of center, with open sand between us. Nothing blocks the path, so I will walk straight forward to cut down this large gap. The target should grow larger and easier to align with as I advance.", + "The red canopy and the tomato at the foot of its crate are noticeably bigger than before, but still well beyond arm's reach. The ground ahead remains clear of stall posts and barrels along my line of travel. I will keep walking forward to close more of the remaining distance.", + "The tomato beside the wooden crate under the red canopy is now clearly resolved on the left side of my view, yet still several strides away. My current heading passes cleanly between the stalls without hitting a post or barrel. Another step forward should bring me close enough to consider a final alignment turn.", + "I am now close to the stalls, but the tomato and its crate have drifted well to the left of my forward direction while the green produce bin fills the center. Continuing straight would carry me past the target instead of toward it. Turning left should place the tomato near the middle of my heading for a direct approach.", + "The tomato under the red canopy now sits close to the center of my view with clear sand in between. My heading points straight at it, so walking forward is the direct way to shrink the remaining gap. It should come within reach after a few steps.", + "The tomato in front of the wooden crate is much larger now and stays centered under the red canopy as I advance. It is still slightly too far to grasp from here. I will take another step forward to bring it into interaction range.", + "The tomato now fills a large part of my lower view right against the crate under the red canopy, so only a short gap remains. One more step forward should place it directly at my feet and within reach for grasping. My line to it stays clear of the stall posts.", + "The tomato now fills the lower part of my view, resting on the ground right against the wooden crates under the red canopy, and nothing stands between it and me. This is close enough to reach it, so I will attempt the grasp now rather than step nearer and risk bumping the crates.", + "The tomato is now held in my hands and no longer sitting on the ground by the crates. The task target is secured, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_lewis_2/task_x-002510_y-003519_z000279_t5_a_pd/infos.json b/dataset/trajectory/ef_lewis_2/task_x-002510_y-003519_z000279_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3a5aa06a17d7a49b4255204a9a0bb7c016657009 --- /dev/null +++ b/dataset/trajectory/ef_lewis_2/task_x-002510_y-003519_z000279_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the green bell pepper from the green crate under the blue canopy stall, then place it near the wooden barrel under the red canopy stall on the left.", + "Type": 5, + "Start_Pose": [ + -2509.778, + -3519.255, + 279.436, + 0, + 0, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1874.851, + -3519.255, + 234.436, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2509.778, + -3519.255, + 279.436, + 0, + 0, + 0 + ], + [ + -2383.919, + -3519.255, + 279.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2258.06, + -3519.255, + 279.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2132.201, + -3519.255, + 279.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2006.342, + -3519.255, + 279.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2006.342, + -3519.255, + 279.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2006.342, + -3519.255, + 279.436, + 0.0, + -25.0, + 0.0 + ], + [ + -2006.342, + -3519.255, + 279.436, + 0.0, + -50.0, + 0.0 + ], + [ + -1925.441, + -3615.668, + 279.436, + 0.0, + -50.0, + 0.0 + ], + [ + -1925.441, + -3615.668, + 279.436, + 0.0, + -75.0, + 0.0 + ], + [ + -1892.867, + -3737.239, + 279.436, + 0.0, + -75.0, + 0.0 + ], + [ + -1861.571, + -3858.873, + 279.234, + 0.0, + -75.0, + 0.0 + ], + [ + -1861.571, + -3858.873, + 279.234, + 0.0, + -50.0, + 0.0 + ], + [ + -1861.571, + -3858.873, + 279.234, + 0.0, + -25.0, + 0.0 + ], + [ + -1768.129, + -3920.368, + 279.436, + 0.0, + -25.0, + 0.0 + ], + [ + -1768.129, + -3920.368, + 279.436, + 0.0, + 0.0, + -0.0 + ], + [ + -1840.129, + -3920.368, + 279.436, + 0.0, + 0.0, + -0.0 + ], + [ + -1840.129, + -3920.368, + 279.436, + 0.0, + 0.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1874.851, + -3519.255, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1874.851, + -3519.255, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1874.851, + -3519.255, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1874.851, + -3519.255, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1874.851, + -3519.255, + 234.436, + 0.0, + 0.0, + 0.0 + ], + [ + -2006.952, + -3497.901, + 249.542, + -28.202, + 50.145, + 1.862 + ], + [ + -1998.278, + -3500.505, + 249.815, + -28.189, + 25.157, + 1.872 + ], + [ + -1990.787, + -3506.407, + 249.148, + -28.215, + 0.127, + 1.849 + ], + [ + -1909.27, + -3601.718, + 248.961, + -28.202, + 0.141, + 1.858 + ], + [ + -1906.117, + -3609.676, + 250.162, + -28.198, + -24.855, + 1.865 + ], + [ + -1872.447, + -3730.94, + 249.878, + -28.2, + -24.855, + 1.865 + ], + [ + -1841.071, + -3852.861, + 249.347, + -28.194, + -24.852, + 1.865 + ], + [ + -1844.881, + -3843.951, + 249.948, + -28.196, + 0.149, + 1.869 + ], + [ + -1851.897, + -3838.638, + 249.02, + -28.199, + 25.144, + 1.861 + ], + [ + -1759.463, + -3900.846, + 249.16, + -28.203, + 25.141, + 1.856 + ], + [ + -1768.771, + -3897.983, + 249.95, + -28.206, + 50.137, + 1.863 + ], + [ + -1770.129, + -3920.368, + 269.436, + 0.0, + 0.0, + 0.0 + ], + [ + -1770.129, + -3920.368, + 269.436, + 0.0, + 0.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 634.9, + 509.1, + 383.2, + 257.3, + 131.5, + 21.4, + 20.4, + 20.2, + 21.4, + 20.2, + 21.4, + 21.4, + 22.4, + 22.4, + 21.4, + 22.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper is sitting on the blue mat beside the crate of peppers under the pale blue canopy, straight ahead but still far off. My heading already points at it, so I will walk forward to close that gap before any grasp is possible.", + "The pepper and its crate have grown noticeably larger and remain centered slightly left of my heading, confirming my line of travel is good. I am still well beyond arm's reach, so I will keep walking forward.", + "The green pepper now stands clearly on the mat just right of the crate, and nothing blocks the sand between us. It is still too distant to grasp, so another step forward should bring me into reaching range.", + "The pepper fills a good part of the lower view but sits slightly beyond comfortable reach at the near edge of the mat. One more forward step should place it directly at my feet for the grasp.", + "The green bell pepper is now immediately in front of me at the edge of the blue mat, close enough that it dominates the lower view. This is the moment to attempt the grasp, so I will try to pick it up.", + "The pepper is now held in my hands, so the pick succeeded and the crate spot is empty of it. The red canopy stall with its crates and barrel lies off to my left, so I will turn left to swing my heading toward that delivery area.", + "The red canopy stall with its wooden crates sits at the left edge of my view while the pepper crate still occupies the center, so I am not yet facing my destination. Another left turn should bring that red stall closer to the middle of my heading.", + "The red canopy stall with its crates and a barrel now lies ahead and slightly left, with the pepper crate pushed to my right side. With the pepper in hand and open sand in between, I will walk forward to begin closing the distance to that stall.", + "The bell pepper is in my hands and travels with me, so my job now is transport toward the red canopy stall. That stall with its pale crates and barrel sits off to my left while the green crate still crowds my right side. I will turn left to put the red canopy roughly ahead of my heading.", + "The red canopy stall with its stacked crates and the wooden barrel beside them now lies ahead of me rather than off to the side. Nothing blocks the open sand between us. I will walk forward to close that gap while carrying the pepper.", + "The red canopy frame and its crates have grown much larger, so my heading is still good but I am not yet within placing range of the barrel. The path between the posts remains clear. I will step forward again to reach the stall area.", + "I am now right at the red canopy stall, but my heading points past the crates and the wooden barrel has slipped out of view on my right. Placing the pepper requires the barrel in front of me. I will turn right to bring that side of the stall back into view.", + "The turn brought the stall's right side back, with a wooden barrel edge appearing at the far right of my view. It is still too far off center for a controlled placement. I will turn right once more to face the barrel more directly.", + "The wooden barrels are now clearly ahead on my right with open ground between us and the crates safely to my left. I am close but still a step short of the spot beside the barrel. I will walk forward to reach it.", + "I have arrived beside the barrels, but my view is dominated by the low wall ahead with the barrels sitting to my right of the post. To set the pepper down near the barrel I need it centered in front of me. I will turn right to square up on it.", + "The wooden barrels now sit directly in front of me at arm's reach, framed between the stall posts of the red canopy. The pepper is still in my hands and this is the intended placement spot. I will release it here so it should come to rest near the barrel.", + "The green bell pepper now rests on the ground beside the wooden barrels under the red canopy stall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_a_p/infos.json b/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..52393797248ae075d7e0982fa30ee53a5f36c197 --- /dev/null +++ b/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the metal bucket near the gas pump.", + "Type": 5, + "Start_Pose": [ + -28671.093, + -47608.766, + 3699.449, + 0, + -160, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -29366.111, + -47534.828, + 3633.13, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -28671.093, + -47608.766, + 3699.449, + 0, + -160, + 0 + ], + [ + -28789.363, + -47651.812, + 3687.112, + 0.0, + -160.0, + 0.0 + ], + [ + -28789.363, + -47651.812, + 3687.112, + 0.0, + 175.0, + -0.0 + ], + [ + -28914.743, + -47640.843, + 3685.806, + 0.0, + 175.0, + -0.0 + ], + [ + -29040.123, + -47629.873, + 3689.548, + 0.0, + 175.0, + -0.0 + ], + [ + -29165.503, + -47618.904, + 3697.412, + 0.0, + 175.0, + -0.0 + ], + [ + -29290.883, + -47607.935, + 3703.891, + 0.0, + 175.0, + -0.0 + ], + [ + -29290.883, + -47607.935, + 3703.891, + 0.0, + 175.002, + -0.0 + ], + [ + -29290.883, + -47607.935, + 3703.891, + 0.0, + 175.002, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -29366.111, + -47534.828, + 3633.13, + 0.0, + 0.0, + 0.0 + ], + [ + -29366.111, + -47534.828, + 3633.13, + 0.0, + 0.0, + 0.0 + ], + [ + -29366.111, + -47534.828, + 3633.13, + 0.0, + 0.0, + 0.0 + ], + [ + -29366.111, + -47534.828, + 3633.13, + 0.0, + 0.0, + 0.0 + ], + [ + -29366.111, + -47534.828, + 3633.13, + 0.0, + 0.0, + 0.0 + ], + [ + -29366.111, + -47534.828, + 3633.13, + 0.0, + 0.0, + 0.0 + ], + [ + -29366.111, + -47534.828, + 3633.13, + 0.0, + 0.0, + 0.0 + ], + [ + -29292.135, + -47629.261, + 3672.64, + -28.202, + -134.854, + 1.862 + ], + [ + -29292.135, + -47629.261, + 3672.64, + -28.202, + -134.854, + 1.862 + ] + ], + "PD_Dist_2D": [ + 698.9, + 588.5, + 588.5, + 463.7, + 339.6, + 217.5, + 104.9, + 21.4, + 21.4 + ], + "Rationale": [ + "I need the metal bucket standing near the gas pumps, and from here the pump island sits far off to my left under the canopy while the cafe wall crowds my right. Stepping forward opens up the forecourt before I commit to a heading. This should shorten the distance to the pump area.", + "My heading still runs along the cafe frontage, with the pump island and the pale cylindrical container out at the left edge of my view. Turning left should swing the pumps and the bucket beside them into the center of my path so I can walk straight at them.", + "The two orange pumps now sit ahead of me on their island, and the metal bucket is the pale drum just to their right. With the lane under the canopy clear of obstructions, I will walk straight forward to close in on it.", + "The bucket beside the pump island has grown noticeably larger and is still slightly left of my center line, so my heading remains usable. Nothing blocks the packed dirt between us. Another step forward should bring it closer to grasping range.", + "The metal bucket now stands prominently in front of the near pump, well within my forward path and unobstructed. I am still several paces short of a comfortable reach. I will keep walking straight toward it.", + "The bucket fills much of the lower center of my view, close beside the pump and canopy post, but its rim is still a bit too far ahead for a confident grab. One more step forward should place me directly over it.", + "I am standing right at the pump island with the metal bucket at the near lower edge of my view, close enough that its rim is at my feet. This is the reach position I was walking toward, so I will attempt to pick it up now.", + "The metal bucket is now held in my hands rather than resting on the forecourt. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_a_pd/infos.json b/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..81efbea6491d4a26a9be5e1d31070dd82c4446c8 --- /dev/null +++ b/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the wicker basket from the ground near the gas pump, then place it near the cafe entrance doorstep.", + "Type": 5, + "Start_Pose": [ + -28671.093, + -47608.766, + 3699.449, + 0, + -160, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -29267.834, + -47549.254, + 3650.917, + 90, + 30.001, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -28671.093, + -47608.766, + 3699.449, + 0, + -160, + 0 + ], + [ + -28789.363, + -47651.812, + 3687.112, + 0.0, + -160.0, + 0.0 + ], + [ + -28789.363, + -47651.812, + 3687.112, + 0.0, + 175.0, + -0.0 + ], + [ + -28914.743, + -47640.843, + 3685.806, + 0.0, + 175.0, + -0.0 + ], + [ + -29040.123, + -47629.873, + 3689.548, + 0.0, + 175.0, + -0.0 + ], + [ + -29165.503, + -47618.904, + 3697.412, + 0.0, + 175.0, + -0.0 + ], + [ + -29165.503, + -47618.904, + 3697.412, + 0.0, + 175.001, + -0.0 + ], + [ + -29165.503, + -47618.904, + 3697.412, + 0.0, + -159.999, + 0.0 + ], + [ + -29165.503, + -47618.904, + 3697.412, + 0.0, + -134.999, + 0.0 + ], + [ + -29165.503, + -47618.904, + 3697.412, + 0.0, + -109.999, + 0.0 + ], + [ + -29165.503, + -47618.904, + 3697.412, + 0.0, + -84.999, + 0.0 + ], + [ + -29165.503, + -47618.904, + 3697.412, + 0.0, + -59.999, + 0.0 + ], + [ + -29102.571, + -47727.9, + 3697.917, + 0.0, + -59.999, + 0.0 + ], + [ + -29040.504, + -47830.862, + 3687.338, + 0.0, + -59.999, + 0.0 + ], + [ + -29076.505, + -47768.509, + 3692.125, + 0.0, + -59.999, + 0.0 + ], + [ + -29076.505, + -47768.509, + 3692.125, + 0.0, + -59.999, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -29267.834, + -47549.254, + 3650.917, + 90.0, + 30.001, + 0.0 + ], + [ + -29267.834, + -47549.254, + 3650.917, + 90.0, + 30.001, + 0.0 + ], + [ + -29267.834, + -47549.254, + 3650.917, + 90.0, + 30.001, + 0.0 + ], + [ + -29267.834, + -47549.254, + 3650.917, + 90.0, + 30.001, + 0.0 + ], + [ + -29267.834, + -47549.254, + 3650.917, + 90.0, + 30.001, + 0.0 + ], + [ + -29267.834, + -47549.254, + 3650.917, + 90.0, + 30.001, + 0.0 + ], + [ + -29166.755, + -47640.23, + 3665.418, + -28.202, + -134.854, + 1.862 + ], + [ + -29157.291, + -47639.659, + 3665.691, + -28.189, + -109.842, + 1.872 + ], + [ + -29149.684, + -47634.939, + 3665.023, + -28.215, + -84.871, + 1.849 + ], + [ + -29142.43, + -47633.119, + 3663.681, + -14.092, + -67.655, + 6.87 + ], + [ + -29144.156, + -47616.597, + 3663.803, + -28.208, + -34.856, + 1.851 + ], + [ + -29146.272, + -47607.194, + 3664.472, + -28.198, + -9.853, + 1.867 + ], + [ + -29084.332, + -47716.778, + 3659.767, + -28.198, + -9.853, + 1.862 + ], + [ + -29022.181, + -47819.898, + 3656.458, + -28.208, + -9.862, + 1.855 + ], + [ + -29041.504, + -47829.129, + 3657.125, + 90.0, + -59.999, + 0.0 + ], + [ + -29041.504, + -47829.129, + 3657.125, + 90.0, + -59.999, + 0.0 + ] + ], + "PD_Dist_2D": [ + 599.7, + 489.3, + 489.3, + 364.8, + 241.6, + 123.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket sits on the ground under the fuel canopy off to my left, well ahead of me, while the cafe front runs along my right. I will step forward first to close the long gap toward the pump island before adjusting my heading.", + "From here the pumps and the basket lie off to my left edge, while my heading still points down the cafe wall. I will turn left to bring the pump island and the basket into the center of my view before advancing further.", + "The pump island with the two rusty pumps and the woven basket leaning beside them is now centered ahead of me. The open forecourt between us is clear, so I will walk forward to shorten the distance to the basket.", + "The basket is clearly larger now beside the pump platform, but it is still several paces out of reach. I will keep walking forward toward it under the canopy.", + "The basket now fills a good part of my lower left view, resting on the ground at the edge of the pump platform, yet it is still slightly too far for a grasp. One more step forward should bring it directly at my feet.", + "The wicker basket is right beside me at the base of the pump, close enough that its rim crosses my lower view. Nothing blocks my reach, so I will attempt to pick it up now.", + "The grasp worked and the basket is in my hands rather than resting on the ground by the pump. The cafe storefront lies well around to my right from this heading, so I will turn right to start swinging toward the entrance side.", + "I am carrying the basket, and my view still shows the car repair shutter and the trash can rather than the cafe glazing. I will keep turning right to bring the cafe entrance into view before walking toward it.", + "The basket is secured in my hands, so my remaining job is to face the cafe front. Ahead I still see only the car repair shutter, the bin and the ivy along the wall, with the storefront further around to my right. I will turn right again to keep swinging my heading toward the entrance.", + "The large glazed storefront panel has now come into the right side of my view, so the cafe frontage is nearly ahead. The doorway itself is still off to the right of my heading, past the bin and the bush. One more turn right should put the entrance near the middle of my path.", + "The cafe door with its neon lettering now sits right of my center, with the ivy bush filling the left of my view. Turning right once more should place the doorway straight in front of me and clear the bush from my walking line before I approach with the basket.", + "The glass door and its stone step are now framed close to the center of my view and the bush is behind my shoulder. Carrying the basket, I need to close the remaining ground before I can set it down at the threshold. I will step forward along this line.", + "The door frame and window mullions now fill much of my view, so I am close to the facade but not yet standing at the step. Another stride should bring me right up beside the entrance where placing the basket counts as near the doorstep.", + "I am now right against the cafe front, with the glazing and the entrance frame immediately in front of me and the doorstep at my feet level. This is as close to the entrance as I can stand while still holding the basket. I will release it here so it rests beside the doorstep.", + "The wicker basket is resting on the ground at the cafe entrance and my hands are empty. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_b_p/infos.json b/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a53b1d9093c4fbb8bf1d72afd6be52b045fe30d --- /dev/null +++ b/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_b_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the trash bag near the base of the vintage gas pump.", + "Type": 5, + "Start_Pose": [ + -28671.093, + -47608.766, + 3699.449, + 0, + -160, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -29473.811, + -47524.207, + 3625.575, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -28671.093, + -47608.766, + 3699.449, + 0, + -160, + 0 + ], + [ + -28789.363, + -47651.812, + 3687.112, + 0.0, + -160.0, + 0.0 + ], + [ + -28907.631, + -47694.858, + 3685.523, + 0.0, + -160.0, + 0.0 + ], + [ + -28907.631, + -47694.858, + 3685.523, + 0.0, + 175.0, + -0.0 + ], + [ + -29033.011, + -47683.889, + 3687.736, + 0.0, + 175.0, + -0.0 + ], + [ + -29158.391, + -47672.92, + 3697.572, + 0.0, + 175.0, + -0.0 + ], + [ + -29283.772, + -47661.95, + 3702.316, + 0.0, + 175.0, + -0.0 + ], + [ + -29283.772, + -47661.95, + 3702.316, + 0.0, + 175.0, + -0.0 + ], + [ + -29283.772, + -47661.95, + 3702.316, + 0.0, + 150.0, + -0.0 + ], + [ + -29392.769, + -47599.021, + 3714.296, + 0.0, + 150.0, + -0.0 + ], + [ + -29392.769, + -47599.021, + 3714.296, + 0.0, + 149.999, + -0.0 + ], + [ + -29392.769, + -47599.021, + 3714.296, + 0.0, + 149.999, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29473.811, + -47524.207, + 3625.575, + 0.0, + 0.0, + 0.0 + ], + [ + -29402.917, + -47617.819, + 3684.091, + -28.202, + -159.856, + 1.862 + ], + [ + -29402.917, + -47617.819, + 3684.091, + -28.202, + -159.856, + 1.862 + ] + ], + "PD_Dist_2D": [ + 807.2, + 696.2, + 591.3, + 591.3, + 468.8, + 348.7, + 234.7, + 234.7, + 234.7, + 110.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The vintage pumps sit far off under the canopy to my left, and I am still standing near the cafe front with a long stretch of open lot between us. I will walk forward to cut down that distance before worrying about heading. The trash bag is not yet distinguishable at this range.", + "The pump island is still to my left and clearly closer than before, but the cafe wall and shrubs keep filling the right side of my view. Continuing straight ahead remains the cleanest way to close ground before I swing toward the pumps. Nothing blocks the packed dirt in front of me.", + "Walking straight now only carries me past the pump island, which has slipped almost entirely off the left edge of my view while the storefront and bushes dominate ahead. I will turn left to bring the pumps and the ground at their base back into the center of my view. That heading should let me approach the target directly.", + "Now the two vintage pumps stand clearly ahead on their curbed island, with a dark bagged shape resting on the ground just beyond them. My new heading points along open dirt, so I will step forward to close in on that bag. The distance is still too great for any grasp.", + "The trash bag is now plainly visible slumped on the dirt beside the pump island, roughly straight ahead of me. I am still several strides short of reaching distance, so I will keep walking toward it. The ground between us stays clear of clutter.", + "The dark trash bag is clearly visible ahead at the base of the rusty vintage pump on the left, but it is still several paces away and too far to reach. I will walk forward again to close that remaining gap before attempting a grasp.", + "The trash bag now sits at the lower left of my view, close beside the pump island and apparently within arm's reach. I will reach down and try to take hold of it rather than step nearer and risk bumping the island.", + "My hands are empty and the bag was not taken, so that reach did not secure it. The bag lay off to my left edge rather than straight in front, so I will turn left to bring it back into the center of my heading for a cleaner approach.", + "The trash bag is now squarely ahead of me at the foot of the vintage pump, still resting on the island where my earlier reach failed to lift it. That attempt suggests I was not close enough, so I will step forward to shorten the distance before trying again.", + "The bag is now directly at my feet against the pump island, filling the bottom of my view at much closer range than during my earlier unsuccessful reach. I will attempt the grasp again from this tighter position, which should put it firmly within reach.", + "The trash bag is now held in my hands rather than resting by the pump base. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_b_pd/infos.json b/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..989961bbfda18ae2035e56e669ee0a52d6c47eaa --- /dev/null +++ b/dataset/trajectory/forestGasStation/task_x-028671_y-047609_z003699_t5_b_pd/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the tomato from the ground beside the cafe window, then place it at the base of the nearest vintage gas pump.", + "Type": 5, + "Start_Pose": [ + -28671.093, + -47608.766, + 3699.449, + 0, + -160, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -29080.611, + -47780.996, + 3657.413, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -28671.093, + -47608.766, + 3699.449, + 0, + -160, + 0 + ], + [ + -28789.363, + -47651.812, + 3687.112, + 0.0, + -160.0, + 0.0 + ], + [ + -28907.631, + -47694.858, + 3685.523, + 0.0, + -160.0, + 0.0 + ], + [ + -28907.631, + -47694.858, + 3685.523, + 0.0, + -160.0, + 0.0 + ], + [ + -28907.631, + -47694.858, + 3685.523, + 0.0, + 175.0, + -0.0 + ], + [ + -28907.631, + -47694.858, + 3685.523, + 0.0, + 150.0, + -0.0 + ], + [ + -29016.628, + -47631.929, + 3688.869, + 0.0, + 150.0, + -0.0 + ], + [ + -29125.625, + -47568.999, + 3704.859, + 0.0, + 150.0, + -0.0 + ], + [ + -29234.622, + -47506.069, + 3714.679, + 0.0, + 150.0, + -0.0 + ], + [ + -29234.622, + -47506.069, + 3714.679, + 0.0, + 125.0, + -0.0 + ], + [ + -29193.325, + -47565.048, + 3707.995, + 0.0, + 125.0, + -0.0 + ], + [ + -29193.325, + -47565.048, + 3707.995, + 0.0, + 125.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -29080.611, + -47780.996, + 3657.413, + 0.0, + 0.0, + 0.0 + ], + [ + -29080.611, + -47780.996, + 3657.413, + 0.0, + 0.0, + 0.0 + ], + [ + -29080.611, + -47780.996, + 3657.413, + 0.0, + 0.0, + 0.0 + ], + [ + -28899.754, + -47714.716, + 3655.547, + -28.202, + -109.856, + 1.862 + ], + [ + -28908.796, + -47715.236, + 3655.82, + -28.189, + -134.843, + 1.872 + ], + [ + -28917.854, + -47712.251, + 3655.153, + -28.215, + -159.873, + 1.849 + ], + [ + -29027.054, + -47650.568, + 3657.459, + -28.202, + -159.859, + 1.858 + ], + [ + -29135.917, + -47587.714, + 3667.724, + -28.208, + -159.858, + 1.852 + ], + [ + -29244.694, + -47524.92, + 3679.068, + -28.189, + -159.842, + 1.867 + ], + [ + -29251.318, + -47518.169, + 3678.77, + -28.194, + 175.148, + 1.865 + ], + [ + -29233.475, + -47507.707, + 3722.995, + 0.0, + 125.0, + -0.0 + ], + [ + -29233.475, + -47507.707, + 3722.995, + 0.0, + 125.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 444.3, + 318.6, + 193.2, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 21.4, + 20.6, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato sits on the ground ahead of me along the cafe wall, still well out of reach. I will walk forward to close that gap before attempting any grasp.", + "The tomato has grown larger in front of me but is still a step or two short of a comfortable grasp. I will advance once more so it sits directly at my feet.", + "The tomato now fills the lower portion of my view, right at the base of the cafe wall and within arm's reach. This is the moment to reach down and grasp it, so I will attempt the pick.", + "The tomato is now in my hands and no longer resting on the ground, so the grasp took hold. The gas pumps lie back toward my left under the canopy, so I will turn left to swing my heading around toward them.", + "The pump island has come into the left side of my view, but my heading still points down the lot past it. Another left turn should bring the pumps closer to straight ahead for a clean walk toward them.", + "The pump island is now centered in front of me with the tomato in hand. I will walk forward to carry it toward the nearest pump.", + "The nearer pump is bigger in view but I am still short of its base, where the tomato must go. I will keep walking forward to close the remaining distance.", + "The near pump now towers at my left edge and the island curb runs just ahead of me. One more step forward should put me right beside the base where I can set the tomato down.", + "I am still carrying the tomato and now stand right alongside the pump island, with the nearest weathered pump crowding the left edge of my view while the second one sits ahead to the right. Facing straight past it, I cannot place the tomato at its base, so I will turn left to bring that nearest pump squarely in front of me.", + "The nearest vintage pump now fills the left of my view at arm's length, its TOTAL and GALLONS plates directly beside me, so I am standing at its base with the tomato still in hand. This is the placement spot the task calls for, so I will release the tomato here and it should come to rest against the pump.", + "The tomato now rests on the ground at the foot of the nearest vintage pump, out of my hands. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_a_p/infos.json b/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b5eaa6f2f4cb492a628db60660fd59fb67d93c7f --- /dev/null +++ b/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the ceramic pot.", + "Type": 5, + "Start_Pose": [ + -29944.122, + -47455.421, + 3708.22, + 0, + -60, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -29904.779, + -47801.691, + 3635.287, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -29944.122, + -47455.421, + 3708.22, + 0, + -60, + 0 + ], + [ + -29881.192, + -47564.419, + 3710.585, + 0.0, + -60.0, + 0.0 + ], + [ + -29881.192, + -47564.419, + 3710.585, + 0.0, + -85.0, + 0.0 + ], + [ + -29870.222, + -47689.799, + 3722.328, + 0.0, + -85.0, + 0.0 + ], + [ + -29870.222, + -47689.799, + 3722.328, + 0.0, + -84.999, + 0.0 + ], + [ + -29870.222, + -47689.799, + 3722.328, + 0.0, + -84.999, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -29904.779, + -47801.691, + 3635.287, + 0.0, + 0.0, + 0.0 + ], + [ + -29904.779, + -47801.691, + 3635.287, + 0.0, + 0.0, + 0.0 + ], + [ + -29904.779, + -47801.691, + 3635.287, + 0.0, + 0.0, + 0.0 + ], + [ + -29904.779, + -47801.691, + 3635.287, + 0.0, + 0.0, + 0.0 + ], + [ + -29849.003, + -47687.33, + 3692.662, + -28.202, + -34.855, + 1.862 + ], + [ + -29849.003, + -47687.33, + 3692.662, + -28.202, + -34.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 348.5, + 238.4, + 238.4, + 117.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The red ceramic pot sits on the ground at the base of the corrugated shutter, well to my left and still far off across the open dirt yard. Nothing blocks the ground between us, so I will walk straight ahead to cut down that distance before worrying about heading.", + "After closing distance, the pot has slid to the far left edge of my view and is nearly out of sight, while my heading points along the shutters instead of at it. I will turn left to swing the pot back toward the center of my view so a straight approach becomes possible.", + "The turn has brought the ceramic pot into the lower middle of my view, sitting on the ground in front of the shutter with clear dirt between us. With my heading now lined up on it, I will step forward to close the remaining gap into grasping range.", + "I am now right up against the shutter panel where the pot rests, close enough that it lies just below my forward view. This is the reach distance I wanted, so I will attempt to grasp the ceramic pot and lift it.", + "The ceramic pot is now held in my hands rather than resting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_a_pd/infos.json b/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ef65425fc930977f03648ec6899d427a91a5e5a9 --- /dev/null +++ b/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_a_pd/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the plate in front of the red \"Car Repair\" sign, then place it in front of the corrugated metal garage door.", + "Type": 5, + "Start_Pose": [ + -29944.122, + -47455.421, + 3708.22, + 0, + -60, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -29572.105, + -47711.387, + 3657.263, + 90, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -29944.122, + -47455.421, + 3708.22, + 0, + -60, + 0 + ], + [ + -29944.121, + -47455.422, + 3708.302, + 0.0, + -35.0, + 0.0 + ], + [ + -29841.023, + -47527.612, + 3710.573, + 0.0, + -35.0, + 0.0 + ], + [ + -29737.926, + -47599.801, + 3709.184, + 0.0, + -35.0, + 0.0 + ], + [ + -29634.828, + -47671.991, + 3707.587, + 0.0, + -35.0, + 0.0 + ], + [ + -29634.828, + -47671.991, + 3707.587, + 0.0, + -35.001, + 0.0 + ], + [ + -29634.828, + -47671.991, + 3707.587, + 0.0, + -60.001, + 0.0 + ], + [ + -29634.828, + -47671.991, + 3707.587, + 0.0, + -85.001, + 0.0 + ], + [ + -29634.828, + -47671.991, + 3707.587, + 0.0, + -110.001, + 0.0 + ], + [ + -29677.876, + -47790.259, + 3707.734, + 0.0, + -110.001, + 0.0 + ], + [ + -29653.25, + -47722.602, + 3707.734, + 0.0, + -110.001, + 0.0 + ], + [ + -29653.25, + -47722.602, + 3707.734, + 0.0, + -110.001, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -29572.105, + -47711.387, + 3657.263, + 90.0, + 0.0, + 0.0 + ], + [ + -29572.105, + -47711.387, + 3657.263, + 90.0, + 0.0, + 0.0 + ], + [ + -29572.105, + -47711.387, + 3657.263, + 90.0, + 0.0, + 0.0 + ], + [ + -29572.105, + -47711.387, + 3657.263, + 90.0, + 0.0, + 0.0 + ], + [ + -29572.105, + -47711.387, + 3657.263, + 90.0, + 0.0, + 0.0 + ], + [ + -29623.08, + -47654.149, + 3677.583, + -28.202, + 15.144, + 1.862 + ], + [ + -29617.467, + -47661.258, + 3677.855, + -28.189, + -9.844, + 1.872 + ], + [ + -29614.717, + -47670.389, + 3677.188, + -28.215, + -34.873, + 1.849 + ], + [ + -29611.34, + -47686.316, + 3676.889, + -14.175, + -67.808, + 6.959 + ], + [ + -29657.56, + -47796.879, + 3677.929, + -28.198, + -59.856, + 1.865 + ], + [ + -29677.193, + -47788.379, + 3677.734, + 90.0, + -110.001, + 0.0 + ], + [ + -29677.193, + -47788.379, + 3677.734, + 90.0, + -110.001, + 0.0 + ] + ], + "PD_Dist_2D": [ + 451.6, + 451.6, + 325.7, + 199.9, + 74.1, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate sits on the ground well to my right, near the wall carrying the red vertical sign, while my heading points at the corrugated shutters instead. I will turn right to bring the plate and that sign toward the center of my view so a straight approach becomes possible.", + "The plate now lies ahead of me under the canopy, small and far off near the covered walkway. My heading is usable, so I will walk forward to close the gap toward it.", + "The plate has grown noticeably larger just left of center and the red \"CAR REPAIR\" sign is now readable on the wall behind it, confirming this is the right target. It is still several strides away, so I will keep walking forward.", + "The plate fills much of the lower view directly in front of the wall bearing the red \"CAR REPAIR\" sign, but it is still slightly beyond comfortable reach. I will step forward once more to stand right over it before attempting the grasp.", + "The plate now occupies the near foreground at my feet, close under the wall with the red \"CAR REPAIR\" sign, and my hands are empty. This is the closest I can practically get, so I will attempt to pick it up.", + "The grasp worked and the plate is now in my hands rather than resting on the ground. The corrugated metal garage door lies off to my left along this frontage, so I will turn left to begin swinging my heading toward it.", + "I am carrying the plate and my view now shows the CAR REPAIR wall with the ribbed metal shutter entering from the left edge. That garage door is still not squarely ahead, so I will turn left again to bring it in front of me.", + "The corrugated metal door now fills my view, but I am facing a narrow leaf close to its edge rather than the open frontage where I can set the plate down. Turning left once more should square me with the wider door panel and leave room to step in.", + "The plate is in my hands and the corrugated metal garage door with its graffiti panel now fills the view straight ahead. I am still a short distance from its face, so I will step forward to close that gap before setting the plate down.", + "I am now right up against the corrugated metal panel, which fills my view with its ribbed surface and door hardware at the left edge. This is the intended placement spot in front of the garage door, so I will release the plate here and expect it to settle on the ground at the door.", + "The plate is out of my hands and resting on the ground directly in front of the corrugated metal garage door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_b_p/infos.json b/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4fef67d1e8003eb05826e65ab70fd9605aa5b840 --- /dev/null +++ b/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_b_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the wicker basket near the grassy ground in front of the graffiti-covered metal doors.", + "Type": 5, + "Start_Pose": [ + -29944.122, + -47455.421, + 3708.22, + 0, + -60, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -29884.898, + -47791.285, + 3662.192, + 90, + -80, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -29944.122, + -47455.421, + 3708.22, + 0, + -60, + 0 + ], + [ + -29881.192, + -47564.419, + 3710.585, + 0.0, + -60.0, + 0.0 + ], + [ + -29881.192, + -47564.419, + 3710.585, + 0.0, + -85.0, + 0.0 + ], + [ + -29870.222, + -47689.799, + 3722.328, + 0.0, + -85.0, + 0.0 + ], + [ + -29870.222, + -47689.799, + 3722.328, + 0.0, + -84.999, + 0.0 + ], + [ + -29870.222, + -47689.799, + 3722.328, + 0.0, + -84.999, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -29884.898, + -47791.285, + 3662.192, + 90.0, + -80.0, + 0.0 + ], + [ + -29884.898, + -47791.285, + 3662.192, + 90.0, + -80.0, + 0.0 + ], + [ + -29884.898, + -47791.285, + 3662.192, + 90.0, + -80.0, + 0.0 + ], + [ + -29884.898, + -47791.285, + 3662.192, + 90.0, + -80.0, + 0.0 + ], + [ + -29849.003, + -47687.33, + 3692.662, + -28.202, + -34.855, + 1.862 + ], + [ + -29849.003, + -47687.33, + 3692.662, + -28.202, + -34.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 341.0, + 226.9, + 226.9, + 102.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The graffiti-covered metal doors are ahead of me and the round wicker basket is resting on the dirt against the base of the shutter, still well out of reach. I will walk forward to close that gap before trying to line up on it.", + "After closing in, the wicker basket has slid to the far left edge of my view, almost out of sight beside the shuttered door. I will turn left to bring it back toward the center of my heading so my next steps carry me straight at it.", + "The basket now sits centered low in my view against the graffiti-marked shutter, but it is still a couple of paces off. I will step forward along this heading to get close enough that the basket falls within grasping range.", + "I am right up against the metal door and the woven rim of the basket fills the bottom of my view, directly in front of me. Nothing stands between it and my hands, so I will attempt to pick it up now.", + "The wicker basket is held in my hands rather than sitting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_b_pd/infos.json b/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f589f7f246117a5956a778d432b976c3376597d7 --- /dev/null +++ b/dataset/trajectory/forestGasStation/task_x-029944_y-047455_z003708_t5_b_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the tomato, then leave it near the shop entrance beside the garage.", + "Type": 5, + "Start_Pose": [ + -29944.122, + -47455.421, + 3708.22, + 0, + -60, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -29715.787, + -47810.121, + 3687.721, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -29944.122, + -47455.421, + 3708.22, + 0, + -60, + 0 + ], + [ + -29881.192, + -47564.419, + 3710.585, + 0.0, + -60.0, + 0.0 + ], + [ + -29818.262, + -47673.416, + 3722.494, + 0.0, + -60.0, + 0.0 + ], + [ + -29818.262, + -47673.416, + 3722.494, + 0.0, + -60.0, + 0.0 + ], + [ + -29818.262, + -47673.416, + 3722.494, + 0.0, + -35.0, + 0.0 + ], + [ + -29818.262, + -47673.416, + 3722.494, + 0.0, + -10.0, + 0.0 + ], + [ + -29694.315, + -47695.272, + 3708.497, + 0.0, + -10.0, + 0.0 + ], + [ + -29570.368, + -47717.128, + 3705.663, + 0.0, + -10.0, + 0.0 + ], + [ + -29446.422, + -47738.984, + 3702.491, + 0.0, + -10.0, + 0.0 + ], + [ + -29337.186, + -47741.119, + 3714.414, + 0.0, + -10.0, + 0.0 + ], + [ + -29213.239, + -47762.974, + 3709.398, + 0.0, + -10.0, + 0.0 + ], + [ + -29089.292, + -47784.83, + 3695.914, + 0.0, + -10.0, + 0.0 + ], + [ + -29089.292, + -47784.83, + 3695.914, + 0.0, + -35.0, + 0.0 + ], + [ + -29148.271, + -47743.532, + 3705.594, + 0.0, + -35.0, + 0.0 + ], + [ + -29148.271, + -47743.532, + 3705.594, + 0.0, + -35.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -29715.787, + -47810.121, + 3687.721, + 0.0, + 0.0, + 0.0 + ], + [ + -29715.787, + -47810.121, + 3687.721, + 0.0, + 0.0, + 0.0 + ], + [ + -29715.787, + -47810.121, + 3687.721, + 0.0, + 0.0, + 0.0 + ], + [ + -29800.074, + -47662.211, + 3692.671, + -28.202, + -9.856, + 1.862 + ], + [ + -29805.97, + -47654.785, + 3692.943, + -28.189, + 15.156, + 1.872 + ], + [ + -29814.2, + -47651.261, + 3692.276, + -28.215, + 40.127, + 1.849 + ], + [ + -29690.894, + -47674.191, + 3678.023, + -28.202, + 40.141, + 1.858 + ], + [ + -29567.098, + -47696.021, + 3675.378, + -28.208, + 40.141, + 1.852 + ], + [ + -29443.405, + -47717.825, + 3672.828, + -28.189, + 40.158, + 1.867 + ], + [ + -29334.503, + -47719.907, + 3677.504, + -28.198, + 40.142, + 1.865 + ], + [ + -29210.451, + -47741.782, + 3680.19, + -28.201, + 40.144, + 1.862 + ], + [ + -29086.222, + -47763.688, + 3662.773, + -28.194, + 40.148, + 1.87 + ], + [ + -29078.075, + -47767.746, + 3662.883, + -28.215, + 15.134, + 1.847 + ], + [ + -29090.93, + -47783.684, + 3720.594, + 0.0, + -35.0, + 0.0 + ], + [ + -29090.93, + -47783.684, + 3720.594, + 0.0, + -35.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 421.8, + 296.2, + 170.8, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato is sitting on the ground ahead of me against the corrugated garage shutters, still too far to reach. I will walk straight toward it to close that gap before attempting any grasp.", + "The tomato now fills more of my view near the garage door, so my heading is good but I am still short of grabbing range. I will take another step forward to stand right over it.", + "The tomato is directly in front of me at the base of the garage shutter, close enough that it dominates the lower part of my view. My hands are empty, so I will attempt to pick it up now.", + "The grasp worked, and the tomato is now held in my hands. The garage shutters block the way straight ahead, so I will turn right toward the open covered area to begin heading for the shop entrance.", + "With the tomato in hand, my view has swung along the garage wall but still points largely into the corrugated panels. I will turn right again to bring the open forecourt and the shop frontage into my path.", + "I am now facing down the covered lane, with the shop windows and the car repair sign on my left and the fuel pumps on the right. Carrying the tomato, I will walk forward along this open route toward the entrance side of the shop.", + "The shop windows and the sign beside the garage are drawing closer on my left as I carry the tomato. The lane ahead is still clear, so I will keep walking forward toward the entrance area.", + "I am passing the bin and shrubs at the corner of the building, with the glazed shopfront just beginning on my left. I will continue forward so I reach the entrance stretch before setting the tomato down.", + "The tomato is still in my hands, so I only need to carry it to the shop entrance that lies further along this frontage. Right now I am beside the bin and the shrub, with the glazed shopfront running ahead on my left, so I step forward to keep following the building line.", + "The window bays and the interior lamp are now abreast of me, but the entrance area of the shop is still further along the wall. Carrying the tomato, I advance again to close the remaining distance beside the building.", + "The lit CAFE sign in the glass tells me the shop entrance is just ahead on my left, so I have nearly reached the place where the tomato should be left. I take another step forward to draw level with that entrance frontage.", + "I am now level with the shop frontage, and the CAFE window and door edge sit off to my left while my heading points along the open ground. I turn left so the entrance is squarely in front of me before releasing the tomato there.", + "Facing the glazed shop entrance with the CAFE sign directly beside me, I am standing at the spot the task calls for, near the entrance along this frontage from the garage. The tomato is still in my hands, so I release it here and it should come to rest against the shop front.", + "The tomato now rests on the ground at the shop entrance beneath the CAFE sign, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_a_p/infos.json b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..269abd1c365f7b91201cfc4b7bfc515ddfbf568b --- /dev/null +++ b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the metal bucket.", + "Type": 5, + "Start_Pose": [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -13339.352, + 16621.246, + 114.112, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + [ + -13887.332, + 16507.146, + 237.104, + 0.0, + 20.0, + -0.0 + ], + [ + -13769.063, + 16550.192, + 211.478, + 0.0, + 20.0, + -0.0 + ], + [ + -13650.794, + 16593.239, + 222.541, + 0.0, + 20.0, + -0.0 + ], + [ + -13532.525, + 16636.285, + 213.044, + 0.0, + 20.0, + -0.0 + ], + [ + -13532.525, + 16636.285, + 213.044, + 0.0, + 20.0, + -0.0 + ], + [ + -13532.525, + 16636.285, + 213.044, + 0.0, + 20.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -13339.352, + 16621.246, + 114.112, + 0.0, + 0.0, + 0.0 + ], + [ + -13339.352, + 16621.246, + 114.112, + 0.0, + 0.0, + 0.0 + ], + [ + -13339.352, + 16621.246, + 114.112, + 0.0, + 0.0, + 0.0 + ], + [ + -13339.352, + 16621.246, + 114.112, + 0.0, + 0.0, + 0.0 + ], + [ + -13339.352, + 16621.246, + 114.112, + 0.0, + 0.0, + 0.0 + ], + [ + -13540.403, + 16656.142, + 183.562, + -28.202, + 70.145, + 1.862 + ], + [ + -13540.403, + 16656.142, + 183.562, + -28.202, + 70.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 684.5, + 559.7, + 435.5, + 312.7, + 193.8, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the metal bucket standing on the dirt just left of center, in front of the trailer, but it is far too distant to reach from here. My heading already lines up with it, so I will simply walk forward to close the gap.", + "The bucket has grown noticeably larger and sits slightly left of my view, confirming my heading is good. Still several paces of open ground separate us, so I will keep advancing without turning.", + "The bucket now stands clearly ahead against the trailer's metal walkway, close enough that its rim and body are distinct. It is still beyond arm's reach, so another step forward should bring me into grasping range.", + "The bucket fills a large part of the lower view now and sits just below my line of sight, but it is still a stride away. I will take one more step so it is directly in front of me before reaching for it.", + "The metal bucket is now immediately in front of me at the edge of the grating, close enough that its rim is within arm's reach. Nothing blocks my hands, so I will attempt to grasp and lift it.", + "The metal bucket is now held in my hands rather than resting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_a_pd/infos.json b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..334bdc89d699e21f78ebe38d699098a5d7b0b389 --- /dev/null +++ b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it on the barrel on the right side of the scene.", + "Type": 5, + "Start_Pose": [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -13333.562, + 16495.182, + 139.569, + 2.597, + 94.044, + -48.397 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + [ + -13887.332, + 16507.146, + 237.104, + 0.0, + 20.0, + -0.0 + ], + [ + -13887.332, + 16507.146, + 237.104, + 0.0, + -5.0, + 0.0 + ], + [ + -13761.952, + 16496.177, + 205.074, + 0.0, + -5.0, + 0.0 + ], + [ + -13636.572, + 16485.207, + 214.96, + 0.0, + -5.0, + 0.0 + ], + [ + -13511.192, + 16474.238, + 215.06, + 0.0, + -5.0, + 0.0 + ], + [ + -13511.192, + 16474.238, + 215.06, + 0.0, + -5.001, + 0.0 + ], + [ + -13511.192, + 16474.238, + 215.06, + 0.0, + 19.999, + -0.0 + ], + [ + -13511.192, + 16474.238, + 215.06, + 0.0, + 44.999, + -0.0 + ], + [ + -13511.192, + 16474.238, + 215.06, + 0.0, + 69.999, + -0.0 + ], + [ + -13511.192, + 16474.238, + 215.06, + 0.0, + 94.999, + -0.0 + ], + [ + -13511.192, + 16474.238, + 215.06, + 0.0, + 119.999, + -0.0 + ], + [ + -13574.12, + 16583.236, + 218.339, + 0.0, + 119.999, + -0.0 + ], + [ + -13637.048, + 16692.234, + 222.922, + 0.0, + 119.999, + -0.0 + ], + [ + -13699.976, + 16801.232, + 213.922, + 0.0, + 119.999, + -0.0 + ], + [ + -13699.976, + 16801.232, + 213.922, + 0.0, + 94.999, + -0.0 + ], + [ + -13699.976, + 16801.232, + 213.922, + 0.0, + 69.999, + -0.0 + ], + [ + -13706.803, + 16826.972, + 212.235, + 0.0, + 69.999, + -0.0 + ], + [ + -13731.43, + 16759.315, + 215.431, + 0.0, + 69.999, + -0.0 + ], + [ + -13731.43, + 16759.315, + 215.431, + 0.0, + 69.999, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -13333.562, + 16495.182, + 139.569, + 2.597, + 94.044, + -48.397 + ], + [ + -13333.562, + 16495.182, + 139.569, + 2.597, + 94.044, + -48.397 + ], + [ + -13333.562, + 16495.182, + 139.569, + 2.597, + 94.044, + -48.397 + ], + [ + -13333.562, + 16495.182, + 139.569, + 2.597, + 94.044, + -48.397 + ], + [ + -13333.562, + 16495.182, + 139.569, + 2.597, + 94.044, + -48.397 + ], + [ + -13333.562, + 16495.182, + 139.569, + 2.597, + 94.044, + -48.397 + ], + [ + -13509.938, + 16495.564, + 184.953, + -28.202, + 45.144, + 1.862 + ], + [ + -13519.402, + 16494.994, + 185.226, + -28.189, + 70.156, + 1.872 + ], + [ + -13527.009, + 16490.273, + 184.559, + -28.215, + 95.127, + 1.849 + ], + [ + -13534.264, + 16488.454, + 184.648, + -14.092, + 112.343, + 6.87 + ], + [ + -13532.538, + 16471.932, + 184.76, + -28.208, + 145.142, + 1.851 + ], + [ + -13530.422, + 16462.528, + 185.428, + -28.198, + 170.145, + 1.867 + ], + [ + -13592.359, + 16572.114, + 186.467, + -28.198, + 170.145, + 1.862 + ], + [ + -13655.386, + 16681.289, + 192.575, + -28.202, + 170.141, + 1.86 + ], + [ + -13718.296, + 16790.251, + 183.02, + -28.201, + 170.144, + 1.857 + ], + [ + -13720.107, + 16798.761, + 183.971, + -28.211, + 145.137, + 1.853 + ], + [ + -13718.758, + 16808.187, + 183.294, + -28.211, + 120.129, + 1.853 + ], + [ + -13727.074, + 16833.719, + 182.38, + -28.196, + 120.147, + 1.868 + ], + [ + -13707.487, + 16825.094, + 205.431, + 0.0, + 69.999, + -0.0 + ], + [ + -13707.487, + 16825.094, + 205.431, + 0.0, + 69.999, + -0.0 + ] + ], + "PD_Dist_2D": [ + 672.8, + 553.9, + 553.9, + 428.4, + 303.2, + 178.9, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 21.4, + 20.3, + 20.0, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the open ground ahead of me, left of the yellow building front, still far away. Nothing blocks the dirt path between us, so I will walk forward to close that gap before worrying about fine alignment.", + "After closing some distance, the pepper now sits noticeably left of my heading, near the left edge of the paved apron. Walking straight would carry me past it toward the doors, so I will turn left to bring it closer to the center of my view.", + "The pepper is now roughly centered in front of me on the open dirt, with the metal grating just beyond it. The path is clear, so I will step forward to keep reducing the distance toward a graspable range.", + "The pepper has grown larger and remains centered slightly ahead of me on the sand, still too far to reach. I will continue walking forward to close the remaining gap.", + "The pepper now fills a good portion of the lower view but is still short of arm's reach directly in front of me. One more step forward should place it close enough for a grasp attempt.", + "The green bell pepper is directly in front of me at the bottom of my view, close enough that its stem is clearly detailed and my hands are still empty. This is the moment to attempt the grasp, so I will try to pick it up.", + "The grasp worked: the pepper is now held in my hand rather than resting on the sand. The barrels named in the task lie off to the right side of this yard, well outside my current facing, so I will turn right to begin swinging my heading toward them.", + "I am still carrying the pepper, and my view now faces the yellow building wall and its doors, with no barrels in sight. The right side of the yard has not come into view yet, so I will keep turning right to continue sweeping my heading toward it.", + "The green pepper is secure in my hands, so my remaining job is to reach the barrels on the right side of the scene. From this heading I am still looking along the building front and its walkway, with the drums only just appearing at the right edge. I will turn right again to swing my view further toward them.", + "The row of drums and tanks under the cliff is now in my right forward view, but a railing and pipe run sit directly between me and them. Turning right once more should bring the open rocky ground beside that cluster onto my heading.", + "The tank and drum cluster now sits near the center left of my view, still fenced off in front by the low railing, while clear rocky ground opens away to my right. Another right turn should point me down that open stretch so I can walk in from the side rather than into the fence.", + "My heading now runs along open rocky ground, with the fenced tanks and drums standing off to my left and nothing blocking the way ahead. The pepper is still held. I will step forward to close the distance to that cluster.", + "The striped tank and the low crate beside it have grown larger on my left as I advance over the open ground. I am still short of a position where the barrel would be within reach for placing the pepper, so I will keep walking forward.", + "The crate with the cups is now close on my left with the drum cluster just behind it, yet my line of travel still carries me across their front rather than up to them. One more step forward should bring me level with that cluster before I turn in toward the barrel.", + "I have walked far enough along the open ground that the drum cluster now lies off my heading to the left, with only bare rock and the cliff ahead of me. I will turn left to bring the barrels back toward the center of my view for the placement.", + "The red and white striped barrel has come into view on my left, but it still sits near the edge of my sight with a bush partly between us. A second left turn should square my facing onto that barrel so I can approach and set the pepper down on it.", + "I am still carrying the green bell pepper, and the striped barrel of the tank cluster now stands close ahead, just left of center. I am slightly short of it, so I will take a small step forward to bring its top within comfortable release range.", + "The barrel is now directly in front of me at close range, its flat top clearly the placement surface the task calls for, and the pepper is still in my hands. I will release it here, expecting it to settle onto the barrel rather than the ground.", + "The green bell pepper is resting on the barrel in front of me. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_b_p/infos.json b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..51f75b4174e2f0e9ce8814325b1906ccf954868e --- /dev/null +++ b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_b_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the ceramic vase.", + "Type": 5, + "Start_Pose": [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -13591.967, + 16751.836, + 129.191, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + [ + -13887.332, + 16507.146, + 237.104, + 0.0, + 20.0, + -0.0 + ], + [ + -13887.332, + 16507.146, + 237.104, + 0.0, + 45.0, + -0.0 + ], + [ + -13798.336, + 16596.142, + 220.045, + 0.0, + 45.0, + -0.0 + ], + [ + -13709.34, + 16685.137, + 220.232, + 0.0, + 45.0, + -0.0 + ], + [ + -13709.34, + 16685.137, + 220.232, + 0.0, + 44.999, + -0.0 + ], + [ + -13709.34, + 16685.137, + 220.232, + 0.0, + 44.999, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -13591.967, + 16751.836, + 129.191, + 0.0, + 0.0, + 0.0 + ], + [ + -13591.967, + 16751.836, + 129.191, + 0.0, + 0.0, + 0.0 + ], + [ + -13591.967, + 16751.836, + 129.191, + 0.0, + 0.0, + 0.0 + ], + [ + -13591.967, + 16751.836, + 129.191, + 0.0, + 0.0, + 0.0 + ], + [ + -13591.967, + 16751.836, + 129.191, + 0.0, + 0.0, + 0.0 + ], + [ + -13724.871, + 16699.806, + 189.236, + -28.202, + 95.144, + 1.862 + ], + [ + -13724.871, + 16699.806, + 189.236, + -28.202, + 95.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 503.9, + 383.6, + 383.6, + 258.5, + 135.0, + 21.4, + 21.4 + ], + "Rationale": [ + "I am standing well back on the open dirt clearing, with the trailer and its cluttered equipment row still far ahead of me. The ceramic vase I need is somewhere among that gear, too distant to identify or reach, so I walk straight forward to close the gap.", + "From closer in, the pale slender vessel and the crates sit off to the right of my heading, near the railing and pipe cluster, while my view is centered on the trailer door. I turn right to bring that right-side equipment area into the middle of my view before advancing further.", + "The turn has put the railing, the tanks and the tall white vessel roughly ahead of me, but they are still several paces away across the dirt. Nothing blocks the ground in front, so I step forward to shorten the distance to that cluster.", + "I can now clearly see the tall white ceramic vase with its floral pattern standing beside the railing to my front left, but it is still beyond my arm's reach. I advance another step so the vase comes close enough for me to attempt a grasp.", + "The ceramic vase now fills the lower left of my view, its rim just below me and well within arm's reach beside the railing. My hands are empty and nothing stands between us, so I reach out and try to pick it up.", + "The ceramic vase is held in my hands and no longer resting by the railing. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_b_pd/infos.json b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..152b9aff97b40c4cfde1b90fc57834b42fbc2311 --- /dev/null +++ b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_b_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the wicker basket, then place it on the ground in front of the building entrance.", + "Type": 5, + "Start_Pose": [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -13815.475, + 16752.361, + 160.37, + 90, + 20, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + [ + -14005.601, + 16464.1, + 218.969, + 0.0, + 45.0, + -0.0 + ], + [ + -13916.605, + 16553.095, + 225.258, + 0.0, + 45.0, + -0.0 + ], + [ + -13916.605, + 16553.095, + 225.258, + 0.0, + 45.0, + -0.0 + ], + [ + -13827.609, + 16642.091, + 221.326, + 0.0, + 45.0, + -0.0 + ], + [ + -13827.609, + 16642.091, + 221.326, + 0.0, + 45.0, + -0.0 + ], + [ + -13827.609, + 16642.091, + 221.326, + 0.0, + 20.0, + -0.0 + ], + [ + -13709.34, + 16685.137, + 220.11, + 0.0, + 20.0, + -0.0 + ], + [ + -13591.072, + 16728.184, + 220.437, + 0.0, + 20.0, + -0.0 + ], + [ + -13472.803, + 16771.23, + 202.808, + 0.0, + 20.0, + -0.0 + ], + [ + -13354.534, + 16814.276, + 198.32, + 0.0, + 20.0, + -0.0 + ], + [ + -13354.534, + 16814.276, + 198.32, + 0.0, + -5.0, + 0.0 + ], + [ + -13229.154, + 16803.307, + 204.1, + 0.0, + -5.0, + 0.0 + ], + [ + -13103.774, + 16792.338, + 215.541, + 0.0, + -5.0, + 0.0 + ], + [ + -13175.5, + 16798.613, + 216.161, + 0.0, + -5.0, + 0.0 + ], + [ + -13175.5, + 16798.613, + 216.161, + 0.0, + -5.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -13815.475, + 16752.361, + 160.37, + 90.0, + 20.0, + 0.0 + ], + [ + -13815.475, + 16752.361, + 160.37, + 90.0, + 20.0, + 0.0 + ], + [ + -13815.475, + 16752.361, + 160.37, + 90.0, + 20.0, + 0.0 + ], + [ + -13815.475, + 16752.361, + 160.37, + 90.0, + 20.0, + 0.0 + ], + [ + -13815.475, + 16752.361, + 160.37, + 90.0, + 20.0, + 0.0 + ], + [ + -13843.14, + 16656.759, + 184.862, + -28.202, + 95.145, + 1.862 + ], + [ + -13835.165, + 16661.052, + 185.135, + -28.189, + 70.157, + 1.872 + ], + [ + -13717.6, + 16704.857, + 190.037, + -28.193, + 70.149, + 1.872 + ], + [ + -13599.289, + 16747.916, + 190.449, + -28.198, + 70.15, + 1.868 + ], + [ + -13480.786, + 16791.052, + 170.94, + -28.196, + 70.147, + 1.865 + ], + [ + -13362.244, + 16834.198, + 167.934, + -28.193, + 70.156, + 1.869 + ], + [ + -13353.527, + 16834.553, + 168.737, + -28.207, + 45.135, + 1.857 + ], + [ + -13228.308, + 16824.673, + 174.91, + -28.192, + 45.148, + 1.872 + ], + [ + -13102.758, + 16813.678, + 185.863, + -28.206, + 45.138, + 1.864 + ], + [ + -13105.767, + 16792.512, + 181.161, + 90.0, + -5.0, + 0.0 + ], + [ + -13105.767, + 16792.512, + 181.161, + 90.0, + -5.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 345.3, + 345.3, + 223.5, + 223.5, + 110.9, + 21.4, + 20.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wicker basket sits far to my right at the edge of my view, close to the rocks, while I am facing the building entrance straight ahead. Turning right should bring the basket toward the center of my heading so I can walk directly at it. I will turn right before moving.", + "The wicker basket now sits ahead and slightly right of my heading, but it is still well across the open dirt yard. Nothing blocks the ground between me and it, so walking forward should close a large part of that gap. I will step forward.", + "The basket is bigger in my view now, lying on the ground to the right beside the pipework, and it may already be within reach. I will attempt to grasp it and see whether my hands close on it. If the reach is short, I can still step nearer afterward.", + "That grab attempt did not take hold, since my hands are still empty. The likely reason is that I was simply too far away for the reach to connect. I will walk forward to shorten the standoff before trying again.", + "My earlier grasp did not connect and the basket is still resting where it was, but I have now closed most of that gap. From this position the basket should lie inside my reach, so I will try the grasp again. If it holds, I can carry it toward the entrance.", + "The grasp took hold and the wicker basket is now in my hands, so the pickup part of the task is done. The building with its entrance door sits off to my left of my current heading, not straight ahead. I will turn left so the doorway comes into the center of my view before I carry the basket over.", + "With the basket secured, the yellow trailer facade and its brown double door are now framed ahead of me across the open dirt clearing. Nothing blocks the direct line between me and that entrance. I will walk forward to close the distance toward the ground in front of the door.", + "The doorway is larger and closer now, roughly centered above the metal grating that fronts the trailer. I am still several strides short of the flat ground directly before the entrance where the basket belongs. I will keep walking forward along this clear line.", + "The brown door now fills much of the view and the railing and canisters stay off to my right, clear of my path. The paved and grated strip immediately in front of the entrance is still a short walk away. I will advance again to reach a drop position close to the door.", + "The entrance is very close, its panels sitting slightly left of center with the walkway leading straight to it. I still carry the basket and have not yet reached the spot right in front of the door. One more step forward should put me within placing range.", + "I am carrying the wicker basket and the building's entrance door sits off to my left, while the pipe railing and wall panels fill the space straight ahead of me. Turning left should put the doorway squarely in front of me so I can walk in on it directly.", + "The rusted double door of the entrance is now centered ahead of me with clear grating between us. I still hold the basket, so I will step forward to close the remaining gap to the doorway.", + "The entrance door now dominates my view, but I am not yet standing right at its threshold. One more step forward should bring me close enough that setting the basket down leaves it directly in front of the entrance.", + "I am pressed right up against the metal panels of the entrance door with the basket still in my hands. This is the spot the task asks for, so I will release the basket here and it should come to rest on the ground in front of the entrance.", + "The wicker basket now rests on the ground directly in front of the entrance door, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_c_pd/infos.json b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..555f49978248a3c3b2f72bddfacd0287f00bc75a --- /dev/null +++ b/dataset/trajectory/science_Fiction_valley_town/task_x-014006_y016464_z000219_t5_c_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the tomato, then place it on the flat metal ledge of the large building entrance.", + "Type": 5, + "Start_Pose": [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -13599.052, + 16468.539, + 175.203, + -3.406, + 26.937, + 1.284 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14005.601, + 16464.1, + 218.969, + 0, + 20, + 0 + ], + [ + -13887.332, + 16507.146, + 237.104, + 0.0, + 20.0, + -0.0 + ], + [ + -13887.332, + 16507.146, + 237.104, + 0.0, + -5.0, + 0.0 + ], + [ + -13761.952, + 16496.177, + 205.074, + 0.0, + -5.0, + 0.0 + ], + [ + -13761.952, + 16496.177, + 205.074, + 0.0, + -5.0, + 0.0 + ], + [ + -13761.952, + 16496.177, + 205.074, + 0.0, + 20.0, + -0.0 + ], + [ + -13643.683, + 16539.223, + 216.854, + 0.0, + 20.0, + -0.0 + ], + [ + -13525.414, + 16582.269, + 213.137, + 0.0, + 20.0, + -0.0 + ], + [ + -13407.145, + 16625.316, + 203.934, + 0.0, + 20.0, + -0.0 + ], + [ + -13288.877, + 16668.362, + 203.967, + 0.0, + 20.0, + -0.0 + ], + [ + -13170.608, + 16711.408, + 213.375, + 0.0, + 20.0, + -0.0 + ], + [ + -13052.339, + 16754.454, + 215.355, + 0.0, + 20.0, + -0.0 + ], + [ + -13119.997, + 16729.829, + 216.039, + 0.0, + 20.0, + -0.0 + ], + [ + -13119.997, + 16729.829, + 216.039, + 0.0, + 20.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -13599.052, + 16468.539, + 175.203, + -3.406, + 26.937, + 1.284 + ], + [ + -13599.052, + 16468.539, + 175.203, + -3.406, + 26.937, + 1.284 + ], + [ + -13599.052, + 16468.539, + 175.203, + -3.406, + 26.937, + 1.284 + ], + [ + -13599.052, + 16468.539, + 175.203, + -3.406, + 26.937, + 1.284 + ], + [ + -13760.699, + 16517.502, + 172.772, + -28.202, + 45.145, + 1.862 + ], + [ + -13770.163, + 16516.932, + 173.045, + -28.189, + 70.157, + 1.872 + ], + [ + -13651.943, + 16558.943, + 187.106, + -28.193, + 70.149, + 1.872 + ], + [ + -13533.632, + 16602.002, + 183.663, + -28.198, + 70.15, + 1.868 + ], + [ + -13415.129, + 16645.137, + 169.415, + -28.196, + 70.147, + 1.865 + ], + [ + -13296.587, + 16688.283, + 173.873, + -28.193, + 70.156, + 1.869 + ], + [ + -13178.201, + 16731.36, + 173.654, + -28.219, + 70.126, + 1.85 + ], + [ + -13060.018, + 16774.385, + 185.084, + -28.202, + 70.14, + 1.857 + ], + [ + -13054.219, + 16753.77, + 231.039, + 0.0, + 20.0, + -0.0 + ], + [ + -13054.219, + 16753.77, + 231.039, + 0.0, + 20.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 406.6, + 290.9, + 290.9, + 165.2, + 21.4, + 22.3, + 21.4, + 21.4, + 21.4, + 21.4, + 21.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato sits on the dirt ahead and slightly to my left, well out of reach from where I stand. I will walk forward to close that gap before attempting any grasp.", + "The tomato is now much closer but sits off to my left rather than in front of me. I will turn left so it comes into the center of my view for a straight approach.", + "The tomato is centered ahead of me now, but still a few paces away on the open ground. I will step forward to bring it within grasping range.", + "The tomato fills the lower center of my view and is directly at my feet, close enough to reach. I will attempt to pick it up so I can carry it to the building entrance ledge.", + "The grasp worked and the tomato is now held in my hands rather than resting on the ground. The building with its entrance ledge lies off to my right, so I will turn right to face it before carrying the fruit over.", + "With the tomato in hand, the yellow building and its entrance are squarely ahead across the open dirt. I will walk forward to carry the fruit toward that entrance.", + "The entrance and its metal platform are larger in view but still several paces off. I will continue walking forward while carrying the tomato toward the ledge.", + "The doorway now fills much of my view and the grated ledge in front of it is nearly within reach. I will keep stepping forward so I can get close enough to set the tomato down on that flat metal surface.", + "I am still carrying the tomato and the yellow-walled entrance with its metal door now fills most of my view, but a stretch of grated walkway still separates me from it. The flat ledge at the base of that entrance is my drop target, so I step forward again to close the remaining gap.", + "The doorway is centered and noticeably larger now, with the metal sill and the grating in front of it visible at the bottom of my view. I am not yet within comfortable reach of that ledge, so another step forward should bring me close enough to release the tomato onto it.", + "The rusted door panels now dominate my view and the raised metal ledge sits just below them, only a short distance of grating away. I take one more step so the flat ledge lies directly in front of me and within placing range for the tomato I am carrying.", + "I am pressed right up against the entrance, with the broad flat metal ledge running horizontally across the lower part of my view. This is the placement surface the task specifies and the tomato is still in my hands, so I release it here and expect it to settle on the ledge.", + "The tomato is resting on the flat metal ledge of the entrance and my hands are empty. The task condition is satisfied, so I stop here." + ] +}