Add files using upload-large-folder tool

dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t5_a_p/infos.json

@@ -0,0 +1,202 @@
+{
+    "Instruction": "Grab the candelabra at the base of the third door from the left.",
+    "Type": 5,
+    "Start_Pose": [
+        -43.372,
+        392.531,
+        210.956,
+        0,
+        78.72,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        136.343,
+        1274.305,
+        147.836,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -43.372,
+            392.531,
+            210.956,
+            0,
+            78.72,
+            0
+        ],
+        [
+            -18.754,
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
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+            204.855,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            79.721,
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+            205.243,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
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+            202.901,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            104.339,
+            1133.098,
+            202.901,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            104.339,
+            1133.098,
+            202.901,
+            0.0,
+            78.72,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            136.343,
+            1274.305,
+            147.836,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            136.343,
+            1274.305,
+            147.836,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            136.343,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+            0.0,
+            0.0
+        ],
+        [
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+            0.0,
+            0.0
+        ],
+        [
+            136.343,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            136.343,
+            1274.305,
+            147.836,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            83.278,
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+            172.935,
+            -28.202,
+            128.865,
+            1.862
+        ],
+        [
+            83.278,
+            1136.676,
+            172.935,
+            -28.202,
+            128.865,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        899.9,
+        774.0,
+        648.2,
+        522.3,
+        396.5,
+        270.6,
+        144.8,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "Counting the door openings across the brick facade from the left, the third is the tall white double door ahead of me, and its base is still far off across the open yard. My heading already lines up with it, so I will walk straight forward to close that distance.",
+        "The white double door I picked out is growing larger and stays centered in my view, so my straight line toward it is still correct. The ground between me and the wall is clear apart from the pipes off to my left, so I keep walking forward.",
+        "The third door and the sacks piled beside it are noticeably closer, but I still cannot make out anything standing at the door's base from here. Another step forward should bring the foot of that doorway within reach of a clear look.",
+        "I can now see slender candle shapes standing on the ground right at the foot of the white double door, confirming the target. The pile of sacks sits to the right of my path, so I continue straight ahead toward the door base.",
+        "The candelabra with its three candles is clearly resting against the base of the third door, slightly left of my center. I am still several paces short of grasping range, so I keep advancing rather than reaching yet.",
+        "The candelabra now fills a good part of my view at the foot of the door, but it is still a step beyond comfortable reach. One more forward step should place it directly in front of me for a grasp attempt.",
+        "The candelabra stands immediately in front of me, its base on the ground against the third door, well inside reach and unobstructed by the weeds or the sacks to my right. My hands are empty, so I will attempt to pick it up now.",
+        "The candelabra is now held in my hands and no longer stands at the door base. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t3_b/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Approach the rusty metal door, then proceed to the metal scaffolding tower.",
+    "Type": 3,
+    "Start_Pose": [
+        -93.351,
+        643.738,
+        210.055,
+        0.0,
+        79.68,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -93.351,
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+            0.0,
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -252.382,
+            1239.121,
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+            0.0,
+            104.68,
+            -0.0
+        ],
+        [
+            -252.382,
+            1239.121,
+            224.942,
+            0.0,
+            104.68,
+            -0.0
+        ],
+        [
+            -228.966,
+            1149.738,
+            214.553,
+            0.0,
+            104.68,
+            -0.0
+        ],
+        [
+            -205.55,
+            1060.354,
+            210.539,
+            0.0,
+            104.68,
+            -0.0
+        ],
+        [
+            -205.55,
+            1060.354,
+            210.539,
+            0.0,
+            79.68,
+            -0.0
+        ],
+        [
+            -205.55,
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+        ],
+        [
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+        ],
+        [
+            -205.55,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -86.703,
+            1060.868,
+            213.853,
+            0.0,
+            4.68,
+            -0.0
+        ],
+        [
+            33.781,
+            1061.687,
+            209.649,
+            0.0,
+            4.68,
+            -0.0
+        ],
+        [
+            33.781,
+            1061.687,
+            209.649,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            143.127,
+            1124.007,
+            202.929,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            252.474,
+            1186.327,
+            216.157,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            359.704,
+            1220.533,
+            224.654,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            436.275,
+            1239.711,
+            231.322,
+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            436.275,
+            1239.711,
+            231.322,
+            0.0,
+            29.68,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The rust-streaked metal door sits in the brick wall to the right of my current heading, while I am facing the pale shuttered bays straight ahead. I will turn right to bring that corroded door into the center of my view before walking toward it.",
+        "The rusty metal door now sits ahead of me across the open dirt yard, with the sandbag pile safely off to the left. The ground between us is clear, so I will walk forward to close the distance.",
+        "The corroded door has grown larger and stays roughly ahead of me, so my heading is still good. Several strides of open dirt remain before I reach the wall, and I will keep walking forward.",
+        "The rusty door now fills much of my view, its peeling orange and blue panels clearly resolved, but I am still a few paces short of the wall. Only low weeds and scattered bricks lie between us, so I will keep advancing.",
+        "The pitted metal door now dominates my view and the brick jamb frames it on the left, so I am nearly at the wall. I will step forward once more to stand right at its face.",
+        "I am close enough to read the flaking paint and rust pits on the metal door, with its hinge and frame edge at arm's reach. One short step forward should put me directly against the door.",
+        "The pitted, rust-eaten metal panels and their seam fill my whole view at arm's length, so I am standing right at the rusty door. I have reached it, and I mark reaching it before setting off toward the metal scaffolding tower.",
+        "Pressed this close to the rusty door, my view is nothing but corroded steel and I cannot see the yard or the scaffolding tower behind me. I will step back to open up distance and regain a usable view before turning toward the tower.",
+        "The rusty door still fills almost the whole view, so I have no sightline to anything else in the yard. I will step back once more to open up the surroundings and gain room to turn toward the metal scaffolding tower.",
+        "From this standoff distance the rusty door and the brick wall around it are all that lie ahead, with no lattice structure in sight. I will turn left to sweep the yard for the metal scaffolding tower.",
+        "The door has slid to the right of my view and only blank brick and rubble sacks lie ahead, still no framework. Another left turn should carry my heading further along the wall toward the open part of the yard.",
+        "A pale timber and metal lattice has just edged into the far left of my view beyond the sacks. I will keep turning left to bring that scaffolding structure toward the center of my heading.",
+        "The scaffolding legs and the overhead gantry are now in the left half of my view, above the pipe stack. One more left turn should place that framework roughly ahead so I can walk straight at it.",
+        "The tall lattice tower and its overhead beams now stand ahead of me across the open yard, with clear ground past the sacks on my right. I will walk forward to close the distance to that scaffolding.",
+        "The scaffolding tower is noticeably larger and its uprights are clear against the wall ahead, and the path along the pipes stays unobstructed. I will keep walking forward to close in on it.",
+        "The scaffolding tower now sits slightly right of my heading, against the building wall, while I am drifting toward the pipe stack on the left. I will turn right to put the tower's base squarely ahead before advancing further.",
+        "With my heading now set down the narrow lane between the brick wall and the pipe stack, the latticed metal scaffolding tower stands clear ahead of me, its braced legs rising past the roofline. I will walk forward along this open strip of gravel to close the remaining distance to it.",
+        "The timber and steel tower has grown noticeably larger and its lower bracing now sits near the centre of my view, so my line of travel is good. The strip of ground in front of me is still clear of pipes and debris, so I will keep walking straight toward the structure.",
+        "I am now close enough that the tower's cross braces and its central pipe column fill the left half of my view, with the whitewashed wall passing on my right. A few more steps should bring me right up against the frame, so I keep advancing.",
+        "The riveted girders and the tower's pipe column are directly in front of me, near arm's reach, with only a short stretch of ground remaining at its base. I will take one more short step forward to stand at the structure itself.",
+        "The scaffolding tower's riveted uprights and pipe column stand immediately before me, filling my view at contact range. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t5_b_pd/infos.json

@@ -0,0 +1,335 @@
+{
+    "Instruction": "Lift the metal bucket beside the rusty metal door, then place it at the base of the metal scaffolding tower.",
+    "Type": 5,
+    "Start_Pose": [
+        -93.351,
+        643.738,
+        210.055,
+        0,
+        79.68,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -180.569,
+        1134.31,
+        139.287,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -93.351,
+            643.738,
+            210.055,
+            0,
+            79.68,
+            0
+        ],
+        [
+            -70.804,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -70.804,
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+        ],
+        [
+            -102.699,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -134.594,
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+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            -23.343,
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+            0.0,
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+        ],
+        [
+            90.339,
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+            0.0,
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+        ],
+        [
+            199.687,
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+            0.0,
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+            -0.0
+        ],
+        [
+            308.84,
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+            0.0,
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+            -0.0
+        ],
+        [
+            416.056,
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+            0.0,
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+            -0.0
+        ],
+        [
+            353.502,
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+            0.0,
+            29.68,
+            -0.0
+        ],
+        [
+            353.502,
+            1203.976,
+            218.672,
+            0.0,
+            29.68,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -180.569,
+            1134.31,
+            139.287,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -180.569,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -180.569,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -180.569,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -180.569,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -155.097,
+            1005.06,
+            172.935,
+            -28.202,
+            154.824,
+            1.862
+        ],
+        [
+            -154.776,
+            1014.112,
+            173.207,
+            -28.189,
+            129.836,
+            1.872
+        ],
+        [
+            -150.964,
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+            1.849
+        ],
+        [
+            -143.234,
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+        ],
+        [
+            -34.523,
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+        ],
+        [
+            79.428,
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+            1.855
+        ],
+        [
+            188.872,
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+        ],
+        [
+            297.786,
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+        ],
+        [
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+            1.876
+        ],
+        [
+            414.318,
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+        ],
+        [
+            414.318,
+            1238.637,
+            178.672,
+            0.0,
+            29.68,
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+        ]
+    ],
+    "PD_Dist_2D": [
+        498.3,
+        382.8,
+        382.8,
+        257.1,
+        131.5,
+        21.4,
+        20.4,
+        20.2,
+        27.5,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The rusty metal door stands ahead on the right side of the brick facade, and the metal bucket sits on the sand right beside it. It is still far across the open yard, so I will walk forward to close that distance before any grasp is possible.",
+        "The bucket beside the rusty door now sits noticeably right of my heading, while my path points at the plain white doors instead. I will turn right so the bucket comes toward the center of my view and a straight walk leads to it.",
+        "The bucket and the rusty door are now roughly centered in front of me with clear sand in between. I will walk forward to shorten the remaining gap toward the bucket.",
+        "The bucket is much larger in view now, standing just left of the rusty door with the sacks piled to my left. It still looks a few steps away, so I will advance once more to bring it within grasping range.",
+        "The metal bucket now fills the lower center of my view directly in front of the rusty door, close enough that I can see into its open rim. This is the target object named in the task, so I will attempt to pick it up.",
+        "The grasp worked: the bucket is now held in my hands rather than resting on the sand. The scaffolding tower is not in front of me here at the wall, and it lay off to the left side of this yard, so I will turn left to begin swinging my heading toward it.",
+        "My view is still filled by brick wall, the rusty door panel and the sack pile, with no scaffolding in sight. I will keep turning left to sweep my heading further along the yard where the metal tower should appear.",
+        "The metal scaffolding tower has come into the far left edge of my view beside the pale doors. Another left turn should bring it near the center of my heading so I can walk straight toward its base while carrying the bucket.",
+        "The bucket is secured in my hands, so the lifting part of the task is behind me. From here the latticed metal scaffolding tower stands ahead and slightly left, past the stacked pipes, with open ground between us. I will walk forward to begin closing that distance while carrying the bucket.",
+        "The scaffolding tower is noticeably larger in front of me now and its lower legs are coming into view beside the pale metal door. The bucket is still carried with me, so nothing has been dropped along the way. I will keep walking forward toward the tower's base.",
+        "The tower's braced framework and the pipe column at its center now dominate the view, but I am still a few strides short of standing at its footing. The weeds and rubble ahead look shallow enough to walk over. I will advance again to reach the base.",
+        "I am close beside the tower, with its cross braces and the central column just to my left and the wall on my right. The footing of the structure is still slightly ahead of me. I will step forward once more to stand right at the tower's base before releasing the bucket.",
+        "The tower's lower beams and its bolted column are now within arm's reach on my left, which means I am essentially at the structure. A short final step should place me squarely at its footing so the bucket lands against the base rather than out in the open ground.",
+        "I am standing right at the foot of the scaffolding, with its diagonal braces and the base of the central column filling my view at arm's length. This is the placement spot the task calls for, and the bucket is still in my hands. I will release it here so it rests at the tower's base.",
+        "The metal bucket now sits on the ground directly at the foot of the scaffolding tower, out of my hands. The task condition is met, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t5_b_p/infos.json

@@ -0,0 +1,164 @@
+{
+    "Instruction": "Pick up the jerry can at the base of the metal pillar beside the blue door.",
+    "Type": 5,
+    "Start_Pose": [
+        -1378.024,
+        917.037,
+        194.27,
+        0,
+        20.16,
+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -785.919,
+        1135.379,
+        132.574,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1378.024,
+            917.037,
+            194.27,
+            0,
+            20.16,
+            0
+        ],
+        [
+            -1259.876,
+            960.413,
+            193.133,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1141.728,
+            1003.79,
+            191.585,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -1023.58,
+            1047.166,
+            194.678,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -905.432,
+            1090.543,
+            206.235,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -905.432,
+            1090.543,
+            206.235,
+            0.0,
+            20.16,
+            -0.0
+        ],
+        [
+            -905.432,
+            1090.543,
+            206.235,
+            0.0,
+            20.16,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -785.919,
+            1135.379,
+            132.574,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -785.919,
+            1135.379,
+            132.574,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -785.919,
+            1135.379,
+            132.574,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -785.919,
+            1135.379,
+            132.574,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -785.919,
+            1135.379,
+            132.574,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -913.364,
+            1110.378,
+            172.154,
+            -28.202,
+            70.305,
+            1.862
+        ],
+        [
+            -913.364,
+            1110.378,
+            172.154,
+            -28.202,
+            70.305,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        631.1,
+        505.2,
+        379.4,
+        253.5,
+        127.6,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the red jerry can sitting on the ground at the foot of the metal lattice pillar, right beside the blue door. It is far ahead across the open yard, and my heading already lines up with it, so no turn is needed. I will walk straight forward to close that distance.",
+        "The jerry can and the pillar behind it now fill more of my view, confirming I am closing on the target. It is still several strides away and too far to reach. I will keep walking straight ahead along the same heading.",
+        "The jerry can is clearly resolved now against the wooden bracing at the pillar base, but it still sits beyond arm's reach. My heading remains good, with the can slightly left of center and the open yard clear underfoot. Another step forward should bring me into grasping range.",
+        "The can is large in front of me and near the bottom of my view, so I am close but likely just short of a reliable grasp. One more step should place it directly at my feet without pushing me past it into the pillar. I will advance once more before reaching for it.",
+        "The jerry can is now immediately in front of me at the base of the pillar, filling the near foreground and well within reach. Nothing blocks my hands and my stance is steady against it. I will attempt to pick it up now.",
+        "The jerry can is now held in my hands and no longer resting on the ground. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-001904_y-002824_z000190_t1_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Search for a green door that has been removed and is leaning against a wall; once identified, proceed to its location.",
+    "Type": 1,
+    "Start_Pose": [
+        -1904.142,
+        -2824.328,
+        189.55,
+        0.0,
+        167.04,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            167.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            142.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            117.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            92.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            67.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            42.04,
+            -0.0
+        ],
+        [
+            -1904.142,
+            -2824.328,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1783.808,
+            -2787.446,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1663.474,
+            -2750.565,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1543.14,
+            -2713.683,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1422.807,
+            -2676.801,
+            189.55,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1302.473,
+            -2639.92,
+            190.88,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1182.139,
+            -2603.038,
+            197.782,
+            0.0,
+            17.04,
+            -0.0
+        ],
+        [
+            -1182.139,
+            -2603.038,
+            197.782,
+            0.0,
+            42.04,
+            -0.0
+        ],
+        [
+            -1088.408,
+            -2533.725,
+            201.174,
+            0.0,
+            42.04,
+            -0.0
+        ],
+        [
+            -1088.408,
+            -2533.725,
+            201.174,
+            0.0,
+            42.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this narrow alley I only see a shuttered door set into the wall on my left and a brick factory block ahead, with no removed green door leaning anywhere in sight. I will turn left to begin a steady scan of the yard behind this corner, since the open ground that way is the most likely place for discarded building material.",
+        "The corner of the white plaster building now fills much of my view and still shows only doors fixed in their frames. I will keep turning left in the same direction to bring the open yard beyond that corner into view, where a removed door propped against a wall could be standing.",
+        "Ahead of me now are a green rusted container, cardboard boxes, and dry weeds, which is clearly a dumping area but not the leaning door I need. I will continue the same leftward scan so I can check the far side of this yard and the brick facade beyond the container.",
+        "The container and boxes have shifted to my right and a tall brick building with barred windows now fills the left of my view, still with no detached door in sight. I will keep rotating left to sweep past this facade and expose the passage area beyond it.",
+        "Across the courtyard I can now make out a pale green panel standing upright beside a dark archway in the far wall, which looks like a door that is no longer hung. I will turn left once more to bring that panel closer to the center of my view before committing to it.",
+        "The greenish door panel is leaning against the wall beside the dark arched entrance, slightly left of my heading. I will turn left one more step to line my body up with that panel so I can walk straight toward it.",
+        "The leaning green door beside the arched opening is now roughly centered in my view and matches the removed door described in the task. I will walk forward along the open courtyard toward it to close the still considerable distance.",
+        "The green door leaning against the wall by the archway has grown larger and stays near the middle of my path, confirming I am closing on it. I will keep stepping forward since the courtyard ahead remains clear of obstacles.",
+        "The green painted door leaning against the brick wall beside the archway is clearly visible ahead and slightly right, so the target is identified. It is still some distance off across the cobbles, so I will keep walking straight toward it along this open lane.",
+        "The leaning green door is growing larger in view, confirming I am closing on it. The ground between us stays clear apart from shallow puddles, so another step forward should shorten the remaining distance.",
+        "The green door and the timber planks propped beside it now fill a good part of the right side of my view, but I am not yet standing at them. I will continue walking forward to bring myself close to the wall where it rests.",
+        "I am nearly level with the archway and the green door stands just to my right against the wall. One more step forward should place me right at its position before I turn to face it squarely.",
+        "I have reached the wall section where the removed green door leans, and it is now off to my right while my heading still points down the passage. Turning right should square my view onto the door itself.",
+        "The green door is now centered ahead of me, leaning against the wall with planks stacked beside it. I will step forward to close the last bit of distance and stand directly at its location.",
+        "The removed green door fills my view, leaning against the wall directly in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Determine where the gas canister near the dumpster is located; once you find it, navigate over to that spot.",
+    "Type": 1,
+    "Start_Pose": [
+        -2481.373,
+        -2698.728,
+        189.356,
+        0.0,
+        -157.44,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2481.373,
+            -2698.728,
+            189.356,
+            0.0,
+            -157.44,
+            0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            177.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            152.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            127.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            102.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            77.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            52.56,
+            -0.0
+        ],
+        [
+            -2481.373,
+            -2698.728,
+            189.55,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -2369.796,
+            -2640.496,
+            189.65,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -2261.823,
+            -2631.009,
+            197.498,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -2154.83,
+            -2632.079,
+            193.713,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -2044.542,
+            -2587.339,
+            189.593,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -1932.964,
+            -2529.107,
+            189.546,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -1932.964,
+            -2529.107,
+            189.546,
+            0.0,
+            27.56,
+            -0.0
+        ],
+        [
+            -1932.964,
+            -2529.107,
+            189.546,
+            0.0,
+            27.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing a brick factory facade across an open yard, and I see no dumpster or gas canister anywhere in this view. Since the task target should sit beside a dumpster, I will begin a steady leftward scan of the surrounding yard to look for one.",
+        "Rotating left has only brought a dark ruined wall into the near foreground, with no dumpster yet in sight. I will keep turning in the same direction to sweep past this wall and reveal what lies further around.",
+        "A large rusted metal panel now blocks most of my view, so this heading gives me almost no useful information about the yard. Continuing the same leftward scan should carry my view past this obstruction toward open ground.",
+        "The rusted door marked as a warning sign fills nearly the whole view, so there is nothing searchable from this angle. I will continue the consistent leftward rotation to clear this flat surface and regain sight of the yard.",
+        "I am still staring directly at the closed warning door with no depth or context around it. Keeping the same turn direction should bring the adjacent passage back into view so the scan can continue.",
+        "The edge of the wall is finally sliding aside and a darker recess with a doorway is appearing at the left. I will keep rotating left to open up that side of the yard, where a dumpster could plausibly stand.",
+        "Past the wall corner I can now see an alley opening on the left with a greenish metal container and stacked debris further down it. I will turn a little more in the same direction to place that alley and the container squarely ahead before advancing.",
+        "The alley is now lined up in front of me, with a green metal container and cardboard boxes down its length that look like a likely refuse area. I will walk forward along this open passage to get close enough to confirm whether a gas canister sits beside that container.",
+        "The narrow passage ahead has opened up and I can now see a green metal container beside stacked cardboard boxes further down the alley, which matches the kind of dumpster area described in my task. Nothing blocks the path along the wall on my right, so I will keep walking forward to close the distance and get a clearer look at what sits at its base.",
+        "The green dumpster is now plainly in view ahead with boxes and a small cylindrical object next to it, which is likely the gas canister I need to reach. I will continue walking forward since the ground is open and the object is still too far away to confirm.",
+        "I can now clearly make out a squat gas canister standing on the ground at the near corner of the green dumpster, just beyond the cardboard boxes. It is still several steps away, so I will keep moving forward to reach that spot.",
+        "The gas canister sits close in front of me at the base of the green dumpster, but I am not yet standing at its location. One more step forward should bring me right up to that spot.",
+        "I am now right up against the dumpster, and its tall painted side fills my view so the canister has dropped below my line of sight. I will tilt my view downward to confirm the gas canister is directly at my feet at this spot.",
+        "The gas canister is directly at my feet against the dumpster's base. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-002811_y-001068_z000212_t1_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Search the building for a pile of garbage stacked in a corner; once you have located it, make your way there.",
+    "Type": 1,
+    "Start_Pose": [
+        -2811.415,
+        -1067.575,
+        212.213,
+        0.0,
+        -156.48,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2811.415,
+            -1067.575,
+            212.213,
+            0.0,
+            -156.48,
+            0.0
+        ],
+        [
+            -2811.415,
+            -1067.575,
+            212.214,
+            0.0,
+            -131.48,
+            0.0
+        ],
+        [
+            -2811.415,
+            -1067.575,
+            212.214,
+            0.0,
+            -106.48,
+            0.0
+        ],
+        [
+            -2811.415,
+            -1067.575,
+            212.214,
+            0.0,
+            -81.48,
+            0.0
+        ],
+        [
+            -2811.415,
+            -1067.575,
+            212.214,
+            0.0,
+            -56.48,
+            0.0
+        ],
+        [
+            -2811.415,
+            -1067.575,
+            212.214,
+            0.0,
+            -31.48,
+            0.0
+        ],
+        [
+            -2704.08,
+            -1133.299,
+            212.214,
+            0.0,
+            -31.48,
+            0.0
+        ],
+        [
+            -2596.744,
+            -1199.022,
+            212.214,
+            0.0,
+            -31.48,
+            0.0
+        ],
+        [
+            -2489.409,
+            -1264.746,
+            212.214,
+            0.0,
+            -31.48,
+            0.0
+        ],
+        [
+            -2380.682,
+            -1285.762,
+            212.214,
+            0.0,
+            -31.48,
+            0.0
+        ],
+        [
+            -2380.682,
+            -1285.762,
+            212.214,
+            0.0,
+            -31.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open hall I can see tall windows, stairs, and stacked timber, but nothing that resembles a pile of garbage heaped in a corner. Since the far corners on my right side are still outside my field of view, I will turn right to begin a steady scan of the room. This should reveal the darker recesses along that wall.",
+        "The new heading shows the open metal doors, brickwork, and a wall ladder, but still no heaped refuse in any corner. Keeping the scan consistent in the same direction, I will turn right again to bring the next stretch of wall into view. The unlit corners further right remain the most likely place for a garbage pile.",
+        "This section of wall shows shuttered openings and a ladder, with only rubble on the floor and a hint of stacked pallets at the right edge. Stored pallets suggest a storage or dumping area, so continuing the rotation in the same direction is worthwhile. I will turn right again to see what lies past those pallets.",
+        "The pallet stacks are now fully in view, and beyond them on the right there is a dark corner where I can just make out pale bundles on the ground. That is a promising cue for the garbage pile, but it sits at the edge of my view. I will turn right once more to bring that corner toward the center.",
+        "Ahead and slightly right I can see a recessed corner between the pallets and the boarded window, with a cluster of light coloured sacks piled on the floor. That looks like the stacked garbage I am searching for, so I want it squarely in front of me before advancing. I will turn right a little more to line my heading up with that corner.",
+        "The heap of pale bags now sits near the center of my view, tucked into the corner past the pallet stacks. The floor between me and it looks clear of obstructions, so I will walk forward to close the distance. Moving in should also let me confirm that the bundles really are piled refuse.",
+        "The bundles in the corner have grown larger and are clearly bagged garbage stacked against the wall, so my heading is good. I am still several paces short of them, with the pallets passing on my left. I will keep walking forward to reach the pile.",
+        "The garbage bags are now plainly visible piled in the corner just ahead and slightly right, with nothing blocking the last stretch of floor. I am close but not yet standing at the pile. I will step forward again to finish closing the gap.",
+        "The heap of pale garbage bags is now clearly in front of me, piled against the base of the corner where the brick pier meets the far wall. It still sits slightly ahead and a bit low in my view, so I am not yet standing at it. I will step forward once more to close the last of the gap and bring the pile within reach.",
+        "The pile of garbage bags fills the lower part of my view, right at my feet in the corner. The target is located and reached, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003360_y-001119_z000212_t1_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Search the room for an open white metal door; once you have located it, move toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -3360.096,
+        -1119.145,
+        212.213,
+        0.0,
+        -154.56,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -154.56,
+            0.0
+        ],
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -129.56,
+            0.0
+        ],
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -104.56,
+            0.0
+        ],
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -79.56,
+            0.0
+        ],
+        [
+            -3337.29,
+            -1242.92,
+            212.213,
+            0.0,
+            -79.56,
+            0.0
+        ],
+        [
+            -3314.483,
+            -1366.696,
+            212.213,
+            0.0,
+            -79.56,
+            0.0
+        ],
+        [
+            -3314.483,
+            -1366.696,
+            212.213,
+            0.0,
+            -54.56,
+            0.0
+        ],
+        [
+            -3241.504,
+            -1469.236,
+            212.213,
+            0.0,
+            -54.56,
+            0.0
+        ],
+        [
+            -3241.504,
+            -1469.236,
+            212.213,
+            0.0,
+            -54.56,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this doorway I can see only brick walls, a paved yard and a barred window ahead, with no open white metal door anywhere in view. I will turn right to begin a consistent scan of the room and reveal the wall sections currently hidden by the brick pier on my right.",
+        "The new heading only brings more brick wall, stacked pallets and rubble into view, still without any white metal door. I will keep turning right in the same direction to continue the sweep toward the darker interior corner.",
+        "Ahead of me the corner is closed brick with high windows, but at the right edge of my view a bright opening onto an outer yard is starting to appear. I will turn right once more toward that opening, since a doorway there is the most likely place to find the white metal door.",
+        "The turn has centered a tall doorway ahead, and its swung open leaf is a pale white metal panel, which matches the target. The floor between me and it is clear rubble-strewn ground, so I will walk forward to close the distance.",
+        "The white metal door now fills much more of my view on the right side of the opening, confirming I am heading straight at it. I will step forward again to bring myself close to the door and its threshold.",
+        "I am now right at the threshold with the open white metal door standing along the right edge of my view while the yard beyond dominates the center. I will turn right to face the door directly rather than walk past it through the opening.",
+        "The turn has swung the open white metal door into the center right of my view, and it is only a short step away. I will move forward to finish closing the remaining gap to the door.",
+        "The open white metal door fills my view directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-003360_y-001119_z000212_t1_b/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Look around indoors to identify a red metal ladder staircase, then navigate over to where it stands.",
+    "Type": 1,
+    "Start_Pose": [
+        -3360.096,
+        -1119.145,
+        212.213,
+        0.0,
+        -154.56,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -154.56,
+            0.0
+        ],
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -129.56,
+            0.0
+        ],
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -104.56,
+            0.0
+        ],
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -79.56,
+            0.0
+        ],
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -54.56,
+            0.0
+        ],
+        [
+            -3360.096,
+            -1119.145,
+            212.213,
+            0.0,
+            -29.56,
+            0.0
+        ],
+        [
+            -3250.619,
+            -1181.236,
+            212.213,
+            0.0,
+            -29.56,
+            0.0
+        ],
+        [
+            -3141.142,
+            -1243.326,
+            212.213,
+            0.0,
+            -29.56,
+            0.0
+        ],
+        [
+            -3031.665,
+            -1305.417,
+            212.213,
+            0.0,
+            -29.56,
+            0.0
+        ],
+        [
+            -2922.187,
+            -1367.507,
+            212.213,
+            0.0,
+            -29.56,
+            0.0
+        ],
+        [
+            -2922.187,
+            -1367.507,
+            212.213,
+            0.0,
+            -29.56,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this doorway I only see a brick courtyard, barrels and a facade across the way, with no sign of a red metal ladder staircase. I will turn right to begin a steady scan of the surrounding interior spaces in one consistent direction. This should bring the darker areas beside me into view without wasting motion.",
+        "This heading shows a heavy brick pier with stacked pallets and rubble behind it, but still no ladder. I will keep rotating right to continue the scan in the same direction and open up the shadowed interior beyond that pier.",
+        "I am now facing into a roofless brick hall with pallets on the floor and a bright gap toward the right side. No ladder is visible here, so I will continue the rightward scan toward that opening where more of the interior wall should become exposed.",
+        "The open door frame ahead only leads out to a ruined facade across a yard, and the ladder I am looking for is still not in sight. I will keep turning right so the tall shadowed wall on that side of this hall comes into view.",
+        "On the right side of this hall I can now make out a rusty red vertical metal ladder running up the face of a brick pier. I will turn right once more to bring that ladder near the center of my view so I can head straight at it.",
+        "The red metal ladder is now roughly ahead of me, fixed to the brick pier under the concrete overhang. The rubble floor between us looks clear, so I will walk forward to close the distance to it.",
+        "The ladder has grown larger and its rungs are clearly resolved against the brick pier, confirming I am closing in on it. I will step forward again since the path along the wall remains open.",
+        "The red metal ladder now fills much of my view, running from the floor up the corner of the brick pier just ahead. I will advance once more to bring myself right up beside it.",
+        "The rusted red metal ladder is now close on my left, its rungs running up the brick wall just ahead of me. I am still a short gap away from standing at its base, so I will step forward once more along the wall. This should close the last of the distance and put me right beside the ladder.",
+        "The red metal ladder rungs are directly beside me at arm's length along the wall. The task is complete, so I stop here rather than move past it."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_b/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Go to the rusty gas cylinder beside the trash pile.",
+    "Type": 0,
+    "Start_Pose": [
+        -4144.795,
+        -461.051,
+        180.545,
+        0.0,
+        -18.24,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4144.795,
+            -461.051,
+            180.545,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -4025.26,
+            -500.445,
+            194.957,
+            0.0,
+            -18.24,
+            0.0
+        ],
+        [
+            -4025.26,
+            -500.445,
+            194.957,
+            0.0,
+            -43.24,
+            0.0
+        ],
+        [
+            -3933.573,
+            -586.665,
+            198.656,
+            0.0,
+            -43.24,
+            0.0
+        ],
+        [
+            -3841.886,
+            -672.886,
+            208.155,
+            0.0,
+            -43.24,
+            0.0
+        ],
+        [
+            -3756.815,
+            -758.965,
+            208.25,
+            0.0,
+            -43.24,
+            0.0
+        ],
+        [
+            -3756.815,
+            -758.965,
+            208.25,
+            0.0,
+            -43.24,
+            0.0
+        ],
+        [
+            -3756.815,
+            -758.965,
+            208.25,
+            0.0,
+            -43.24,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the open yard I can already pick out a small rusty gas cylinder standing against the brick wall just left of the heap of grey rubbish bags. It is still far off across the gravel, so I will walk straight ahead to begin closing that gap before refining my heading.",
+        "The cylinder and the bag pile now sit clearly left of the center of my view, while my heading points down the yard past them. A moderate turn to the left should place the cylinder near the middle of my view so I can approach it in a straight line.",
+        "With the cylinder and the bag pile now framed near the center of my view against the brick corner, my heading looks correct for a direct approach. I will step forward over the flat gravel to shorten the remaining distance.",
+        "The bag pile and the cylinder beside it have grown noticeably larger and the wall corner is filling more of my view, so my line of travel is holding. I am still a few paces short of standing beside the cylinder, so I will advance again.",
+        "The cylinder is now close on my left at the foot of the brick corner, with the bags crowding the right side of my view. One more short step forward should bring me right up beside it without pushing into the wall or the bags.",
+        "Standing this close, most of my view is taken up by the brick wall while only the top of the cylinder shows at the bottom edge. Tilting my head down should bring the whole rusty cylinder and the adjacent bags into view so I can confirm I am beside it.",
+        "The rusty gas cylinder stands directly in front of me at the wall base, right beside the pile of trash bags. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_b/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Head toward the red gate marked number 6.",
+    "Type": 0,
+    "Start_Pose": [
+        -4333.728,
+        -614.734,
+        160.356,
+        0.0,
+        171.84,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4333.728,
+            -614.734,
+            160.356,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            146.84,
+            -0.0
+        ],
+        [
+            -4563.675,
+            -528.028,
+            140.301,
+            0.0,
+            146.84,
+            -0.0
+        ],
+        [
+            -4669.038,
+            -459.185,
+            140.925,
+            0.0,
+            146.84,
+            -0.0
+        ],
+        [
+            -4774.4,
+            -390.343,
+            142.088,
+            0.0,
+            146.84,
+            -0.0
+        ],
+        [
+            -4879.762,
+            -321.501,
+            131.88,
+            0.0,
+            146.84,
+            -0.0
+        ],
+        [
+            -4879.762,
+            -321.501,
+            131.88,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -5004.347,
+            -303.637,
+            139.002,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -5114.458,
+            -271.925,
+            139.982,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -5114.458,
+            -271.925,
+            139.982,
+            0.0,
+            171.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I can see a row of weathered red gates along the warehouse wall to my left, and one of the panels carries a painted number 6. The open gravel yard ahead of me is clear of the puddle and the gas cylinders, so I will step forward to close distance before refining my heading.",
+        "The gate marked 6 sits well to the left of my heading, while straight ahead I am facing the corner of the wall and the cluster of gas cylinders. Turning left should bring that numbered gate toward the middle of my view so I can walk straight at it.",
+        "The gate bearing the small painted 6 is now roughly ahead of me among the row of red panels, with open ground between us. I will advance to shorten the distance while keeping the marking in sight.",
+        "The numbered gate is larger in front of me now, so my heading is still good and there is nothing blocking the path except the sacks off to my left and the cylinders to my right. Another step forward should keep closing the gap.",
+        "The red gate with the 6 now fills much of my view and its surface detail is clear, confirming I am walking straight toward it. I will keep advancing since the remaining gravel ahead is unobstructed.",
+        "Only a short stretch of ground separates me from the tall red gate, and the painted 6 is plainly visible near the concrete strip beside it. I will step forward again to get close to the gate face.",
+        "At this range the pile of blue sacks and the mound of rubble sit directly in front of my left side, while the gate leaf carrying the 6 extends to my right. A small turn to the right should square me up with that gate panel and put clear footing ahead of me.",
+        "The red gate now stands squarely in front of me with the painted 6 on its left edge, and the strip of gravel between us is clear apart from cylinders set off to the right. I will take a step forward to finish closing on the gate.",
+        "The red gate with the painted number 6 now fills nearly my whole view, with its marking near the left edge and the panel seam straight ahead of me. I am close but still a short step away from the gate face, so I will advance once more to close that remaining gap.",
+        "The red gate's weathered panel and seam are directly in front of me at arm's length, filling my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_b_p/infos.json

@@ -0,0 +1,183 @@
+{
+    "Instruction": "Pick up the ceramic vase beside the wooden cable spool on the ground.",
+    "Type": 5,
+    "Start_Pose": [
+        -4333.728,
+        -614.734,
+        160.356,
+        0,
+        171.84,
+        0
+    ],
+    "PD_ID": 14,
+    "PD_Size": 3.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -4984.586,
+        -756.162,
+        81.758,
+        0,
+        -163.16,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4333.728,
+            -614.734,
+            160.356,
+            0,
+            171.84,
+            0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            171.84,
+            -0.0
+        ],
+        [
+            -4458.313,
+            -596.87,
+            147.119,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4578.775,
+            -633.331,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4699.236,
+            -669.793,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4819.698,
+            -706.254,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4819.698,
+            -706.254,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4819.698,
+            -706.254,
+            140.876,
+            0.0,
+            -163.16,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -4984.586,
+            -756.162,
+            81.758,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4984.586,
+            -756.162,
+            81.758,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4984.586,
+            -756.162,
+            81.758,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4984.586,
+            -756.162,
+            81.758,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4984.586,
+            -756.162,
+            81.758,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4984.586,
+            -756.162,
+            81.758,
+            0.0,
+            -163.16,
+            0.0
+        ],
+        [
+            -4812.928,
+            -726.515,
+            111.225,
+            -28.202,
+            -113.015,
+            1.862
+        ],
+        [
+            -4812.928,
+            -726.515,
+            111.225,
+            -28.202,
+            -113.015,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        666.0,
+        549.9,
+        549.9,
+        424.0,
+        298.1,
+        172.3,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the tall pale vase standing on the ground near the wooden cable spool ahead in the yard, but it is far off across the open lot. Walking straight forward should close a large part of that distance before I refine my heading.",
+        "The vase beside the cable spool now sits slightly right of my heading, with the gas cylinders and spool crowding the center of my view. Turning right should bring the vase closer to the middle of my view so I can walk straight at it.",
+        "The vase is now near the center of my view, standing on the ground just right of the wooden cable spool. With a clear stretch of yard between us, stepping forward should shorten the gap along this heading.",
+        "The vase and the spool have grown larger and stay centered, so my heading remains good. I am still too far to reach the vase, so I will keep walking forward.",
+        "The vase now stands close in front of me with the cable spool at my left, but it is still a step or two beyond my reach. One more forward step should bring it within grasping distance.",
+        "The ceramic vase now fills the foreground directly ahead of me, right beside the wooden cable spool, and nothing blocks my hands. This is close enough to reach out, so I will attempt to pick it up.",
+        "The ceramic vase is now held in my hands rather than resting on the ground. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_c/infos.json

@@ -0,0 +1,86 @@
+{
+    "Instruction": "Move to the pile of dark trash bags on the ground.",
+    "Type": 0,
+    "Start_Pose": [
+        -4476.771,
+        -369.999,
+        140.29,
+        0,
+        124.8,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4476.771,
+            -369.999,
+            140.29,
+            0,
+            124.8,
+            0
+        ],
+        [
+            -4476.771,
+            -369.999,
+            140.337,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4585.548,
+            -306.689,
+            140.233,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4694.325,
+            -243.38,
+            141.137,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4803.101,
+            -180.07,
+            139.112,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4911.878,
+            -116.761,
+            135.432,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4911.878,
+            -116.761,
+            135.432,
+            0.0,
+            149.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the pile of dark trash bags heaped on the gravel to my right, near the base of the wall between the red doors. My current heading points more toward the pipes and the left corner, so I will turn right to bring the bag pile closer to the center of my view before advancing.",
+        "The heap of dark bags now sits near the middle of my view, in front of the pale wall panel between the red doors. The open gravel yard ahead looks clear of obstacles, so I will move forward to start closing the distance.",
+        "The bag pile has grown larger in my view and stays centered against the wall, confirming my heading is good. There is still a stretch of open yard between us, so I will continue forward.",
+        "Individual bags in the pile are now clearly distinguishable slightly right of center, and the wall behind them fills much of my view. I am not yet close enough to stand at the pile, so I will keep moving forward.",
+        "The pile of dark bags now occupies the lower part of my view with the dry weeds beside it, so only a short gap remains. I will take one more step forward to bring myself right up beside the trash pile.",
+        "The pile of dark trash bags is directly in front of me, filling the lower view within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t5_a_p/infos.json

@@ -0,0 +1,164 @@
+{
+    "Instruction": "Grab the wicker basket beside the pile of dark sandbags on the ground.",
+    "Type": 5,
+    "Start_Pose": [
+        -4476.771,
+        -369.999,
+        140.29,
+        0,
+        124.8,
+        0
+    ],
+    "PD_ID": 7,
+    "PD_Size": 2.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -4893.613,
+        -32.631,
+        89.525,
+        90,
+        124.801,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4476.771,
+            -369.999,
+            140.29,
+            0,
+            124.8,
+            0
+        ],
+        [
+            -4548.6,
+            -266.65,
+            140.699,
+            0.0,
+            124.8,
+            -0.0
+        ],
+        [
+            -4548.6,
+            -266.65,
+            140.699,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4657.377,
+            -203.34,
+            138.529,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4766.154,
+            -140.031,
+            139.556,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4766.154,
+            -140.031,
+            139.556,
+            0.0,
+            149.8,
+            -0.0
+        ],
+        [
+            -4766.154,
+            -140.031,
+            139.556,
+            0.0,
+            149.8,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -4893.613,
+            -32.631,
+            89.525,
+            90.0,
+            124.801,
+            0.0
+        ],
+        [
+            -4893.613,
+            -32.631,
+            89.525,
+            90.0,
+            124.801,
+            0.0
+        ],
+        [
+            -4893.613,
+            -32.631,
+            89.525,
+            90.0,
+            124.801,
+            0.0
+        ],
+        [
+            -4893.613,
+            -32.631,
+            89.525,
+            90.0,
+            124.801,
+            0.0
+        ],
+        [
+            -4893.613,
+            -32.631,
+            89.525,
+            90.0,
+            124.801,
+            0.0
+        ],
+        [
+            -4776.368,
+            -158.793,
+            109.663,
+            -28.202,
+            -160.055,
+            1.862
+        ],
+        [
+            -4776.368,
+            -158.793,
+            109.663,
+            -28.202,
+            -160.055,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        536.3,
+        416.9,
+        416.9,
+        291.5,
+        166.7,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the round wicker basket standing on the ground ahead, right next to the heap of dark sandbags along the base of the red doors. It is still far across the open yard, so I will walk forward to close that distance before any grasp is possible.",
+        "After advancing, the basket and the sandbags sit noticeably right of my heading, while the pipes and puddle dominate the center of my view. I will turn right to bring the basket toward the middle of my view so my next steps lead straight to it.",
+        "The basket now sits near the center of my view, leaning against the ground beside the pale sandbags. The path across the gravel toward it looks clear, so I will step forward to shorten the remaining distance.",
+        "The basket is larger and still centered, but it remains a couple of paces beyond comfortable reach. I will walk forward again to get close enough for a grasp attempt.",
+        "The wicker basket now fills the lower center of my view, right at the edge of the sandbag heap and close enough to reach. My hands are empty, so I will attempt to pick it up now.",
+        "The wicker basket is now held in my hands rather than resting by the sandbags. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Walk to the red door marked with number four, then approach the pile of dark bags.",
+    "Type": 3,
+    "Start_Pose": [
+        -4481.79,
+        -145.862,
+        150.72,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4481.79,
+            -145.862,
+            150.72,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4481.79,
+            -145.862,
+            150.72,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -4594.484,
+            -89.822,
+            139.556,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -4707.179,
+            -33.782,
+            139.484,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -4819.873,
+            22.258,
+            139.484,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -4932.567,
+            78.298,
+            144.18,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -5045.262,
+            134.338,
+            143.051,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -5157.956,
+            190.378,
+            141.092,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -5157.956,
+            190.378,
+            141.092,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -5075.221,
+            149.236,
+            142.199,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -5075.221,
+            149.236,
+            142.199,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -5075.221,
+            149.236,
+            142.199,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -5075.221,
+            149.236,
+            142.199,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -5075.221,
+            149.236,
+            142.199,
+            0.0,
+            -106.44,
+            0.0
+        ],
+        [
+            -5093.274,
+            80.902,
+            152.553,
+            0.0,
+            -106.44,
+            0.0
+        ],
+        [
+            -5093.274,
+            80.902,
+            152.553,
+            0.0,
+            -106.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the red door painted with a four sits far off at the left edge of my view, while the door marked six and the heap of dark bags lie ahead of me. Turning left should swing that numbered door toward the center of my view so I can walk straight at it.",
+        "The red door with the four is now roughly ahead of me across the open yard, with the pile of dark bags off to my right against the wall. The ground between us is clear, so I will walk forward to close the distance on that door.",
+        "The numbered red door has grown larger and stays near the middle of my view, so my heading is still good. Nothing blocks the ground ahead, so I keep walking forward toward it.",
+        "The pitted red door with the four now dominates the middle of my view and its panel seams are clearly readable. I still have several paces of open ground, so I continue forward rather than adjusting my heading.",
+        "The door marked four is close now, its faded numeral plainly visible just left of center, and the sloped concrete apron in front of it is clear. Another step forward should bring me right up against it.",
+        "The red door and its painted four now fill almost the whole of my view, with only a short stretch of ground left between us. I will step forward again to stand directly at the door.",
+        "The rusted red panel with the four beside it is right in front of me and the pale wall edge is at my shoulder. One more short step should put me hard against this door.",
+        "The flaking red metal of the door marked four is right against my face, close enough to read every blistered patch of paint. I have reached that red door. I mark reaching it and turn my attention to the heap of dark bags slumped against the wall further along the yard.",
+        "The numbered red door fills my entire view at arm's length, leaving me nothing else to steer by. Now that I am at this door, I need clearance before swinging around toward the heap of dark bags along the wall. Backing up a step should open enough of the yard to reorient.",
+        "From this short distance the red door is squarely in front of me with only bare pale wall beyond its right edge. The dark bags sit further along that wall to my right, so I will turn that way to start bringing them into view.",
+        "My view now shows mostly the pale wall with the hanging cable, and the door edge is sliding off to my left. The bags are not in frame yet, so they must lie further around to the right. I will keep rotating right to sweep my heading toward them.",
+        "The neighbouring red door marked six is entering at the right edge, with dry grass and a hint of dark bundles low beneath it. That confirms the pile lies further around in that direction. Another turn right should bring it properly into my forward view.",
+        "The heap of dark bags is now clearly visible spilling across the lower right of my view, near the base of the door marked six. My heading still points left of them, toward the blank wall. One more turn right should place the pile in front of me.",
+        "The pile of dark bags now lies directly ahead of me, low in my view against the gravel. Only a short stretch of open ground separates us and nothing blocks it. I will step forward to close that remaining gap.",
+        "The pile of dark bags is right at my feet, filling the near ground ahead. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_c/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Proceed to the leaning circular wooden disc, then head toward the red door marked four.",
+    "Type": 3,
+    "Start_Pose": [
+        -4481.79,
+        -145.862,
+        150.72,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4481.79,
+            -145.862,
+            150.72,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4481.79,
+            -145.862,
+            150.72,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -4597.158,
+            -196.169,
+            140.205,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -4712.525,
+            -246.476,
+            139.853,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -4827.893,
+            -296.783,
+            121.045,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -4943.261,
+            -347.09,
+            141.044,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -4943.261,
+            -347.09,
+            141.044,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -5025.554,
+            -433.44,
+            143.266,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -5025.554,
+            -433.44,
+            143.266,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -4964.4,
+            -364.172,
+            141.124,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -4903.247,
+            -294.904,
+            128.566,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -4903.247,
+            -294.904,
+            128.566,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -4903.247,
+            -294.904,
+            128.566,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -4903.247,
+            -294.904,
+            128.566,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -4903.247,
+            -294.904,
+            128.566,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -4903.247,
+            -294.904,
+            128.566,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -4932.756,
+            -172.554,
+            135.501,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -4953.407,
+            -51.689,
+            131.359,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -4982.916,
+            70.662,
+            147.421,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -5012.425,
+            193.013,
+            141.299,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -5012.425,
+            193.013,
+            141.299,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -5012.425,
+            193.013,
+            141.299,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -5125.12,
+            249.053,
+            141.299,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -5125.12,
+            249.053,
+            141.299,
+            0.0,
+            153.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Straight ahead I only face the flat red shutter doors, but off to my right, past the row of gas cylinders, I can make out the pale round wooden spool discs standing in the yard. Turning right should swing that leaning disc into the middle of my view so I can walk straight at it.",
+        "The large wooden discs now sit ahead of me beyond the cylinders, with open gravel between us. I will walk forward to cut down that distance.",
+        "The pair of wooden discs has grown larger and the cylinders beside them are closer, so my heading is still good. Another step forward should bring me nearer the leaning disc.",
+        "The discs are clearly ahead now, though the wall corner on my left is starting to crowd the view. The ground between me and the spools is still clear, so I keep walking toward them.",
+        "The nearer disc and its leaning companion now fill a good part of the right side of my view, with cylinders lined up in front of them. I will step forward again to close the remaining gap.",
+        "The white wall corner is taking up the center of my view and the two big wooden discs have drifted to my right side. A turn to the right should put the leaning disc squarely in front of me before I close the last stretch.",
+        "The two wooden discs are now centered ahead of me with only the front row of cylinders between us. One more step forward should bring me right up against the leaning disc.",
+        "The tall wooden disc tilts right in front of me, its planked face and rim filling most of my view at arm's reach. I have arrived at the leaning circular wooden disc. I mark reaching it, then turn my attention back across the yard to the red door marked four.",
+        "I am standing right at the pair of leaning wooden discs, with gas cylinders packed against my feet and the pale wall crowding my left, so there is nothing more to close on here. Stepping back should open enough clearance to swing my heading around toward the red doors.",
+        "Backing off has pulled the leaning discs and the rows of cylinders fully into view, but I am still wedged in the narrow strip between them and the wall. Another step back should give me the room I need to turn freely toward the red doors.",
+        "With space behind me, the leaning discs sit ahead and the red painted doorway runs along the wall to my left. I will turn left to start bringing that door wall into my heading.",
+        "The red panel is coming into view on my left, but the corner of the pale wall and the cylinders still take up most of my sight. A further left turn should put the door faces squarely in front of me.",
+        "A red door marked six now fills my view, so this is not the one I want. I will keep turning left to sweep further along this wall and look for the door numbered four.",
+        "Turning further has brought the piled sacks and more red panelling into view, but the number I need still is not in sight and the ground here is blocked. Another left turn should swing my view across the more open part of the yard.",
+        "Across the corner I can now make out another red door set in the far wall, but I am still angled into the sacks heaped beside me. One more left turn should aim me at the open ground running toward that door.",
+        "The yard ahead is open, with pipes stacked to my left and the sacks now off to my right, and a red door stands across it just left of center. I will walk forward to close the distance and read its number as I near it.",
+        "The pair of red door panels sits at the far corner of this yard, still a fair distance ahead of me. The open ground between us is clear apart from weeds, so I will keep walking straight to close that gap.",
+        "The doors now fill much more of my view, and the pipes stacked to my left stay well clear of my line of travel. I will step forward again to keep shrinking the remaining distance.",
+        "I can now make out the corner where the wide door panel on my left meets the tall red panel on my right, with a faint mark on the pale strip between them. One more step forward should put me right up against that corner.",
+        "The pale pillar with its faint yellow marking is centered ahead of me, and the red door I want stretches along the wall to my right. I will turn right so that door comes into the middle of my view instead of running off to the side.",
+        "The turn has pulled the red panel into the middle of my view, but I am still seeing it at a sharp angle along the wall. Another right turn should square my heading with the face of that door before I close in.",
+        "The weathered red door now faces me squarely, with the marked pillar edge just at its left. Only a short gap of ground remains, so I will walk forward to stand directly at it.",
+        "The marked red door fills my view at arm's length. The task is complete, so there is nothing further to do here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-004500_y-000526_z000140_t0_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Approach the red gate marked number 4.",
+    "Type": 0,
+    "Start_Pose": [
+        -4500.17,
+        -525.638,
+        140.339,
+        0,
+        151.84,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4500.17,
+            -525.638,
+            140.339,
+            0,
+            151.84,
+            0
+        ],
+        [
+            -4611.131,
+            -466.241,
+            140.338,
+            0.0,
+            151.84,
+            -0.0
+        ],
+        [
+            -4722.093,
+            -406.843,
+            141.066,
+            0.0,
+            151.84,
+            -0.0
+        ],
+        [
+            -4722.093,
+            -406.843,
+            141.066,
+            0.0,
+            126.84,
+            -0.0
+        ],
+        [
+            -4797.556,
+            -306.117,
+            126.624,
+            0.0,
+            126.84,
+            -0.0
+        ],
+        [
+            -4873.019,
+            -205.39,
+            137.336,
+            0.0,
+            126.84,
+            -0.0
+        ],
+        [
+            -4948.481,
+            -104.664,
+            135.466,
+            0.0,
+            126.84,
+            -0.0
+        ],
+        [
+            -4977.636,
+            -10.807,
+            139.314,
+            0.0,
+            126.84,
+            -0.0
+        ],
+        [
+            -5042.8,
+            94.319,
+            147.895,
+            0.0,
+            126.84,
+            -0.0
+        ],
+        [
+            -5118.263,
+            195.046,
+            141.177,
+            0.0,
+            126.84,
+            -0.0
+        ],
+        [
+            -5118.263,
+            195.046,
+            141.177,
+            0.0,
+            151.84,
+            -0.0
+        ],
+        [
+            -5118.263,
+            195.046,
+            141.177,
+            0.0,
+            151.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I can see a row of weathered red gates set into the long white wall ahead, with the one marked 6 near the center of my view and another red gate further to its left. I need the gate marked 4, so I will step forward across the open gravel yard to close distance and read the painted numbers more clearly.",
+        "The gates are closer now and the faint number on the gate left of the one marked 6 is starting to resolve as my target, 4. I will keep advancing straight over the clear gravel to confirm the marking and shorten the remaining distance.",
+        "The gate marked 6 is straight ahead of me while the gate I want, number 4, sits off to its left, so my current heading would carry me past my target. I will turn left to swing that left-hand gate toward the center of my view before continuing forward.",
+        "After the turn the target gate now sits ahead of me between the white pillars, with the gate marked 8 off to the far left and 6 pushed to the right edge of my view. The lane of gravel between me and it is open, so I will walk forward to close the gap.",
+        "The gate I am heading for is growing larger ahead of me and the pile of blue sacks stays clear to my right side of the path. I will continue forward on this heading to keep closing on it.",
+        "I am now well inside the yard corner, with the sacks passing on my right and the target gate filling more of the center of my view. Another forward step should bring me close enough to stand right in front of it.",
+        "The gate is close ahead of me, slightly right of my heading, with the corner and the raised concrete step to my left and the dry weeds brushing my right. I will step forward again to bring myself right up against the gate face.",
+        "The peeling red gate now dominates the right of my view and only a short stretch of gravel remains between me and its surface. I will take one more step forward to finish closing that small gap.",
+        "The red gate now fills the right portion of my view, with the pale concrete pier and low ledge just ahead on the left, so I still have a short gap left to close. I will step forward again to bring myself right up in front of the red gate panel.",
+        "I am now standing right beside the red gate, but its face is angled off to my right while the concrete wall and weeds occupy the left of my view. Turning right should square my heading onto the gate panel so I am facing it directly.",
+        "The weathered red gate panel now fills my view directly ahead at close range. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x-005437_y-002057_z000201_t0_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Walk to the white metal door in the brick wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -5436.641,
+        -2056.641,
+        201.386,
+        0.0,
+        -47.04,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5436.641,
+            -2056.641,
+            201.386,
+            0.0,
+            -47.04,
+            0.0
+        ],
+        [
+            -5350.87,
+            -2148.748,
+            199.421,
+            0.0,
+            -47.04,
+            0.0
+        ],
+        [
+            -5350.87,
+            -2148.748,
+            199.421,
+            0.0,
+            -72.04,
+            0.0
+        ],
+        [
+            -5312.061,
+            -2268.475,
+            199.421,
+            0.0,
+            -72.04,
+            0.0
+        ],
+        [
+            -5273.252,
+            -2388.201,
+            201.257,
+            0.0,
+            -72.04,
+            0.0
+        ],
+        [
+            -5234.443,
+            -2507.927,
+            199.384,
+            0.0,
+            -72.04,
+            0.0
+        ],
+        [
+            -5234.443,
+            -2507.927,
+            199.384,
+            0.0,
+            -47.04,
+            0.0
+        ],
+        [
+            -5148.671,
+            -2600.034,
+            198.376,
+            0.0,
+            -47.04,
+            0.0
+        ],
+        [
+            -5148.671,
+            -2600.034,
+            198.376,
+            0.0,
+            -47.04,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the white metal door set into the brick wall ahead of me, standing out in the dim alley to the left of my heading. It is still well beyond reach, so I will move forward along the open paved ground to close distance toward it.",
+        "The white door now sits slightly to the left of my heading, with the near brick pier and window wall filling the right of my view. I will turn left to bring the door closer to the center of my heading before continuing along the alley.",
+        "After the turn, the lit white door stands just right of my heading with the alley opening up straight ahead of me. The floor ahead is clear, so I will step forward to reduce the remaining distance to the door.",
+        "The door has grown larger and its lettering plate is becoming visible, confirming I am closing on the correct target on my right-front. The way ahead remains unobstructed, so I will continue forward.",
+        "The white door is now clearly close on my right, its rusted lower edge and sign readable, but I am still short of standing in front of it. I will advance once more to draw level with the doorway.",
+        "I have come alongside the doorway, and the white door has slid far to the right edge of my view while my heading points down the empty alley. I will turn right to face the door squarely before making the final step toward it.",
+        "The white metal door is now centered in front of me, framed by the brick pier and wall, with only a short gap of ground left. I will move forward to bring myself right up to the door.",
+        "The white metal door in the brick wall fills my view at arm's length. The task is complete, so I stop here rather than press into the door."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Head toward the base of the second steel gantry post on the right.",
+    "Type": 2,
+    "Start_Pose": [
+        427.576,
+        285.708,
+        203.686,
+        0.0,
+        168.96,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            427.576,
+            285.708,
+            203.686,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            304.046,
+            309.809,
+            206.602,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            180.516,
+            333.911,
+            209.676,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            56.987,
+            358.012,
+            212.61,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            -66.543,
+            382.113,
+            211.711,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            -190.073,
+            406.214,
+            210.36,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            -313.603,
+            430.316,
+            210.36,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            -437.133,
+            454.417,
+            199.708,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            -551.986,
+            446.388,
+            201.172,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            -551.986,
+            446.388,
+            201.172,
+            0.0,
+            168.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the overhead gantry runs across the yard on lattice legs, and counting along the right-hand line the second post back is my target, the column standing beside the green skips. The rail-scarred concrete between me and it is open. I will walk straight forward toward it.",
+        "The lattice column beside the green skips sits just left of my heading and is noticeably larger than before, so my line is good. Nothing blocks the paved strip between the rails. I continue walking toward it.",
+        "The gantry now fills the top of my view and the column standing by the green skips is clearly the one I am closing on. The rubble bags stay off to the left of my path, so nothing forces a detour. I keep advancing.",
+        "The steel column beside the skips is now the dominant upright ahead of me, tall enough that the row of gantry legs no longer reads as a countable line from this position. I am holding to that one column rather than to any count. Another step forward should bring me closer to its footing.",
+        "The column I am heading for rises just ahead with the green skips and heaped bags close on its left. My heading still lines up with its base and the ground in front is flat paving. I walk on.",
+        "The lower legs of the column are now visible with dry weeds sprouting around them, so the base itself is only a few paces off. My heading needs no change. I step forward again.",
+        "The bracing and the footing of the column are plainly in front of me, with the green skip pressed alongside it. I am close but not yet standing at its base. I continue forward to close the last of the gap.",
+        "The riveted steel legs now fill most of my view and the weeds at their foot are within reach, leaving only a short remaining gap. One more step should put me right at the base of this column. I move forward.",
+        "The riveted legs and footing of the column stand directly before me, within arm's reach. I am at its base, so the task is complete and I stop."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_c/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Proceed to the base of the rightmost gantry support post.",
+    "Type": 2,
+    "Start_Pose": [
+        427.576,
+        285.708,
+        203.686,
+        0.0,
+        168.96,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            427.576,
+            285.708,
+            203.686,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            304.046,
+            309.809,
+            206.602,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            180.516,
+            333.911,
+            209.676,
+            0.0,
+            168.96,
+            -0.0
+        ],
+        [
+            180.516,
+            333.911,
+            209.676,
+            0.0,
+            -166.04,
+            0.0
+        ],
+        [
+            58.375,
+            303.548,
+            206.103,
+            0.0,
+            -166.04,
+            0.0
+        ],
+        [
+            -63.767,
+            273.185,
+            206.131,
+            0.0,
+            -166.04,
+            0.0
+        ],
+        [
+            -185.909,
+            242.822,
+            206.131,
+            0.0,
+            -166.04,
+            0.0
+        ],
+        [
+            -308.05,
+            212.459,
+            206.131,
+            0.0,
+            -166.04,
+            0.0
+        ],
+        [
+            -430.192,
+            182.097,
+            212.488,
+            0.0,
+            -166.04,
+            0.0
+        ],
+        [
+            -552.334,
+            151.734,
+            209.456,
+            0.0,
+            -166.04,
+            0.0
+        ],
+        [
+            -552.334,
+            151.734,
+            209.456,
+            0.0,
+            -141.04,
+            0.0
+        ],
+        [
+            -617.599,
+            119.912,
+            204.875,
+            0.0,
+            -141.04,
+            0.0
+        ],
+        [
+            -617.599,
+            119.912,
+            204.875,
+            0.0,
+            -141.04,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The gantry beam spans the yard ahead on its lattice legs, and I settle the choice now: the leg at the far right end, the one standing beside the right-hand brick workshop above the green skip, is my target. It is still far across the open track bed, so I walk forward.",
+        "The gantry now fills more of my view, but the post I chose at the right end of the span is still well beyond the rails in front of me. The paving between us is clear, so I keep walking straight to close that gap before adjusting my heading.",
+        "Walking straight has carried me under the middle of the span, and my chosen post sits well off to my right, past the near legs. I turn right to swing my heading toward it so continued walking takes me along the right side of the yard.",
+        "The turn has put the right-hand side of the yard in front of me, with the tall lattice column I am heading for standing beyond the rusted green container. The rail-crossed paving ahead is walkable, so I step forward along it.",
+        "The lattice column I am walking to has grown noticeably and now rises on the right of my view against the brick wall behind it. Nothing blocks the track bed between us, so I keep advancing rather than turning yet.",
+        "My target column stands ahead on the right with the rusted tank tucked beside its base, and the weeds along the rails are low enough to walk past. I am still several strides short of its footing, so I continue forward.",
+        "The column now looms over the right half of my view and its riveted legs are clearly separated, while the other supports have dropped out behind me, so I simply follow this one. Its base is still ahead of me, so I keep walking.",
+        "I am close enough now to see the column's individual braces and the rusted tank sitting right against it, but its footing is still a short way past the weeds in front of me. I step forward again to bring myself alongside the base.",
+        "The lattice leg is now abreast of me on the right, yet its plated footing still sits a little further along, screened by the dry stalks beside the rusted tank. The slabs beside the rail are open, so one more stride should bring me level with that base.",
+        "The riveted leg now rises immediately off my right shoulder, and my heading still runs down the open yard past it rather than at it. I turn right so the column's footing sits squarely in front of me instead of slipping by my side.",
+        "The turn has put the bracing and the rusted tank straight ahead, with the column's bolted foot only a short step beyond the puddled slabs. I walk forward that last bit to stand right at the footing.",
+        "The column's flanged foot and its bolted base plate stand directly before me, within arm's reach. The task is done, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Walk to the dumpster on the left side.",
+    "Type": 2,
+    "Start_Pose": [
+        979.853,
+        -574.376,
+        205.277,
+        0.0,
+        48.96,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            979.853,
+            -574.376,
+            205.277,
+            0.0,
+            48.96,
+            -0.0
+        ],
+        [
+            1090.33,
+            -472.264,
+            203.613,
+            0.0,
+            48.96,
+            -0.0
+        ],
+        [
+            1090.33,
+            -472.264,
+            203.613,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1205.343,
+            -421.153,
+            203.613,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1320.357,
+            -370.041,
+            203.7,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1435.371,
+            -318.93,
+            203.7,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1550.384,
+            -267.819,
+            203.7,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1665.398,
+            -216.708,
+            209.673,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1780.411,
+            -165.597,
+            209.242,
+            0.0,
+            23.96,
+            -0.0
+        ],
+        [
+            1780.411,
+            -165.597,
+            209.242,
+            0.0,
+            23.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Across the yard I can pick out several dumpsters, and the one on the left side is the rust-brown bin with a peaked cap and teal frame standing near the left wall, distinct from the green ones. Nothing blocks the open pavement ahead, so I will walk forward to close the gap.",
+        "The rust-brown dumpster with the peaked cap now sits well left of my heading, so walking straight on would carry me past it. I will turn left to put it in front of me before continuing.",
+        "The turn brought the rust-brown, peaked-cap dumpster near the middle of my view, with the green bin beside it further back. The ground between us is flat and clear, so I will step forward along this heading.",
+        "The rust-brown dumpster is noticeably larger and still squarely ahead of me, so my heading remains good. I will keep walking forward to shrink the remaining distance.",
+        "The peaked-cap dumpster fills more of my view and its rusted side panels are now clearly readable, but I am still several strides short. Advancing straight ahead should bring me closer without any correction.",
+        "The dumpster now dominates the lower half of my view, with the green bin behind and to its right. Still a short gap remains, so I will continue stepping forward toward it.",
+        "I am close enough to see the corroded seams and teal edging on the dumpster's near face, yet a couple of paces of pavement still separate us. I will move forward again to stand right at it.",
+        "The rust-brown dumpster now spans nearly my whole view and its peaked lid rises above my line of sight. One more short step forward should place me directly beside it.",
+        "The rust-brown dumpster's teal frame fills my view at arm's length. I have arrived at it, so the walk is complete and I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001114_y-002488_z000198_t3_b/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Head toward the long vertical pipe on the wall, then move to the green door in the wall opening.",
+    "Type": 3,
+    "Start_Pose": [
+        1114.007,
+        -2488.283,
+        198.148,
+        0.0,
+        31.68,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1114.007,
+            -2488.283,
+            198.148,
+            0.0,
+            31.68,
+            -0.0
+        ],
+        [
+            1114.007,
+            -2488.283,
+            198.148,
+            0.0,
+            6.68,
+            -0.0
+        ],
+        [
+            1239.012,
+            -2473.643,
+            198.148,
+            0.0,
+            6.68,
+            -0.0
+        ],
+        [
+            1364.016,
+            -2459.002,
+            198.148,
+            0.0,
+            6.68,
+            -0.0
+        ],
+        [
+            1489.021,
+            -2444.362,
+            198.148,
+            0.0,
+            6.68,
+            -0.0
+        ],
+        [
+            1614.025,
+            -2429.721,
+            212.45,
+            0.0,
+            6.68,
+            -0.0
+        ],
+        [
+            1614.025,
+            -2429.721,
+            212.45,
+            0.0,
+            -18.32,
+            0.0
+        ],
+        [
+            1614.025,
+            -2429.721,
+            212.45,
+            0.0,
+            -18.32,
+            0.0
+        ],
+        [
+            1614.025,
+            -2429.721,
+            212.45,
+            0.0,
+            6.68,
+            -0.0
+        ],
+        [
+            1614.025,
+            -2429.721,
+            212.45,
+            0.0,
+            31.68,
+            -0.0
+        ],
+        [
+            1614.025,
+            -2429.721,
+            212.45,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1614.025,
+            -2429.721,
+            212.45,
+            0.0,
+            81.68,
+            -0.0
+        ],
+        [
+            1632.237,
+            -2305.187,
+            198.103,
+            0.0,
+            81.68,
+            -0.0
+        ],
+        [
+            1632.237,
+            -2305.187,
+            198.103,
+            0.0,
+            106.68,
+            -0.0
+        ],
+        [
+            1596.112,
+            -2184.624,
+            198.23,
+            0.0,
+            106.68,
+            -0.0
+        ],
+        [
+            1559.988,
+            -2064.06,
+            200.507,
+            0.0,
+            106.68,
+            -0.0
+        ],
+        [
+            1559.988,
+            -2064.06,
+            200.507,
+            0.0,
+            81.68,
+            -0.0
+        ],
+        [
+            1578.2,
+            -1939.526,
+            198.277,
+            0.0,
+            81.68,
+            -0.0
+        ],
+        [
+            1596.412,
+            -1814.992,
+            207.931,
+            0.0,
+            81.68,
+            -0.0
+        ],
+        [
+            1614.624,
+            -1690.457,
+            198.025,
+            0.0,
+            81.68,
+            -0.0
+        ],
+        [
+            1614.624,
+            -1690.457,
+            198.025,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1683.76,
+            -1585.288,
+            205.527,
+            0.0,
+            56.68,
+            -0.0
+        ],
+        [
+            1683.76,
+            -1585.288,
+            205.527,
+            0.0,
+            31.68,
+            -0.0
+        ],
+        [
+            1683.76,
+            -1585.288,
+            205.527,
+            0.0,
+            31.68,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the long vertical pipe running down the pale brick wall off to my left, while my body faces the courtyard clutter and the green doorway further right. Turning left should put that pipe closer to the center of my path so I can walk straight at it.",
+        "The wall with its windows and the slim vertical pipe now spreads across the view ahead of me, with open gravel and only low weeds between us. I will walk forward to cut down that distance.",
+        "The pipe descending the wall is clearly bigger now, just left of center above the dry weeds. There is still several strides of open ground before I stand at it, so I keep walking forward.",
+        "The wall now fills most of my view and the pipe stands out plainly against the peeling plaster to my left of center. I am not yet close enough to call myself at it, so another step forward is right.",
+        "The window sills and brickwork are close enough that the weeds at the wall base are near my feet, and the pipe sits at the left edge of what I can see. One more step forward should bring me level with it.",
+        "I am right up against the plaster wall and the pipe has slipped out past the left edge of my view, leaving only window frames in front of me. I will turn left to bring that vertical pipe back in front of me and confirm I am standing at it.",
+        "The long vertical pipe runs down the wall an arm's length in front of me, from the eaves past the window into the weeds. I have reached it. I mark arriving here, and now I set off for the green door standing in the opening of the wall.",
+        "With the pipe right beside me, this stretch of blank wall gives me nothing to walk toward, and the green door sits back around to my right along the building. I will turn right to start swinging my heading away from the plaster and back toward that side of the yard.",
+        "Standing right at the tall pipe, my view is filled with nothing but the pale plaster wall and its broken windows, so there is no route reading here. I keep rotating right to sweep my heading off this facade toward the open yard, where the green door in the wall opening should appear.",
+        "The wall is starting to slide past on my left and bagged rubbish and brickwork now show at the right edge, so the yard lies further around in that direction. I will turn right again to keep swinging my heading toward the open space beyond this building face.",
+        "The green door in the recessed wall opening has come into view ahead of me, with the yard and its red-painted far wall opening out to the right of it. I will turn right once more so the near facade stops crowding my path and the clear ground toward that door sits in front of me.",
+        "The yard is now open in front of me and the green door sits in its opening along the building on my left, still some distance off. With clear paving ahead, I will walk forward to close that distance.",
+        "Straight ahead of me the ground along this wall is choked with heaped rubbish bags and a raised manhole cover, which is a poor line to walk. I will turn right so my heading takes the open middle of the yard, from which I can keep working toward the green door on my left.",
+        "From here the yard runs clear and flat ahead, with the clutter now off to my sides. I will step forward along this open lane to keep closing on the green door standing in the wall opening to my left.",
+        "The green door has grown noticeably larger in its recess on my left, so I am gaining on it, and the ground in front stays clear. I will keep walking forward to draw level with that opening.",
+        "I am nearly abreast of the recess now, and the green door has slipped to the far left edge of my view where I can barely judge my line to it. I will turn left to bring that doorway back in front of me before advancing further.",
+        "The weathered green door sits in the recessed opening of the wall to my left front, still a fair walk away. I will step forward along the open yard to close that gap while keeping the doorway in sight.",
+        "The green door has grown larger on my left as I advance along this wall, so the approach line is working. I will keep walking forward to shorten the remaining distance to that opening.",
+        "The green door now fills much of the left side of my view, meaning I am nearly level with its opening. Another step forward should bring me alongside the doorway itself.",
+        "My forward walk has carried the green door to the very edge of my left periphery, leaving me looking mostly at the empty yard. Turning left should swing the doorway back into the center of my view so I can finish closing on it.",
+        "The green door is back in view on my left, with clear ground between me and the recess it sits in. I will step forward to draw right up beside that opening.",
+        "I am now right against the wall corner, and the green door has slipped just past my left shoulder while the boarded panel fills my view. Turning left should square me onto the green door in its opening.",
+        "The green door in the wall opening fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001150_y-002675_z000198_t2_c/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Navigate to the second ground-floor window from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        1149.665,
+        -2675.134,
+        198.148,
+        0.0,
+        34.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1149.665,
+            -2675.134,
+            198.148,
+            0.0,
+            34.56,
+            -0.0
+        ],
+        [
+            1253.314,
+            -2603.738,
+            198.148,
+            0.0,
+            34.56,
+            -0.0
+        ],
+        [
+            1356.963,
+            -2532.342,
+            198.148,
+            0.0,
+            34.56,
+            -0.0
+        ],
+        [
+            1460.612,
+            -2460.946,
+            198.148,
+            0.0,
+            34.56,
+            -0.0
+        ],
+        [
+            1460.612,
+            -2460.946,
+            198.148,
+            0.0,
+            9.56,
+            -0.0
+        ],
+        [
+            1584.723,
+            -2440.044,
+            210.035,
+            0.0,
+            9.56,
+            -0.0
+        ],
+        [
+            1708.834,
+            -2419.141,
+            209.918,
+            0.0,
+            9.56,
+            -0.0
+        ],
+        [
+            1708.834,
+            -2419.141,
+            209.918,
+            0.0,
+            9.56,
+            -0.0
+        ],
+        [
+            1708.834,
+            -2419.141,
+            209.918,
+            0.0,
+            9.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Counting the ground-floor openings from the left end of this wall, my target is the second one, the window standing just right of the vertical drainpipe. It lies well across the open yard from me, so I will walk straight ahead to close that gap.",
+        "The facade is noticeably nearer and the window beside the drainpipe remains clearly in front of me. The gravel between us is open, so I continue walking forward.",
+        "My window, the one against the drainpipe, has shifted left of center as I draw closer to the wall. Only loose bricks and scattered weeds lie on the ground, nothing that blocks me, so I take another step forward.",
+        "The drainpipe I anchored on has slipped out of view past the left edge, and the window that stood beside it now sits far to my left while the doorway and rubbish bags hold the center. Turning left should swing that window back in front of me.",
+        "The turn brought my window back in front of me, framed squarely by the cracked plaster wall. Only thin dry weeds stand between me and the sill, so I will walk forward to close the remaining distance.",
+        "I am close enough now that the window's sill and peeling frame rise above my eye line. One more step forward should put me directly beneath it at the wall.",
+        "I am right up against the wall, and my level gaze now catches only bare brick and plaster because the window has passed above my field of view. I will look up to bring it back into sight and check that I am standing at it.",
+        "The window I set out for now fills my view directly above me at the wall. I have reached it, so the task is complete."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001303_y-000993_z000198_t0_b/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Go to the narrow dark door beneath the small concrete canopy beside the large faded red door.",
+    "Type": 0,
+    "Start_Pose": [
+        1302.795,
+        -993.339,
+        198.148,
+        0.0,
+        -37.44,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1302.795,
+            -993.339,
+            198.148,
+            0.0,
+            -37.44,
+            0.0
+        ],
+        [
+            1425.639,
+            -1099.005,
+            198.148,
+            0.0,
+            -37.44,
+            0.0
+        ],
+        [
+            1425.639,
+            -1099.005,
+            198.148,
+            0.0,
+            -62.44,
+            0.0
+        ],
+        [
+            1483.871,
+            -1210.582,
+            198.148,
+            0.0,
+            -62.44,
+            0.0
+        ],
+        [
+            1542.103,
+            -1322.159,
+            198.148,
+            0.0,
+            -62.44,
+            0.0
+        ],
+        [
+            1600.336,
+            -1433.737,
+            198.148,
+            0.0,
+            -62.44,
+            0.0
+        ],
+        [
+            1658.568,
+            -1545.314,
+            198.964,
+            0.0,
+            -62.44,
+            0.0
+        ],
+        [
+            1658.568,
+            -1545.314,
+            198.964,
+            0.0,
+            -37.44,
+            0.0
+        ],
+        [
+            1658.568,
+            -1545.314,
+            198.964,
+            0.0,
+            -37.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the open yard I can see the large faded red sliding door on the industrial wall ahead, with a narrow dark doorway tucked under a small concrete canopy just to its left. That recessed doorway is my target, but it is still far off across the gravel, so I will move forward to close distance before refining my heading.",
+        "The red door now fills much of my view, and the narrow dark door with its canopy sits off to the left of my current heading. Turning left should swing my facing away from the red panel and place the recessed doorway and the passage along that wall closer to the center of my view.",
+        "After the turn the corridor along the wall opens ahead of me, with the red door panel on my right and the dark narrow doorway framed by its concrete header just left of it. The path over the cobbles looks clear, so I will move forward to close on that doorway.",
+        "The doorway recess under the canopy is noticeably larger now and stays slightly left of my heading, which tells me the previous step gained real ground. Nothing blocks the stretch of cobbles in front of me, so I will continue forward.",
+        "I can now read the warning lettering on the red panel beside me and see the dark opening and its overhead concrete beam clearly at short range. A few scattered planks and bricks lie low on the ground but leave the route open, so another forward step should bring me level with the recess.",
+        "I am right at the mouth of the sheltered recess, with the concrete canopy overhead and its supporting pillar filling the right of my view. One more forward step should place me squarely in front of the narrow dark entry rather than just beside its edge.",
+        "I have arrived inside the sheltered alcove beneath the concrete canopy, but my heading points along the yard wall instead of at the entry itself, which now sits to my right behind the pillar. I will turn right to bring the narrow dark door directly into the center of my view.",
+        "The narrow dark door panel now stands directly in front of me at arm's length beneath the concrete canopy. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Head toward the green dumpster, then reach the pile of bags.",
+    "Type": 3,
+    "Start_Pose": [
+        1517.627,
+        -82.314,
+        207.469,
+        0.0,
+        67.2,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1517.627,
+            -82.314,
+            207.469,
+            0.0,
+            67.2,
+            -0.0
+        ],
+        [
+            1517.627,
+            -82.314,
+            207.307,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1610.864,
+            2.228,
+            212.698,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1704.101,
+            86.77,
+            209.613,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1797.338,
+            171.312,
+            212.688,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1797.338,
+            171.312,
+            212.688,
+            0.0,
+            17.2,
+            -0.0
+        ],
+        [
+            1897.367,
+            210.883,
+            208.315,
+            0.0,
+            17.2,
+            -0.0
+        ],
+        [
+            1897.367,
+            210.883,
+            208.315,
+            0.0,
+            17.2,
+            -0.0
+        ],
+        [
+            1897.367,
+            210.883,
+            208.315,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1897.367,
+            210.883,
+            208.315,
+            0.0,
+            67.2,
+            -0.0
+        ],
+        [
+            1897.367,
+            210.883,
+            208.315,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1897.367,
+            210.883,
+            208.315,
+            0.0,
+            117.2,
+            -0.0
+        ],
+        [
+            1897.367,
+            210.883,
+            208.315,
+            0.0,
+            142.2,
+            -0.0
+        ],
+        [
+            1797.918,
+            288.023,
+            206.693,
+            0.0,
+            142.2,
+            -0.0
+        ],
+        [
+            1698.47,
+            365.163,
+            212.639,
+            0.0,
+            142.2,
+            -0.0
+        ],
+        [
+            1698.47,
+            365.163,
+            212.639,
+            0.0,
+            167.2,
+            -0.0
+        ],
+        [
+            1575.739,
+            393.047,
+            207.363,
+            0.0,
+            167.2,
+            -0.0
+        ],
+        [
+            1453.008,
+            420.931,
+            211.104,
+            0.0,
+            167.2,
+            -0.0
+        ],
+        [
+            1453.008,
+            420.931,
+            211.104,
+            0.0,
+            167.2,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The green dumpster is clipped at the far left edge of my view, while the yard ahead of me is only blank wall. I will turn left so that dumpster sits properly in front of me before I start walking toward it.",
+        "The green dumpster now sits clearly ahead and slightly to my left, against the corner of the walls. The paving between us is open, so I will walk straight forward to close the distance.",
+        "The dumpster has grown noticeably larger and its rusted green side is now easy to read, so my heading is still good. Nothing blocks the ground between us, and I will keep walking forward to shorten the gap.",
+        "The dumpster's near corner is close on my left, though I am still a couple of paces short of standing beside it. I will step forward again to bring myself alongside it.",
+        "The dumpster has slid off to my left side and my gaze is drifting onto the bare red and white wall instead. I will turn left to put the skip squarely in front of me before taking the last step to it.",
+        "The green skip is now centered right in front of me with its flared rim filling much of my view. A short walk forward should bring me right up against its side.",
+        "The scratched green flank of the dumpster fills my view from edge to edge, close enough to touch. I am standing at the green dumpster, so I mark reaching it and then set off for the pile of bags out in the yard.",
+        "Pressed up against the skip, all I can see is green metal and the corner walls, with no sign of the bags. The pale heap lay off to the right side of this yard when I first looked across it, so I will turn right to swing my view back toward that open ground.",
+        "The green skip still fills the left of my view and only blank plaster walls and a corner face me ahead, with no sign of any bags. I will keep pivoting right to sweep the yard for the pile I still need to reach.",
+        "The skip has slid to the far left edge and the open yard ahead of me is still just walls and cracked paving. Continuing to rotate right should bring more of the untried side of the yard into view where a pile of bags might sit.",
+        "Now nothing but the long pink and white wall stands in front of me, so there is nothing here worth walking toward. Another right pivot should carry my gaze past this blank stretch toward the opening at the far end of the yard.",
+        "At the right edge of my view a heap of dark blue sacks has just come into sight beside a low container, past the end of the building. One more turn right should place that heap near the middle of my view so I can walk straight at it.",
+        "The pile of blue sacks now sits ahead of me against the low container, with clear paving and rails between us. I will walk forward to close that distance.",
+        "The sacks are larger in my view now and I can pick out individual bundles heaped at the foot of the container. The gap is still several paces, so I will keep walking straight at them.",
+        "The heap of sacks has drifted to the right half of my view while the pink wall crowds my left shoulder. A small pivot right should square me onto the pile before I close the last stretch.",
+        "The bags are centered in front of me now, spread across the paving beneath the container. A few steps forward should bring me right up to the pile.",
+        "The heap of grey sacks now fills the lower half of my view, centered just ahead against the crate and the wall. A short step should close the last of the gap and bring me right up against the pile.",
+        "The pile of bags lies immediately at my feet, filling the bottom of my view. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_d/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Proceed to the red panel marked six, then walk to the red panel marked four.",
+    "Type": 3,
+    "Start_Pose": [
+        1517.627,
+        -82.314,
+        207.469,
+        0.0,
+        67.2,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1517.627,
+            -82.314,
+            207.469,
+            0.0,
+            67.2,
+            -0.0
+        ],
+        [
+            1517.627,
+            -82.314,
+            207.307,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1512.796,
+            43.452,
+            207.436,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1507.964,
+            169.218,
+            212.579,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1503.133,
+            294.985,
+            208.252,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1498.301,
+            420.751,
+            211.124,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1493.47,
+            546.517,
+            204.494,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1493.47,
+            546.517,
+            204.494,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1497.017,
+            454.185,
+            211.04,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1497.017,
+            454.185,
+            211.04,
+            0.0,
+            67.2,
+            -0.0
+        ],
+        [
+            1497.017,
+            454.185,
+            211.04,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1590.254,
+            538.727,
+            198.148,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1590.254,
+            538.727,
+            198.148,
+            0.0,
+            17.2,
+            -0.0
+        ],
+        [
+            1710.484,
+            575.945,
+            198.148,
+            0.0,
+            17.2,
+            -0.0
+        ],
+        [
+            1830.714,
+            613.162,
+            203.427,
+            0.0,
+            17.2,
+            -0.0
+        ],
+        [
+            1830.714,
+            613.162,
+            203.427,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1921.82,
+            669.25,
+            202.776,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1921.82,
+            669.25,
+            202.776,
+            0.0,
+            42.2,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the wall shows several red panels, and the one bearing the numeral six sits well off to my right. I will turn right to bring that panel toward the center of my heading before walking to it.",
+        "The red panel marked six now sits ahead of me, with open paving between us. I will walk forward to close that gap.",
+        "The numbered panel is larger in my view but still several paces off, and the ground in front of me stays clear. I will keep walking straight toward it.",
+        "The six now sits just left of my center line as the wall fills more of my view, and the rubble pile stays well to my right. Another step forward should bring me close to that panel.",
+        "The red panel bearing six now dominates my view with only a short stretch of paving left. I will advance again to stand at it.",
+        "The six is right in front of me and the rough red surface fills nearly my whole view. One more step should place me directly at this panel.",
+        "The pitted red surface fills my entire view with the painted six close at my left, so I am standing right at the red panel marked six. I have reached it. I mark reaching it, and now I am setting off for the red panel marked four.",
+        "Pressed this close, the red wall blocks almost everything and I cannot see along the facade toward the panel marked four. I will step back to open up room and regain a view of the neighbouring panels before turning.",
+        "The red panel marked six is squarely in front of me and I have already marked reaching it, so there is nothing more to gain from facing it. The other red panel I want lies further along this wall to my left, so I turn left to begin swinging my heading that way.",
+        "The turn has brought the white pilaster and more of the wall into view on my left, but I am still angled into the face of the panel rather than along the yard. A second left turn should open the stretch of wall and the ground I need to walk over.",
+        "From here I can see past the corner where the two walls meet, with further red panels set along the far side. The paving between the weeds looks clear, so I walk forward to leave this cramped spot and get nearer that stretch.",
+        "The white wall is now very close on my right and my path forward would only press me into it. The open ground and the red panelling continue away to my left, so I turn left to face down that opening.",
+        "Facing down the yard I can see the green skip against the far wall and the red panelling beyond the corner ahead. The slabs in front are unobstructed, so I step forward to close the distance toward that panelled section.",
+        "The red wall on my right is running past me and the panelled section ahead has grown noticeably larger. Nothing blocks the paving, so I take another step forward to keep closing on it.",
+        "I am now beside the corner, and the red panel I want sits off to my right rather than straight ahead, where only the far wall and its yellow mark show. Turning right should square my heading onto that panel before I close the last of the gap.",
+        "The red panel now fills my view with its marked white edge just to the left, so my heading is on it. A short step forward should bring me right up to the panel.",
+        "The red panel bearing the four fills my view at arm's length. Both destinations are reached, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_a_pd/infos.json

@@ -0,0 +1,278 @@
+{
+    "Instruction": "Lift the metal bucket beside the green dumpster, then leave it near the dried plant clump.",
+    "Type": 5,
+    "Start_Pose": [
+        1517.627,
+        -82.314,
+        207.469,
+        0,
+        67.2,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        1860.403,
+        265.225,
+        128.315,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1517.627,
+            -82.314,
+            207.469,
+            0,
+            67.2,
+            0
+        ],
+        [
+            1566.399,
+            33.711,
+            209.303,
+            0.0,
+            67.2,
+            -0.0
+        ],
+        [
+            1566.399,
+            33.711,
+            209.303,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1659.636,
+            118.253,
+            208.427,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1752.873,
+            202.795,
+            209.346,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1752.873,
+            202.795,
+            209.346,
+            0.0,
+            42.2,
+            -0.0
+        ],
+        [
+            1752.873,
+            202.795,
+            209.346,
+            0.0,
+            67.2,
+            -0.0
+        ],
+        [
+            1752.873,
+            202.795,
+            209.346,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1748.041,
+            328.561,
+            205.496,
+            0.0,
+            92.2,
+            -0.0
+        ],
+        [
+            1748.041,
+            328.561,
+            205.496,
+            0.0,
+            117.2,
+            -0.0
+        ],
+        [
+            1690.511,
+            440.502,
+            198.803,
+            0.0,
+            117.2,
+            -0.0
+        ],
+        [
+            1723.422,
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+            212.255,
+            0.0,
+            117.2,
+            -0.0
+        ],
+        [
+            1723.422,
+            376.464,
+            212.255,
+            0.0,
+            117.2,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            1860.403,
+            265.225,
+            128.315,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1860.403,
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+            0.0,
+            0.0,
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+        ],
+        [
+            1860.403,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1860.403,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1860.403,
+            265.225,
+            128.315,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            1738.077,
+            218.204,
+            177.821,
+            -28.202,
+            92.345,
+            1.862
+        ],
+        [
+            1732.065,
+            210.872,
+            178.093,
+            -28.189,
+            117.357,
+            1.872
+        ],
+        [
+            1730.36,
+            202.084,
+            177.426,
+            -28.215,
+            142.328,
+            1.849
+        ],
+        [
+            1726.713,
+            327.45,
+            174.786,
+            -28.202,
+            142.341,
+            1.858
+        ],
+        [
+            1728.397,
+            317.579,
+            175.987,
+            -28.198,
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+            1.865
+        ],
+        [
+            1671.884,
+            430.03,
+            169.023,
+            -28.2,
+            167.345,
+            1.865
+        ],
+        [
+            1691.425,
+            438.723,
+            172.255,
+            0.0,
+            117.2,
+            -0.0
+        ],
+        [
+            1691.425,
+            438.723,
+            172.255,
+            0.0,
+            117.2,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        488.1,
+        374.2,
+        374.2,
+        248.8,
+        124.3,
+        21.4,
+        22.3,
+        22.5,
+        21.4,
+        22.5,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The metal bucket sits ahead on the left, right beside the green dumpster, and the dried plant clump grows against the wall further right. The open paving between us is clear, so I will walk forward to close the distance before fine alignment.",
+        "After advancing, the bucket and dumpster now sit well off to my left edge while my heading points at the blank wall. I will turn left to bring the bucket into the center of my view for a straight approach.",
+        "The turn has centered the bucket beside the green dumpster in front of me. The ground between us is open, so I will walk forward to shorten the remaining gap toward grasping range.",
+        "The bucket is larger and still centered, but it remains a couple of paces off, too far to reach. I will step forward again to bring it directly within arm's reach.",
+        "The bucket now fills the lower center of my view, its open rim close enough that I stand right over it beside the dumpster. No further approach is needed, so I will attempt to grasp and lift it.",
+        "The grasp took hold and the bucket is now in my hands rather than resting on the pavement. The dried plant clump lies off to my right along the wall, so I will turn right to swing my heading toward that drop area.",
+        "With the bucket carried, my view now shows the wall panels and the dumpster edge slipping away on the left, but the dried plant clump is still off to the right. I will turn right once more to place it ahead of me.",
+        "The dried plant clump is now centered against the wall ahead, with clear paving leading up to it. Carrying the bucket, I will walk forward to reach a position close enough to set it down beside that clump.",
+        "The bucket is in my hands and the dried weed clump sits just ahead near the base of the wall, slightly right of my heading. Facing the wall this squarely leaves me no room to set it down cleanly beside the clump. I will turn right to swing my heading along the wall and line up the release spot.",
+        "With the bucket still carried, the dried plant clump now stands ahead of me in open ground along the wall rather than pressed against my face. The gap is still a little too wide to leave the bucket right next to it. I will step forward to close that remaining distance.",
+        "The dried plant clump is now immediately in front of me, filling the near ground with clear paving beside it, and the bucket is still in my hands. This is close enough for the bucket to end up right by the clump. I will release it here.",
+        "The metal bucket now rests on the ground by the dried plant clump and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_b_pd/infos.json

@@ -0,0 +1,373 @@
+{
+    "Instruction": "Pick up the jerry can near the green dumpster, then set it down near the pile of bags.",
+    "Type": 5,
+    "Start_Pose": [
+        1517.627,
+        -82.314,
+        207.469,
+        0,
+        67.2,
+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        1937.253,
+        361.829,
+        122.638,
+        0,
+        60,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+            -82.314,
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+            0,
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+            0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
+            1524.483,
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+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
+            1513.763,
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+            -0.0
+        ],
+        [
+            1513.763,
+            491.157,
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+            0.0,
+            167.2,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -28.189,
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+            1.872
+        ],
+        [
+            1823.597,
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+            -28.215,
+            142.327,
+            1.849
+        ],
+        [
+            1820.003,
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+        ],
+        [
+            1833.298,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            1642.517,
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+        ],
+        [
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+        ],
+        [
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+            1.865
+        ],
+        [
+            1445.503,
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+            -0.0
+        ],
+        [
+            1445.503,
+            506.665,
+            156.637,
+            0.0,
+            167.2,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        611.0,
+        495.2,
+        495.2,
+        369.3,
+        243.5,
+        117.7,
+        21.4,
+        22.3,
+        22.5,
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+        21.5,
+        21.4,
+        21.4,
+        21.9,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The red jerry can sits on the pavement just right of the green dumpster, well ahead of me across the yard. Nothing blocks the open stone ground between us, so I will walk forward to close that distance before worrying about fine alignment.",
+        "After closing some ground, the jerry can and the dumpster sit toward the left edge of my view while my heading points at the plain wall panels. I will turn left to bring the can nearer the center of my path so continued walking leads straight to it.",
+        "The turn placed the green dumpster and the red jerry can squarely in front of me with clear paving between. I will step forward along this heading to keep shrinking the gap to the can.",
+        "The jerry can is noticeably larger and still centered slightly right of the dumpster's near corner, so my heading remains good. I will continue walking forward since I am not yet close enough to reach it.",
+        "The can now stands clearly in the lower center of my view but is still a step or two beyond arm's reach. One more forward step should bring it close enough to attempt a grasp.",
+        "The jerry can is now directly at my feet, filling the bottom of my view beside the dumpster. This is the closest I can stand, so I will attempt to pick it up.",
+        "The grasp worked, since the jerry can is now held in front of me rather than resting on the pavement. The pile of bags is not anywhere in this narrow corner view, so I will turn right to sweep my heading around and search for it.",
+        "I am holding the jerry can and facing only blank red and white wall panels, with no bag pile in sight. I will keep turning right to continue scanning the yard for the drop location.",
+        "The jerry can is in my hands, so the remaining goal is the pile of bags, which is not yet in view; ahead I only see the flat red and white wall panels of this yard. I will turn right again to keep sweeping my heading toward the open side of the yard where the drop-off area should lie.",
+        "Rotating has now brought a rusty green container and a cluster of dark bags into the far right edge of my view, past the corner of the building. Since the target pile sits well off to my right, one more turn in that direction should bring it near the center of my view before I walk.",
+        "The pile of bags beside the green container is now clearly ahead of me, slightly right, with open paving in between. With the jerry can still in my hands and my heading roughly on the pile, I will walk forward to close that distance.",
+        "The bags have grown noticeably larger ahead of me but are still several paces away, too far for a controlled placement. I will step forward again to carry the can closer to the pile.",
+        "As I closed in, the bags and the container drifted toward the right half of my view, with the wall crowding my left side. A short turn to the right should square me onto the pile so the last steps lead straight to a good place to set the can down.",
+        "The heap of bags now sits centrally ahead of me at the base of the green container, with clear paving leading to it. I will walk forward to bring myself within setting-down range of the pile.",
+        "The nearest bags now fill the lower part of my view, but I am still just short of standing at the edge of the heap. One more step forward should place me right beside the pile so the can can be released next to it.",
+        "I am standing right at the edge of the bag heap, with the bags immediately at my feet on the right and the container just ahead. This is the intended placement spot, so I will release the jerry can here and it should come to rest beside the pile.",
+        "The jerry can is resting on the ground right beside the pile of bags, out of my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_c_pd/infos.json

@@ -0,0 +1,373 @@
+{
+    "Instruction": "Grab the metal bucket beside the red panel marked six, then place it at the green dumpster.",
+    "Type": 5,
+    "Start_Pose": [
+        1517.627,
+        -82.314,
+        207.469,
+        0,
+        67.2,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        1500.666,
+        572.349,
+        114.803,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+            0,
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+            0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
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+        ],
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+        ],
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            1625.203,
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+            1.869
+        ],
+        [
+            1749.623,
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+            1.859
+        ],
+        [
+            1874.273,
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+            1.872
+        ],
+        [
+            1883.458,
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+        ],
+        [
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+            17.335,
+            1.854
+        ],
+        [
+            1973.948,
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+            171.039,
+            0.0,
+            -32.8,
+            0.0
+        ],
+        [
+            1973.948,
+            304.54,
+            171.039,
+            0.0,
+            -32.8,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        654.9,
+        654.9,
+        529.0,
+        403.2,
+        277.4,
+        151.6,
+        21.4,
+        20.4,
+        20.2,
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+        21.4,
+        21.4,
+        21.4,
+        20.7,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The metal bucket sits on the pavement in front of the red panel marked six, off to the right of my current heading, while the green dumpster stands far to my left. Before walking, I want the bucket centered so my approach stays straight. I will turn right to bring it in front of me.",
+        "The bucket now sits near the middle of my view, directly below the panel marked six, with clear open pavement between us. Nothing blocks the straight line, so distance is the only thing separating me from it. I will step forward to close that gap.",
+        "The bucket has grown noticeably larger and remains squarely ahead of me on the flat slabs. The pile of dark sacks stays off to my right and does not sit on my path. I will keep walking straight to close more of the remaining distance.",
+        "The bucket is now clearly resolved against the base of the red panel and still lines up with my heading, only slightly left of center. I am close but not yet within arm's reach for a grasp. I will advance again to reach an interaction distance.",
+        "The bucket fills a good part of the lower view and sits just ahead of my feet level, but it is still a step short of a comfortable grasp. One more forward step should place it right in front of me. I will move forward before attempting to take it.",
+        "The metal bucket is now immediately in front of me at the foot of the red panel marked six, its open rim filling the bottom of my view. This is the target the task named and I am within reach of it. I will attempt to pick it up.",
+        "The grasp worked and the metal bucket is now held in my hands rather than resting on the pavement. The green dumpster lay well to the left of these red panels, far behind my current facing. I will turn left to begin swinging my heading back toward it.",
+        "With the bucket secured, I am still facing the weathered red and white panel wall, and the green dumpster is not yet in view. My heading needs considerably more rotation to the left before I can walk toward the drop target. I will turn left again to continue opening the view along the wall.",
+        "The bucket is in my hands, so my remaining job is to carry it to the green dumpster. Ahead I still mostly face the red panelled wall, but a green edge has appeared at the far left of my view. I will turn left again to bring that dumpster properly into view.",
+        "The green dumpster is now clearly visible, but it sits off to my left rather than straight ahead of me. Carrying the bucket forward from this heading would take me past it toward the corner wall. I will turn left once more to put the dumpster near the center of my path.",
+        "The green dumpster now sits ahead of me, roughly centered across the open yard with the flat paving between us. Nothing blocks that stretch of ground. I will walk forward with the bucket to close the distance to it.",
+        "The dumpster has grown noticeably larger and its green side is now clearly ahead of me, so my heading is good. I am still several paces short of a range where I could set the bucket into it. I will step forward again.",
+        "The dumpster's rusted green wall now fills much of my forward view, though its rim is still beyond arm's reach. Continuing straight keeps me on the same clear stretch of paving toward it. I will advance another step while holding the bucket.",
+        "From this close position the dumpster runs off to my left and its near corner slants away, so I am facing its far end rather than its side. A small left turn should square me onto the container body. I will turn left before making my final approach.",
+        "The green dumpster is now squarely in front of me, its side wall filling the view with the bucket still in my hands. One more step should bring me tight against it, close enough to release the load into place. I will move forward.",
+        "I am pressed right up against the weathered green panel of the dumpster, with nothing between me and it. This is the delivery point the task named, and the bucket is still in my hands. I will release it here so it comes to rest at the dumpster.",
+        "The metal bucket now rests released at the green dumpster, no longer in my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001556_y-000366_z000204_t1_c/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Explore the area and navigate to the red door displaying number 8.",
+    "Type": 1,
+    "Start_Pose": [
+        1555.61,
+        -365.804,
+        203.613,
+        0,
+        -75.84,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1555.61,
+            -365.804,
+            203.613,
+            0,
+            -75.84,
+            0
+        ],
+        [
+            1555.61,
+            -365.804,
+            203.613,
+            0.0,
+            -50.84,
+            0.0
+        ],
+        [
+            1555.61,
+            -365.804,
+            203.613,
+            0.0,
+            -25.84,
+            0.0
+        ],
+        [
+            1555.61,
+            -365.804,
+            203.613,
+            0.0,
+            -0.84,
+            0.0
+        ],
+        [
+            1681.455,
+            -367.649,
+            203.749,
+            0.0,
+            -0.84,
+            0.0
+        ],
+        [
+            1807.301,
+            -369.494,
+            218.797,
+            0.0,
+            -0.84,
+            0.0
+        ],
+        [
+            1933.146,
+            -371.339,
+            214.472,
+            0.0,
+            -0.84,
+            0.0
+        ],
+        [
+            1933.146,
+            -371.339,
+            214.472,
+            0.0,
+            24.16,
+            -0.0
+        ],
+        [
+            2047.981,
+            -319.827,
+            210.058,
+            0.0,
+            24.16,
+            -0.0
+        ],
+        [
+            2164.118,
+            -277.504,
+            212.265,
+            0.0,
+            24.16,
+            -0.0
+        ],
+        [
+            2283.186,
+            -256.496,
+            213.083,
+            0.0,
+            24.16,
+            -0.0
+        ],
+        [
+            2283.186,
+            -256.496,
+            213.083,
+            0.0,
+            24.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this yard I can see brick industrial buildings, dumpsters and refuse piles, but no red door with a number on it anywhere in front of me. The open ground continues to my right past the large building with the tall window band, so I will turn right to sweep that unseen part of the yard. This scan should reveal more facade surfaces where a numbered door could be mounted.",
+        "The rotation brought a long factory wall with garage-type openings into view, but the doorway I can see here is dark and carries no visible number. Ground and structures keep extending toward the right edge, so I will continue the same rightward scan rather than reverse direction. Keeping one consistent turn direction should cover the remaining unseen facades efficiently.",
+        "A large reddish door panel has just come into view on the right side of my heading, and I can make out a pale marking on it that may be the number I am looking for. It is still far off to my right and partly cut by the edge of my view, so I will keep turning right to bring it toward the center. Centering it should let me confirm the digit before committing to an approach.",
+        "The red door is now ahead of me with a white number 8 painted on its lower left panel, so this is the target the task named. The yard between me and it looks open apart from the container standing to the right, so I will walk forward to close the distance. Advancing should also make the digit clearer as I get nearer.",
+        "The red door marked 8 has grown larger and stays roughly centered in my path, confirming I am closing on it. Nothing blocks the strip of ground directly in front of me, with the green container still off to my right side. I will keep walking forward to reduce the remaining distance.",
+        "The numbered red door now fills a large part of my view, and the painted 8 is unmistakable slightly right of my heading. The paved lane in front of me remains clear up to the rail line at the base of the wall. I will continue forward to bring myself close to the door face.",
+        "I am close to the wall now, but the red door with the 8 sits to the right of my current heading while the brick pier and dry shrubs occupy the center of my view. A small right turn should place the numbered door squarely in front of me before I step in. This keeps my final approach aimed at the door rather than the adjacent masonry.",
+        "The turn placed the red door and its white 8 near the center of my view, with the container edge running along my right. The remaining strip of pavement toward the door face looks clear. I will step forward to finish closing on the door.",
+        "The red door panel with the white number 8 fills the left half of my view, confirming this is the target I was told to reach. There is still open ground between me and the wall, with the rusted green dumpster clearing past on my right, so I will walk forward to close that gap.",
+        "The numbered red door now dominates my view and the painted 8 is large and sharp, so I am nearly at the wall but not yet standing against it. I will take one more step forward to finish closing the remaining short distance to the door face.",
+        "I am standing directly against the red door surface with its painted white number 8 in view. The target has been reached, so stopping here is correct."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001585_y-001729_z000198_t0_a/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Walk to the green dumpster.",
+    "Type": 0,
+    "Start_Pose": [
+        1585.306,
+        -1728.643,
+        198.148,
+        0.0,
+        -108.48,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1585.306,
+            -1728.643,
+            198.148,
+            0.0,
+            -108.48,
+            0.0
+        ],
+        [
+            1545.412,
+            -1848.012,
+            198.148,
+            0.0,
+            -108.48,
+            0.0
+        ],
+        [
+            1505.518,
+            -1967.381,
+            198.148,
+            0.0,
+            -108.48,
+            0.0
+        ],
+        [
+            1465.624,
+            -2086.75,
+            198.148,
+            0.0,
+            -108.48,
+            0.0
+        ],
+        [
+            1425.73,
+            -2206.119,
+            198.287,
+            0.0,
+            -108.48,
+            0.0
+        ],
+        [
+            1385.836,
+            -2325.488,
+            198.287,
+            0.0,
+            -108.48,
+            0.0
+        ],
+        [
+            1345.942,
+            -2444.857,
+            198.287,
+            0.0,
+            -108.48,
+            0.0
+        ],
+        [
+            1306.048,
+            -2564.226,
+            198.287,
+            0.0,
+            -108.48,
+            0.0
+        ],
+        [
+            1306.048,
+            -2564.226,
+            198.287,
+            0.0,
+            -83.48,
+            0.0
+        ],
+        [
+            1320.339,
+            -2689.271,
+            198.287,
+            0.0,
+            -83.48,
+            0.0
+        ],
+        [
+            1334.631,
+            -2814.316,
+            198.287,
+            0.0,
+            -83.48,
+            0.0
+        ],
+        [
+            1334.631,
+            -2814.316,
+            198.287,
+            0.0,
+            -83.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The green dumpster is already visible ahead of me, sitting against the pale wall on the far side of this open yard, slightly right of my heading. The open gravel ground straight ahead is clear of the piled sacks on my left, so I will step forward to begin closing the distance.",
+        "The dumpster now sits a little larger and closer to the center of my view, confirming my heading points usefully toward it. I will keep walking forward across the open yard to reduce the remaining gap.",
+        "The green container and the wall behind it fill more of my view, so my straight approach is working. Nothing blocks the packed ground in front of me, so I will advance again.",
+        "I am now close enough to make out the rusted lids and the graffiti on the dumpster's near face, but it is still several paces off to my front right. The wooden pallets and debris stay off to my left, so I will continue straight forward.",
+        "The dumpster's green side now stands clearly to the right of my heading, with a shallow puddle and loose stones on the ground between us. Another step forward should bring me close enough to reach its front face.",
+        "The container occupies a large part of the right half of my view and its rusted rim is close, so only a short remaining distance separates us. I will step forward once more to keep closing in.",
+        "The dumpster's near corner is only a couple of paces off my right shoulder and the brick wall behind it dominates my view. I will advance again to draw level with the container before facing it directly.",
+        "I have come up close to the yard's back wall and the green dumpster now sits to my right, partly outside the right edge of my view rather than in front of me. I will turn right to put its front face squarely ahead before taking the last steps toward it.",
+        "The green dumpster now fills the center of my view after my slight turn to the right, with its front panel squarely ahead and only a few steps of open ground between us. I will step forward to close that remaining gap along this heading.",
+        "The rusted green dumpster is much larger in my view now and its near corner sits just ahead of me, so I am nearly at it. I will advance once more to finish closing the short remaining distance and stand right at its side.",
+        "The green dumpster's weathered panel fills my view directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t3_a/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Walk to the green dumpster with a plank leaning on it, then approach the metal scaffolding base.",
+    "Type": 3,
+    "Start_Pose": [
+        1750.086,
+        -485.382,
+        205.251,
+        0.0,
+        -19.2,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1750.086,
+            -485.382,
+            205.251,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            1750.086,
+            -485.382,
+            205.177,
+            0.0,
+            -44.2,
+            0.0
+        ],
+        [
+            1840.316,
+            -573.126,
+            214.062,
+            0.0,
+            -44.2,
+            0.0
+        ],
+        [
+            1930.545,
+            -660.871,
+            214.062,
+            0.0,
+            -44.2,
+            0.0
+        ],
+        [
+            2020.775,
+            -748.616,
+            214.062,
+            0.0,
+            -44.2,
+            0.0
+        ],
+        [
+            2020.775,
+            -748.616,
+            214.062,
+            0.0,
+            -69.2,
+            0.0
+        ],
+        [
+            2065.468,
+            -866.272,
+            214.062,
+            0.0,
+            -69.2,
+            0.0
+        ],
+        [
+            2101.607,
+            -925.501,
+            227.426,
+            0.0,
+            -69.2,
+            0.0
+        ],
+        [
+            2101.607,
+            -925.501,
+            227.426,
+            0.0,
+            -69.2,
+            0.0
+        ],
+        [
+            2068.795,
+            -839.123,
+            214.308,
+            0.0,
+            -69.2,
+            0.0
+        ],
+        [
+            2068.795,
+            -839.123,
+            214.308,
+            0.0,
+            -44.2,
+            0.0
+        ],
+        [
+            2068.795,
+            -839.123,
+            214.308,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            2068.795,
+            -839.123,
+            214.308,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2068.795,
+            -839.123,
+            214.308,
+            0.0,
+            30.8,
+            -0.0
+        ],
+        [
+            2176.903,
+            -774.678,
+            214.308,
+            0.0,
+            30.8,
+            -0.0
+        ],
+        [
+            2285.01,
+            -710.233,
+            214.308,
+            0.0,
+            30.8,
+            -0.0
+        ],
+        [
+            2393.118,
+            -645.788,
+            214.308,
+            0.0,
+            30.8,
+            -0.0
+        ],
+        [
+            2393.118,
+            -645.788,
+            214.308,
+            0.0,
+            55.8,
+            -0.0
+        ],
+        [
+            2438.883,
+            -568.887,
+            215.245,
+            0.0,
+            55.8,
+            -0.0
+        ],
+        [
+            2438.883,
+            -568.887,
+            215.245,
+            0.0,
+            55.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The large green skip with the wooden plank propped against its side sits far over on my left, while my body faces the open yard and the brick gable ahead. Turning left should bring that dumpster nearer the center of my view so I can walk straight at it.",
+        "The rusted green dumpster with the plank leaning on it now sits ahead and slightly left, with clear cracked pavement between me and it. Nothing blocks the line, so I will walk forward to cut down the distance.",
+        "The dumpster has grown noticeably larger and the plank against its front face is now clearly picked out. I am still several strides short of it, so I keep walking forward along the same line.",
+        "The green container now fills the left half of my view and the leaning boards are close enough to read the grain. Another step forward should bring me alongside it rather than looking at it from across the yard.",
+        "My forward walking has carried me level with the dumpster, so it has slid off to my left while my heading points down the wall past it. I will turn left to square up on the container and its leaning plank before closing the last stretch.",
+        "The green dumpster is now centered in front of me with the plank propped squarely against its side. The pavement between us is clear, so I step forward to close on it.",
+        "The container's rusted lids and green side now fill nearly the whole view, with the leaning boards just below center. I am almost against it, so one more short step forward should put me right at its edge.",
+        "The pitted green paint and rusted lids of the container are right in front of me, with the tops of the leaning boards showing at the near edge. I have arrived at the green dumpster with the plank on it. I mark reaching it, and now I turn my attention to the scaffolding tower across the yard.",
+        "The green dumpster's rusted rim and the planks leaning against it fill almost my whole view, so I am standing far too close to see anything else in the yard. I will step back to open up distance and regain a wider view before swinging toward the metal scaffolding tower.",
+        "I now have enough clearance from the dumpster to see its full length and the wall behind it, but the scaffolding tower is nowhere in my forward view. I will turn right to begin sweeping my heading across the yard toward it.",
+        "Rotating has already pushed the green dumpster to the left edge and brought stacked pallets and the far brick gable into view, but no scaffolding frame yet. I will keep turning right to continue the sweep across the open yard.",
+        "The yard opens ahead with the small green skip and pallet stacks, and the right edge is where the courtyard continues toward the tall buildings. Another turn right should bring the timber and metal scaffolding frame into the middle of my view.",
+        "The braced scaffolding tower has appeared standing against the pale wall on my right side, still off to the edge of my view. I will turn right once more to place its base near the centre of my heading before walking to it.",
+        "The scaffolding tower now stands roughly ahead of me against the corner of the concrete wall, with clear paving between us. I will walk forward to close that gap toward its base.",
+        "The timber and metal frame has grown noticeably taller in my view and its footing on the paving is clearly visible, but I am still several strides short. I will keep walking straight toward it.",
+        "The scaffolding's diagonal braces now fill much of the right side of my view and its uprights meet the ground just ahead of me. One more step forward should bring me right up to the base.",
+        "The braced timber tower now fills the right half of my view while my heading still points along the wall past it. I will turn right so the frame and its footing sit centered ahead of me for a clean straight approach.",
+        "The timber frame is now squarely ahead with its lower braces and footing visible just a short walk away. I will step forward to close that last gap and stand at the base of the structure.",
+        "The scaffolding's braces and upright fill my view at arm's length against the wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t3_c/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Proceed to the metal scaffolding base, then navigate to the green dumpster with a plank.",
+    "Type": 3,
+    "Start_Pose": [
+        1750.086,
+        -485.382,
+        205.251,
+        0.0,
+        -19.2,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1750.086,
+            -485.382,
+            205.251,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            1868.944,
+            -526.773,
+            214.178,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            1868.944,
+            -526.773,
+            214.178,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            1994.159,
+            -514.054,
+            214.178,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2119.374,
+            -501.335,
+            214.178,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2244.588,
+            -488.616,
+            214.178,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2327.75,
+            -477.745,
+            214.308,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2327.75,
+            -477.745,
+            214.308,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            2384.91,
+            -530.093,
+            216.094,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            2384.91,
+            -530.093,
+            216.094,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2384.91,
+            -530.093,
+            216.094,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2384.91,
+            -530.093,
+            216.094,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            2384.91,
+            -530.093,
+            216.094,
+            0.0,
+            -44.2,
+            0.0
+        ],
+        [
+            2384.91,
+            -530.093,
+            216.094,
+            0.0,
+            -69.2,
+            0.0
+        ],
+        [
+            2384.91,
+            -530.093,
+            216.094,
+            0.0,
+            -94.2,
+            0.0
+        ],
+        [
+            2375.693,
+            -655.614,
+            214.308,
+            0.0,
+            -94.2,
+            0.0
+        ],
+        [
+            2366.475,
+            -781.135,
+            214.308,
+            0.0,
+            -94.2,
+            0.0
+        ],
+        [
+            2357.257,
+            -906.656,
+            214.308,
+            0.0,
+            -94.2,
+            0.0
+        ],
+        [
+            2334.944,
+            -956.651,
+            214.308,
+            0.0,
+            -94.2,
+            0.0
+        ],
+        [
+            2334.944,
+            -956.651,
+            214.308,
+            0.0,
+            -94.2,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The tall metal scaffolding tower rises ahead on the right side of the yard, with its legs planted on the cobbles near the pale wall. I am still well back across the open ground, so I will walk forward to close some of that distance before adjusting my heading.",
+        "After advancing, the scaffolding's legs sit off to my right rather than straight ahead, while my path points toward the far shed. A turn to the right should place the tower's footing near the center of my view so I can walk straight at it.",
+        "The scaffolding frame now stands roughly ahead of me, with its base and the weeds around it clearly in line. The ground between us is open pavement, so I will walk forward to shorten the gap.",
+        "The braced legs of the scaffolding are growing larger and the clump of weeds at their footing is becoming distinct. I am still several strides short of the structure, so I keep walking straight toward it.",
+        "The timber and steel bracing of the tower fills more of my view and the white wall beside it is close on the right. The footing itself is still a few paces off, so another step forward should bring me nearer to the base.",
+        "I am nearly at the tower now, with its diagonal braces and the dry grass at its foot directly before me. One more short advance should put me right at the scaffolding's base rather than short of it.",
+        "The plastered wall now crowds the whole right half of my view while the scaffolding's braced legs sit to my left. Turning left should swing the structure and the open yard beside it back in front of me so I can step in on the footing.",
+        "The scaffolding frame is squarely ahead of me with the yard and the green skip opening out to its left. A short walk forward should bring me level with the tower's base itself.",
+        "The riveted metal legs and cross braces of the scaffolding now rise directly beside me on the right, close enough to touch. I turn right so I am squared onto its base rather than passing it by along the wall.",
+        "The riveted steel uprights and bracing of the scaffolding fill my view from the ground up, right in front of me. I have reached its base. I mark that arrival before setting off for the green dumpster with the plank leaning on it.",
+        "Standing at the scaffolding base, my view is blocked by its braces and the wall behind them, with the open yard showing only at the left edge. I turn left to begin swinging my heading away from this structure and back out across the courtyard toward the green dumpster with the plank.",
+        "The frame has opened a little, but the scaffolding still cuts across the right side and the yard ahead is only partly visible. I keep turning left to bring the far side of the courtyard, where the planked green dumpster stands, into my heading.",
+        "I am now clear of the scaffolding and looking across the open yard, with a large green skip on my right and stacked pallets away to the left. The dumpster I want, the green one with a plank leaning against it, lies further round to the left, so I turn again.",
+        "The weathered green dumpster with pallets beside it has come into the left part of my view, but it is not yet centered ahead of me. One more turn to the left should put it straight in front so I can walk directly at it.",
+        "The green dumpster is now squarely ahead with wooden planks leaning against its near end and pallets stacked beside it. My heading is good, so I walk forward to close the open stretch of paving between us.",
+        "The dumpster has grown noticeably larger and the planks leaning on its left side are clearly visible, but I am still several paces short of it. I continue walking straight ahead to close the remaining gap.",
+        "The green dumpster with its stenciled side now fills the left half of my view, with the plank stack to my right, but I am still a couple of paces short of standing at it. I will walk forward to close that remaining gap along the open ground beside the pallets.",
+        "The dumpster's lettered green flank and rusted lid now span almost my entire view, so I am nearly against it. One more short step forward should bring me right up to its side.",
+        "The green dumpster's weathered side and plank-topped rim are directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x001948_y-001303_z000203_t2_c/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Proceed to the open doorway right of center.",
+    "Type": 2,
+    "Start_Pose": [
+        1947.653,
+        -1302.833,
+        202.572,
+        0.0,
+        -43.2,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            1947.653,
+            -1302.833,
+            202.572,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            2039.4,
+            -1388.989,
+            204.158,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            2131.147,
+            -1475.146,
+            204.909,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            2222.895,
+            -1561.302,
+            202.521,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            2314.642,
+            -1647.459,
+            204.16,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            2406.389,
+            -1733.615,
+            204.16,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            2498.137,
+            -1819.772,
+            202.421,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            2589.884,
+            -1905.928,
+            198.177,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            2632.638,
+            -1987.003,
+            199.252,
+            0.0,
+            -43.2,
+            0.0
+        ],
+        [
+            2632.638,
+            -1987.003,
+            199.252,
+            0.0,
+            -43.2,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Along the far brick wall I can pick out two dark openings, and the one right of center is the one with a pale, rust streaked door panel standing at its jamb, which is what I will keep following. My heading already points down the open floor toward it. I step forward.",
+        "The doorway with the pale door panel has grown larger and sits just right of my view center, so my heading is still good. The floor between me and it stays open apart from the brick column off to my left. I keep walking straight.",
+        "The opening with its weathered door leaf is now clearly ahead and closer, and the brick column has slid off to my left side rather than blocking me. Nothing on the cracked floor stands between us. I continue advancing without changing heading.",
+        "The dark gap beside the pale door reads plainly as a passable opening from here, framed by the brick pier on its right. Boxes and pallets sit off to the sides and clear of my line. I press forward again.",
+        "I am close enough now to read the placard on the rusted door leaf, confirming this is the opening I chose. The threshold lies a few strides ahead and slightly left of my center. Another step forward should bring me almost onto it.",
+        "The doorway now fills much of my view, with the open gap between the propped door leaf and the brick pier on my right. That gap is wide enough to walk through as I am aimed. I keep moving toward it.",
+        "The rusted door panel stands right beside me and the passage past it is clear, so I am within a stride or two of the threshold. My path lines up with the gap rather than the brickwork on my right. I step forward again.",
+        "I am right at the threshold, with the open leaf on my left and the jamb close on my right. One short step should carry me through into the space beyond and place me at the doorway I was sent to. I move forward.",
+        "I stand inside the doorway, its rusted leaf beside me and the room beyond around me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x002060_y-000778_z000214_t0_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Navigate to the large green skip bin near the blue door.",
+    "Type": 0,
+    "Start_Pose": [
+        2060.367,
+        -777.854,
+        214.308,
+        0.0,
+        -19.2,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            2060.367,
+            -777.854,
+            214.308,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            2179.225,
+            -819.245,
+            214.308,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            2298.083,
+            -860.636,
+            214.308,
+            0.0,
+            -19.2,
+            0.0
+        ],
+        [
+            2298.083,
+            -860.636,
+            214.308,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2423.298,
+            -847.917,
+            214.308,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2548.513,
+            -835.198,
+            214.308,
+            0.0,
+            5.8,
+            -0.0
+        ],
+        [
+            2548.513,
+            -835.198,
+            214.308,
+            0.0,
+            30.8,
+            -0.0
+        ],
+        [
+            2656.621,
+            -770.753,
+            214.308,
+            0.0,
+            30.8,
+            -0.0
+        ],
+        [
+            2734.085,
+            -723.321,
+            214.308,
+            0.0,
+            30.8,
+            -0.0
+        ],
+        [
+            2734.085,
+            -723.321,
+            214.308,
+            0.0,
+            30.8,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The large green skip bin is clearly visible ahead on the right side of my view, sitting against the brick wall just below the blue double door named in my task. The open yard in front of me is clear apart from pallets and rubble off to the left, so I will step forward to begin closing the distance.",
+        "The skip bin now appears larger along the right of my view, confirming I am moving toward it rather than past it. The paved ground straight ahead remains free, so I will keep advancing to close more of the gap before adjusting my heading.",
+        "My current heading points into the alley and stairs between the two buildings, while the green skip bin has drifted to the right edge of my view. I will turn right to bring the bin back toward the center of my view so my remaining forward steps head straight at it.",
+        "The turn has placed the green skip bin near the middle of my view with the blue door just above it, so my heading is now usable. The stretch of cracked paving between me and the bin is empty, so I will step forward to reduce the distance.",
+        "The bin now fills a wide band across the lower right of my view, so I am clearly within a few steps of it. I will continue forward to keep closing on it while the ground ahead stays clear.",
+        "From this close range the bin's near end sits low and to the right while my facing has crept toward the tall window and steps on the left. A small turn to the right should square me up on the bin's side panel before my final approach steps.",
+        "The skip bin is now centered in front of me with the blue door directly beyond it, so my heading is aligned with the target. I will step forward to bring myself right up beside the bin.",
+        "The bin's green painted side and its stenciled lettering now dominate the lower half of my view, leaving only a short gap of ground. I will take one more short step forward to stand immediately at the bin, which should place me at the target position.",
+        "The rusted green skip bin fills my view at arm's length beneath the blue door. I have reached the target, so the task is complete and I stop."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Head toward the pile of dark trash bags in the room, then reach the brick pillar base.",
+    "Type": 3,
+    "Start_Pose": [
+        2095.577,
+        -1302.739,
+        213.09,
+        0,
+        -91.2,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            2095.577,
+            -1302.739,
+            213.09,
+            0,
+            -91.2,
+            0
+        ],
+        [
+            2092.941,
+            -1428.57,
+            204.579,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            2090.305,
+            -1554.402,
+            203.628,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            2090.305,
+            -1554.402,
+            203.628,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            2034.738,
+            -1667.33,
+            198.148,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            1979.934,
+            -1762.936,
+            204.335,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            1920.882,
+            -1791.809,
+            203.615,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            1920.882,
+            -1791.809,
+            203.615,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            1920.882,
+            -1791.809,
+            203.615,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            1920.882,
+            -1791.809,
+            203.615,
+            0.0,
+            -66.2,
+            0.0
+        ],
+        [
+            1920.882,
+            -1791.809,
+            203.615,
+            0.0,
+            -41.2,
+            0.0
+        ],
+        [
+            1920.882,
+            -1791.809,
+            203.615,
+            0.0,
+            -16.2,
+            0.0
+        ],
+        [
+            1920.882,
+            -1791.809,
+            203.615,
+            0.0,
+            8.8,
+            -0.0
+        ],
+        [
+            2008.968,
+            -1755.516,
+            204.245,
+            0.0,
+            8.8,
+            -0.0
+        ],
+        [
+            2133.346,
+            -1736.262,
+            204.381,
+            0.0,
+            8.8,
+            -0.0
+        ],
+        [
+            2133.346,
+            -1736.262,
+            204.381,
+            0.0,
+            -16.2,
+            0.0
+        ],
+        [
+            2133.346,
+            -1736.262,
+            204.381,
+            0.0,
+            -41.2,
+            0.0
+        ],
+        [
+            2211.705,
+            -1783.032,
+            204.368,
+            0.0,
+            -41.2,
+            0.0
+        ],
+        [
+            2211.705,
+            -1783.032,
+            204.368,
+            0.0,
+            -41.2,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the doorway of this gutted hall I can already pick out the heap of dark trash bags slumped against the left wall beside the stacked cartons, with the tall brick pillar rising in the middle of the floor to my right. The bags are the destination I want first, so I will walk forward to cut down the long open distance.",
+        "The bag pile has grown noticeably larger off to my left front and the cartons beside it are closer, so my heading is still useful. The floor between me and them stays clear, so I will keep walking forward to close more of the gap before adjusting my facing.",
+        "The dark bags now sit well off to my left, beside the leaning cardboard box, while my current heading points past them toward the far stair. To walk straight at the pile rather than drift by it, I will turn left and bring the bags nearer the center of my view.",
+        "The bags are now spread ahead of me along the base of the plaster wall, with the cartons just to their right and open floor in between. With the pile lined up in front, I will walk forward to close on it.",
+        "The individual bags are distinct now, their creased plastic filling the lower part of my view a few paces off. Nothing blocks the strip of floor between us, so I will step forward again to draw right up beside the pile.",
+        "The heap of bags now sprawls across the bottom of my view with the wall rising close on my left, so only a short gap remains. I will take one more short step forward to stand at the edge of the pile.",
+        "The mound of dark trash bags lies directly at my feet, packed against the peeling plaster wall and touching the cartons on my right. I have reached the bag pile. I mark reaching it, and now I turn my attention to the brick pillar standing out on the open floor of the hall.",
+        "Standing at the bags, my view is filled by the plaster wall and the pile itself, and the brick pillar lies back out in the open hall to my right. I will turn right to swing my heading off this wall and begin bringing the pillar into view.",
+        "Standing at the heap of dark bags, my view is still filled by the plaster wall and the stacked cartons in this corner. I need the open floor and the brick pillar behind me, so I keep rotating right to swing my heading off the wall.",
+        "The rotation has opened the room into view, with boxes and the low stair stack ahead, but no brick pillar yet in my heading. I will turn right again to keep sweeping toward the open side of the hall.",
+        "The tall brick pillar has just come into the right edge of my view, its base standing on the slab floor. Another right turn should bring that pillar nearer the middle of my heading before I start walking.",
+        "The pillar now rises near the centre of my view, but a large carton sits right in front of my feet on that line. Turning a little further right should put the clear stretch of floor beside it under my stride.",
+        "The brick pillar stands ahead and slightly left with unobstructed paving running up to it. I will walk forward to close that gap toward its base.",
+        "The pillar's brickwork is noticeably larger and now off to my left, so I am still short of it. Another stride forward should carry me level with its base.",
+        "Walking on has carried the pillar out of my forward view, leaving only the far brick walls ahead. I will turn left to bring the pillar's base back into my heading.",
+        "The pillar's brick face has reappeared but sits along the left edge of my view rather than in front of me. A second left turn should square me onto its base.",
+        "The brick pillar now fills the middle of my view with its corner squarely ahead of me, only a short gap of floor left between us. I will step forward to close that last distance and stand right at its base.",
+        "The brick pillar's base is directly against me, its masonry filling my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AbandonedDistrict/task_x002812_y-001632_z000201_t0_c/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Head toward the stack of cardboard boxes in the corner.",
+    "Type": 0,
+    "Start_Pose": [
+        2812.06,
+        -1631.678,
+        200.739,
+        0.0,
+        179.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            2812.06,
+            -1631.678,
+            200.739,
+            0.0,
+            179.52,
+            -0.0
+        ],
+        [
+            2812.06,
+            -1631.678,
+            200.835,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            2697.551,
+            -1683.911,
+            208.307,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            2697.551,
+            -1683.911,
+            208.307,
+            0.0,
+            -130.48,
+            0.0
+        ],
+        [
+            2612.699,
+            -1774.009,
+            200.44,
+            0.0,
+            -130.48,
+            0.0
+        ],
+        [
+            2530.994,
+            -1869.741,
+            202.255,
+            0.0,
+            -130.48,
+            0.0
+        ],
+        [
+            2449.288,
+            -1965.474,
+            202.605,
+            0.0,
+            -130.48,
+            0.0
+        ],
+        [
+            2449.288,
+            -1965.474,
+            202.605,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            2334.78,
+            -2017.707,
+            204.203,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            2220.271,
+            -2069.94,
+            202.421,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            2105.763,
+            -2122.172,
+            205.627,
+            0.0,
+            -155.48,
+            0.0
+        ],
+        [
+            2105.763,
+            -2122.172,
+            205.627,
+            0.0,
+            -155.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this starting spot a brick pillar fills the left half of my view and blocks the open floor, while I can pick out pale cardboard boxes sitting near the far wall to the right of center. I will turn right to swing that box cluster and the clear stretch of floor toward the middle of my view. That should give me a heading I can follow into the room instead of facing the pillar.",
+        "The stacked cardboard boxes are now visible ahead beside the central brick column, with open slab floor between me and them. I will move forward along this heading to close the large remaining distance. The boxes should grow in my view as I advance.",
+        "The box cluster sits to the right of the central brick column, and that column is nearly straight ahead of my current heading. I will turn right so the boxes and the corner behind them come into the middle of my view and the column stays off to my side. That should open a straight approach lane toward the stack.",
+        "Now the cardboard boxes and the stacked pallets in the far corner are spread across the middle of my view with walkable floor in front of me. I will move forward to shorten the gap on this heading. The corner area should fill more of my view as I get closer.",
+        "The boxes on the left of my view and the corner wall ahead have both grown noticeably, so this heading is carrying me into the right part of the room. I will keep moving forward since the floor ahead is still clear. I expect to close in further on the box stack.",
+        "The corner wall with its windows is close now, and the cardboard boxes stand clearly to my left front while the pallet stacks sit to the right. I will move forward once more to reduce the remaining gap before I fine tune my heading. The stack should come within a short step of me.",
+        "I am close to the corner, but the cardboard box stack now sits off to my left while the pallet piles occupy the center and right of my view. I will turn left to bring the boxes squarely in front of me. That should let me finish the approach straight at the intended target.",
+        "The three stacked cardboard boxes are now centered in my view against the corner wall with clear floor leading up to them. I will move forward to close the last stretch. This should bring me right up beside the stack.",
+        "The stacked cardboard boxes now fill the center of my view, tucked into the corner beside the boarded window and the sacks on the left. They are still a couple of paces off, so I will step forward again to close that remaining gap.",
+        "The box stack now dominates my view, with the lower crates close and their labels legible, so I am nearly at the corner. One more forward step should bring me right up against the stack to finish the approach.",
+        "A cardboard box face fills my view at arm's length, its printed label readable in the corner. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-003126_y-006703_z001248_t2_c/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Move to the rightmost hanging red banner.",
+    "Type": 2,
+    "Start_Pose": [
+        -3125.706,
+        -6702.878,
+        1247.731,
+        -0.006,
+        101.721,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3125.706,
+            -6702.878,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3125.706,
+            -6702.878,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3200.96,
+            -6601.995,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3276.213,
+            -6501.112,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3351.467,
+            -6400.229,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3426.72,
+            -6299.345,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3501.973,
+            -6198.462,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3501.973,
+            -6198.462,
+            1247.731,
+            -0.006,
+            151.721,
+            -0.0
+        ],
+        [
+            -3612.811,
+            -6138.835,
+            1247.731,
+            -0.006,
+            151.721,
+            -0.0
+        ],
+        [
+            -3723.649,
+            -6079.207,
+            1247.731,
+            -0.006,
+            151.721,
+            -0.0
+        ],
+        [
+            -3834.487,
+            -6019.579,
+            1247.731,
+            -0.006,
+            151.721,
+            -0.0
+        ],
+        [
+            -3834.487,
+            -6019.579,
+            1247.731,
+            -0.006,
+            151.721,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Several red banners hang across this plaza, and the last one in the row sits at the far right edge of my view, suspended from a tall dark pole beside the big cherry tree above the red railing. My body is aimed at the gate straight ahead, so that banner is off to my right. I will turn right to bring the pole and its banner into the center of my path.",
+        "The turn has put the banner on its dark pole beside the cherry tree in the right half of my view, with open paving between me and the red railing it stands over. Nothing blocks that stretch of ground. I will walk forward to close the distance toward it.",
+        "The banner beside the cherry tree has grown larger and the railing beneath it is clearly nearer, so my heading is carrying me toward it. The paving ahead is still open. I will keep walking forward.",
+        "My target banner still hangs from its pole ahead and slightly right, the cherry tree trunk now standing well clear beside it. There is plenty of open plaza left before I reach the railing. Another step forward should keep shrinking that gap.",
+        "The banner and its pole now read large in the upper right of my view, and the balustrade below them is much closer than a moment ago. Other banners line the buildings across the water, but I stay with this one on the near pole by the cherry tree. I will advance again.",
+        "The banner hangs high on my right now, its dark pole planted just inside the railing a short way ahead. I have not yet drawn level with that pole. I will step forward once more to bring myself up beside it.",
+        "The banner and its pole have drifted to the upper right corner of my view as I closed in, while my heading points along the plaza past them. Turning right should swing the pole back to the middle of my path so I can walk straight at it.",
+        "The turn has centered the tall dark pole and its red banner directly ahead, standing against the railing over the water. A few paces of open paving separate me from its base. I will walk forward to reach it.",
+        "The pole rises straight down the middle of my view with its red banner spread wide above the water, and the railing at its base is still a couple of paces off. The paving between us is clear and level. I will step forward again to draw up under the banner.",
+        "The pole now dominates the frame and the banner hangs high above me, its lacquered shaft meeting the railing just beyond arm's reach. One more step should bring me level with the base rather than stopping short of it.",
+        "The banner's pole stands directly in front of me at the railing, with the red cloth hanging overhead. I have arrived at it, so there is nothing further to do."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-006481_y000943_z001218_t0_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Head toward the base of the pink cherry blossom tree.",
+    "Type": 0,
+    "Start_Pose": [
+        -6481.219,
+        942.718,
+        1218.151,
+        -0.011,
+        -71.118,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6481.219,
+            942.718,
+            1218.151,
+            -0.011,
+            -71.118,
+            0.0
+        ],
+        [
+            -6481.219,
+            942.718,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -6393.977,
+            852.003,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -6306.734,
+            761.288,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -6219.492,
+            670.572,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -6132.25,
+            579.857,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -6045.007,
+            489.142,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -5957.765,
+            398.427,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -5870.523,
+            307.711,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -5783.28,
+            216.996,
+            1231.375,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -5783.28,
+            216.996,
+            1231.375,
+            -0.011,
+            -46.118,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The pink cherry blossom tree fills the right edge of my view, with its trunk hidden off to the side behind the railing, so my current heading points at the gate and stairs instead. I will turn right to bring the blossom canopy and the trunk below it toward the center of my view. That should give me a straight path across the open flagstone plaza toward its base.",
+        "The blossom tree now sits near the middle of my view and I can see its pale trunk rising from the plaza beside the red railing. The paving between me and it is clear and level, so I will move forward to close that distance.",
+        "The canopy has grown noticeably larger and the trunk is holding its place slightly left of center, which tells me my heading is still good. I will continue forward along the open pavement to keep closing on the trunk's base.",
+        "The tree base is now clearly resolved as a raised stone planter at the foot of the trunk, still a few paces ahead across the flagstones. Nothing blocks that stretch, so another forward step should bring me closer to that planter.",
+        "The branches now spread across the top of my view and the lit lantern beside the trunk is close, confirming I am nearly beneath the canopy. I will step forward again to reduce the remaining gap to the base.",
+        "The trunk is directly ahead and its planter edge is plainly in front of me, though there is still a stretch of pavement before I stand at it. I will keep moving forward to arrive at the base itself.",
+        "The trunk now dominates the center of my view with the golden planter bed at its foot only a step or two away. One more forward move should place me right at the base of the tree.",
+        "The bark fills a tall band of my view and the planter's near edge is just below me, so I am essentially at the tree. I will take one last short step forward to settle right against the base before considering the task done.",
+        "The cherry tree's trunk now fills the center of my view with its stone-bordered planter and yellow soil bed just ahead of me. One more short step forward should bring me right up against the base of the trunk.",
+        "The cherry tree's trunk stands directly at my side, filling my view at arm's length. The task is complete, so no further movement is needed."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-006810_y-001394_z001628_t1_c/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Inside the open wooden building directly ahead, search for the low carved wooden table in the center of the hall and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -6810.393,
+        -1393.755,
+        1628.151,
+        -0.011,
+        -110.478,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6810.393,
+            -1393.755,
+            1628.151,
+            -0.011,
+            -110.478,
+            -0.0
+        ],
+        [
+            -6810.393,
+            -1393.755,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6800.47,
+            -1519.222,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6782.472,
+            -1638.537,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6770.79,
+            -1763.575,
+            1631.504,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6770.79,
+            -1763.575,
+            1631.504,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6814.821,
+            -1881.48,
+            1632.571,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6858.853,
+            -1999.386,
+            1631.757,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6858.853,
+            -1999.386,
+            1631.757,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6858.853,
+            -1999.386,
+            1631.757,
+            -0.011,
+            -110.478,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing on the stone paving in front of the wooden hall, but a sliding paper panel blocks most of the entrance straight ahead of me. The clear opening into the tatami interior lies slightly to my right, so I will turn right to line myself up with that gap and see more of the hall.",
+        "The doorway is now centered in front of me and I can see tatami mats, hanging lanterns, and storage barrels inside the hall. The carved low table is not yet in view, so I will step forward through the opening to get inside and reveal the center of the room.",
+        "I am in the threshold with the interior widening ahead, showing a golden guardian statue and barrels along the far wall. The center of the hall is still hidden behind the door frame edges, so another step forward should bring the middle of the room into view.",
+        "Now inside the hall, I can see low carved wooden tables on the tatami to my left, matching the target described in the task. I will keep walking forward to close the remaining distance toward that table area.",
+        "The carved low tables sit at the left edge of my view and are partly cut off by my current heading. I will turn left to bring them into the center of my view so I can walk straight at them.",
+        "The carved low table with its dark top and trays is now centered ahead of me on the tatami. I will step forward to close the gap toward it.",
+        "The carved table is close in front of me with its bowls and trays clearly visible, though still a stride away. One more step forward should place me right at its edge.",
+        "I am standing right beside the low carved table, but its top is at the very bottom of my view because it sits near floor height. I will look down to bring the table fully into view and confirm I have reached it.",
+        "The low carved wooden table with its trays and game board fills the near foreground within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-007151_y-001704_z001634_t0_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Walk to the golden lion statue.",
+    "Type": 0,
+    "Start_Pose": [
+        -7150.524,
+        -1704.454,
+        1633.643,
+        -0.011,
+        -76.878,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7150.524,
+            -1704.454,
+            1633.643,
+            -0.011,
+            -76.878,
+            0.0
+        ],
+        [
+            -7121.951,
+            -1827.027,
+            1633.643,
+            -0.011,
+            -76.878,
+            -0.0
+        ],
+        [
+            -7093.378,
+            -1949.599,
+            1635.239,
+            -0.011,
+            -76.878,
+            -0.0
+        ],
+        [
+            -7093.378,
+            -1949.599,
+            1635.239,
+            -0.011,
+            -101.878,
+            -0.0
+        ],
+        [
+            -7119.283,
+            -2072.763,
+            1635.554,
+            -0.011,
+            -101.878,
+            -0.0
+        ],
+        [
+            -7145.188,
+            -2195.928,
+            1635.554,
+            -0.011,
+            -101.878,
+            -0.0
+        ],
+        [
+            -7145.188,
+            -2195.928,
+            1635.554,
+            -0.011,
+            -76.878,
+            -0.0
+        ],
+        [
+            -7145.188,
+            -2195.928,
+            1635.554,
+            -0.011,
+            -51.878,
+            -0.0
+        ],
+        [
+            -7067.491,
+            -2294.941,
+            1632.632,
+            -0.011,
+            -51.878,
+            -0.0
+        ],
+        [
+            -6992.915,
+            -2387.489,
+            1632.632,
+            -0.011,
+            -51.878,
+            -0.0
+        ],
+        [
+            -6992.915,
+            -2387.489,
+            1632.632,
+            -0.011,
+            -51.878,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The golden lion statue is clearly visible ahead of me, sitting on the tatami near the far paper-screen wall of this hall. My heading already points at it with open floor in between, so I will step forward to start closing the distance.",
+        "The statue has grown noticeably larger and stays near the middle of my view, so my previous step gained real ground toward it. The lane of matting straight ahead still looks clear, so another forward step should keep shrinking the gap.",
+        "A low wooden bench sits directly in my forward path now, with a big laden table crowding the space just beyond it on my right. I will turn left to swing my heading onto the open stretch of tatami along the left side and skirt this furniture instead of pushing into it.",
+        "My new heading gives me an unobstructed run of matting ahead, with the statue now off to my right side near the screens. I will move forward along this clear lane to advance past the furniture while staying close to the statue's line.",
+        "The statue has slid to the far right of my view, which tells me I am nearly level with it and the blocking furniture is behind me. One more forward step should bring me alongside it before I turn back to face it.",
+        "I am now facing only the paper screens and the spear rack, with the lion statue having passed out of view on my right side. Turning right should swing my heading back toward it.",
+        "The golden lion is back in sight but still sits toward the right portion of my view rather than in front of me. A second turn to the right should bring it near the center so I can walk straight at it.",
+        "The golden lion statue is now centered in my view with clear matting between us, so my heading is properly aligned. I will step forward to close the remaining short distance to it.",
+        "The golden lion statue now dominates the left half of my view and its head is roughly at my eye level, so only a short gap remains. I will step forward once more to close that last bit of distance and bring the statue within immediate reach.",
+        "The golden lion statue fills the near field directly in front of me, at arm's length. The task is complete, so I stop here rather than crowd it further."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-007151_y-001704_z001634_t0_b/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Go to the wooden barrel beside the tall stack of crates.",
+    "Type": 0,
+    "Start_Pose": [
+        -7150.524,
+        -1704.454,
+        1633.643,
+        -0.011,
+        -76.878,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7150.524,
+            -1704.454,
+            1633.643,
+            -0.011,
+            -76.878,
+            0.0
+        ],
+        [
+            -7150.524,
+            -1704.454,
+            1633.643,
+            -0.011,
+            -51.878,
+            -0.0
+        ],
+        [
+            -7150.524,
+            -1704.454,
+            1633.643,
+            -0.011,
+            -26.878,
+            -0.0
+        ],
+        [
+            -7038.261,
+            -1761.354,
+            1632.816,
+            -0.011,
+            -26.878,
+            -0.0
+        ],
+        [
+            -6925.999,
+            -1818.254,
+            1632.816,
+            -0.011,
+            -26.878,
+            -0.0
+        ],
+        [
+            -6813.736,
+            -1875.154,
+            1632.816,
+            -0.011,
+            -26.878,
+            -0.0
+        ],
+        [
+            -6813.736,
+            -1875.154,
+            1632.816,
+            -0.011,
+            -51.878,
+            -0.0
+        ],
+        [
+            -6736.039,
+            -1974.167,
+            1633.495,
+            -0.011,
+            -51.878,
+            -0.0
+        ],
+        [
+            -6658.341,
+            -2073.18,
+            1633.495,
+            -0.011,
+            -51.878,
+            -0.0
+        ],
+        [
+            -6580.643,
+            -2172.193,
+            1633.495,
+            -0.011,
+            -51.878,
+            -0.0
+        ],
+        [
+            -6580.643,
+            -2172.193,
+            1633.495,
+            -0.011,
+            -51.878,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this doorway view of the hall, I can see a wooden barrel and a pale crate-like stack far off to my right along the window wall, while my heading points straight down the middle of the room. I will turn right to swing that side of the hall into the center of my view before committing to any forward motion.",
+        "The turn has brought more of the right side of the hall into view, and I can now see a stack of crates with barrels beside it still sitting right of my forward direction, past the low tables. I will turn right once more so that cluster sits closer to the center of my heading for a clean straight approach.",
+        "The crate stack with the wooden barrels beside it is now roughly ahead of me across the open tatami, with only clear matting between us. I will move forward to start closing that distance while keeping the cluster in view.",
+        "The barrels beside the tall crate stack have grown larger and are still positioned ahead of me, so my heading remains usable. I will continue forward to keep reducing the gap across this open span of matting.",
+        "The two wooden barrels next to the tall stack are clearly resolved now and sit slightly left of my forward direction, still several body lengths away. I will push forward again before making any fine heading correction.",
+        "After closing most of the distance, the barrels and the tall crate stack have drifted to the left portion of my view while the red cart sits ahead on my right. I will turn left to bring the barrels back onto my forward axis so the final approach goes straight to them.",
+        "The pair of wooden barrels beside the tall stack of crates now sits centered in my view with clear matting in front of them. I will move forward to close the last part of the gap along this aligned heading.",
+        "The larger barrel and its smaller neighbor now fill much of the lower center of my view, right against the tall stack of crates, but I am still a step or two short of standing beside them. I will advance once more to bring myself directly next to the barrel.",
+        "The large wooden barrel and the stacked crates behind it now fill the center of my view, but there is still a short gap of matting between me and the barrel's base. One more step forward should bring me right beside the barrel at the foot of the crate stack.",
+        "The wooden barrel stands directly in front of me at arm's length, with the tall crate stack right beside it. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-008552_y006239_z001228_t1_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Discover the glowing lantern resting on top of a wooden crate, then reach that illuminated lamp.",
+    "Type": 1,
+    "Start_Pose": [
+        -8551.505,
+        6239.099,
+        1228.249,
+        0.0,
+        117.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8551.505,
+            6239.099,
+            1228.249,
+            0.0,
+            117.12,
+            -0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            142.12,
+            -0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            167.12,
+            -0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            -167.88,
+            0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            -142.88,
+            0.0
+        ],
+        [
+            -8651.861,
+            6163.145,
+            1228.25,
+            0.0,
+            -142.88,
+            0.0
+        ],
+        [
+            -8752.218,
+            6087.191,
+            1228.25,
+            0.0,
+            -142.88,
+            0.0
+        ],
+        [
+            -8852.575,
+            6011.237,
+            1228.25,
+            0.0,
+            -142.88,
+            0.0
+        ],
+        [
+            -8852.575,
+            6011.237,
+            1228.25,
+            0.0,
+            -117.88,
+            0.0
+        ],
+        [
+            -8908.589,
+            5935.081,
+            1228.25,
+            0.0,
+            -117.88,
+            0.0
+        ],
+        [
+            -8908.589,
+            5935.081,
+            1228.25,
+            0.0,
+            -92.88,
+            0.0
+        ],
+        [
+            -8908.589,
+            5935.081,
+            1228.25,
+            0.0,
+            -67.88,
+            0.0
+        ],
+        [
+            -8908.589,
+            5935.081,
+            1228.25,
+            0.0,
+            -67.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this doorway I only see the courtyard ahead and paper screens crowding both sides, with no crate or standing lamp anywhere in view. I will turn right to begin a steady scan of the interior beside me, where storage goods are more likely to sit.",
+        "Turning has opened up a wooden storage room on my right with barrels and a large dark jar, which is a promising sign that crates are kept here. No lantern resting on a crate is visible yet, so I will keep rotating the same way to bring more of that storage area into view.",
+        "More of the storage room is now exposed, with barrels, a jar, and boxes stacked deeper along the wall, but the interior beyond stays dark and unresolved. I will continue the same rightward scan to uncover the remaining part of this room.",
+        "I can now see deeper into the room, including a hanging ceiling lamp and a small glowing lantern on the right near stacked crates and a stone ledge. That glow beside the crates is the strongest cue so far, so I will turn once more to bring it toward the center of my view.",
+        "The lit lantern now sits ahead of me on the stone ledge, with wooden crates stacked just beside it and clear floorboards in between. I will walk forward to close the distance toward that illuminated lamp.",
+        "The glowing lantern is larger and clearer now, standing on the ledge with a tall stack of wooden crates immediately to its right. The path across the planks is still unobstructed, so I will keep walking straight toward it.",
+        "The lantern is clearly resting on the raised stone and crate area ahead, its light picking out the woodwork around it, and I am still several paces short. I will advance again to bring myself close beside it.",
+        "I am now right up against the ledge, and the glowing lantern has drifted to the far right edge of my view while the paper screens fill the front. I will turn right to face the lamp squarely before closing the last short gap.",
+        "The glowing lantern now sits clearly ahead of me, slightly right, resting on the raised wooden and stone platform beside the paper screens. The floor between us looks clear, so I will walk forward to close the remaining distance to that lit lamp.",
+        "After stepping in, my view is filled with the paper screen wall and the stone base, and the lit lantern has slipped past the right edge of my sight. I will turn right to swing my heading back onto the lamp I was closing on.",
+        "The glowing lantern is back in sight but sits off to the right side of my view, very close now on its wooden stand. I will turn right once more so the lamp comes squarely in front of me.",
+        "The glowing lantern stands directly beside me at arm's length atop its wooden crate. The task target has been reached, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-008946_y-004534_z001218_t1_a/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Search for a wooden barrel stored together with ceramics, then navigate to its location.",
+    "Type": 1,
+    "Start_Pose": [
+        -8946.102,
+        -4533.735,
+        1218.151,
+        0.0,
+        167.04,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8946.102,
+            -4533.735,
+            1218.151,
+            0.0,
+            167.04,
+            -0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            -167.96,
+            0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            -142.96,
+            0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            -117.96,
+            0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            -92.96,
+            0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            -67.96,
+            0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            -42.96,
+            0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            -17.96,
+            0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            7.04,
+            -0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            32.04,
+            -0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            57.04,
+            -0.0
+        ],
+        [
+            -8946.102,
+            -4533.735,
+            1218.15,
+            0.0,
+            82.04,
+            -0.0
+        ],
+        [
+            -8928.672,
+            -4409.089,
+            1218.15,
+            0.0,
+            82.04,
+            -0.0
+        ],
+        [
+            -8911.243,
+            -4284.442,
+            1218.15,
+            0.0,
+            82.04,
+            -0.0
+        ],
+        [
+            -8893.814,
+            -4159.796,
+            1218.15,
+            0.0,
+            82.04,
+            -0.0
+        ],
+        [
+            -8876.385,
+            -4035.149,
+            1218.15,
+            0.0,
+            82.04,
+            -0.0
+        ],
+        [
+            -8858.956,
+            -3910.503,
+            1218.15,
+            0.0,
+            82.04,
+            -0.0
+        ],
+        [
+            -8841.526,
+            -3785.857,
+            1218.15,
+            0.0,
+            82.04,
+            -0.0
+        ],
+        [
+            -8824.097,
+            -3661.21,
+            1218.15,
+            0.0,
+            82.04,
+            -0.0
+        ],
+        [
+            -8824.097,
+            -3661.21,
+            1218.15,
+            0.0,
+            82.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "My view is filled by a dark wooden facade of shoji panels directly ahead, with no barrel or ceramic jars anywhere in sight. I will turn right to begin a consistent scan of the surrounding courtyard for the wooden barrel and any ceramics stored beside it.",
+        "The rotation has only revealed more of the same shuttered building wall and empty stone paving, still without any barrel or pottery. I will keep turning right in the same direction to bring an unexamined part of the courtyard into view.",
+        "Past the end of this wall I can now see an open lit area with lanterns and parasols off to the right, which looks like a market or storage side of the compound. I will continue turning right to open up that promising area and look for a barrel among ceramics.",
+        "The courtyard now opens toward lantern-hung buildings and a wide paved plaza, a much more plausible place for goods to be stored than the blank shoji wall behind me. I will turn right again to sweep further across this open space for the barrel and nearby ceramics.",
+        "I can see a small dark rounded object near the raised wooden deck on the right, but the heavy posts and shadow leave it ambiguous. I will turn right once more so that this deck area and whatever sits along it come more clearly into the center of my view.",
+        "From here a squat vessel is visible on the paving beside the raised wooden walkway, though the row of timber columns keeps cutting across the view. I will continue turning right to clear the pillars and keep scanning this covered walkway for a barrel set among ceramic containers.",
+        "The turn has brought a tall stone wall and the plank deck into the foreground, and the nearest posts still hide most of the ground along it. I will keep rotating right in the same direction to look past the wall corner where storage items are likely to be lined up.",
+        "I am now facing along the grey stone wall with the wooden deck running beside it, and no barrel or pottery is yet visible in this stretch. I will continue the same rightward scan to follow the wall further and check the ground where such containers would usually be kept.",
+        "From where I stand under the lantern-hung veranda, I only see timber posts, the wooden decking, and a blank stone wall, with no barrel or ceramic containers anywhere in front of me. I will keep rotating right in the same consistent direction so the unseen ground past the wall corner comes into my view.",
+        "The stone wall still fills most of my view, and although a hanging banner and more lanterns have come in on my right, I still cannot see a barrel or any ceramic jars. I will continue turning right in the same direction to sweep the courtyard opening beyond the wall.",
+        "A wooden barrel standing beside a dark ceramic jar has just come into view against the wall on the right side of my field of view, which matches the barrel stored together with ceramics I am looking for. I will turn right once more to bring that pair closer to the center of my heading before walking.",
+        "The barrel and the ceramic jar beside it now sit near the middle of my view, with open stone paving between me and them. I will step forward along this heading to close the distance toward that pair.",
+        "The barrel and its neighboring ceramic jar have grown slightly larger by the wall ahead, confirming my heading is taking me toward them. I will keep walking forward since the courtyard in front of me remains clear.",
+        "The wooden barrel next to the dark ceramic jar is clearly distinguishable ahead beside the lantern post, though still some way off. I will continue advancing along the same straight line to shorten the remaining gap.",
+        "The barrel and the ceramic jar beside it are noticeably nearer now, sitting just left of my forward direction against the wall. I will take another step forward to keep closing on them.",
+        "The wooden barrel and the ceramic pot beside it are now close in front of me, standing together at the base of the stone wall. I will step forward again to bring myself right up beside them.",
+        "The wooden barrel is now clearly in front of me, standing beside the two grey ceramic jars against the stone wall, which matches the storage grouping I was told to find. It still sits a few paces away and only fills a small part of my view, so I will keep walking straight toward it to close that remaining gap.",
+        "The barrel now dominates the lower center of my view with the ceramic jars just to its left, so my heading is well aligned with the target. I am still standing slightly short of it, so one more step forward should bring me right up to the barrel's location.",
+        "The wooden barrel stands directly before me with the ceramic jar beside it. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010626_y-005978_z001218_t1_b/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Locate the wooden street lamp with an ornate pagoda-style top positioned in the middle of the road, then walk toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -10625.851,
+        -5978.251,
+        1218.151,
+        0.0,
+        38.4,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            38.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            63.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            88.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            113.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            138.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            163.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -10750.359,
+            -5996.637,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -10750.359,
+            -5996.637,
+            1218.151,
+            0.0,
+            -146.6,
+            0.0
+        ],
+        [
+            -10855.433,
+            -6065.92,
+            1218.151,
+            0.0,
+            -146.6,
+            0.0
+        ],
+        [
+            -10960.506,
+            -6135.203,
+            1218.151,
+            0.0,
+            -146.6,
+            0.0
+        ],
+        [
+            -11065.579,
+            -6204.486,
+            1218.151,
+            0.0,
+            -146.6,
+            0.0
+        ],
+        [
+            -11065.579,
+            -6204.486,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11190.088,
+            -6222.872,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11314.596,
+            -6241.257,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11314.596,
+            -6241.257,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From under this dark covered walkway I only see a long wooden shopfront with paper panels and hanging lanterns, and no street lamp with a pagoda top anywhere in front of me. The open paving continues to my right, so I will turn right to begin a steady scan toward the brighter, more open part of the street.",
+        "The new heading reveals a curved wooden arch and a lit gateway area beyond it, but still no pagoda-style lamp standing in the road. Since the street opens further in that same direction, I will keep turning right to continue the scan consistently.",
+        "Now I face straight down the arcade toward the tall gate and its red lanterns, yet none of these fixtures matches an ornate pagoda-topped lamp standing in the middle of the road. Maintaining the same rotation direction, I will turn right again to bring more of the open plaza into view.",
+        "The arch and stalls now sit to my left and a broad empty stone plaza opens ahead, still without any pagoda-style street lamp. Daylight is stronger toward the right edge of this view, so I will continue turning right to inspect that brighter open area.",
+        "This heading shows mostly the multi-storey wooden hall on my left and empty paving, with no lamp yet in the middle of the road. The plaza clearly extends further to the right, so I will turn right once more to uncover that unseen portion.",
+        "A tall wooden post with a lit lantern and a tiered ornate top has now appeared near the right edge of my view, standing out in the open paved courtyard. That matches the pagoda-style street lamp I am looking for, so I will turn right to bring it closer to the center of my heading.",
+        "The pagoda-topped lamp is now clearly in view ahead and slightly right, rising from the open courtyard with its lantern lit. The paving between us is flat and unobstructed, so I will walk forward to close the distance toward it.",
+        "After stepping forward the lamp is nearer but still sitting right of my heading, with the courtyard opening in that direction. I will turn right to line my body up more directly with the lamp before continuing to walk toward it.",
+        "The wooden lamp post with the ornate tiered pagoda top now stands clearly in the open courtyard slightly left of my heading, with unobstructed paving between us. I will walk forward to close the remaining distance toward it.",
+        "The lamp has grown noticeably larger and its carved pagoda roof and red post are now distinct, confirming I am closing on the right target. The paving directly ahead stays clear, so another forward step should continue shrinking the gap.",
+        "The lamp's pagoda canopy and illuminated shade now fill a good part of the left side of my view, so I am close but not yet beside it. I will step forward again to keep advancing along the open paving toward its base.",
+        "The lamp post has drifted well toward the left edge of my view as I approached, so my heading is no longer pointed at it. Turning left by one step should bring the pagoda lamp back toward the center of my view for a straight final approach.",
+        "The pagoda-topped lamp is now centered in front of me with its base plainly visible on the open paving. I will walk forward to close the last stretch toward it.",
+        "The lamp now towers directly ahead, its red post and ornate roof filling much of my forward view, though I still have a short gap to its base. One more step forward should bring me right up beside the lamp.",
+        "The wooden pagoda-topped lamp post stands immediately in front of me, filling my view at arm's reach. The task is complete, so no further movement is needed."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010626_y-005978_z001218_t1_c/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Find the wooden barrel sitting on the ground next to the cart with large wooden spoked wheels; after identifying it, proceed to the barrel.",
+    "Type": 1,
+    "Start_Pose": [
+        -10625.851,
+        -5978.251,
+        1218.151,
+        0.0,
+        38.4,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            38.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            63.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            88.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            113.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            138.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            163.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -10750.359,
+            -5996.637,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -10874.868,
+            -6015.023,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -10999.377,
+            -6033.409,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11123.886,
+            -6051.794,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11248.395,
+            -6070.18,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11372.904,
+            -6088.566,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11497.412,
+            -6106.952,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11621.921,
+            -6125.338,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11746.43,
+            -6143.724,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11870.939,
+            -6162.11,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -11870.939,
+            -6162.11,
+            1218.151,
+            0.0,
+            163.4,
+            -0.0
+        ],
+        [
+            -11991.552,
+            -6126.153,
+            1218.151,
+            0.0,
+            163.4,
+            -0.0
+        ],
+        [
+            -12112.166,
+            -6090.197,
+            1218.151,
+            0.0,
+            163.4,
+            -0.0
+        ],
+        [
+            -12232.779,
+            -6054.24,
+            1218.151,
+            0.0,
+            163.4,
+            -0.0
+        ],
+        [
+            -12232.779,
+            -6054.24,
+            1218.151,
+            0.0,
+            138.4,
+            -0.0
+        ],
+        [
+            -12325.803,
+            -5976.035,
+            1218.151,
+            0.0,
+            138.4,
+            -0.0
+        ],
+        [
+            -12325.803,
+            -5976.035,
+            1218.151,
+            0.0,
+            138.4,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this shaded walkway I only see a shuttered wooden building, hanging lanterns and paper parasols, with no cart or barrel anywhere in my field of view. The passage ahead is closed off by the building corner, so I will turn right to begin a consistent scan toward the brighter open ground on that side.",
+        "The rotation has opened a view along the paved lane past the building, and I can make out a curved arch and a distant red gate area, but still no wooden barrel or spoked cart. I will keep turning right in the same direction to bring more of that open plaza into view.",
+        "A wide stone courtyard now opens ahead with the arch and some small clustered objects near the distant gate, none of which clearly reads as a barrel beside a spoked cart. Continuing the same rightward scan should reveal the rest of this courtyard before I commit to any direction.",
+        "Most of what I can see is the arch, the shuttered hall on the right and dim shapes near the torii, but nothing that resembles a large wooden wheel or a barrel resting on the ground. I will turn right again to sweep the still unseen portion of the courtyard.",
+        "The sunlit courtyard is now largely open in front of me with buildings on both sides, yet I still cannot pick out a cart with large spoked wheels or a barrel beside it. Another right turn should carry my scan into the far side of the plaza where storage objects would plausibly stand.",
+        "Ahead the plaza runs toward a covered gate structure with a small dark object standing under the eaves, but it is too far to confirm as a cart. I will make one more right turn to finish opening this side of the courtyard before choosing a heading.",
+        "My scan now shows the open plaza with a squat rounded vessel near the wooden deck on the right and a dark wheeled shape sitting under the eaves ahead on the left, which is a promising place for a cart and its barrel. Rather than keep rotating, I will walk forward across the paving to close the distance and resolve those shapes.",
+        "The step forward brought the courtyard and the shadowed object beneath the far eaves slightly closer, though I still cannot confirm large spoked wheels from here. I will continue walking straight along the open paving to get near enough for a reliable identification.",
+        "The courtyard ahead is wide and clear of obstacles, and a dark cart-like object sits under the eaves slightly left of my heading, which is the most promising match for the cart described in the task. The stone paving in front of me is unobstructed, so I will keep walking straight to shorten the distance and let that shape resolve. Nothing along my current line blocks me, so continued forward motion should be the cheapest way to confirm it.",
+        "The red lantern post on my right has grown noticeably larger, confirming that my steps are genuinely closing distance across the courtyard. The candidate cart under the far eaves is still small and shadowed, so I cannot yet make out spoked wheels or any barrel beside it. I will keep advancing on this heading to bring that structure into a readable size.",
+        "The lantern pillar now fills much of my right side, and the shaded area under the far eaves is beginning to show a distinct wheeled shape. That target area still lies ahead and a little to my left, so my current heading remains usable without turning yet. I will continue stepping forward to close the remaining open ground.",
+        "The lantern has passed behind my right shoulder and the shaded object ahead-left now clearly reads as a loaded cart resting on two large wheels. That matches the cart named in the task, so the barrel I need should be on the ground somewhere beside it, though it is still lost in the shadow under the eaves. I will keep walking forward to close in on that cart.",
+        "The cart is larger and better lit now, and I can pick out the rim and hub of its wheels against the paving. It sits off my forward line to the left, but there is still a long stretch of empty stone between us, so turning now would be premature. I will take another step forward to keep reducing that gap.",
+        "The cart's tall wheels and loaded bed are clearly resolved on my left, confirming this is the cart with large wooden spoked wheels. The ground immediately beside it is still deep in the shadow of the overhanging roof, so I cannot yet single out the barrel there. Moving forward again should bring me close enough for that shaded strip of ground to become legible.",
+        "The cart now occupies a good portion of my left view, with its spoked wheels and side boards plainly visible, so my identification is secure. I am still not alongside it, and its lower surroundings remain dim, so more distance needs to be closed before I can inspect the ground next to it. I will continue straight ahead rather than turning while the gap is this large.",
+        "I am nearly level with the cart, whose spoked wheel and planked body now dominate my left side. Advancing once more should carry me past the open paving and put the cart and the ground beside it within easy reach for a turn toward the barrel. The way in front of me is still clear, so I will step forward.",
+        "The cart with the tall wooden spoked wheels has slid to the far left edge of my view and is close to leaving it entirely as I keep advancing across the courtyard. Since that cart is the landmark the barrel should be standing beside, I will turn left to bring it back toward the center of my heading before continuing.",
+        "The turn worked and the loaded cart with its large wooden spoked wheels now sits clearly in the left half of my view rather than slipping past me. It is still several strides away across the open paving, so I will walk forward to close that gap and get near enough to inspect the ground beside it.",
+        "The cart has grown noticeably larger and its near spoked wheel and plank sides are now distinct in front and to my left. The base of the cart, where the barrel should be resting on the ground, is still partly in shadow, so I will keep walking forward to close in.",
+        "The cart now occupies much of the left side of my view, with its big spoked wheel and load boards close enough to make out individual planks. I am still a couple of strides short of the cart itself, so I will advance again to reach the ground area right beside it.",
+        "I am now right alongside the cart, but its body and wheel sit off to my left while my heading points past it into the open courtyard. I will turn left so I face the cart and the wooden object beside it squarely before taking a final step.",
+        "Facing left has centered the cart with its large wooden spoked wheel and the stout wooden container beside it directly ahead of me. One more short step forward should bring me right up to it, so I will move forward.",
+        "The wooden staved body and the cart's large spoked wheel are directly in front of me at arm's length. I have reached the target, so stopping here is correct."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010649_y003014_z001228_t1_b/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Identify the four-wheeled wooden cart, then head over to where it stands.",
+    "Type": 1,
+    "Start_Pose": [
+        -10649.346,
+        3014.162,
+        1228.118,
+        0.0,
+        -41.28,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10649.346,
+            3014.162,
+            1228.118,
+            0.0,
+            -41.28,
+            0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            -16.28,
+            0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            8.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            33.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            58.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            83.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            108.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            133.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            158.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            -176.28,
+            0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -10759.721,
+            2953.683,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -10870.097,
+            2893.204,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -10980.473,
+            2832.725,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -11090.848,
+            2772.246,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -11201.224,
+            2711.767,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -11311.6,
+            2651.288,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -11421.975,
+            2590.809,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -11532.351,
+            2530.33,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -11532.351,
+            2530.33,
+            1218.15,
+            0.0,
+            -126.28,
+            0.0
+        ],
+        [
+            -11606.826,
+            2428.871,
+            1218.15,
+            0.0,
+            -126.28,
+            0.0
+        ],
+        [
+            -11606.826,
+            2428.871,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -11717.201,
+            2368.392,
+            1218.15,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -11820.699,
+            2308.744,
+            1228.25,
+            0.0,
+            -151.28,
+            0.0
+        ],
+        [
+            -11820.699,
+            2308.744,
+            1228.25,
+            0.0,
+            -151.28,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing in a lantern-lit courtyard facing a wooden building with sliding paper doors, and I see no four-wheeled wooden cart anywhere in front of me. I will turn right to begin a steady scan of the surroundings in one consistent direction. Open paving continues off to my right, so that side seems the most promising place to keep looking.",
+        "The view has shifted onto more of the same shopfront with paper screens and hanging lanterns, and still no cart is in sight. I will continue turning right to keep the scan moving in the same direction. A wider street with more storefronts is opening up at the right of my view, which is worth bringing to the center.",
+        "I now see a long covered street lined with lanterns and parasols receding to my right, but nothing resembling a wooden cart stands in the open ground before me. I will turn right again to sweep that street and the courtyard beyond it into view. Keeping the rotation consistent avoids rechecking ground I have already scanned.",
+        "From where I stand, the arcade of shops and decorated parasols fills my view and I still cannot spot a four-wheeled cart among them. I will keep turning right so the next section of the courtyard comes into the center of my view. The unexamined area beyond the right-hand buildings is the most likely place left to check.",
+        "A large gated hall with barrels stacked beside it has come into view, but there is no wooden cart on the paving in front of it. I will turn right once more to carry the scan past this hall. The courtyard clearly widens in that direction, so more searchable ground should appear.",
+        "Ahead of me are tall two-story facades and rows of hanging lanterns, with only barrels and crates on the ground rather than the cart I need. I will continue the rightward sweep to expose the part of the plaza still hidden behind the near pillar. Maintaining one turning direction keeps the search systematic.",
+        "The plaza opens broadly here between two tall wooden buildings, yet nothing with wheels stands on the stone paving in my current view. I will turn right again to bring the far side of the plaza, where a raised wooden deck begins, into full view. That deeper, shaded area is still unchecked.",
+        "A raised wooden deck with a small lantern-hung stall now sits ahead of me, but I still cannot make out a cart with wheels on or beside it. I will keep turning right to sweep the shaded arcade further along that side of the plaza. Those deeper passages remain the best unexamined candidates for where a cart would be parked.",
+        "From this spot I only see a raised wooden stage, lantern-hung eaves, and shuttered facades, with no four-wheeled cart anywhere in view. I will keep rotating right in the same consistent direction so the sweep continues into the still unseen part of the courtyard.",
+        "Along the right edge of my view, past the lantern-lit platform, I can make out a dark wooden body sitting on spoked wheels under the far eaves, which matches the cart I am looking for. I will turn right once more to bring that candidate out of the periphery and into the center of my view before committing to it.",
+        "The wheeled wooden cart now sits ahead of me under the covered walkway, with its spoked wheels clearly visible beside the pillars. The open stone courtyard between us looks clear, so I will walk forward to close the distance toward it.",
+        "The cart is still ahead of me and its wheels have grown slightly larger, confirming I am closing on it rather than drifting off line. The paving in front stays clear, so I will keep walking forward on this heading.",
+        "The reddish wooden cart is now plainly recognizable beside the tall pillar, with both near wheels distinct. Since it stays centered in my path and nothing blocks the ground, I will continue walking forward.",
+        "The cart keeps growing in my view and I can now see its shafts and the raised wooden decking it rests on. It is still some distance away, so I will step forward again to keep reducing the gap.",
+        "The wooden cart is clearly the target, standing on the plank deck just ahead and slightly left of the pillar in front of me. I am not yet beside it, so I will keep advancing along this open stretch of paving.",
+        "The cart now fills a good part of my forward view, its wheel rims and side rails sharply lit near the covered walkway. There is still a stretch of paving before I am standing at it, so I will walk forward once more.",
+        "The four-wheeled wooden cart is clearly visible ahead on the raised wooden deck under the covered walkway, though a thick pillar partly blocks my line to it. It is still several strides away, so I will keep walking forward along the open stone paving to close the gap.",
+        "The cart's spoked wheels and wooden bed are larger in view now, confirming I am closing on the target. The paving in front of me is still clear, so another forward step should bring me nearer to the deck where it stands.",
+        "The heavy wooden pillar now fills the middle of my view and sits directly on my current forward line, with the cart just beyond it on the left. I will turn right to shift my heading off the pillar so I can pass around it on the open stone side.",
+        "With my heading shifted, the pillar has moved to the left edge and clear stone ground now lies ahead of me. Walking forward should carry me past the pillar and alongside the deck where the cart rests.",
+        "I have cleared the pillar, and the wooden cart with its large spoked wheels now sits off to my left on the raised deck while my heading points past it. I will turn left to bring the cart back to the center of my view before advancing.",
+        "The cart is now centered ahead of me, its shafts, bed, and wheels fully in view on the wooden platform. A forward step should bring me close alongside it.",
+        "The cart's shaft and near wheel now dominate my view at close range, so I am nearly beside it. One more short step forward should place me right at its side.",
+        "The four-wheeled wooden cart's wheel and frame stand directly beside me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010708_y-003012_z001218_t0_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Walk to the wooden cart with large wheels.",
+    "Type": 0,
+    "Start_Pose": [
+        -10707.568,
+        -3011.517,
+        1218.223,
+        -0.017,
+        -82.677,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10707.568,
+            -3011.517,
+            1218.223,
+            -0.017,
+            -82.677,
+            -0.0
+        ],
+        [
+            -10691.526,
+            -3136.35,
+            1218.151,
+            -0.017,
+            -82.677,
+            0.0
+        ],
+        [
+            -10675.484,
+            -3261.182,
+            1218.151,
+            -0.017,
+            -82.677,
+            0.0
+        ],
+        [
+            -10659.441,
+            -3386.014,
+            1218.151,
+            -0.017,
+            -82.677,
+            0.0
+        ],
+        [
+            -10659.441,
+            -3386.014,
+            1218.151,
+            -0.017,
+            -107.677,
+            0.0
+        ],
+        [
+            -10697.659,
+            -3505.931,
+            1218.151,
+            -0.017,
+            -107.677,
+            0.0
+        ],
+        [
+            -10735.876,
+            -3625.847,
+            1218.151,
+            -0.017,
+            -107.677,
+            0.0
+        ],
+        [
+            -10774.093,
+            -3745.763,
+            1218.151,
+            -0.017,
+            -107.677,
+            0.0
+        ],
+        [
+            -10774.093,
+            -3745.763,
+            1218.151,
+            -0.017,
+            -107.677,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the wooden cart with its large spoked wheel ahead under the arched gate, sitting well to the left of my current heading and still far off across the open stone courtyard. The paving in front of me is clear, so I will move forward to start closing that distance before refining my heading.",
+        "The cart and its wheel now read slightly larger in my view, confirming I am gaining ground on it. The stone pavement ahead remains open, so I will continue straight to keep closing distance before turning toward it.",
+        "The cart is clearly nearer now, its wheel and shaft distinct on the left side of my view, but it is still several steps away. Since the courtyard directly ahead stays clear, I will advance again to shorten the remaining gap.",
+        "The cart now sits off to my left, near the edge of my view, so walking straight ahead would carry me past it rather than to it. I will turn left to bring the cart and its large wheels into the center of my heading before advancing further.",
+        "The cart is now centered in my view beneath the arch, so my heading points straight at it. The paving between us is open, so I will move forward to close the remaining distance.",
+        "The cart's large wheel and barrel load fill more of my view, confirming the previous step brought me closer while my heading stayed on it. I will step forward again since I am still a couple of paces short of standing at the cart.",
+        "The cart now dominates my view, with its spoked wheel and shafts close ahead, but there is still a short stretch of paving before I am right beside it. I will take one more forward step to arrive at the cart itself.",
+        "The wooden cart's large spoked wheel and frame fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010752_y-005997_z001218_t0_a/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Walk to the red wooden lamp post.",
+    "Type": 0,
+    "Start_Pose": [
+        -10751.713,
+        -5997.338,
+        1218.15,
+        -0.017,
+        -177.717,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10751.713,
+            -5997.338,
+            1218.15,
+            -0.017,
+            -177.717,
+            0.0
+        ],
+        [
+            -10877.472,
+            -6002.352,
+            1218.151,
+            -0.017,
+            -177.717,
+            0.0
+        ],
+        [
+            -10877.472,
+            -6002.352,
+            1218.151,
+            -0.017,
+            -152.717,
+            -0.0
+        ],
+        [
+            -10989.33,
+            -6060.044,
+            1218.151,
+            -0.017,
+            -152.717,
+            -0.0
+        ],
+        [
+            -11101.187,
+            -6117.736,
+            1218.151,
+            -0.017,
+            -152.717,
+            -0.0
+        ],
+        [
+            -11213.045,
+            -6175.428,
+            1218.151,
+            -0.017,
+            -152.717,
+            -0.0
+        ],
+        [
+            -11324.902,
+            -6233.12,
+            1218.151,
+            -0.017,
+            -152.717,
+            -0.0
+        ],
+        [
+            -11324.902,
+            -6233.12,
+            1218.151,
+            -0.017,
+            -152.717,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the red wooden lamp post standing in the open courtyard ahead and slightly to my right, past the dark timber hall on my left. The paving in front of me is clear, so I will move forward to close some of that distance before refining my heading.",
+        "After advancing, the red lamp post sits noticeably right of my view center, so walking straight would carry me past it on its left. I will turn right to bring the post closer to the middle of my heading before continuing.",
+        "The red lamp post now sits near the center of my view with clear paving between us. I will move forward along this heading to reduce the remaining distance.",
+        "The lamp post has grown larger and stays centered ahead, confirming my heading is good. I will continue forward since I am still several strides short of standing beside it.",
+        "The post's base and lantern now fill much of the center of my view, but there is still open ground before its footing. Another step forward should bring me right up to it.",
+        "The red post towers directly in front of me and its stone base is only a short step away, with a wooden platform edge to my right. I will take one more step forward to stand right at the lamp post.",
+        "The red wooden lamp post fills the view directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010752_y-005997_z001218_t0_b/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Approach the base of the small tree with thin trunk.",
+    "Type": 0,
+    "Start_Pose": [
+        -10751.713,
+        -5997.338,
+        1218.15,
+        -0.017,
+        -177.717,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10751.713,
+            -5997.338,
+            1218.15,
+            -0.017,
+            -177.717,
+            0.0
+        ],
+        [
+            -10877.472,
+            -6002.352,
+            1218.151,
+            -0.017,
+            -177.717,
+            0.0
+        ],
+        [
+            -10877.472,
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+            1218.151,
+            -0.017,
+            -152.717,
+            -0.0
+        ],
+        [
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+            -6060.044,
+            1218.151,
+            -0.017,
+            -152.717,
+            -0.0
+        ],
+        [
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+            1218.151,
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+            -152.717,
+            -0.0
+        ],
+        [
+            -11101.187,
+            -6117.736,
+            1218.151,
+            -0.017,
+            -177.717,
+            0.0
+        ],
+        [
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+            -6122.749,
+            1218.151,
+            -0.017,
+            -177.717,
+            0.0
+        ],
+        [
+            -11352.705,
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+            -0.017,
+            -177.717,
+            0.0
+        ],
+        [
+            -11478.464,
+            -6132.776,
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+            -0.017,
+            -177.717,
+            0.0
+        ],
+        [
+            -11478.464,
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+        ],
+        [
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+        [
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+        ],
+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+    ],
+    "Rationale": [
+        "From this corner of the paved courtyard I can see leafy trees with slender pale trunks standing on the far right side, past the red lantern post. The large dark hall crowds my left, so I will move forward first to get out of this narrow corner and into the open plaza where I can judge the trunks better.",
+        "The slim-trunked tree I want sits well off to my right, near the buildings on that side of the courtyard, while my heading still points along the dark hall. I will turn right to swing my heading toward that side of the plaza before advancing further.",
+        "Now the open courtyard with the red lantern post and the trees on its far side lies ahead of me. The ground between is clear paving, so I will move forward to close distance toward that side of the plaza.",
+        "The lantern post and the tree crowns behind it have grown noticeably larger, confirming I am closing on that part of the courtyard. The paving stays open, so I will step forward again to keep shortening the gap.",
+        "The tall red lantern pillar is now close and almost straight in front of me, blocking a clean straight run across the courtyard. I will turn left to shift my heading past it toward the wide open paving, keeping a clear route toward the trees on that far side.",
+        "With the lantern pillar now clear on my right, the broad courtyard opens ahead toward the far buildings and the covered gateway. I will move forward along this clear lane to keep crossing the plaza.",
+        "The lantern pillar has slipped to my right edge and only open paving lies between me and the far side of the courtyard, with green foliage showing above the roofs on the right. Nothing blocks my path, so I will advance again to keep closing on the treed side of the plaza.",
+        "The parked cart sits well to my left near the hall, and the paving straight ahead remains empty, while leafy branches of the courtyard trees hang into the right side of my sight. I will keep moving forward to reach that side where the thin trunks stand.",
+        "Straight ahead I only see the covered walkway and the parked cart, while the leafy canopy of the slender tree hangs at the far right edge of my view. I will turn right to bring that thin trunk and its base into the center of my field of view so I can head toward it directly.",
+        "The slim pale trunk is now visible ahead on the right side of the courtyard, rising from a low planted strip in front of the two story building. With open paving between me and it, I will move forward to start closing the gap.",
+        "After the last step the target tree sits noticeably right of my heading, so walking straight would carry me past it along the courtyard. A small turn to the right should place its trunk near the center of my view for a direct approach.",
+        "The thin trunk now stands roughly ahead of me, growing out of the low grassy bed near the middle of the courtyard. The pavement between us is unobstructed, so I will step forward to reduce the distance.",
+        "The trunk has thickened slightly in my view and the planted bed around its base is more clearly outlined, confirming my heading is good. I will keep advancing along this line toward the base.",
+        "The slender tree is centered ahead with its canopy filling the upper part of my view, and the low curb of its planter is still several steps away. Another forward step should bring me closer to the trunk base.",
+        "The bordered grass island holding the thin trunk is clearly ahead of me and the trunk remains near the middle of my view. I continue forward since the remaining gap is still too large to count as being at the base.",
+        "The trunk is noticeably wider now and the mossy planting bed spreads across the lower center of my view, so I am closing in but not yet standing at the base. I will take another step forward along the same heading.",
+        "The slender pale trunk rising from the grass bed sits just left of my view center, and its base is still a few paces off across the paving. My heading is already close to it, so I will step forward to keep closing the gap.",
+        "The thin trunk has grown noticeably wider in my view and the grass bed edge is nearer, so my forward motion is closing distance as intended. The path over the flat paving stays clear, so I will continue straight ahead.",
+        "The grass bed border is now close in front of me and the thin trunk stands just beyond it, slightly left of center. Nothing blocks the ground ahead, so another forward step should bring me nearly to the trunk's base.",
+        "The trunk now fills a tall band of my view with its mottled bark clearly visible, and its base meets the grass only a short distance ahead and to the left. I will advance once more to reduce that remaining gap.",
+        "At this close range the thin trunk has drifted to the left portion of my view rather than sitting straight ahead. I will turn left to bring it back to center so a final step goes directly toward its base.",
+        "The thin trunk is now centered in my view with its base plainly visible on the grass just in front of me. One more short advance should put me right at the base of the tree.",
+        "The thin trunk fills the center of my view with its base on the grass directly at my feet. The task is complete, so I stop here."
+    ]
+}