diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t5_a_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000043_y000393_z000211_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60e5cf5c53a490e9d182fe594ec227e7b0114526 --- /dev/null +++ b/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, + 515.959, + 211.224, + 0.0, + 78.72, + -0.0 + ], + [ + 5.865, + 639.387, + 209.305, + 0.0, + 78.72, + -0.0 + ], + [ + 30.484, + 762.814, + 211.811, + 0.0, + 78.72, + -0.0 + ], + [ + 55.102, + 886.242, + 204.855, + 0.0, + 78.72, + -0.0 + ], + [ + 79.721, + 1009.67, + 205.243, + 0.0, + 78.72, + -0.0 + ], + [ + 104.339, + 1133.098, + 202.901, + 0.0, + 78.72, + -0.0 + ], + [ + 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, + 1274.305, + 147.836, + 0.0, + 0.0, + 0.0 + ], + [ + 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, + 1274.305, + 147.836, + 0.0, + 0.0, + 0.0 + ], + [ + 136.343, + 1274.305, + 147.836, + 0.0, + 0.0, + 0.0 + ], + [ + 83.278, + 1136.676, + 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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t3_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7dcdcbda3742d904c1e099af3b7eef84a3fd3f9f --- /dev/null +++ b/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, + 643.738, + 210.055, + 0.0, + 79.68, + -0.0 + ], + [ + -93.351, + 643.738, + 210.055, + 0.0, + 104.68, + -0.0 + ], + [ + -125.246, + 765.488, + 211.711, + 0.0, + 104.68, + -0.0 + ], + [ + -157.141, + 887.239, + 209.741, + 0.0, + 104.68, + -0.0 + ], + [ + -189.037, + 1008.989, + 204.109, + 0.0, + 104.68, + -0.0 + ], + [ + -220.932, + 1130.74, + 214.377, + 0.0, + 104.68, + -0.0 + ], + [ + -252.382, + 1239.121, + 224.942, + 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, + 1060.354, + 210.539, + 0.0, + 54.68, + -0.0 + ], + [ + -205.55, + 1060.354, + 210.539, + 0.0, + 29.68, + -0.0 + ], + [ + -205.55, + 1060.354, + 210.539, + 0.0, + 4.68, + -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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t5_b_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-000093_y000644_z000210_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9906b0e1f59a03b1c91196789420fddea861c85d --- /dev/null +++ b/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, + 767.561, + 210.055, + 0.0, + 79.68, + -0.0 + ], + [ + -70.804, + 767.561, + 210.055, + 0.0, + 104.68, + -0.0 + ], + [ + -102.699, + 889.311, + 202.425, + 0.0, + 104.68, + -0.0 + ], + [ + -134.594, + 1011.062, + 206.557, + 0.0, + 104.68, + -0.0 + ], + [ + -134.594, + 1011.062, + 206.557, + 0.0, + 104.68, + -0.0 + ], + [ + -134.594, + 1011.062, + 206.557, + 0.0, + 79.68, + -0.0 + ], + [ + -134.594, + 1011.062, + 206.557, + 0.0, + 54.68, + -0.0 + ], + [ + -134.594, + 1011.062, + 206.557, + 0.0, + 29.68, + -0.0 + ], + [ + -23.343, + 1064.447, + 214.548, + 0.0, + 29.68, + -0.0 + ], + [ + 90.339, + 1102.371, + 203.001, + 0.0, + 29.68, + -0.0 + ], + [ + 199.687, + 1164.69, + 203.001, + 0.0, + 29.68, + -0.0 + ], + [ + 308.84, + 1215.779, + 225.896, + 0.0, + 29.68, + -0.0 + ], + [ + 416.056, + 1239.626, + 231.302, + 0.0, + 29.68, + -0.0 + ], + [ + 353.502, + 1203.976, + 218.672, + 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, + 1134.31, + 139.287, + 0.0, + 0.0, + 0.0 + ], + [ + -180.569, + 1134.31, + 139.287, + 0.0, + 0.0, + 0.0 + ], + [ + -180.569, + 1134.31, + 139.287, + 0.0, + 0.0, + 0.0 + ], + [ + -180.569, + 1134.31, + 139.287, + 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, + 1022.853, + 172.54, + -28.215, + 104.807, + 1.849 + ], + [ + -143.234, + 1037.182, + 172.721, + -14.175, + 71.872, + 6.959 + ], + [ + -34.523, + 1082.659, + 182.25, + -28.19, + 79.834, + 1.871 + ], + [ + 79.428, + 1120.728, + 172.487, + -28.209, + 79.816, + 1.855 + ], + [ + 188.872, + 1183.117, + 172.373, + -28.183, + 79.835, + 1.873 + ], + [ + 297.786, + 1234.057, + 189.043, + -28.2, + 79.821, + 1.862 + ], + [ + 404.617, + 1257.689, + 190.122, + -28.19, + 79.831, + 1.876 + ], + [ + 414.318, + 1238.637, + 178.672, + 0.0, + 29.68, + -0.0 + ], + [ + 414.318, + 1238.637, + 178.672, + 0.0, + 29.68, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t5_b_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-001378_y000917_z000194_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..090a8d147489a96ae917d325789133b3d812fc6a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-001904_y-002824_z000190_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-001904_y-002824_z000190_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d830c8e06fc302c275b61df1f32a66421cab1d58 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1ca107eb7afc09b933f8ec24e4b748d20aa706ec --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-002811_y-001068_z000212_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-002811_y-001068_z000212_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bda8b9a9668b6200aede3c3af0ce11d683a83b66 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003360_y-001119_z000212_t1_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003360_y-001119_z000212_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28e0035e487d89188f59243158a1c8a02168f864 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-003360_y-001119_z000212_t1_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-003360_y-001119_z000212_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7fabb35ce79365ff999597edf6abf464ef8e1e56 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..047f1b7714c892db6bd8969d8e3de984abfebb1c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..06967ec1dadf1c8d681551fe684c821827bcf2d7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_b_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e276fa498db242eb9a39a9c1ed84714f90389831 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a13bdb60cd160a39eeb123383dc870d8545742cc --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t5_a_p/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004477_y-000370_z000140_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..128fd8d7a868323a4a83b80ef4c9a4174e585c59 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..287b80185bbfcf2fd99986bf83f59e8bc206aa27 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c919afa997292ef1c6f97ab86315748418529276 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-004500_y-000526_z000140_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-004500_y-000526_z000140_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..50cc679fdab3ba98db45779c93ddbde91a75d35e --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x-005437_y-002057_z000201_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x-005437_y-002057_z000201_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e1982d9f4a2f2a8240a3867a50e852563502110a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00a5713b28f12ae77aeaea193f24ba2947bae9f0 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000428_y000286_z000204_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c55a3712d6c947ca306dccbb9374f93519c1075 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x000980_y-000574_z000205_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6bb5b36ec0d9b74b6de52c52e44c50395c630716 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001114_y-002488_z000198_t3_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001114_y-002488_z000198_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..263dfbf3dd20b7710c60fe204606ec8bf1077b2c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001150_y-002675_z000198_t2_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001150_y-002675_z000198_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..929ac5671c3d641ea1fae6b64519418b6c177ef7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001303_y-000993_z000198_t0_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001303_y-000993_z000198_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6e1745c44351756c958cfb2582b28403ba07dde4 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20585783d7adea3b4f6d1c56f0fa99af5108ac7c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_d/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bee8c42b79933c93bd8a7a677cbcd6cee1cdc777 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_a_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b4bdee190a7d2e0da7f60f0313285c772a52433 --- /dev/null +++ b/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, + 376.464, + 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, + 265.225, + 128.315, + 0.0, + 0.0, + 0.0 + ], + [ + 1860.403, + 265.225, + 128.315, + 0.0, + 0.0, + 0.0 + ], + [ + 1860.403, + 265.225, + 128.315, + 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, + 167.345, + 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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_b_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..713f1d49b8635e583712dc57b203af8aad7faf1a --- /dev/null +++ b/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": [ + [ + 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 + ], + [ + 1846.11, + 287.337, + 206.53, + 0.0, + 42.2, + -0.0 + ], + [ + 1846.11, + 287.337, + 206.53, + 0.0, + 42.2, + -0.0 + ], + [ + 1846.11, + 287.337, + 206.53, + 0.0, + 67.2, + -0.0 + ], + [ + 1846.11, + 287.337, + 206.53, + 0.0, + 92.2, + -0.0 + ], + [ + 1846.11, + 287.337, + 206.53, + 0.0, + 117.2, + -0.0 + ], + [ + 1846.11, + 287.337, + 206.53, + 0.0, + 142.2, + -0.0 + ], + [ + 1746.662, + 364.477, + 212.59, + 0.0, + 142.2, + -0.0 + ], + [ + 1647.214, + 441.617, + 198.094, + 0.0, + 142.2, + -0.0 + ], + [ + 1647.214, + 441.617, + 198.094, + 0.0, + 167.2, + -0.0 + ], + [ + 1524.483, + 469.501, + 210.937, + 0.0, + 167.2, + -0.0 + ], + [ + 1443.552, + 507.109, + 209.12, + 0.0, + 167.2, + -0.0 + ], + [ + 1513.763, + 491.157, + 206.637, + 0.0, + 167.2, + -0.0 + ], + [ + 1513.763, + 491.157, + 206.637, + 0.0, + 167.2, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1937.253, + 361.829, + 122.638, + 0.0, + 60.0, + -0.0 + ], + [ + 1937.253, + 361.829, + 122.638, + 0.0, + 60.0, + -0.0 + ], + [ + 1937.253, + 361.829, + 122.638, + 0.0, + 60.0, + -0.0 + ], + [ + 1937.253, + 361.829, + 122.638, + 0.0, + 60.0, + -0.0 + ], + [ + 1937.253, + 361.829, + 122.638, + 0.0, + 60.0, + -0.0 + ], + [ + 1937.253, + 361.829, + 122.638, + 0.0, + 60.0, + -0.0 + ], + [ + 1831.314, + 302.746, + 175.495, + -28.202, + 92.345, + 1.862 + ], + [ + 1825.302, + 295.415, + 175.767, + -28.189, + 117.357, + 1.872 + ], + [ + 1823.597, + 286.626, + 175.1, + -28.215, + 142.327, + 1.849 + ], + [ + 1820.003, + 280.067, + 175.082, + -14.092, + 159.544, + 6.87 + ], + [ + 1833.298, + 270.108, + 175.167, + -28.208, + -167.658, + 1.851 + ], + [ + 1734.122, + 347.171, + 172.733, + -28.189, + -167.642, + 1.869 + ], + [ + 1634.898, + 424.15, + 168.734, + -28.205, + -167.665, + 1.859 + ], + [ + 1642.517, + 420.192, + 167.681, + -28.202, + -142.658, + 1.86 + ], + [ + 1520.092, + 448.598, + 167.796, + -28.201, + -142.655, + 1.857 + ], + [ + 1439.737, + 486.08, + 176.461, + -28.201, + -142.657, + 1.865 + ], + [ + 1445.503, + 506.665, + 156.637, + 0.0, + 167.2, + -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, + 27.1, + 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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_c_pd/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001518_y-000082_z000207_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a7053511ff7f18faac1edba0ad4a89dfaa84d909 --- /dev/null +++ b/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": [ + [ + 1517.627, + -82.314, + 207.469, + 0, + 67.2, + 0 + ], + [ + 1517.627, + -82.314, + 207.307, + 0.0, + 92.2, + -0.0 + ], + [ + 1512.796, + 43.452, + 207.436, + 0.0, + 92.2, + -0.0 + ], + [ + 1507.964, + 169.218, + 212.579, + 0.0, + 92.2, + -0.0 + ], + [ + 1503.133, + 294.985, + 208.252, + 0.0, + 92.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + 92.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + 92.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + 67.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + 42.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + 17.2, + -0.0 + ], + [ + 1498.301, + 420.751, + 211.124, + 0.0, + -7.8, + 0.0 + ], + [ + 1622.996, + 403.67, + 198.935, + 0.0, + -7.8, + 0.0 + ], + [ + 1747.69, + 386.59, + 210.069, + 0.0, + -7.8, + 0.0 + ], + [ + 1872.385, + 369.509, + 212.674, + 0.0, + -7.8, + 0.0 + ], + [ + 1872.385, + 369.509, + 212.674, + 0.0, + -32.8, + 0.0 + ], + [ + 1975.629, + 303.457, + 207.85, + 0.0, + -32.8, + 0.0 + ], + [ + 1915.108, + 342.46, + 211.039, + 0.0, + -32.8, + 0.0 + ], + [ + 1915.108, + 342.46, + 211.039, + 0.0, + -32.8, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1500.666, + 572.349, + 114.803, + 0.0, + 0.0, + 0.0 + ], + [ + 1500.666, + 572.349, + 114.803, + 0.0, + 0.0, + 0.0 + ], + [ + 1500.666, + 572.349, + 114.803, + 0.0, + 0.0, + 0.0 + ], + [ + 1500.666, + 572.349, + 114.803, + 0.0, + 0.0, + 0.0 + ], + [ + 1500.666, + 572.349, + 114.803, + 0.0, + 0.0, + 0.0 + ], + [ + 1500.666, + 572.349, + 114.803, + 0.0, + 0.0, + 0.0 + ], + [ + 1476.986, + 419.321, + 181.231, + -28.202, + 142.345, + 1.862 + ], + [ + 1479.255, + 428.09, + 181.503, + -28.189, + 117.357, + 1.872 + ], + [ + 1484.866, + 435.801, + 180.836, + -28.215, + 92.328, + 1.849 + ], + [ + 1495.51, + 448.121, + 181.017, + -14.175, + 59.393, + 6.959 + ], + [ + 1500.759, + 441.6, + 180.906, + -28.208, + 42.343, + 1.851 + ], + [ + 1625.203, + 424.928, + 168.351, + -28.189, + 42.358, + 1.869 + ], + [ + 1749.623, + 407.875, + 169.509, + -28.205, + 42.335, + 1.859 + ], + [ + 1874.273, + 390.808, + 172.572, + -28.191, + 42.35, + 1.872 + ], + [ + 1883.458, + 387.056, + 171.48, + -28.201, + 17.345, + 1.857 + ], + [ + 1986.463, + 321.878, + 177.443, + -28.207, + 17.335, + 1.854 + ], + [ + 1973.948, + 304.54, + 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, + 27.5, + 21.0, + 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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001556_y-000366_z000204_t1_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001556_y-000366_z000204_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..159bb624263225389293faa5e8c7178a851d5557 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001585_y-001729_z000198_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001585_y-001729_z000198_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ece792d7cbe43e7bdfa2655d99a5cc19197c1891 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t3_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..380172746956a22442e2d126ed496db6059e350f --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t3_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001750_y-000485_z000205_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8192547a01897485d89ff60f8481ed24b3f42f9d --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x001948_y-001303_z000203_t2_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x001948_y-001303_z000203_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3feacc54171fb1fea51b9f87355243860c7b150d --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x002060_y-000778_z000214_t0_a/infos.json b/dataset/trajectory/AbandonedDistrict/task_x002060_y-000778_z000214_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0dde6726065e258a7b1ac954d43afc0e746e385e --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_b/infos.json b/dataset/trajectory/AbandonedDistrict/task_x002096_y-001303_z000213_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e128088a3b5c81fc182fcd174054c90d28f3f3da --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AbandonedDistrict/task_x002812_y-001632_z000201_t0_c/infos.json b/dataset/trajectory/AbandonedDistrict/task_x002812_y-001632_z000201_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c4a6751e419950bb5b442f7f222c78df59f7cde --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-003126_y-006703_z001248_t2_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-003126_y-006703_z001248_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85503d11cf97f14eb02579125a82d5b51d4aebad --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-006481_y000943_z001218_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-006481_y000943_z001218_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..32bf1eec45788270c759edafde37bb7d374c4511 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-006810_y-001394_z001628_t1_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-006810_y-001394_z001628_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..14fcf327aed2ac5e097483c1ff7c661217d62d77 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-007151_y-001704_z001634_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-007151_y-001704_z001634_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7d095c1fdee33f763d1bb61b2f16f385a0ea752f --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-007151_y-001704_z001634_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-007151_y-001704_z001634_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2d12815cd2020730f6fbe5469ed934bd1006778f --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-008552_y006239_z001228_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-008552_y006239_z001228_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..532ea8dca1b47f0b507e5aef09c80c8e272d81e6 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-008946_y-004534_z001218_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-008946_y-004534_z001218_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e694dc7b5d9f1fb87eee491e1633cdd65574191 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010626_y-005978_z001218_t1_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010626_y-005978_z001218_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d3a2fabdc0df1a61bbae80b58f94fd060673094 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010626_y-005978_z001218_t1_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010626_y-005978_z001218_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e87f711365e75dc7f6153eb1546523f396c70418 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010649_y003014_z001228_t1_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010649_y003014_z001228_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b9cf85991dbb33dfe9d01997719bae816c977773 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010708_y-003012_z001218_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010708_y-003012_z001218_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d7b8f55e0a36c7b6f8d3995a0be4c0035e3d5802 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010752_y-005997_z001218_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010752_y-005997_z001218_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..104a160d27a63e54d53d7e01f9b7deaff7680db7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010752_y-005997_z001218_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010752_y-005997_z001218_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..772c8a552a37870e3fe834b06a3dd8360b2839d1 --- /dev/null +++ b/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, + -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 + ], + [ + -11101.187, + -6117.736, + 1218.151, + -0.017, + -177.717, + 0.0 + ], + [ + -11226.946, + -6122.749, + 1218.151, + -0.017, + -177.717, + 0.0 + ], + [ + -11352.705, + -6127.763, + 1218.151, + -0.017, + -177.717, + 0.0 + ], + [ + -11478.464, + -6132.776, + 1218.151, + -0.017, + -177.717, + 0.0 + ], + [ + -11478.464, + -6132.776, + 1218.151, + -0.017, + -152.717, + -0.0 + ], + [ + -11590.322, + -6190.468, + 1218.151, + -0.017, + -152.717, + -0.0 + ], + [ + -11590.322, + -6190.468, + 1218.151, + -0.017, + -127.717, + -0.0 + ], + [ + -11667.318, + -6290.028, + 1218.151, + -0.017, + -127.717, + -0.0 + ], + [ + -11744.314, + -6389.588, + 1218.151, + -0.017, + -127.717, + -0.0 + ], + [ + -11821.309, + -6489.148, + 1218.151, + -0.017, + -127.717, + -0.0 + ], + [ + -11898.305, + -6588.708, + 1218.151, + -0.017, + -127.717, + -0.0 + ], + [ + -11975.301, + -6688.267, + 1218.151, + -0.017, + -127.717, + -0.0 + ], + [ + -12052.296, + -6787.827, + 1218.151, + -0.017, + -127.717, + -0.0 + ], + [ + -12129.292, + -6887.387, + 1218.151, + -0.017, + -127.717, + -0.0 + ], + [ + -12206.288, + -6986.947, + 1218.151, + -0.017, + -127.717, + -0.0 + ], + [ + -12283.284, + -7086.506, + 1222.148, + -0.017, + -127.717, + -0.0 + ], + [ + -12283.284, + -7086.506, + 1222.148, + -0.017, + -152.717, + -0.0 + ], + [ + -12395.141, + -7144.198, + 1231.579, + -0.017, + -152.717, + -0.0 + ], + [ + -12395.141, + -7144.198, + 1231.579, + -0.017, + -152.717, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010752_y-005997_z001218_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010752_y-005997_z001218_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..54b1f28ba45ed507c1da7b4abdf7f2ba35cfcb92 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-010752_y-005997_z001218_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the plate near the red wooden lamp post.", + "Type": 5, + "Start_Pose": [ + -10751.713, + -5997.338, + 1218.15, + -0.017, + -177.717, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -11280.995, + -6214.229, + 1168.151, + 90, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10751.713, + -5997.338, + 1218.15, + -0.017, + -177.717, + 0 + ], + [ + -10751.713, + -5997.338, + 1218.151, + -0.017, + -152.717, + -0.0 + ], + [ + -10863.57, + -6055.03, + 1218.151, + -0.017, + -152.717, + -0.0 + ], + [ + -10975.428, + -6112.722, + 1218.151, + -0.017, + -152.717, + -0.0 + ], + [ + -11087.286, + -6170.414, + 1218.151, + -0.017, + -152.717, + -0.0 + ], + [ + -11087.286, + -6170.414, + 1218.151, + 0.0, + -152.717, + 0.0 + ], + [ + -11087.286, + -6170.414, + 1218.151, + 0.0, + -152.717, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -11280.995, + -6214.229, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -11280.995, + -6214.229, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -11280.995, + -6214.229, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -11280.995, + -6214.229, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -11280.995, + -6214.229, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -11076.955, + -6189.113, + 1188.257, + -28.202, + -102.573, + 1.862 + ], + [ + -11076.955, + -6189.113, + 1188.257, + -28.202, + -102.573, + 1.862 + ] + ], + "PD_Dist_2D": [ + 572.0, + 572.0, + 446.8, + 322.0, + 198.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The white plate and the red wooden lamp post behind it sit off to my right side of the courtyard, so my current heading would carry me past them toward the long veranda ahead. I will turn right to bring the plate and its lamp post closer to the center of my view before walking. That should give me a straight approach line across the paving.", + "The plate now sits near the middle of my view with the red lamp post standing just beyond it, confirming my heading is right. The plate is still far off across the stone courtyard, well out of reach. I will walk forward over the clear paving to close that distance.", + "The plate has grown noticeably larger and stays centered under the red lamp post, so my line of travel remains correct. It is still several paces away and too distant to grasp. I will keep walking straight toward it.", + "The plate now fills a good part of the lower view and the red lamp post rises right behind it, so I am nearly there. A final step should place the plate within arm's reach rather than stopping short. I will advance once more before attempting the grasp.", + "The plate is now directly in front of me at close range, with the red wooden lamp post standing immediately beyond it. Nothing separates me from it, so this is the moment to reach out. I will attempt to pick up the plate.", + "The plate is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20556f9874876c140b27286925306919c8a795ad --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Walk to the base of the red banner pole, then approach the white ceramic jar.", + "Type": 3, + "Start_Pose": [ + -10796.312, + -3660.454, + 1218.151, + 0.0, + 168.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10796.312, + -3660.454, + 1218.151, + 0.0, + 168.0, + -0.0 + ], + [ + -10796.312, + -3660.454, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -10896.827, + -3584.71, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -10997.342, + -3508.966, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11097.858, + -3433.223, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11198.373, + -3357.479, + 1228.208, + 0.0, + 143.0, + -0.0 + ], + [ + -11298.889, + -3281.735, + 1228.208, + 0.0, + 143.0, + -0.0 + ], + [ + -11399.404, + -3205.991, + 1228.208, + 0.0, + 143.0, + -0.0 + ], + [ + -11499.92, + -3130.247, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11600.435, + -3054.503, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11600.435, + -3054.503, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11526.641, + -3110.111, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11526.641, + -3110.111, + 1218.151, + 0.0, + 168.0, + -0.0 + ], + [ + -11526.641, + -3110.111, + 1218.151, + 0.0, + -167.0, + 0.0 + ], + [ + -11526.641, + -3110.111, + 1218.151, + 0.0, + -142.0, + 0.0 + ], + [ + -11526.641, + -3110.111, + 1218.151, + 0.0, + -117.0, + 0.0 + ], + [ + -11526.641, + -3110.111, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11531.034, + -3235.893, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11535.426, + -3361.676, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11539.819, + -3487.458, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11539.819, + -3487.458, + 1218.151, + 0.0, + -117.0, + 0.0 + ], + [ + -11596.957, + -3599.599, + 1218.151, + 0.0, + -117.0, + 0.0 + ], + [ + -11596.957, + -3599.599, + 1218.151, + 0.0, + -117.0, + 0.0 + ] + ], + "Rationale": [ + "The tall red banner hangs from its pole off to my left, while my body faces the open paving and the shrine hall on the right. I will turn left so the pole sits ahead of me and I can walk straight toward its base.", + "The red banner and its dark pole now stand roughly ahead of me, past a stretch of open stone paving and the wooden deck at my right. Nothing blocks that line, so I will walk forward to close the distance to the pole's base.", + "The banner has grown larger and its pole shaft is clearly ahead, but the foot of the pole is still well beyond the plank deck in front of me. I will keep walking forward along the same heading to shorten that gap.", + "The pole rises just left of my center line and the red railing behind it is becoming distinct, so I am still short of standing at its foot. The paving ahead is unobstructed, so I will continue walking forward.", + "The banner now fills much of the upper view and the pole's dark shaft is noticeably nearer, yet its base is still several strides off across the flagstones. I will step forward again to keep closing on it.", + "The pole stands almost straight ahead with the cherry trees and railing sliding past on my left, confirming I am tracking it correctly. The ground between us is still clear, so I will advance once more.", + "The banner cloth now hangs high and close above me and the pole shaft reads as a thick dark column just ahead. I am nearly at its foot, so I will take another step forward to reach the base.", + "The pole is right in front of me with its banner cut off overhead, and I can see the shaft running down toward the paving stones. One more forward step should put me level with the base of the pole.", + "The tall banner pole now rises just ahead on my left, close enough that its dark shaft cuts across most of my view and the red cloth is above my head. Its foot is still slightly ahead of me on the open stone, so I will take one more step to stand level with it.", + "The dark banner pole stands immediately beside me, its foot planted on the paving at arm's length. I am at the base of the red banner pole. I mark reaching it, and now I set off for the white ceramic jar standing by the veranda across the courtyard.", + "Standing right against the pole, its shaft blocks much of my forward view and leaves me little room to swing around. I will step back along my heading to open space and distance from the pole before turning toward the courtyard where the white jar sits.", + "With the pole now clear ahead of me, my heading still faces the flowering trees and the railing, which is not where the ceramic jar stands. I will turn right to begin swinging my view across the open courtyard toward the buildings on that side.", + "The sweep has brought the small green-roofed pavilion and the broad paved court into view, but the veranda side where the jar sits lies further round. I will keep turning right to carry my heading past the pavilion.", + "The long timber hall with its stacked crates on a wooden deck now fills the right of my view, which is the side of the court I want to face. I will turn right again to bring that veranda frontage squarely ahead.", + "Round the corner of the timber hall I can now pick out the grey urn and, beside it, the pale jar with pink blossom markings against the veranda. I will turn right once more to bring that stretch of frontage into the middle of my view.", + "The white jar with pink blossoms sits ahead beside the grey urn, but the crate platform and deck edge lie across my current line toward it. One more turn right should put me on the open paved lane running along this building, giving a clear walk up to the jar.", + "The white ceramic jar with pink blossoms now sits ahead on the left, beside a larger grey pot against the wooden veranda. My heading is clear along the open stone courtyard, so I will walk forward to close the distance toward it.", + "The white jar has grown noticeably larger and clearer beside the grey pot, confirming my heading is carrying me toward it. Still several paces short, so I will keep walking forward across the flagstones.", + "The blossom-patterned jar is now close on my left, its floral markings sharply visible next to the wide grey pot. I am not yet alongside it, so another step forward should bring me within arm's reach of it.", + "The white jar has drifted to the lower left edge of my view while my heading still points down the open corridor toward the arch. I will turn left to bring the jar back in front of me before stepping closer.", + "The blossom-patterned white jar now sits squarely ahead of me on the flagstones, with clear ground between us. I will step forward to finish closing on it.", + "The white ceramic jar with pink blossoms stands directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..26f9ad196ab24851e964ce198dcec52434b2ffca --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_b/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Approach the base of the red pillar, then move to the white ceramic jar.", + "Type": 3, + "Start_Pose": [ + -10796.312, + -3660.454, + 1218.151, + 0.0, + 168.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10796.312, + -3660.454, + 1218.151, + 0.0, + 168.0, + -0.0 + ], + [ + -10796.312, + -3660.454, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -10896.827, + -3584.71, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -10997.342, + -3508.966, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11097.858, + -3433.223, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11198.373, + -3357.479, + 1228.208, + 0.0, + 143.0, + -0.0 + ], + [ + -11298.889, + -3281.735, + 1228.208, + 0.0, + 143.0, + -0.0 + ], + [ + -11399.404, + -3205.991, + 1228.208, + 0.0, + 143.0, + -0.0 + ], + [ + -11399.404, + -3205.991, + 1228.208, + 0.0, + 118.0, + -0.0 + ], + [ + -11458.492, + -3094.864, + 1218.151, + 0.0, + 118.0, + -0.0 + ], + [ + -11517.579, + -2983.737, + 1218.151, + 0.0, + 118.0, + -0.0 + ], + [ + -11576.666, + -2872.61, + 1218.151, + 0.0, + 118.0, + -0.0 + ], + [ + -11576.666, + -2872.61, + 1218.151, + 0.0, + 118.0, + -0.0 + ], + [ + -11533.287, + -2954.195, + 1218.151, + 0.0, + 118.0, + -0.0 + ], + [ + -11533.287, + -2954.195, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11533.287, + -2954.195, + 1218.151, + 0.0, + 168.0, + -0.0 + ], + [ + -11533.287, + -2954.195, + 1218.151, + 0.0, + -167.0, + 0.0 + ], + [ + -11533.287, + -2954.195, + 1218.151, + 0.0, + -142.0, + 0.0 + ], + [ + -11533.287, + -2954.195, + 1218.151, + 0.0, + -117.0, + 0.0 + ], + [ + -11533.287, + -2954.195, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11537.679, + -3079.977, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11542.072, + -3205.759, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11546.464, + -3331.542, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11550.857, + -3457.324, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11555.249, + -3583.106, + 1218.151, + 0.0, + -92.0, + 0.0 + ], + [ + -11555.249, + -3583.106, + 1218.151, + 0.0, + -117.0, + 0.0 + ], + [ + -11612.388, + -3695.248, + 1218.151, + 0.0, + -117.0, + 0.0 + ], + [ + -11612.388, + -3695.248, + 1218.151, + 0.0, + -117.0, + 0.0 + ], + [ + -11612.388, + -3695.248, + 1218.151, + 0.0, + -117.0, + 0.0 + ] + ], + "Rationale": [ + "The tall red pillars of the gate structure sit far to my left, while my body faces the wooden hall and the open paving straight ahead. Turning left should swing that red columned frontage toward the middle of my view so I can walk at it directly.", + "The red columns and their banner now sit ahead and slightly left, with clear stone paving and a low wooden deck between me and them. Nothing blocks the line, so I will walk forward to cut down the distance to the pillars.", + "The red columns and the railing beneath them have grown larger, so my heading is carrying me toward them. There is still a long stretch of paving before I reach the base of any pillar, so I will keep walking forward.", + "The red pillar and the banner pole beside it now fill much of the left half of my view, confirming I am closing on the columned structure. The paving ahead is still clear, so another step forward should bring me nearer its base.", + "The dark stone footing under the red column is now visible at the left, which is the part of the pillar I need to reach. I am still several paces short of it, so I keep walking forward.", + "The pillar's thick footing stands out clearly to my left front and the railing beyond it is close enough to read in detail. Continuing straight ahead should bring me level with that base rather than stopping short of it.", + "The red column and its heavy base are close on my left, but my path is still passing slightly to their side rather than arriving at them. One more forward step should bring me alongside the footing before I adjust my heading.", + "The red pillar and its broad footing now loom at the left edge of my view, partly cut off by my heading. Turning left should center that base in front of me so I can step in to it cleanly.", + "The tall red pillar with its wide stone base now sits close ahead and slightly left of center after my turn, with clear paving between me and it. Nothing blocks that lane, so I will walk forward to close the remaining gap toward its base.", + "The pillar's stone base has grown noticeably larger and now dominates the middle of my view, so my heading is carrying me straight onto it. I will step forward again to bring myself right up beside the base.", + "The stone base of the red pillar now fills the left half of my view and I can see its texture clearly, so only a short gap remains. One more step forward should place me right at the foot of the pillar.", + "The dark stone base of the red pillar is right against me, so close that its surface fills the whole left side of my view and hides the pillar above. I have arrived at the base of the red pillar. I mark reaching it before setting off across the courtyard toward the white ceramic jar.", + "Standing this close, the pillar base blocks most of my forward view and leaves me almost no room to swing around. Backing up a step should give me clearance from the pillar and railing before I turn toward the white ceramic jar.", + "With a little space now between me and the pillar, my view is still filled by the railing and blossom trees along this edge, and the white ceramic jar lies well behind that heading, back across the open courtyard. I will turn right to begin swinging my facing away from the railing.", + "The swing has begun to reveal open paving and rooflines on the right, but I am still mostly facing the railing and cherry trees. Another turn to the right should carry my facing further toward the open courtyard where the jar stands.", + "More of the open courtyard and the far pavilion roofs are now in view on my right, yet the white ceramic jar is not among them. I will keep turning right to bring the far side of the courtyard into the center of my view.", + "Having marked the red pillar behind me, I am now hunting for the white ceramic jar, but ahead I see only open paving, the small pavilion and the veranda of the long hall. Nothing pale and rounded stands in this arc, so I keep rotating right to sweep further around the courtyard.", + "At the far right edge of my view I can just catch a pale rounded vessel beside a grey urn at the corner of the veranda. It sits too close to the border of my sight to head for confidently, so I turn right again to bring it toward the centre.", + "The grey urn and the pale jar beside it are now nearer the middle of my view, but the projecting corner of the hall and the crates still cut across the ground between us. Another turn right should open the lane running along the veranda and give me a clear line toward the jar.", + "The white jar now stands plainly on my left, close to the veranda steps, and the paved lane ahead of me runs straight past it toward the arched bridge. My heading is finally clear of the building corner, so I walk forward to close the distance.", + "The white jar has grown larger on my left, yet it is still well short of arm's reach along the wall. The stone paving in front of me is clear, so I take another step forward toward it.", + "I can now see the white jar clearly beside the squat grey pot partway down the veranda on my left, and nothing stands between me and it. Since I am still several paces short of standing beside it, I keep walking straight forward.", + "The pink blossom pattern on the white jar is distinct to me now, so I am closing well, but the jar still sits ahead and to my left rather than beside me. I advance another step along the open paving.", + "The white jar now looms large in my left foreground, close enough that my heading is beginning to carry me past its side. One more forward step should bring me level with it before I adjust my facing.", + "The white ceramic jar with pink blossoms has slipped to the far left edge of my view as I advanced along the veranda, so my heading is now carrying me past it. I will turn left to bring the jar back in front of me before closing the last of the gap.", + "The white jar with pink blossom painting now sits squarely in the lower center of my view, a short distance ahead on the paving beside the wooden building. One more step forward should put me right beside it.", + "The jar has dropped to the very bottom left of my view, which means I am standing right over it and my level gaze is passing above it. I will look down to bring the jar fully into view and confirm I am beside it.", + "The white ceramic jar with pink blossoms sits directly at my feet, filling the near corner of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t5_a_pd/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27aa3e275d9ee0e4b2f7fd42398f6d60c15386a8 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t5_a_pd/infos.json @@ -0,0 +1,487 @@ +{ + "Instruction": "Grab the ceramic vase at the base of the red banner pole, then place it beside the ceramic jar.", + "Type": 5, + "Start_Pose": [ + -10796.312, + -3660.454, + 1218.151, + 0, + 168, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -11625.351, + -3135.448, + 1138.35, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10796.312, + -3660.454, + 1218.151, + 0, + 168, + 0 + ], + [ + -10919.42, + -3634.287, + 1218.151, + 0.0, + 168.0, + -0.0 + ], + [ + -11042.529, + -3608.119, + 1218.151, + 0.0, + 168.0, + -0.0 + ], + [ + -11165.638, + -3581.951, + 1228.225, + 0.0, + 168.0, + -0.0 + ], + [ + -11288.746, + -3555.784, + 1228.225, + 0.0, + 168.0, + -0.0 + ], + [ + -11288.746, + -3555.784, + 1228.225, + 0.0, + 143.0, + -0.0 + ], + [ + -11389.262, + -3480.04, + 1228.225, + 0.0, + 143.0, + -0.0 + ], + [ + -11489.777, + -3404.296, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11489.777, + -3404.296, + 1218.151, + 0.0, + 118.0, + -0.0 + ], + [ + -11548.864, + -3293.169, + 1218.151, + 0.0, + 118.0, + -0.0 + ], + [ + -11548.864, + -3293.169, + 1218.151, + 0.0, + 117.999, + -0.0 + ], + [ + -11548.864, + -3293.169, + 1218.151, + 0.0, + 142.999, + -0.0 + ], + [ + -11548.864, + -3293.169, + 1218.151, + 0.0, + 167.999, + -0.0 + ], + [ + -11548.864, + -3293.169, + 1218.151, + 0.0, + -167.001, + 0.0 + ], + [ + -11548.864, + -3293.169, + 1218.151, + 0.0, + -142.001, + 0.0 + ], + [ + -11548.864, + -3293.169, + 1218.151, + 0.0, + -117.001, + 0.0 + ], + [ + -11548.864, + -3293.169, + 1218.151, + 0.0, + -92.001, + 0.0 + ], + [ + -11553.258, + -3418.952, + 1218.151, + 0.0, + -92.001, + 0.0 + ], + [ + -11557.652, + -3544.734, + 1218.151, + 0.0, + -92.001, + 0.0 + ], + [ + -11557.652, + -3544.734, + 1218.151, + 0.0, + -117.001, + 0.0 + ], + [ + -11557.652, + -3544.734, + 1218.151, + 0.0, + -142.001, + 0.0 + ], + [ + -11620.657, + -3615.093, + 1218.151, + 0.0, + -142.001, + 0.0 + ], + [ + -11563.919, + -3570.766, + 1218.151, + 0.0, + -142.001, + 0.0 + ], + [ + -11563.919, + -3570.766, + 1218.151, + 0.0, + -142.001, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11625.351, + -3135.448, + 1138.35, + 0.0, + 0.0, + 0.0 + ], + [ + -11567.432, + -3303.733, + 1188.257, + -28.202, + 168.144, + 1.862 + ], + [ + -11561.8, + -3311.36, + 1188.53, + -28.189, + -166.844, + 1.872 + ], + [ + -11553.698, + -3315.169, + 1187.863, + -28.215, + -141.873, + 1.849 + ], + [ + -11548.221, + -3320.262, + 1187.916, + -14.092, + -124.657, + 6.87 + ], + [ + -11535.304, + -3309.816, + 1187.933, + -28.208, + -91.858, + 1.851 + ], + [ + -11528.57, + -3302.92, + 1188.6, + -28.198, + -66.854, + 1.867 + ], + [ + -11525.959, + -3294.136, + 1188.247, + -28.195, + -41.855, + 1.865 + ], + [ + -11531.884, + -3418.791, + 1188.658, + -28.195, + -41.851, + 1.87 + ], + [ + -11536.275, + -3544.443, + 1188.884, + -28.197, + -41.857, + 1.87 + ], + [ + -11539.069, + -3554.007, + 1187.734, + -28.209, + -66.864, + 1.853 + ], + [ + -11545.678, + -3559.879, + 1188.817, + -28.2, + -91.852, + 1.866 + ], + [ + -11607.204, + -3631.677, + 1187.81, + -28.209, + -91.865, + 1.854 + ], + [ + -11619.08, + -3613.861, + 1158.151, + 0.0, + -142.001, + 0.0 + ], + [ + -11619.08, + -3613.861, + 1158.151, + 0.0, + -142.001, + 0.0 + ] + ], + "PD_Dist_2D": [ + 981.3, + 864.4, + 750.4, + 640.9, + 538.5, + 538.5, + 417.7, + 301.1, + 301.1, + 175.3, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 20.8, + 19.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tall patterned ceramic vase stands far across the stone courtyard at the foot of the red banner pole on the left. Nothing blocks the open pavement ahead of me, so I will walk forward to close that long gap before worrying about fine alignment.", + "The vase at the banner pole has grown slightly larger but is still well beyond reach across the paving. The route straight ahead remains clear of the raised wooden deck and the jars along the hall, so I will keep walking forward.", + "The vase near the red banner pole is now clearly resolved on my left, though still several strides away. Continuing straight keeps shrinking the distance without cutting into the wooden platform or the jars beside the hall, so I will step forward again.", + "The banner pole and its vase have slid toward my left edge as I advance, but more forward distance is still needed before any reorientation would help. I will take another step ahead across the open flagstones.", + "My heading has carried the vase almost off the left margin of my view, so walking straight would pass it by. I will turn left to swing the banner pole and the vase back toward the center of my path.", + "The vase now sits comfortably inside my view beside the red banner pole rather than at the fringe. With the paving between us empty, I will walk forward to shorten the remaining approach.", + "The vase has grown noticeably and its floral pattern is distinct, yet it remains a few strides off and slightly left. I will continue walking forward to bring it within grasping range.", + "At this closer range the vase sits off to my left of center, so a straight step would carry me past its side. I will turn left to square my body onto it before the final approach.", + "The white ceramic vase now stands clearly ahead of me at the foot of the red banner pole, but it is still a couple of paces out of reach. I will walk forward to close that last gap so the vase falls within grasping range.", + "The patterned ceramic vase now fills the lower center of my view, close enough that nothing separates my hands from it. I will attempt to pick it up, which should place the vase in my hands for carrying.", + "The pick worked and the vase is now held in my hands rather than resting on the pavement. The ceramic jar sits back along the hall side of the courtyard, well behind my current heading, so I will turn right to begin swinging around toward it.", + "I am still holding the vase, and my view faces the cherry trees and the far tower, not the hall where the jar stands. One turn was not enough to reverse my heading, so I will keep rotating right toward the veranda side of the courtyard.", + "The wooden kiosk and its platform now sit on my right, while the jar area remains further around. I will continue turning right to keep sweeping my heading toward the hall side of the courtyard.", + "The kiosk now stands near the center of my view with the long veranda opening on the right, so I am not yet facing the jar. I will turn right again to bring the hall frontage, where the jar stands, into view.", + "The pale jar with pink blossoms and the gray pot are now visible off to my right along the hall frontage. I will turn right again so my heading points more directly at that pair rather than at the wooden kiosk.", + "The ceramic jar and its neighboring pot sit ahead of me, but the near edge of the hall platform crowds the line I would walk. I will turn right once more to face the open lane beside the veranda, which should give a clear approach toward the jar.", + "The vase is secure in my hands, so I only need to bring it to the destination jar. The flowered ceramic jar sits ahead on my left beside the grey pot, still several paces away along this covered walkway. I will step forward to close that gap.", + "The flowered jar has grown noticeably larger and now sits near the left edge of my view, so I am closing on it but not yet level with it. Another stride along the paving should put me beside the jar rather than short of it. I keep the vase in hand and step forward.", + "I have drawn level with the flowered jar, which now sits low on my left while my heading points down the passage under the arch. Continuing straight would carry me past the placement spot. I turn left to bring the jar toward the front of my view.", + "The jar has swung inward and now stands slightly left of center with the grey pot behind it. A little more rotation should center it so I can judge the free floor space beside it. I turn left again to finish squaring up.", + "The flowered jar now sits squarely ahead of me on the open stone with the grey pot to its left. I am still a step short of comfortable placing range for the vase I am carrying. I will move forward to stand right next to the jar.", + "I am standing right at the jar, whose lid and shoulder show close in the lower right of my view, and the stone beside it is clear. This is the spot the task asks for, so I release the vase here. It should come to rest on the paving next to the jar.", + "The vase now stands on the paving directly beside the flowered ceramic jar, and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t2_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..604e50982bccde8b7d379b61af5057cbdf2b2b27 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Head toward the base of the large curved wooden arch on the left.", + "Type": 2, + "Start_Pose": [ + -10832.95, + -5472.367, + 1218.151, + -0.017, + 90.123, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10832.95, + -5472.367, + 1218.151, + -0.017, + 90.123, + 0.0 + ], + [ + -10832.95, + -5472.367, + 1218.15, + -0.017, + 65.123, + -0.0 + ], + [ + -10780.005, + -5358.186, + 1218.15, + -0.017, + 65.123, + -0.0 + ], + [ + -10727.06, + -5244.005, + 1218.15, + -0.017, + 65.123, + -0.0 + ], + [ + -10674.114, + -5129.824, + 1220.258, + -0.017, + 65.123, + -0.0 + ], + [ + -10674.114, + -5129.824, + 1220.258, + -0.017, + 40.123, + -0.0 + ], + [ + -10579.722, + -5048.64, + 1228.056, + -0.017, + 40.123, + -0.0 + ], + [ + -10579.722, + -5048.64, + 1228.056, + -0.017, + 40.123, + -0.0 + ] + ], + "Rationale": [ + "Two arches frame this courtyard: the red torii straight ahead over the shrine steps, and a pale curved timber sweeping in from my left edge, which is the one I want. Its foot sits well outside my heading, so I turn left to bring that pale trunk and the boardwalk beneath it into view.", + "The pale curved timber now stands clearly ahead of me, its foot planted on the raised wooden deck along the shuttered building. The open flagstones between us are clear, so I walk forward to close that distance.", + "The curved timber has grown noticeably larger and its base on the plank deck is plainly in front of me. I am still several paces short of it, so I keep walking forward along the open paving.", + "The pale trunk now towers over the left half of my view and its squared foot on the boards is only a short walk away. Nothing blocks the paving, so I advance again to reach the deck at its base.", + "Closing in has pushed the pale trunk to the far left edge of my view, and my heading now points down the shuttered gallery instead of at its foot. I turn left to swing the base back in front of me before the last step.", + "The curved timber is squarely ahead again, its grain filling much of my view where it meets the plank deck. One more step forward should put me right at its base.", + "The pale curved timber fills my view at arm's length, its foot on the boards beside me. I am at its base, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bb80538b0cfd82bdb5bea8a63dc7a5db37ee375e --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the wooden bench beneath the left stall.", + "Type": 2, + "Start_Pose": [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -52.917, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -52.917, + 0.0 + ], + [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -77.917, + -0.0 + ], + [ + -10924.524, + -6386.8, + 1224.0, + -0.017, + -77.917, + -0.0 + ], + [ + -10898.178, + -6509.87, + 1228.211, + -0.017, + -77.917, + -0.0 + ], + [ + -10871.833, + -6632.941, + 1228.211, + -0.017, + -77.917, + -0.0 + ], + [ + -10845.487, + -6756.012, + 1218.151, + -0.017, + -77.917, + -0.0 + ], + [ + -10819.141, + -6879.082, + 1218.151, + -0.017, + -77.917, + -0.0 + ], + [ + -10793.019, + -6961.725, + 1218.151, + -0.017, + -77.917, + -0.0 + ], + [ + -10793.019, + -6961.725, + 1218.151, + -0.017, + -77.917, + -0.0 + ] + ], + "Rationale": [ + "The bench I want stands at the far left of my view, under the eave of the leftmost covered stand, with a red lantern post beside it. A small left turn should swing that bench toward the center of my heading before I start walking.", + "The bench with the latticed back now lies ahead and slightly left, with the red lantern post standing next to it. The boards and paving between us look clear, so I walk forward to close the distance.", + "The bench beside the lantern post is noticeably larger than before and nothing blocks the ground in front of me. I keep stepping straight ahead instead of adjusting my heading.", + "Another bench shows further left along the same frontage, but mine is the one standing right next to the red lantern post. The route stays open, so I advance again.", + "The bench beside the lantern post now fills much of my left view, its seat and latticed back clearly resolved. I take another step to cut the remaining gap.", + "The canopies of the stands have dropped out of my view as I closed in, but the bench itself is directly in front of me on the left, its seat edge near. A further step should bring me alongside it.", + "Only the end of the bench remains in my lower left, so I am nearly beside it at the building's front. One short step forward should place me right at it.", + "The bench's latticed back is right at my side under the stall's eave, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5cd0d296dc54d4d21e1296f4b390d57bf72b0a22 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Move to the first orange lantern hanging on the left.", + "Type": 2, + "Start_Pose": [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -52.917, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -52.917, + 0.0 + ], + [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -27.917, + -0.0 + ], + [ + -10839.658, + -6322.655, + 1218.151, + -0.017, + -27.917, + -0.0 + ], + [ + -10728.445, + -6381.581, + 1219.6, + -0.017, + -27.917, + -0.0 + ], + [ + -10617.233, + -6440.508, + 1228.015, + -0.017, + -27.917, + -0.0 + ], + [ + -10506.021, + -6499.434, + 1228.015, + -0.017, + -27.917, + -0.0 + ], + [ + -10506.021, + -6499.434, + 1228.015, + -0.017, + -52.917, + -0.0 + ], + [ + -10430.131, + -6599.839, + 1228.015, + -0.017, + -52.917, + -0.0 + ], + [ + -10354.242, + -6700.245, + 1228.015, + -0.017, + -52.917, + -0.0 + ], + [ + -10354.242, + -6700.245, + 1228.015, + -0.017, + -77.917, + -0.0 + ], + [ + -10340.953, + -6807.958, + 1218.151, + -0.017, + -77.917, + -0.0 + ], + [ + -10340.953, + -6807.958, + 1218.151, + -0.017, + -77.917, + -0.0 + ], + [ + -10340.953, + -6807.958, + 1218.151, + -0.017, + -77.917, + -0.0 + ] + ], + "Rationale": [ + "I need to face down the market lane before I can pick out the first orange lantern on its left-hand side, and right now the boardwalk and stall roofs run off to my right. I will turn right so the lane opens ahead and the left row of stalls with their hanging lanterns comes into view.", + "The lane now runs straight ahead with stalls on both sides, and on the left the nearest lit orange lantern hangs on the stall frame just beyond the tall red stone lamp post, so that one is my target. I will walk forward along the boardwalk to close the distance to it.", + "The lantern on the near left stall frame has grown larger and sits well left of center, so my heading down the lane is still carrying me toward it. I will keep walking forward since it remains several stall lengths away.", + "More lit lanterns have come into view further down the lane and along the right-hand stalls, but I am still holding to the one on the near left stall by the stone lamp post. I will step forward again to bring it alongside me.", + "My lantern now hangs large near the left edge of my view, so I am nearly level with its stall. One more step forward should put me beside it before I need to swing toward it.", + "Walking straight has carried the lantern out to my left side, so continuing down the lane would take me past it. I will turn left to put the stall and its hanging lantern in front of me.", + "The lantern I am after now hangs ahead of me on its stall frame with open paving between us. I will walk forward to close that gap and reach the stall.", + "From this close the stalls no longer read as a countable row, but my lantern is unmistakable, glowing large just left of center on the frame beside the laden bench. One more step forward should bring me right up under it.", + "The glowing lantern now fills the left half of my view, hanging just off my heading rather than in front of me. I will turn left so it sits centered ahead and my last steps carry me straight under it.", + "The lantern hangs squarely ahead on its post now, with only the laden bench and a short stretch of paving between me and it. I will step forward to come right up beneath it.", + "I am under the stall canopy now, and the lantern has risen out of my level view to the upper right corner as its post passes beside me. I will look up to bring it back into sight and confirm I am standing at it.", + "The orange lantern glows directly overhead, within arm's reach on its frame. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_d/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53bb8492dbde48ffddb97eab233d3c08eac96321 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Proceed to the second orange lantern on the left.", + "Type": 2, + "Start_Pose": [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -52.917, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -52.917, + 0.0 + ], + [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -27.917, + -0.0 + ], + [ + -10839.658, + -6322.655, + 1218.151, + -0.017, + -27.917, + -0.0 + ], + [ + -10728.445, + -6381.581, + 1219.6, + -0.017, + -27.917, + -0.0 + ], + [ + -10617.233, + -6440.508, + 1228.015, + -0.017, + -27.917, + -0.0 + ], + [ + -10506.021, + -6499.434, + 1228.015, + -0.017, + -27.917, + -0.0 + ], + [ + -10394.808, + -6558.36, + 1228.015, + -0.017, + -27.917, + -0.0 + ], + [ + -10283.596, + -6617.286, + 1228.015, + -0.017, + -27.917, + -0.0 + ], + [ + -10172.383, + -6676.212, + 1228.015, + -0.017, + -27.917, + -0.0 + ], + [ + -10061.171, + -6735.138, + 1222.773, + -0.017, + -27.917, + -0.0 + ], + [ + -9949.959, + -6794.065, + 1218.151, + -0.017, + -27.917, + -0.0 + ], + [ + -9840.462, + -6815.236, + 1218.151, + -0.017, + -27.917, + -0.0 + ], + [ + -9840.462, + -6815.236, + 1218.151, + -0.017, + -27.917, + -0.0 + ] + ], + "Rationale": [ + "A row of matching orange lanterns hangs from the stalls on my left, and since they all look alike I fix my target as the second one along that run, just past the nearest stall lantern. My body is angled across the boardwalk rather than along it, so I turn right to bring the plank lane and that left-hand row squarely in front of me.", + "The wooden walkway now runs straight away from me with the lantern-hung stalls ranged along its left side. The lantern I picked is still far down that run, so I step forward along the boards.", + "The stalls on the left have grown noticeably larger, which tells me my heading down the lane is good. My lantern is still well ahead, so I keep walking straight without changing direction.", + "The nearest stall lantern now burns brightly at my left with my target still further down the line. The path along the planks is unobstructed, so I continue forward.", + "I am drawing level with the first of the left-hand lanterns while the one I chose still glows further along the stall row. I press on down the walkway to close that remaining gap.", + "The leading lantern has swung out to the edge of my view as I pass it, leaving the lantern I am after glowing ahead on the left stall. I keep stepping forward toward it.", + "The lantern I passed is behind me now, so the row no longer reads as something I can count from here; the glowing lantern hanging over the bench ahead on my left is the one I committed to. It is still some distance off, so I walk on.", + "My lantern hangs clearly ahead and slightly left, above the stall bench, but I am not yet beside it. The flagstones between us are clear, so I keep advancing toward it.", + "The lantern now hangs large just left of center, its glow strong against the shaded stall frame, but the bench beneath it is still a few paces off. Nothing blocks the paving between us, so I take another step straight toward it.", + "Small dishes and cups on the stall bench are becoming distinct, which tells me I am nearly beside the lantern rather than merely facing it. It still sits slightly ahead of my shoulder line, so I continue walking.", + "The lantern now dominates the upper part of my view, though its base still sits a little forward and above me rather than at my side. One more short step should bring me right under it.", + "The lantern hangs directly overhead, its tassel and base close enough to touch. I have reached it, so the task is done and there is nothing further to close." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5119ad12d5c41590be506d321bff308d0766eb8a --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the ceramic vase beside the stone lantern on the left.", + "Type": 5, + "Start_Pose": [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -52.917, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -10742.411, + -7023.538, + 1148.151, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10950.87, + -6263.729, + 1218.151, + -0.017, + -52.917, + 0 + ], + [ + -10874.981, + -6364.135, + 1218.151, + -0.017, + -52.917, + -0.0 + ], + [ + -10874.981, + -6364.135, + 1218.151, + -0.017, + -77.917, + -0.0 + ], + [ + -10848.635, + -6487.205, + 1228.214, + -0.017, + -77.917, + -0.0 + ], + [ + -10822.289, + -6610.276, + 1228.214, + -0.017, + -77.917, + -0.0 + ], + [ + -10795.943, + -6733.347, + 1219.177, + -0.017, + -77.917, + -0.0 + ], + [ + -10769.597, + -6856.417, + 1218.151, + -0.017, + -77.917, + -0.0 + ], + [ + -10769.597, + -6856.417, + 1218.151, + 0.0, + -77.917, + 0.0 + ], + [ + -10769.597, + -6856.417, + 1218.151, + 0.0, + -77.917, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -10742.411, + -7023.538, + 1148.151, + 0.0, + 0.0, + 0.0 + ], + [ + -10742.411, + -7023.538, + 1148.151, + 0.0, + 0.0, + 0.0 + ], + [ + -10742.411, + -7023.538, + 1148.151, + 0.0, + 0.0, + 0.0 + ], + [ + -10742.411, + -7023.538, + 1148.151, + 0.0, + 0.0, + 0.0 + ], + [ + -10742.411, + -7023.538, + 1148.151, + 0.0, + 0.0, + 0.0 + ], + [ + -10742.411, + -7023.538, + 1148.151, + 0.0, + 0.0, + 0.0 + ], + [ + -10742.411, + -7023.538, + 1148.151, + 0.0, + 0.0, + 0.0 + ], + [ + -10748.844, + -6851.35, + 1188.257, + -28.202, + -27.772, + 1.862 + ], + [ + -10748.844, + -6851.35, + 1188.257, + -28.202, + -27.772, + 1.862 + ] + ], + "PD_Dist_2D": [ + 787.9, + 672.6, + 672.6, + 546.8, + 420.9, + 295.1, + 169.3, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the tall white ceramic vase standing on the stone paving beside the red stone lantern, to the left of the market stalls and well ahead of me. Nothing blocks the open plaza between us, so I will walk forward to close the large gap before refining my heading.", + "After advancing, the vase and its neighboring lantern sit noticeably left of my heading, while my view is dominated by the stall canopies straight ahead. I will turn left so the vase moves toward the center of my path and I can approach it directly.", + "The turn has brought the ceramic vase and the red lantern into the middle of my view, with the bench-lined building behind them. The path over the paving is clear, so I will step forward to shorten the remaining distance along this heading.", + "The vase now reads clearly as a tall ceramic piece standing just left of the stone lantern, but it is still several strides away and too far to reach. I will continue walking straight ahead since my heading already lines up with it.", + "The vase with its floral pattern is clearly resolved beside the lantern, yet it remains outside grasping range at this distance. I will advance again to bring it close enough for a reliable pick.", + "The vase fills a good portion of my view now, standing just left of the red lantern in front of the bench. It is still slightly too far to grasp comfortably, so I will take one more step forward to close in.", + "The ceramic vase is directly in front of me at arm's length, standing on the paving beside the red stone lantern with nothing between us. This is the grasping position the task calls for, so I will attempt to pick it up.", + "The ceramic vase is now held in my hands rather than resting on the paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011110_y-000886_z001218_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011110_y-000886_z001218_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..722d5637eb0d1554352f6d69d6790e55c418323f --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-011110_y-000886_z001218_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for a wooden street lamp built in a traditional style with a glowing light on top; after locating it, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -11110.065, + -885.75, + 1218.15, + 0.0, + -29.76, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11110.065, + -885.75, + 1218.15, + 0.0, + -29.76, + 0.0 + ], + [ + -11110.065, + -885.75, + 1218.15, + 0.0, + -4.76, + 0.0 + ], + [ + -11110.065, + -885.75, + 1218.15, + 0.0, + 20.24, + -0.0 + ], + [ + -11110.065, + -885.75, + 1218.15, + 0.0, + 45.24, + -0.0 + ], + [ + -11110.065, + -885.75, + 1218.15, + 0.0, + 70.24, + -0.0 + ], + [ + -11110.065, + -885.75, + 1218.15, + 0.0, + 95.24, + -0.0 + ], + [ + -11110.065, + -885.75, + 1218.15, + 0.0, + 120.24, + -0.0 + ], + [ + -11173.451, + -777.017, + 1218.15, + 0.0, + 120.24, + -0.0 + ], + [ + -11236.836, + -668.285, + 1218.15, + 0.0, + 120.24, + -0.0 + ], + [ + -11300.222, + -559.552, + 1218.15, + 0.0, + 120.24, + -0.0 + ], + [ + -11363.607, + -450.82, + 1228.125, + 0.0, + 120.24, + -0.0 + ], + [ + -11426.993, + -342.087, + 1218.15, + 0.0, + 120.24, + -0.0 + ], + [ + -11481.156, + -233.147, + 1217.672, + 0.0, + 120.24, + -0.0 + ], + [ + -11481.156, + -233.147, + 1217.672, + 0.0, + 145.24, + -0.0 + ], + [ + -11481.156, + -233.147, + 1217.672, + 0.0, + 170.24, + -0.0 + ], + [ + -11481.156, + -233.147, + 1217.672, + 0.0, + 170.24, + -0.0 + ] + ], + "Rationale": [ + "From here I see a blossoming tree, a red railing over water, and a dark wooden building on my right, but no wooden street lamp with a lit top anywhere in this view. The covered walkway on my right side looks like the more promising direction for traditional lamps, so I will begin a rightward scan. This first turn should bring that shadowed corridor into the center of my view.", + "The walkway along the wooden building is now ahead of me with paper-screen windows and a hanging red lantern, but still no standing lamp post with a glowing head. Hanging lanterns are a good semantic hint that the lit street lamp sits further along this covered row. I will keep rotating right in the same direction to bring more of that row into view.", + "A thick wooden pillar and the red balustrade dominate my view now, and the target lamp is still not identifiable. The strip of warm light and additional lanterns appearing at the right edge suggests the lit area continues in that direction. I will turn right again to clear the pillar and open up that brighter stretch.", + "The turn has revealed a brightly lit corridor with red lanterns strung under the eaves and a wet, glowing stone floor, but the lamp post itself is still not in view. The light source further right implies more of this lantern-lined passage remains hidden. I will continue the same rightward rotation to inspect it.", + "More of the lantern-lit passage is open ahead, with a wooden slatted screen and a broad paved walkway leading forward. I still cannot confirm a freestanding wooden lamp with a glowing top, so I will hold my rightward scan for one more step. The area just beyond the screen looks like the most likely place for such a lamp to stand.", + "Now a small wooden lantern post with a roofed head and a glowing panel appears beside the slatted screen on the right of my view, matching the traditional street lamp I am looking for. It sits slightly right of my heading, so one more turn in the same direction should center it. I will turn right to line up with it before moving.", + "The wooden lamp with its glowing roofed head is now clearly in front of me, standing beside the slatted screen at the edge of the veranda. The paved walkway between us is open and unobstructed. I will step forward along it to close the distance to the lamp.", + "That step brought me noticeably closer, since the lamp post and its glowing head now appear larger and more detailed against the red railing. There is still a good stretch of open paving before I reach it. I will keep walking forward on this heading to continue closing in.", + "The wooden lamp post with its glowing lantern head stands clearly ahead on the right side of the walkway, matching the traditional-style street lamp I am looking for. The paved corridor between the slatted screen and the red railing is still open, so I will step forward again to close the remaining distance to it.", + "The lamp is noticeably larger now, its wooden post and glowing shade filling more of my view just right of center. The ground in front of me remains unobstructed, so I will keep walking to bring myself close to the lamp.", + "The lantern's lit panels and carved wooden cap are now clearly detailed at close range, confirming this is the traditional wooden street lamp. I am still a few steps short of standing beside it, so I will advance once more.", + "The lamp post now towers immediately to my right with its glowing head near the top of my view, showing I am nearly alongside it. A short final step should place me right at the base of the lamp.", + "I have reached the lamp, but at this range the wooden screen fills most of my forward view and the post has slipped out of comfortable sight. Turning right should swing my heading back toward the lamp and the veranda beside it.", + "The turn has opened up the red railing and the building front on my right, so I am rotating in the correct direction. One more right turn should settle my heading squarely onto the lamp's position beside the veranda.", + "I am standing right at the base of the traditional wooden lamp beside the veranda railing. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t5_a_pd/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4bf9899fbb40aca9ac204243d8021a8b96996ba0 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Pick up the metal bucket at the barrel beside the bench, then set it down near the rightmost vase.", + "Type": 5, + "Start_Pose": [ + -11416.465, + 3769.534, + 1218.15, + 0, + 138.24, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -12054.422, + 4024.179, + 1133.151, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11416.465, + 3769.534, + 1218.15, + 0, + 138.24, + 0 + ], + [ + -11416.465, + 3769.534, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11536.977, + 3805.827, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11657.49, + 3842.12, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11778.003, + 3878.413, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11898.515, + 3914.706, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11898.515, + 3914.706, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11898.515, + 3914.706, + 1218.151, + 0.0, + 138.24, + -0.0 + ], + [ + -11898.515, + 3914.706, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -11898.515, + 3914.706, + 1218.151, + 0.0, + 88.24, + -0.0 + ], + [ + -11898.515, + 3914.706, + 1218.151, + 0.0, + 63.24, + -0.0 + ], + [ + -11841.847, + 4027.086, + 1218.151, + 0.0, + 63.24, + -0.0 + ], + [ + -11785.179, + 4139.466, + 1218.151, + 0.0, + 63.24, + -0.0 + ], + [ + -11785.179, + 4139.466, + 1218.151, + 0.0, + 88.24, + -0.0 + ], + [ + -11781.314, + 4261.95, + 1237.471, + 0.0, + 88.24, + -0.0 + ], + [ + -11781.314, + 4261.95, + 1237.471, + 0.0, + 113.24, + -0.0 + ], + [ + -11830.976, + 4377.596, + 1238.117, + 0.0, + 113.24, + -0.0 + ], + [ + -11802.566, + 4311.439, + 1238.117, + 0.0, + 113.24, + -0.0 + ], + [ + -11802.566, + 4311.439, + 1238.117, + 0.0, + 113.24, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -12054.422, + 4024.179, + 1133.151, + 0.0, + 0.0, + 0.0 + ], + [ + -12054.422, + 4024.179, + 1133.151, + 0.0, + 0.0, + 0.0 + ], + [ + -12054.422, + 4024.179, + 1133.151, + 0.0, + 0.0, + 0.0 + ], + [ + -12054.422, + 4024.179, + 1133.151, + 0.0, + 0.0, + 0.0 + ], + [ + -12054.422, + 4024.179, + 1133.151, + 0.0, + 0.0, + 0.0 + ], + [ + -12054.422, + 4024.179, + 1133.151, + 0.0, + 0.0, + 0.0 + ], + [ + -11904.089, + 3894.084, + 1188.257, + -28.202, + -146.615, + 1.862 + ], + [ + -11911.644, + 3899.078, + 1188.53, + -28.189, + -171.603, + 1.872 + ], + [ + -11917.114, + 3906.89, + 1187.863, + -28.215, + 163.368, + 1.849 + ], + [ + -11925.307, + 3920.959, + 1188.044, + -14.175, + 130.432, + 6.959 + ], + [ + -11917.434, + 3923.805, + 1187.933, + -28.208, + 113.383, + 1.851 + ], + [ + -11861.234, + 4036.08, + 1188.354, + -28.189, + 113.398, + 1.869 + ], + [ + -11804.681, + 4148.209, + 1188.736, + -28.205, + 113.375, + 1.859 + ], + [ + -11807.106, + 4139.973, + 1187.683, + -28.202, + 138.382, + 1.86 + ], + [ + -11802.671, + 4262.256, + 1187.798, + -28.201, + 138.385, + 1.857 + ], + [ + -11801.646, + 4252.447, + 1188.749, + -28.211, + 163.378, + 1.853 + ], + [ + -11850.352, + 4368.594, + 1208.392, + -28.199, + 163.385, + 1.863 + ], + [ + -11830.187, + 4375.759, + 1198.117, + 0.0, + 113.24, + -0.0 + ], + [ + -11830.187, + 4375.759, + 1198.117, + 0.0, + 113.24, + -0.0 + ] + ], + "PD_Dist_2D": [ + 686.9, + 686.9, + 561.6, + 436.7, + 312.5, + 190.5, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.9, + 21.4, + 22.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket stands beside the barrel and benches far down the courtyard, offset to my right of my current heading. I will turn right so the open paved lane toward that bucket lies straight ahead before I start walking.", + "The corridor between the shopfronts now runs straight ahead and the bucket sits far along the left side near the crates and benches. Nothing blocks the paving in front of me, so I will walk forward to close that long gap.", + "The grey metal bucket is clearly visible now near the barrel and crates on the left, but it is still several strides away. The paving between us is clear, so I will keep walking forward toward it.", + "The bucket has grown noticeably larger ahead and slightly left of my heading, sitting right at the foot of the barrel. I am still too far to reach it, so I will advance another step.", + "The bucket now fills the lower left of my view beside the barrels, close but not yet directly in front of my hands. One more step forward should bring it within reach for a grasp.", + "The metal bucket is right at my feet, its rim wide in the lower part of my view beside the barrels. This is as close as I need to be, so I will attempt to pick it up now.", + "The grasp worked and the bucket is now held rather than resting on the pavement. The porcelain vases stand back along the veranda well off my current heading, so I will turn left to begin swinging around toward them.", + "Carrying the bucket, my view still faces the barrels and benches along this shopfront, with no vase in sight. I will turn left again to continue rotating toward the side of the courtyard where the vases stand.", + "The metal bucket is in my hands, so the pickup at the barrels is done and I now need the vases. From here I still face the shuttered wall and barrels, with only a blue vase edging into view on the far left. I will keep turning left to swing my heading toward that porch line.", + "Carrying the bucket, I can now see the open courtyard and a blue vase standing on the raised wooden walkway ahead to my right. The building corner still cuts across much of my path, so my heading is not yet clear for walking. One more left turn should open the courtyard lane in front of me.", + "I am now facing down the open courtyard with the porch and its blue vase off to my right, and the paving ahead is clear. With the bucket in hand I need to close the remaining distance toward that vase row. I will step forward along this lane.", + "The blue vase on the wooden platform is noticeably larger and closer on my right, so my previous step was effective. I am still short of the porch edge where I could set the bucket down. I will walk forward again to draw level with the vases.", + "Two lidded blue vases now sit on the raised wooden walkway close to my right, while my body still points down the courtyard. To place the bucket beside them I must face that porch instead of walking past it. I will turn right to bring the vase row in front of me.", + "The vase now stands ahead and slightly right along the wooden walkway, with clear boards between me and it. I am still too far back for a controlled placement beside it. I will step forward to shorten that gap.", + "Three lidded vases are lined up along the wall just ahead of me, and the last one sits deepest against the corner. My heading still runs past the row rather than into the spot beside that end vase. I will turn right to square up with it.", + "Facing the wall corner now, the nearest vases of the row lie just to my left with the end vase closest to me. A short step should put me right beside it so the bucket can be released next to the vase rather than out on open boards. I will move forward.", + "The bucket is still in my hands and the row of blue and white vases now sits immediately beside me on the veranda boards, with the nearest one right at my left. This is the spot the task asks for, close to the end vase of that row, so I will release the bucket here and expect it to settle on the deck beside them.", + "The metal bucket now rests on the deck beside the vase row, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012423_y-006811_z001218_t1_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012423_y-006811_z001218_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..afb68ff73ac9d7a21a15786ad5f86aa01bf30788 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-012423_y-006811_z001218_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search for the wooden barrel sitting near the wheeled cart, then make your way over to it.", + "Type": 1, + "Start_Pose": [ + -12423.411, + -6811.051, + 1218.15, + 0.0, + -149.76, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12423.411, + -6811.051, + 1218.15, + 0.0, + -149.76, + 0.0 + ], + [ + -12423.411, + -6811.051, + 1218.151, + 0.0, + -124.76, + 0.0 + ], + [ + -12423.411, + -6811.051, + 1218.151, + 0.0, + -99.76, + 0.0 + ], + [ + -12423.411, + -6811.051, + 1218.151, + 0.0, + -74.76, + 0.0 + ], + [ + -12423.411, + -6811.051, + 1218.151, + 0.0, + -49.76, + 0.0 + ], + [ + -12423.411, + -6811.051, + 1218.151, + 0.0, + -24.76, + 0.0 + ], + [ + -12309.122, + -6863.763, + 1218.151, + 0.0, + -24.76, + 0.0 + ], + [ + -12194.834, + -6916.475, + 1218.151, + 0.0, + -24.76, + 0.0 + ], + [ + -12080.545, + -6969.187, + 1218.151, + 0.0, + -24.76, + 0.0 + ], + [ + -12080.545, + -6969.187, + 1218.151, + 0.0, + 0.24, + -0.0 + ], + [ + -11954.687, + -6968.66, + 1218.151, + 0.0, + 0.24, + -0.0 + ], + [ + -11828.829, + -6968.132, + 1218.151, + 0.0, + 0.24, + -0.0 + ], + [ + -11702.971, + -6967.605, + 1218.151, + 0.0, + 0.24, + -0.0 + ], + [ + -11577.113, + -6967.078, + 1218.151, + 0.0, + 0.24, + -0.0 + ], + [ + -11577.113, + -6967.078, + 1218.151, + 0.0, + 0.24, + -0.0 + ] + ], + "Rationale": [ + "From this courtyard I only see a long wooden building with paper screens and an empty stone plaza, with no barrel or cart anywhere in view. I will turn right to begin a steady scan of the surrounding yard for the wheeled cart that should mark the barrel's location.", + "The new heading shows a large tree on a grass island and more screen doors, but still no cart or barrel. I will keep rotating right in the same direction so the scan stays consistent and covers the courtyard edges I have not seen.", + "Facing across the lawn I see the tree trunk and buildings on both sides, but nothing resembling a wooden barrel or a wheeled cart. I will continue turning right to bring the still unseen side of the courtyard into view.", + "This heading opens onto a wider paved area with a tiled roof structure to the right, yet the target objects are still not visible. I will hold the same rightward rotation to sweep that brighter open section of the yard.", + "Along the base of the tall pillared building I can now make out a two wheeled cart and a small wooden barrel beside it, off to my right. One more turn in the same direction should place that cart and barrel closer to the center of my view for a direct approach.", + "The wheeled cart and the wooden barrel beside it now sit ahead of me at the foot of the large pillared hall, with clear open paving in between. I will walk forward to close the distance toward that barrel.", + "The cart and the barrel beside it are noticeably larger and still roughly ahead of me, so my heading remains good. I will keep stepping forward across the open stone to reduce the remaining gap.", + "The wooden barrel next to the cart is clearly identifiable now, sitting just right of center with the dark pot beside it. I will continue walking forward since the path is still clear and the barrel is not yet within close reach.", + "The wooden barrel beside the two wheeled cart is now clearly in view, but it sits right of my heading with the cart and building corner filling the center of my path. I will turn right to place the barrel closer to the middle of my view so my forward walk should track straight toward it.", + "The barrel and the neighboring dark pot now sit ahead of me with open paving between us, and the cart has shifted to my left side. I will step forward along this clear stretch to close the remaining distance to the barrel.", + "The barrel has grown noticeably larger and the cart wheel is passing along my left, confirming I am closing in on the target. I will keep walking forward since the paving in front of the barrel remains unobstructed.", + "The barrel is close now, standing just ahead beside the pot with its slats and hoops clearly resolved. I will take another step forward to bring myself right up next to it.", + "The barrel now fills a large part of my lower view, so only a short gap remains before I am beside it. I will advance one more step to finish arriving at the barrel next to the cart.", + "The wooden barrel is directly at my feet, filling the near foreground beside the building. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012683_y005050_z001246_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012683_y005050_z001246_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4bb0963f2f43f29163d63925dcfe0d5feb8023c8 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-012683_y005050_z001246_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the wooden cart with large wheels.", + "Type": 0, + "Start_Pose": [ + -12683.434, + 5050.017, + 1245.624, + 0.0, + 78.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12683.434, + 5050.017, + 1245.624, + 0.0, + 78.72, + -0.0 + ], + [ + -12658.815, + 5173.445, + 1238.294, + 0.0, + 78.72, + -0.0 + ], + [ + -12634.197, + 5296.873, + 1218.15, + 0.0, + 78.72, + -0.0 + ], + [ + -12634.197, + 5296.873, + 1218.15, + 0.0, + 103.72, + -0.0 + ], + [ + -12664.047, + 5419.14, + 1218.15, + 0.0, + 103.72, + -0.0 + ], + [ + -12693.898, + 5541.408, + 1218.15, + 0.0, + 103.72, + -0.0 + ], + [ + -12723.749, + 5663.676, + 1218.15, + 0.0, + 103.72, + -0.0 + ], + [ + -12723.749, + 5663.676, + 1218.15, + 0.0, + 103.72, + -0.0 + ] + ], + "Rationale": [ + "I can see the wooden cart with its large spoked wheel standing against the stone wall on the right side of the courtyard, well ahead of me. The paved ground between us is open, so I will move forward to begin closing that distance.", + "The cart now appears larger and its wheel and shaft are clearer, confirming I am heading roughly toward it. Nothing blocks the paving in front of me, so another forward step should bring me nearer.", + "The cart sits off to my right while my heading points at the lantern post and the tree beyond it, so I am not aimed at the target. I will turn right to bring the cart toward the center of my view before continuing.", + "The cart is now centered in front of me with its wheel and long shafts clearly framed. With a clean stretch of paving between us, I will move forward to close the remaining gap.", + "The cart fills much more of my view now, with its shaft angled down toward the ground near me, so I am clearly on the right line. I will keep moving forward since I am not yet close enough to count as standing at it.", + "The cart's side panel and large wheel now dominate my view, but a short stretch of paving still separates me from it. One more forward step should place me right at the cart.", + "The cart's planked side and large wheel fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012683_y005050_z001246_t0_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012683_y005050_z001246_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2a5de3af21e88a3a6161b322d1c3d48feb3e4226 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-012683_y005050_z001246_t0_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the freestanding red wooden lantern post beside the red-and-white parasols.", + "Type": 0, + "Start_Pose": [ + -12683.434, + 5050.017, + 1245.624, + 0.0, + 78.72, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12683.434, + 5050.017, + 1245.624, + 0.0, + 78.72, + -0.0 + ], + [ + -12658.815, + 5173.445, + 1238.294, + 0.0, + 78.72, + -0.0 + ], + [ + -12658.815, + 5173.445, + 1238.294, + 0.0, + 53.72, + -0.0 + ], + [ + -12584.34, + 5274.904, + 1228.532, + 0.0, + 53.72, + -0.0 + ], + [ + -12509.866, + 5376.364, + 1218.15, + 0.0, + 53.72, + -0.0 + ], + [ + -12435.391, + 5477.823, + 1218.15, + 0.0, + 53.72, + -0.0 + ], + [ + -12435.391, + 5477.823, + 1218.15, + 0.0, + 78.72, + -0.0 + ], + [ + -12435.391, + 5477.823, + 1218.15, + 0.0, + 78.72, + -0.0 + ] + ], + "Rationale": [ + "I can see the freestanding red wooden lantern post standing on the plank platform ahead, flanked by the red-and-white parasols behind it. It is still far across the open paved square, so I will move forward along my current heading to begin closing that distance.", + "The lantern post now sits noticeably left of my view center, with the empty plaza and cart filling the right side. I will turn left to bring the post closer to the middle of my heading so further forward motion runs straight at it.", + "The lantern post with its glowing lantern is now near the center of my view, and the path of stone paving in front of me looks clear. I will move forward to keep closing the remaining distance to the post.", + "The post and its lantern head have grown larger and its red base on the decking is clearly visible, but I am still several paces short of standing beside it. Another forward step should bring me close to the platform edge where the post stands.", + "The lantern post now towers in the foreground with its lit glow spilling onto the stones just in front of me, and the parasols are close behind it. One more forward step should place me right at the post rather than a stride away.", + "I am now standing right at the post, but its red column has slid to the right edge of my view while the barrels dominate the center. I will turn right to face the post squarely with the red-and-white parasols beside it.", + "The red wooden lantern post stands directly before me at arm's length with the red-and-white parasols beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012937_y005225_z001238_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012937_y005225_z001238_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88824cc59117a61ac9217d8f6f05e4e681254c73 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-012937_y005225_z001238_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Search inside this traditional wooden building for the golden lion statue resting on the tatami floor; once you spot it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + -12937.146, + 5224.998, + 1238.251, + 0, + -97.64, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12937.146, + 5224.998, + 1238.251, + 0, + -97.64, + 0 + ], + [ + -12953.879, + 5100.256, + 1238.251, + 0.0, + -97.64, + 0.0 + ], + [ + -12953.879, + 5100.256, + 1238.251, + 0.0, + -122.64, + 0.0 + ], + [ + -13016.815, + 4993.044, + 1245.624, + 0.0, + -122.64, + 0.0 + ], + [ + -13016.815, + 4993.044, + 1245.624, + 0.0, + -147.64, + 0.0 + ], + [ + -13016.815, + 4993.044, + 1245.624, + 0.0, + -122.64, + 0.0 + ], + [ + -13016.815, + 4993.044, + 1245.624, + 0.0, + -97.64, + 0.0 + ], + [ + -13016.815, + 4993.044, + 1245.624, + 0.0, + -72.64, + 0.0 + ], + [ + -13016.815, + 4993.044, + 1245.624, + 0.0, + -47.64, + 0.0 + ], + [ + -13016.815, + 4993.044, + 1245.624, + 0.0, + -22.64, + 0.0 + ], + [ + -12900.654, + 4944.595, + 1245.624, + 0.0, + -22.64, + 0.0 + ], + [ + -12784.494, + 4896.147, + 1245.624, + 0.0, + -22.64, + 0.0 + ], + [ + -12668.333, + 4847.699, + 1245.624, + 0.0, + -22.64, + 0.0 + ], + [ + -12552.173, + 4799.251, + 1245.624, + 0.0, + -22.64, + 0.0 + ], + [ + -12552.173, + 4799.251, + 1245.624, + 0.0, + 2.36, + -0.0 + ], + [ + -12426.42, + 4804.434, + 1245.624, + 0.0, + 2.36, + -0.0 + ], + [ + -12300.668, + 4809.616, + 1245.624, + 0.0, + 2.36, + -0.0 + ], + [ + -12174.916, + 4814.799, + 1245.624, + 0.0, + 2.36, + -0.0 + ], + [ + -12174.916, + 4814.799, + 1245.624, + 0.0, + -22.64, + 0.0 + ], + [ + -12174.916, + 4814.799, + 1245.624, + 0.0, + -22.64, + 0.0 + ] + ], + "Rationale": [ + "I am standing in a narrow doorway whose wooden posts and paper panels block most of the tatami hall beyond, so I can see almost nothing of the room's sides. No golden lion statue is within this narrow opening, so I will walk forward through the threshold to enter the hall and open up a much wider view for searching.", + "Now inside the hall, I see a broad tatami floor bounded by shoji screens, with a low table and dark furnishings toward the left edge of my view and an open passage on the right. There is no golden lion statue anywhere in this forward span, so I will turn left toward that furnished corner to check the part of the room still cut off from me.", + "Turning has brought the left side of the hall into view, showing a hanging lantern, a wooden rack and a low table against the far shoji wall, but a thick pillar close on my left still hides part of that corner. The lion statue is not among those objects yet, so I will walk forward to close distance and clear the pillar for a better look at that furnished area.", + "From closer in I can see the whole far wall with its lantern, weapon rack and low table, and none of those objects is the golden lion. A dark cabinet-like shape sits at the extreme left edge of my view, so I will turn further left to sweep the remaining unseen corner of this room.", + "The leftward sweep only reveals a tall wooden cabinet and more shoji panels, with no golden lion statue in this corner, so continuing this way looks unproductive. I will turn back to the right to reverse the scan and work toward the unexamined side of the hall instead.", + "The wall of paper screens and the low racks ahead show no golden lion, so this corner of the hall is not where it rests. Since the previous left-hand sweep only brought me back over ground I had already taken in, I will keep rotating right in one consistent direction to sweep the unseen part of the room.", + "Sweeping right has brought a bright opening at the far edge of my view, but still no golden lion on the tatami here. I will continue turning right by the same step to bring that opening and the wall beyond it fully into view.", + "The open sliding doorway now sits near the center of my view, but the tatami around it holds no golden statue. I will turn right once more to reveal the remaining stretch of wall on that side of the hall.", + "A golden lion statue has just come into view, seated on the tatami near the far right wall beside the weapon racks. I will turn right again to bring it closer to the center of my heading before advancing.", + "The golden lion on the tatami is now roughly ahead of me with clear open matting between us. I will walk forward to close the distance toward it.", + "The golden lion statue is now clearly in sight on the tatami ahead, seated near the far wall beside the weapon rack, so the earlier sweeping scan of the room has paid off. The floor between me and it looks open, so I will walk straight ahead to close the distance. Continuing forward should keep the statue centered and bring it noticeably nearer.", + "The statue has grown larger and stays just ahead of me, confirming that my heading is carrying me toward it. Nothing blocks the mat between us, so I will keep walking forward. Another step should further shorten the remaining gap.", + "The lion is now close enough that I can make out its mane and paws resting on the tatami, and the seam line of the mats runs straight toward it. Since the route is still unobstructed, I will advance again. This should place me within a short final approach of the statue.", + "As I closed in, the statue has drifted to the right of my view rather than staying centered, so walking straight would carry me past its left side. I will turn right to correct that heading error and bring the lion back toward the middle of my view. That should let the remaining approach run straight at it.", + "After the correction the lion sits near the middle of my view with the weapon rack off to its right, so my heading now points at the target. The tatami between us is clear, so I will step forward again. This should bring me close beside the statue.", + "The golden lion statue sits clearly on the tatami just ahead and slightly to my left, with open matting between us and no obstruction in my path. I will step forward again to keep closing the remaining distance to it.", + "The gilded lion now looms large at my left side, so I am nearly beside it rather than squarely in front of it. Another step forward should bring me level with the statue's position on the tatami before I adjust my heading.", + "Only a sliver of the gilded lion still shows at the far left edge of what I can see, while the weapon rack and shoji wall now dominate straight ahead, so my heading has drifted off the target. I will turn left to swing the statue back in front of me and settle facing it.", + "The golden lion statue on the tatami is directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012937_y005225_z001238_t1_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012937_y005225_z001238_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..73e554249164f3f017f61eedfe223466f4b77b26 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-012937_y005225_z001238_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Look around the interior of the building to find the collection of bladed polearms and traditional swords displayed upright on a rack; after locating them, make your way there.", + "Type": 1, + "Start_Pose": [ + -12937.146, + 5224.998, + 1238.251, + 0, + -97.64, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12937.146, + 5224.998, + 1238.251, + 0, + -97.64, + 0 + ], + [ + -12953.879, + 5100.256, + 1238.251, + 0.0, + -97.64, + 0.0 + ], + [ + -12970.612, + 4975.515, + 1245.474, + 0.0, + -97.64, + 0.0 + ], + [ + -12970.612, + 4975.515, + 1245.474, + 0.0, + -72.64, + 0.0 + ], + [ + -12970.612, + 4975.515, + 1245.474, + 0.0, + -47.64, + 0.0 + ], + [ + -12970.612, + 4975.515, + 1245.474, + 0.0, + -22.64, + 0.0 + ], + [ + -12854.451, + 4927.066, + 1245.474, + 0.0, + -22.64, + 0.0 + ], + [ + -12854.451, + 4927.066, + 1245.474, + 0.0, + 2.36, + -0.0 + ], + [ + -12728.699, + 4932.249, + 1245.474, + 0.0, + 2.36, + -0.0 + ], + [ + -12602.947, + 4937.432, + 1245.474, + 0.0, + 2.36, + -0.0 + ], + [ + -12477.195, + 4942.614, + 1245.474, + 0.0, + 2.36, + -0.0 + ], + [ + -12351.442, + 4947.797, + 1245.474, + 0.0, + 2.36, + -0.0 + ], + [ + -12225.69, + 4952.98, + 1245.474, + 0.0, + 2.36, + -0.0 + ], + [ + -12099.938, + 4958.162, + 1245.474, + 0.0, + 2.36, + -0.0 + ], + [ + -12099.938, + 4958.162, + 1245.474, + 0.0, + 2.36, + -0.0 + ] + ], + "Rationale": [ + "I am standing in a narrow sliding-door opening that blocks most of my view of the tatami hall beyond, and no weapon rack is visible from here. I will step forward to clear the doorway so the interior of the building opens up and I can scan for the upright polearms and swords.", + "Now inside the tatami hall, I can see a long wall of paper screens, a low table on the left, and an open passage on the right, but still no rack of polearms or swords. I will keep walking forward to reach a more central position where I can survey the room's corners more effectively.", + "I am close to the screened wall ahead and the target weapons are not anywhere in this forward view, so continuing straight would only bring me against the partition. The open doorway and lit corridor lie off to my right, so I will turn right to begin a steady scan in that direction.", + "The scan so far shows only paper screens and an open passage, with no rack of bladed weapons in view. I will continue turning right in the same direction to sweep further along the unseen part of this hall.", + "Turning further has revealed the far right side of the hall, where a bronze guardian statue sits beside what looks like tall dark shafts standing in a wooden stand near the wall. I will turn right once more to bring that promising corner closer to the center of my view before committing to it.", + "The statue and the wooden stand holding several tall dark-shafted weapons are now clearly ahead of me across the tatami, matching the racked polearms and swords I am looking for. I will walk forward to close the distance toward that display.", + "The rack of upright blades sits slightly right of my current heading, closer to the wall past the statue. I will turn right to line my heading up with the rack so my next steps carry me straight to it.", + "After the turn, the weapon rack with its standing blades and the guardian statue are set toward the left of my view with open tatami between us. I will walk forward along this heading to keep closing on the display.", + "Along the far wall ahead of me I can make out a wooden stand holding several long bladed polearms standing upright, with the bronze guardian statue beside it. That matches the weapon display I was sent to find, so I will keep walking straight across the tatami toward it.", + "The rack of upright polearms is noticeably larger in front of me now, so my current heading is carrying me toward it. I will continue advancing over the clear matting to close the remaining distance.", + "The three long blades and their wooden stand are clearly resolved ahead against the paper screens, confirming this is the display I need to reach. Another step forward should bring me nearer without needing any turn.", + "The rack now dominates the center of my view and the statue has slipped to the left edge, so I am nearly at the display. I will step forward again to stand right in front of it.", + "I am directly facing the wooden stand with its three upright bladed polearms, close enough to see the wrappings on their shafts. One more short step forward should put me right at the display rather than a pace short of it.", + "The wooden rack with its upright bladed polearms fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012978_y005123_z001238_t2_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012978_y005123_z001238_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8517fab115c6e0b30e5ef1cf154fbc9327e636d3 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-012978_y005123_z001238_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the second wooden bench from the left.", + "Type": 2, + "Start_Pose": [ + -12978.41, + 5122.96, + 1238.251, + 0.0, + 98.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12978.41, + 5122.96, + 1238.251, + 0.0, + 98.88, + -0.0 + ], + [ + -12997.838, + 5247.31, + 1238.251, + 0.0, + 98.88, + -0.0 + ], + [ + -13017.267, + 5371.661, + 1218.15, + 0.0, + 98.88, + -0.0 + ], + [ + -13017.267, + 5371.661, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13087.427, + 5476.15, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13157.588, + 5580.639, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13227.749, + 5685.128, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13227.749, + 5685.128, + 1218.15, + 0.0, + 98.88, + -0.0 + ], + [ + -13247.177, + 5809.478, + 1218.15, + 0.0, + 98.88, + -0.0 + ], + [ + -13266.606, + 5933.829, + 1218.15, + 0.0, + 98.88, + -0.0 + ], + [ + -13284.769, + 6025.142, + 1218.15, + 0.0, + 98.88, + -0.0 + ], + [ + -13284.769, + 6025.142, + 1218.15, + 0.0, + 98.88, + -0.0 + ] + ], + "Rationale": [ + "Three benches line the stone wall ahead, the leftmost one half hidden behind the wooden cart, so my target is the middle one, set against the wall stretch between the two posts. They all look alike, so I hold it by that place rather than by counting again. I walk forward to cross the open courtyard.", + "The bench I settled on is still small against the far wall, just right of my heading, with a lot of empty paving between us. Nothing blocks this stretch, so I keep walking forward to close the gap.", + "The cart's long shafts jut out into the paving on my forward line, and the bench I want stands beyond it against the wall. I turn right to angle my heading clear of the cart so I can pass on its open side instead of into it.", + "My heading now points along the open paving beside the cart, and the bench I am after sits left of center against the stone wall. I step forward along this line to get past the cart and nearer to it.", + "The left end of the row has slid out of my view, so I stop counting and simply follow the bench I already picked, now sitting left of center beneath the balcony posts. The way ahead stays clear, so I keep walking forward.", + "The bench I am heading for is much larger now and lies well to my left against the wall. The paving in front of me is still open, so I take another step forward to close distance before swinging onto it.", + "I am past the cart now, and the bench I want sits to the left of my heading, tight against the stone wall. I turn left to bring it squarely in front of me so I can walk straight in.", + "The bench is now centered ahead of me, framed between the wall pillars, with clear paving between us. I walk forward to close on it.", + "The bench sits squarely on my heading, its slatted back and armrests now clearly read against the grey blocks, but a few paces of open stone still separate us. I keep walking straight in to shorten that gap.", + "The bench now fills most of my view, its lattice backrest and seat plank close enough to make out the grain, yet I am still a short step off it. One more forward step should bring me right up against it.", + "The bench's carved back is directly in front of me, within arm's reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012978_y005123_z001238_t2_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012978_y005123_z001238_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e722eefc31cc0a44bd97f069000bc64d7ddc648c --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-012978_y005123_z001238_t2_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Approach the rightmost wooden bench near the wall.", + "Type": 2, + "Start_Pose": [ + -12978.41, + 5122.96, + 1238.251, + 0.0, + 98.88, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12978.41, + 5122.96, + 1238.251, + 0.0, + 98.88, + -0.0 + ], + [ + -12978.41, + 5122.96, + 1238.251, + 0.0, + 123.88, + -0.0 + ], + [ + -13048.571, + 5227.449, + 1238.251, + 0.0, + 123.88, + -0.0 + ], + [ + -13118.732, + 5331.938, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13188.892, + 5436.427, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13259.053, + 5540.916, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13329.214, + 5645.405, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13329.214, + 5645.405, + 1218.15, + 0.0, + 148.88, + -0.0 + ], + [ + -13436.96, + 5710.453, + 1218.15, + 0.0, + 148.88, + -0.0 + ], + [ + -13544.706, + 5775.501, + 1218.15, + 0.0, + 148.88, + -0.0 + ], + [ + -13652.453, + 5840.549, + 1218.15, + 0.0, + 148.88, + -0.0 + ], + [ + -13652.453, + 5840.549, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13722.613, + 5945.038, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13792.677, + 6025.161, + 1218.15, + 0.0, + 123.88, + -0.0 + ], + [ + -13792.677, + 6025.161, + 1218.15, + 0.0, + 123.88, + -0.0 + ] + ], + "Rationale": [ + "Three wooden benches line the grey wall ahead, and the one I want is the far right of them, the bench set against the wall beside the red railing under the cherry tree. It lies off my right shoulder, partly outside my heading. I will turn right to bring that bench toward the center of my view.", + "The bench by the red railing under the cherry tree now sits ahead of me rather than off to the side. The paved courtyard between us is open and unobstructed. I will walk forward to close that distance.", + "The wall and its benches have grown larger, so my previous step carried me usefully toward them. My bench beside the red railing stays ahead and slightly right, still well short of reach. I will keep walking forward.", + "The courtyard ahead is still clear and the bench next to the red railing continues to sit ahead on my right side. Distance is the only thing separating us, so no turn is needed yet. I will step forward again.", + "The stone wall now fills much of my view and the bench beside the red railing reads clearly, its seat and frame distinct. I am still several paces short of standing at it. I will continue forward.", + "Only two benches remain in view now, the far one at my left edge and my target beside the red railing to the right. Nothing blocks the paving between us. I will take another step forward before correcting my heading.", + "My straight walking has drifted the bench beside the red railing well off to the right of my heading, and continuing forward would pass in front of it. A small turn right should put it back near the center of my view. I will turn right.", + "The bench against the wall beside the red railing now sits squarely ahead of me under the cherry tree. The stone paving between us is open. I will walk forward to close the remaining gap.", + "The other seats along this wall have passed out of my view, leaving only the bench under the cherry tree ahead of me against the grey stone. The paving in front of it is clear and a few paces still separate us. I will step forward.", + "The lattice backrest and the armrest of the bench now read in detail, so the gap has shrunk noticeably. It sits a little left of my heading, though not far enough off for that to matter yet. I will keep walking toward it.", + "At this range the bench has slid into the left half of my view while the cherry tree and red railing crowd the right. Continuing straight would carry me past its far end instead of up to it. A turn left should square me onto the seat.", + "The bench now stands centered ahead against the stone wall, its whole length facing me. Only a short stretch of paving is left between us. I will walk forward to take it up.", + "The seat, armrest and carved back fill most of my view now, and the wall behind is close enough to show individual blocks. One more step should bring me right up against the bench's front edge.", + "The bench's rail and armrest lie directly in front of me at the grey wall, within arm's reach. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t0_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b8d70ed9e88da23f9fa8e8f12faa557ff5e9b1e2 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the open doorway leading outside.", + "Type": 0, + "Start_Pose": [ + -13013.809, + 4958.143, + 1245.624, + 0.0, + -34.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13013.809, + 4958.143, + 1245.624, + 0.0, + -34.56, + 0.0 + ], + [ + -12910.16, + 4886.747, + 1245.624, + 0.0, + -34.56, + 0.0 + ], + [ + -12806.511, + 4815.351, + 1245.624, + 0.0, + -34.56, + 0.0 + ], + [ + -12806.511, + 4815.351, + 1245.624, + 0.0, + -59.56, + 0.0 + ], + [ + -12742.746, + 4706.841, + 1245.624, + 0.0, + -59.56, + 0.0 + ], + [ + -12678.981, + 4598.33, + 1245.624, + 0.0, + -59.56, + 0.0 + ], + [ + -12615.217, + 4489.819, + 1245.624, + 0.0, + -59.56, + 0.0 + ], + [ + -12615.217, + 4489.819, + 1245.624, + 0.0, + -84.56, + 0.0 + ], + [ + -12615.217, + 4489.819, + 1245.624, + 0.0, + -84.56, + 0.0 + ] + ], + "Rationale": [ + "From this tatami hall I can see the one open doorway ahead on the left wall, with warm lantern light and an outdoor courtyard beyond it. It is still far across the room, so I will move forward to begin closing that distance.", + "The lit opening has grown noticeably larger and its wooden threshold is clearer, confirming I am closing on it. Since the way across the tatami is clear, I will step forward again.", + "The open doorway has drifted to the far left edge of my view as I advanced, so my heading is no longer pointed at it. I will turn left to bring the opening back toward the center of my view before continuing.", + "The turn has put the open doorway roughly ahead of me, with the courtyard and red lantern framed inside it. With a clear tatami path, I will move forward to shorten the remaining distance.", + "The opening now fills much of my view and I can make out the wooden veranda boards and the cart outside. I will advance again to reach the threshold itself.", + "I am nearly at the doorway, with the sliding panel edge on my right and the outdoor veranda and lanterns spreading open to my left. One more step forward should place me right in the open doorway.", + "Standing at the opening, the door panel and its post now block most of my forward view, while the outside courtyard shows only along the left. I will turn left so the open doorway and the exterior are squarely in front of me.", + "I stand in the open doorway with the lantern-lit exterior courtyard and veranda directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4624d6a02aa05ed75b8d7790ed4723341c133876 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the base of the courtyard cherry tree, then approach the wooden bench.", + "Type": 3, + "Start_Pose": [ + -13155.493, + 5378.026, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13155.493, + 5378.026, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13272.514, + 5424.358, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13389.535, + 5470.689, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13506.555, + 5517.021, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13623.576, + 5563.353, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13740.597, + 5609.685, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13857.618, + 5656.017, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 108.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 83.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 58.4, + -0.0 + ], + [ + -13908.69, + 5809.546, + 1218.15, + 0.0, + 58.4, + -0.0 + ], + [ + -13908.69, + 5809.546, + 1218.15, + 0.0, + 83.4, + -0.0 + ], + [ + -13894.224, + 5934.571, + 1218.15, + 0.0, + 83.4, + -0.0 + ], + [ + -13880.568, + 6024.978, + 1218.15, + 0.0, + 83.4, + -0.0 + ], + [ + -13880.568, + 6024.978, + 1218.15, + 0.0, + 83.4, + -0.0 + ] + ], + "Rationale": [ + "The blossoming cherry tree stands roughly ahead of me across the open stone courtyard, its pale trunk rising near the red railing. Nothing blocks the paving between us, so I will walk straight forward to begin closing that distance toward its base.", + "The trunk of the cherry tree now reads larger and the railing behind it is clearer, so my heading is carrying me toward it. The paving ahead is still clear, so I will keep walking forward.", + "The canopy is spreading wider overhead and the stone planter around the trunk is becoming visible, confirming I am closing on the tree's base. My heading needs no correction, so I will advance again.", + "The trunk sits near the middle of my view with its raised planter clearly outlined at ground level, so I remain lined up on it. Still some open courtyard to cover, so I will step forward once more.", + "The grassy planter square at the foot of the cherry tree is now plainly in front of me and the trunk fills much of my view. I am not yet at its base, so I will keep walking forward.", + "The stone-bordered planter and its mossy bed sit just a couple of paces ahead, with the thick trunk rising directly from it. Another forward step should bring me right up against the base of the cherry tree.", + "I am nearly at the planter edge, with the wide trunk towering close in front and the red railing beyond it. One more short step forward should put me right at the tree's base.", + "The cherry trunk rises immediately in front of me, its bark filling my view, and the mossy planter it grows from lies right at my feet. I am standing at the base of the blossoming tree. I mark reaching it, and now I turn my attention to the wooden bench along the grey courtyard wall.", + "I am right at the cherry tree, with its trunk filling my view and the planter curb at my feet, so nothing more is needed here. The seating I want is not in front of me, and the open paving continues off to my left past the grey wall. I will turn left to begin sweeping that side of the courtyard into view.", + "The trunk has slid to the right and the long grey wall now dominates the left of my view, but no bench is visible yet. Rotating further left should carry my gaze along that wall where seating is likely to stand. I will turn left again.", + "A wooden bench has appeared against the stone wall at the far left edge of my view, mostly cut off by the frame. Another turn left should bring it fully in front of me before I walk toward it. I will turn left.", + "The bench now sits ahead against the wall, but my heading still points at the wall face rather than along the clear paving that runs toward the seating. One more left turn should open that stretch of the courtyard and give me a straight walking line to a bench. I will turn left.", + "Several wooden benches line the wall, and the nearest one stands just right of my heading with clear flagstones between us. Walking forward now should cut most of that gap before I adjust my facing. I will step forward.", + "The near bench has grown large but sits to the right of my heading, so walking straight would carry me past its end. Turning right should put its seat and backrest squarely in front of me. I will turn right.", + "The bench is now centered ahead of me, its armrests and lattice back fully in view against the stone wall. A few steps of open paving still separate us. I will walk forward to close that remaining distance.", + "The bench now fills the lower half of my view, its seat and armrests close enough to touch the frame edges. A short final step should bring me right up against it. I will move forward once more.", + "The wooden bench's latticed backrest fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_e/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e643921cd0b99e953d3f828386c2c06c89ab134 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_e/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Move to the wooden bench, then walk to the courtyard cherry tree trunk.", + "Type": 3, + "Start_Pose": [ + -13155.493, + 5378.026, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13155.493, + 5378.026, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13272.514, + 5424.358, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13272.514, + 5424.358, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13358.99, + 5515.804, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13445.466, + 5607.25, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13531.942, + 5698.696, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13618.418, + 5790.142, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13704.895, + 5881.588, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13791.371, + 5973.034, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13791.371, + 5973.034, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13791.371, + 5973.034, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13791.371, + 5973.034, + 1218.15, + 0.0, + -176.6, + 0.0 + ], + [ + -13791.371, + 5973.034, + 1218.15, + 0.0, + -151.6, + 0.0 + ], + [ + -13902.082, + 5913.172, + 1218.15, + 0.0, + -151.6, + 0.0 + ], + [ + -14012.794, + 5853.31, + 1218.15, + 0.0, + -151.6, + 0.0 + ], + [ + -14012.794, + 5853.31, + 1218.15, + 0.0, + -151.6, + 0.0 + ] + ], + "Rationale": [ + "The wooden bench sits against the far grey wall on the left side of the courtyard, well across the open flagstones. Nothing blocks the paving ahead of me, so I will walk forward to close the distance before adjusting my heading toward it.", + "After advancing, the bench sits off to my left while my heading still points across the open paving toward the pavilion. I will turn left to bring the bench into the centre of my view so my next steps carry me straight to it.", + "The turn has brought the wooden bench near the middle of my view, with clear flagstones between us. I will step forward along this heading to shorten the gap to it.", + "The bench is growing larger ahead of me and stays roughly centred, so my heading is still good. I will keep walking forward to close the remaining stretch of paving.", + "The bench's carved backrest and armrests are now clearly resolved a short way ahead, slightly left of centre. There is still open ground between us, so I will advance again.", + "The bench now fills a good part of the left of my view but I am still standing back from it. Another step forward should bring me alongside it rather than leaving me at a distance.", + "The bench is very close now, its seat and lattice back filling the lower left of my view against the stone wall. I will take one more step to draw right up beside it.", + "The bench is right in front of me, its armrest and seat spanning the lower part of my view. A final short step should place me properly at the bench rather than just short of it.", + "The long wooden bench with its lattice backrest sits right beside me against the grey stone wall, close enough to touch. I have arrived at the bench. I mark reaching it, and now I turn my attention to the blossoming cherry tree standing in the open courtyard.", + "The bench beside me leaves my view filled by the blank stone wall, with only a strip of open courtyard and red railing off to the right. The cherry tree stands out that way, so I will turn right to swing my heading off the wall and toward the open paving.", + "More of the courtyard has come into view, with the red railing across the middle and pink blossoms hanging into the upper right, but the trunk itself is still outside my heading. Another turn right should bring the tree's base into the center of my view.", + "The pale trunk of the cherry tree now shows on the right side of my view, rising from its square grass planter, while my heading still points at the wall and railing to the left of it. One more turn right should place the trunk squarely ahead before I walk out to it.", + "The cherry tree trunk is now centered in my view, growing from the raised planter across several paces of open flagstone. Nothing stands between me and it, so I will walk straight ahead to close that gap.", + "The trunk has grown much larger and stays centered, its mossy planter edge now clearly separate from the paving ahead of me. A short gap remains, so I will step forward again to come right up beside the bark.", + "The cherry tree trunk stands directly before me, its bark filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t5_b_pd/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..09ba8cf56fd63e972d2b0cc7602e1e88df7d6362 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t5_b_pd/infos.json @@ -0,0 +1,487 @@ +{ + "Instruction": "Pick up the jerry can beside the wooden bench, then set it down at the base of the building's pillar.", + "Type": 5, + "Start_Pose": [ + -13155.493, + 5378.026, + 1218.15, + 0, + 158.4, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -13802.135, + 5952.141, + 1138.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13155.493, + 5378.026, + 1218.15, + 0, + 158.4, + 0 + ], + [ + -13272.514, + 5424.358, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13389.535, + 5470.689, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13389.535, + 5470.689, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13476.011, + 5562.135, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13562.487, + 5653.581, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13648.963, + 5745.027, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13735.439, + 5836.473, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13735.439, + 5836.473, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13735.439, + 5836.473, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13735.439, + 5836.473, + 1218.15, + 0.0, + -176.6, + 0.0 + ], + [ + -13735.439, + 5836.473, + 1218.15, + 0.0, + -151.6, + 0.0 + ], + [ + -13735.439, + 5836.473, + 1218.15, + 0.0, + -126.6, + 0.0 + ], + [ + -13735.439, + 5836.473, + 1218.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13760.747, + 5713.185, + 1218.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13786.054, + 5589.897, + 1218.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13786.054, + 5589.897, + 1218.15, + 0.0, + -76.6, + 0.0 + ], + [ + -13756.887, + 5467.464, + 1218.15, + 0.0, + -76.6, + 0.0 + ], + [ + -13756.887, + 5467.464, + 1218.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13782.194, + 5344.176, + 1218.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13804.742, + 5282.882, + 1218.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13824.529, + 5282.882, + 1218.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13810.051, + 5353.411, + 1218.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13810.051, + 5353.411, + 1218.15, + 0.0, + -101.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -13802.135, + 5952.141, + 1138.15, + 0.0, + 0.0, + 0.0 + ], + [ + -13802.135, + 5952.141, + 1138.15, + 0.0, + 0.0, + 0.0 + ], + [ + -13802.135, + 5952.141, + 1138.15, + 0.0, + 0.0, + 0.0 + ], + [ + -13802.135, + 5952.141, + 1138.15, + 0.0, + 0.0, + 0.0 + ], + [ + -13802.135, + 5952.141, + 1138.15, + 0.0, + 0.0, + 0.0 + ], + [ + -13802.135, + 5952.141, + 1138.15, + 0.0, + 0.0, + 0.0 + ], + [ + -13802.135, + 5952.141, + 1138.15, + 0.0, + 0.0, + 0.0 + ], + [ + -13802.135, + 5952.141, + 1138.15, + 0.0, + 0.0, + 0.0 + ], + [ + -13750.535, + 5821.358, + 1188.257, + -28.202, + -176.455, + 1.862 + ], + [ + -13743.079, + 5815.501, + 1188.529, + -28.189, + -151.443, + 1.872 + ], + [ + -13734.257, + 5813.981, + 1187.862, + -28.215, + -126.473, + 1.849 + ], + [ + -13727.624, + 5810.525, + 1187.916, + -14.092, + -109.256, + 6.87 + ], + [ + -13717.945, + 5824.025, + 1187.932, + -28.208, + -76.458, + 1.851 + ], + [ + -13713.284, + 5832.462, + 1188.6, + -28.198, + -51.454, + 1.867 + ], + [ + -13739.723, + 5709.392, + 1188.07, + -28.198, + -51.454, + 1.862 + ], + [ + -13765.074, + 5585.906, + 1187.683, + -28.202, + -51.458, + 1.86 + ], + [ + -13764.363, + 5595.901, + 1188.884, + -28.197, + -26.457, + 1.87 + ], + [ + -13736.332, + 5473.312, + 1188.749, + -28.211, + -26.462, + 1.853 + ], + [ + -13736.616, + 5463.676, + 1188.072, + -28.211, + -51.47, + 1.853 + ], + [ + -13761.11, + 5340.669, + 1188.503, + -28.192, + -51.445, + 1.866 + ], + [ + -13783.662, + 5279.38, + 1188.609, + -28.2, + -51.455, + 1.866 + ], + [ + -13803.46, + 5279.339, + 1188.415, + -28.209, + -51.461, + 1.856 + ], + [ + -13824.126, + 5284.841, + 1168.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13824.126, + 5284.841, + 1168.15, + 0.0, + -101.6, + 0.0 + ] + ], + "PD_Dist_2D": [ + 864.7, + 747.7, + 634.1, + 634.1, + 508.4, + 382.8, + 257.6, + 133.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 22.5, + 21.4, + 20.6, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "Across the paved courtyard I can make out the wooden bench against the grey wall to my left, with a small reddish container standing beside it. That is too far away to reach or confirm, so I will walk straight ahead to close the gap and get a clearer look.", + "The bench and the red jerry can beside it are now clearly resolved ahead on my left, larger than a moment ago, so my heading is productive. The open paving in front of me is unobstructed, so I will keep walking forward to shorten the distance further.", + "The jerry can and its bench sit noticeably left of my current heading, while my view is centred on the cherry tree and the red railing. Continuing straight would carry me past them, so I will turn left to bring the can toward the middle of my view.", + "After the turn the red jerry can beside the bench sits close to the centre of my view against the stone wall. The paving between us is clear, so I will walk forward to cut down the remaining distance toward it.", + "The can and bench have grown larger and stay near the middle of my view, confirming my heading is good. I am still several paces short of grabbing range, so I will keep advancing.", + "The jerry can now stands out plainly in front of the bench, close to centre and clearly closer than before. It is still just beyond arm's reach, so I will step forward again rather than attempt a grasp yet.", + "The jerry can fills a good part of my lower view now, standing on the paving just in front of the bench. One more step forward should place it directly at my feet and within grasping range.", + "The jerry can is immediately in front of me, filling the lower part of my view right beside the wooden bench, so it should be inside reach. I will attempt to pick it up now so I can carry it toward the building's pillar.", + "The grasp worked: the jerry can is now in my hands instead of resting on the pavement by the bench. With the load secured, I need to leave this corner and face the pillared building across the courtyard. I will turn right to begin swinging my heading away from the wall.", + "I am carrying the can, but my view still shows the bench and the grey wall of this corner, so my heading is not yet useful for transport. The open courtyard and the buildings lie further to my right. I will turn right again to keep rotating toward them.", + "The blossom tree and red railing now dominate my view, which means I am facing across the yard rather than at the building with the pillars. The pillared veranda should be further clockwise. I will continue turning right to bring it into view.", + "The multi-storey halls are appearing on the right side of my view, so my heading is closing in on the building I must reach with the can. The near veranda and its pillars are still off to the right edge. One more right turn should center them.", + "A red pillar with hanging lanterns is now visible at the right of my view, marking the covered walkway that is my drop target. My heading is still angled too far left across the railing. I will turn right once more to put that pillared frontage ahead of me.", + "The building's veranda with its red pillar and wooden sliding panels now sits ahead of me, and the paving between us is clear. Carrying the can, I need to close that distance before I can set it down. I will step forward toward the pillar.", + "The pillar and the raised step of the veranda are noticeably larger now, but I am still several paces short of its base. Nothing blocks the paving in front of me. I will keep walking forward with the can to shorten the remaining gap.", + "I am close to the veranda, but the pillar sits left of my heading and I would walk past it into the open panels. Squaring up with the building's frontage should give me a cleaner line to its base. I will turn right to face the facade more directly.", + "I am still carrying the jerry can and the covered walkway of the building now lies ahead, with a red pillar standing at its edge to my left. Stepping forward should bring me in under the eaves and close to the pillar row where the can has to be set down.", + "The wooden wall of the building now fills most of my view on the right, while the pillar I want sits off to my left. Turning left should swing my heading along the colonnade so the pillar and its base come in front of me instead of at the edge of my view.", + "The pillar now stands clearly ahead of me with open paving between us, and I still have the jerry can in hand. Walking forward should close that gap so I can reach the pillar's base for the drop.", + "The pillar has grown much larger and its stone footing is visible just a short distance ahead. Another step forward should place me right beside that footing, close enough to set the jerry can down there.", + "I am almost against the pillar now, its shaft filling the middle of my view and its base at my feet level just ahead. A last short step forward should settle me at the footing so the can lands right at the pillar's base rather than out on the open paving.", + "I am standing directly at the pillar, with its base immediately in front of me and the jerry can still in my hands. This is the placement the task asks for, so I will release the can here and it should come to rest at the pillar's base.", + "The jerry can is resting on the paving at the base of the pillar and my hands are free of it. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b99c3256afcd5b2586e28564fb677562087c04eb --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Approach the large wheeled cart, then move to the barrel beside the wooden boxes.", + "Type": 3, + "Start_Pose": [ + -13227.742, + 4005.779, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13227.742, + 4005.779, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -13113.638, + 3952.668, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12999.534, + 3899.558, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12885.43, + 3846.447, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12771.326, + 3793.336, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12771.326, + 3793.336, + 1218.151, + 0.0, + -49.96, + 0.0 + ], + [ + -12691.555, + 3700.321, + 1218.151, + 0.0, + -49.96, + 0.0 + ], + [ + -12691.555, + 3700.321, + 1218.151, + 0.0, + -49.96, + 0.0 + ], + [ + -12750.998, + 3771.062, + 1218.151, + 0.0, + -49.96, + 0.0 + ], + [ + -12750.998, + 3771.062, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12750.998, + 3771.062, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12750.998, + 3771.062, + 1218.151, + 0.0, + 25.04, + -0.0 + ], + [ + -12636.968, + 3824.332, + 1218.151, + 0.0, + 25.04, + -0.0 + ], + [ + -12522.938, + 3877.602, + 1218.151, + 0.0, + 25.04, + -0.0 + ], + [ + -12522.938, + 3877.602, + 1218.151, + 0.0, + 50.04, + -0.0 + ], + [ + -12442.105, + 3974.072, + 1218.151, + 0.0, + 50.04, + -0.0 + ], + [ + -12373.569, + 4058.03, + 1229.343, + 0.0, + 50.04, + -0.0 + ], + [ + -12373.569, + 4058.03, + 1229.343, + 0.0, + 50.04, + -0.0 + ] + ], + "Rationale": [ + "From the covered walkway I can see the big wheeled cart with its barrel standing ahead on my left, along the stone street. Nothing blocks the paving between us, so I will walk forward to close that gap.", + "The cart's barrel and spoked wheel are noticeably larger and closer on my left, confirming my heading is good. I will keep walking forward along the open paving to shorten the remaining distance.", + "The cart now sits well within a few strides on my left, its shafts angled toward me across the stones. Since my current heading still carries me alongside it, I will step forward again.", + "The barrel and wheel now loom large at my left edge, so I am nearly level with the cart rather than in front of it. One more forward step should bring me beside it before I swing my gaze onto it.", + "The wheeled cart with its barrels has slid off to my left while my body still points straight down the street. I will turn left to put the cart squarely in front of me before closing the last short gap.", + "The cart with its stacked barrels and wheel now sits centered ahead of me with clear stone between us. I will walk forward to stand right at it.", + "The cart's barrels and its wooden wheel fill my view at arm's length, so I am standing right at the large wheeled cart. I have reached it. I mark reaching it, and now I turn my attention to the barrel beside the wooden boxes.", + "Pressed this close, the cart's barrels block almost everything, and I can barely make out the open street I must cross to reach the barrel by the wooden boxes. I will step backward to open some distance, which should give me room to swing around and see the yard again.", + "The wheeled cart with its big barrel is right beside me on the left, so there is nothing more to gain here. The open street runs off to my right, and the barrel by the stacked wooden boxes lies somewhere along that side. I turn right to swing my heading off the cart and toward that open ground.", + "The cart has slid to my left and the long paved street now opens ahead, but the storage side with barrels sits further round to my right. My heading is still angled down the street rather than across it. I turn right again to keep bringing that side into view.", + "I can now pick out barrels and crates stacked against the building on the far right of my view, past the lamp post. They are still too far off to my side to walk straight at. One more turn right should put them near the center of my path.", + "The barrel standing next to the stacked wooden boxes is now ahead of me on the right, with clear paving between us. My heading finally points down that side of the street. I walk forward to close the gap.", + "The barrels and the crate stack beside them have grown noticeably larger ahead to my right, so the previous step gained real ground. There is still open floor between me and them. I keep walking forward.", + "The two barrels beside the wooden boxes now sit off to my right while my heading still runs past them down the street. Walking on would carry me by instead of up to them. I turn right to put them squarely in front of me.", + "The barrels and the stacked wooden boxes are centered ahead of me now, with only a short stretch of paving between. My heading lines up with them. I step forward to close in.", + "The nearer barrel fills much of my view, with the wooden boxes stacked right behind it. A little floor still separates me from it. I advance one more step to stand right beside the barrel.", + "The barrel beside the stacked wooden boxes fills the view right at arm's reach. I am standing at it, so the task is complete and nothing further is needed." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..acde02430f96d8221075cd685f1fa0f9fd73dda7 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the large clay pot near the building entrance.", + "Type": 0, + "Start_Pose": [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -67.2, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -67.2, + 0.0 + ], + [ + -13341.403, + 4139.492, + 1222.912, + 0.0, + -67.2, + 0.0 + ], + [ + -13292.631, + 4023.468, + 1221.805, + 0.0, + -67.2, + 0.0 + ], + [ + -13243.859, + 3907.443, + 1218.221, + 0.0, + -67.2, + 0.0 + ], + [ + -13195.086, + 3791.418, + 1218.221, + 0.0, + -67.2, + 0.0 + ], + [ + -13195.086, + 3791.418, + 1218.221, + 0.0, + -92.2, + 0.0 + ], + [ + -13199.918, + 3665.652, + 1235.62, + 0.0, + -92.2, + 0.0 + ], + [ + -13204.749, + 3539.886, + 1235.713, + 0.0, + -92.2, + 0.0 + ], + [ + -13204.749, + 3539.886, + 1235.713, + 0.0, + -92.2, + 0.0 + ] + ], + "Rationale": [ + "From the open courtyard I can see the covered walkway and sliding paper doors ahead, with a large dark clay pot and a smaller decorative jar resting beside a bench near the entrance. That pot matches my target, so I will move forward across the paving to begin closing the long distance.", + "The clay pot and the painted jar beside it have grown slightly larger and sit just left of my heading, confirming I am closing on the right part of the building. The paving between me and the veranda is clear, so I will continue straight forward.", + "The clay pot is now clearly resolved against the lit door panels, but it is still several paces away across the stone slabs. Since nothing blocks my line apart from flat scattered slabs, I will keep advancing to reduce the remaining gap.", + "The veranda edge and its low step now fill the lower part of my view, and the clay pot stands close by on the platform to my left. Another forward step should bring me almost to the base of the step in front of the pot.", + "I am now right at the veranda, but the clay pot sits left of my heading while a thick wooden column dominates the center of my view. I will turn left to place the pot squarely ahead and keep the column out of my approach line.", + "After the turn the large clay pot and its companion jar are centered ahead of me against the lit door panels, with the column no longer in the way. I will step forward to close the last short distance to the pot.", + "The clay pot now dominates the lower center of my view, so I am only about one step short of standing beside it. I will advance once more to settle directly at the pot near the entrance doors.", + "The large clay pot fills the near foreground within arm's reach beside the entrance doors. The task is complete, so I stop here rather than crowd the pot further." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a990c3aa12d240cda3442c4861ebc58b967baa80 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the wooden bench near the large clay pot.", + "Type": 0, + "Start_Pose": [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -67.2, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -67.2, + 0.0 + ], + [ + -13341.403, + 4139.492, + 1222.912, + 0.0, + -67.2, + 0.0 + ], + [ + -13292.631, + 4023.468, + 1221.805, + 0.0, + -67.2, + 0.0 + ], + [ + -13292.631, + 4023.468, + 1221.805, + 0.0, + -92.2, + 0.0 + ], + [ + -13297.463, + 3897.701, + 1218.151, + 0.0, + -92.2, + 0.0 + ], + [ + -13302.294, + 3771.935, + 1223.282, + 0.0, + -92.2, + 0.0 + ], + [ + -13307.125, + 3646.169, + 1230.973, + 0.0, + -92.2, + 0.0 + ], + [ + -13311.957, + 3520.403, + 1235.709, + 0.0, + -92.2, + 0.0 + ], + [ + -13311.957, + 3520.403, + 1235.709, + 0.0, + -92.2, + 0.0 + ] + ], + "Rationale": [ + "Across the courtyard I can see a wooden bench sitting under the veranda with a large clay pot beside it, slightly left of my forward direction. It is still far off, so I will step forward along the open paving to begin closing that gap.", + "The bench and the round clay pot beside it now appear larger, confirming that my forward direction is closing the distance. The paving in front of me is clear, so I will advance again toward that pair.", + "The bench with the large clay pot beside it now sits to the left of my forward direction, while a heavy pillar and the cart dominate the space straight ahead. I will turn left so the bench and pot are centered before I continue closing in.", + "The turn has brought the bench and the large clay pot into the middle of my view, with open paving and scattered flat stones between us. With the heading now aimed at them, I will step forward to shorten the remaining distance.", + "The bench and the clay pot beside it keep growing as I close in, and my heading still points straight at them. Nothing blocks the stones underfoot, so I will keep advancing.", + "I am now close to the raised veranda platform, with the bench just left of center and the big clay pot right beside it. One more step forward should bring me up against the bench and pot.", + "The bench now fills much of my view with the large clay pot standing immediately to its right, so only a short gap remains. I will take one more step forward to stand right at the bench.", + "The wooden bench is directly in front of me at arm's reach with the large clay pot beside it. The navigation goal is met, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-014205_y004538_z001218_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-014205_y004538_z001218_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e14c096f3445d04494a5dd64408f46ef52dc0be0 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-014205_y004538_z001218_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the trunk of the pink cherry blossom tree.", + "Type": 0, + "Start_Pose": [ + -14205.468, + 4537.63, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14205.468, + 4537.63, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14195.462, + 4663.09, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14185.455, + 4788.551, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14175.449, + 4914.012, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14165.443, + 5039.472, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14155.437, + 5164.933, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14145.431, + 5290.394, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14135.425, + 5415.854, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14125.418, + 5541.315, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14115.412, + 5666.775, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14115.412, + 5666.775, + 1218.151, + 0.0, + 85.44, + -0.0 + ] + ], + "Rationale": [ + "The pink cherry blossom tree stands ahead in the open courtyard, its pale trunk visible near the center of my view just left of the red railing. My heading already lines up with that trunk down the paved walkway, so I will move forward to begin closing the distance.", + "The trunk is still slightly right of center but well within my forward path, and the courtyard ahead remains clear of obstacles. I will keep moving forward since no turn is needed yet to stay on line with the tree.", + "The canopy now fills more of the upper view and the trunk base with its stone planter is clearly readable ahead, confirming I am closing on the target. I will continue straight forward along the paving.", + "The tree trunk remains near the center of my view and the gap of open stone in front of it is shrinking as I advance. Another forward step should bring me closer without any heading correction.", + "Branches now spread across the top of my view and the trunk appears noticeably thicker, so the tree is close but not yet within reach. I will move forward again to keep reducing the remaining distance.", + "The trunk sits directly ahead of me with the grass planter squarely in my path, and my heading needs no adjustment. I will step forward once more toward the base of the tree.", + "The bark texture of the trunk is now distinct and the planter occupies the near ground in front of me, meaning only a short gap remains. I will advance again to bring myself right up to the trunk.", + "The trunk now rises through the whole height of my view and the mossy planter is just a step away, so I am nearly at the base. One more forward step should place me directly at the trunk.", + "The cherry blossom trunk now rises directly ahead in the center of my view, with its grassy planter base still a short step away. One more forward step should close that last bit of distance and put me right at the trunk.", + "The pink cherry blossom trunk fills the center of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-014205_y004538_z001218_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-014205_y004538_z001218_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..07d158b5e9c1a2d747c9643ac425477d13904856 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-014205_y004538_z001218_t0_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the dark wooden pillar supporting the roof overhang.", + "Type": 0, + "Start_Pose": [ + -14205.468, + 4537.63, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14205.468, + 4537.63, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14195.462, + 4663.09, + 1218.151, + 0.0, + 85.44, + -0.0 + ], + [ + -14195.462, + 4663.09, + 1218.151, + 0.0, + 60.44, + -0.0 + ], + [ + -14133.371, + 4772.568, + 1218.151, + 0.0, + 60.44, + -0.0 + ], + [ + -14071.28, + 4882.045, + 1218.151, + 0.0, + 60.44, + -0.0 + ], + [ + -14009.19, + 4991.522, + 1218.151, + 0.0, + 60.44, + -0.0 + ], + [ + -14009.19, + 4991.522, + 1218.151, + 0.0, + 35.44, + -0.0 + ], + [ + -13944.867, + 5061.51, + 1218.151, + 0.0, + 35.44, + -0.0 + ], + [ + -13944.867, + 5061.51, + 1218.151, + 0.0, + 35.44, + -0.0 + ] + ], + "Rationale": [ + "From under this roofed walkway I can see the dark pillars carrying the overhang along the left side of the courtyard, one standing clearly ahead on the raised stone edge. The open paved lane in front of me is clear, so I will move forward to close distance and get a better view of that pillar line.", + "The nearest pillar under the overhang sits well to my left while my heading points down the open courtyard past the cherry tree. I will turn left to bring that pillar and the covered walkway into the center of my view before advancing further.", + "After turning, the dark red pillar with its hanging lanterns now stands ahead slightly left of center, resting on the low stone step. The floor between us is open, so I will move forward to shorten the gap.", + "The pillar is noticeably larger in my view now and still roughly straight ahead, so my heading remains usable. I will keep moving forward to continue closing on it.", + "The pillar's base and the raised step it stands on are clearly resolved just ahead of me, with the overhang beams meeting its top. Another forward step should bring me within arm's reach of it.", + "The pillar now fills a large part of my view but sits left of center, so I am not squarely facing it. I will turn left to center the pillar and the covered walkway behind it before my final step.", + "The dark pillar is now centered directly in front of me with its base plainly visible on the paving. A short forward step should place me immediately beside it, close enough to count as reached.", + "The dark pillar carrying the roof overhang now fills the center of my view at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-015862_y-009180_z001428_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-015862_y-009180_z001428_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d5a4b94692668f794bb415fdb85d1db4dc6332ae --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-015862_y-009180_z001428_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the tree trunk in the courtyard.", + "Type": 0, + "Start_Pose": [ + -15862.34, + -9179.901, + 1428.151, + -0.017, + 125.643, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15862.34, + -9179.901, + 1428.151, + -0.017, + 125.643, + 0.0 + ], + [ + -15935.682, + -9077.62, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16009.024, + -8975.339, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16082.366, + -8873.058, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16155.709, + -8770.777, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16229.051, + -8668.496, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16229.051, + -8668.496, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16252.296, + -8544.802, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16275.54, + -8421.108, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16298.785, + -8297.415, + 1441.64, + -0.017, + 100.643, + 0.0 + ], + [ + -16298.785, + -8297.415, + 1441.64, + -0.017, + 100.643, + 0.0 + ] + ], + "Rationale": [ + "From the courtyard paving I can see the tall tree rising out of the raised planter ahead of me, near the lantern-hung building on the left. Its trunk is the target, so I will move forward across the open stone surface to begin closing the sizeable gap.", + "The tree's canopy and trunk now fill more of my view, confirming my heading is still pointed toward the planter. I will keep moving forward over the clear paving to continue reducing the distance.", + "The trunk and the dark planter edge are clearly ahead and slightly to my left, and nothing blocks the path. Another forward step should bring me appreciably nearer to the trunk.", + "The canopy now spreads over the top of my view and the planter rim is much closer, so I am still well short of the trunk itself. I will advance again while the route across the paving remains open.", + "The trunk stands just beyond the near edge of the planter and is drifting toward the left of my view as I close in. I will take one more forward step before correcting my heading.", + "The trunk has shifted well over to the left side of my view, so continuing straight would carry me past it along the wall. I will turn left to bring the trunk back toward the center of my heading.", + "The trunk is now squarely centered in my view with the lantern-lit building framed behind it, so my heading is aligned. I will move forward to close the remaining distance across the planter.", + "The trunk fills the middle of my view and its bark texture is now distinct, but I am still a step or so short of standing right at it. I will advance once more along this aligned heading.", + "The trunk now stands directly centered in front of me with its bark texture clearly resolved, but a strip of the planter bed still separates me from its base. I will step forward once more to close that last bit of distance and bring the trunk within arm's reach. My heading is already square on the trunk, so no turn should be needed.", + "The tree trunk fills the view directly ahead at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_d/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be5cdbb98d61e5121b53edcbf9b41d3ae2a57d2f --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_d/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Move to the trunk of the second tree from left.", + "Type": 2, + "Start_Pose": [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + [ + -15875.983, + -8585.539, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15875.983, + -8585.539, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15815.664, + -8475.076, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15755.345, + -8364.613, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15695.026, + -8254.15, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15634.707, + -8143.687, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15574.388, + -8033.224, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15514.068, + -7922.761, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15453.749, + -7812.298, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15393.43, + -7701.834, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15333.111, + -7591.371, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15272.792, + -7480.908, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15212.473, + -7370.445, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15212.473, + -7370.445, + 1428.15, + -0.017, + 61.363, + 0.0 + ] + ], + "Rationale": [ + "Trees line the veranda ahead of me, and counting from the left edge of the courtyard the big near one is first, so my goal is the next one along, the tall pale-trunked tree standing further down beside the covered walkway. It is still well across the open paving. I step forward to close that distance.", + "From here the tall pale-trunked tree I am heading for sits off to my right, with the open lane running past the lantern-hung building on that side. My current heading would carry me into the veranda railing instead. I turn right to bring the trunk and the lane ahead of me.", + "The turn has put the open lane straight in front of me, with the tall pale-trunked tree standing along the veranda ahead and slightly left. Nothing blocks the stone paving between us. I walk forward along the lane toward it.", + "The pale trunk I am following is noticeably larger now and still sits ahead and a little left, near the edge of the veranda. The lantern post and building on my right leave the middle of the lane clear. I keep walking straight toward the tree.", + "My heading still lines up with the tall pale-trunked tree beside the railing, and the paving in front of me is open. There is no need to adjust direction yet. I continue forward to close the remaining gap.", + "The tree I am aiming for now fills a good part of the view ahead, its trunk rising just inside the veranda planting strip. The lane remains clear along my line of travel. I step forward again.", + "More trees are opening up further down the lane, so the row no longer reads the way it did from the courtyard entrance, but I am still following the same tall pale trunk near the veranda railing ahead of me. It remains a few strides off. I keep moving toward it.", + "The trunk I am following is close now, standing just left of my path where the veranda planting strip begins. I am not yet beside it. I advance another step to reach its base.", + "The pale trunk I have been following rises just left of my line of travel, its base at the planting strip beside the red railing, and I am not level with it yet. The paving ahead stays clear. I take another step toward it.", + "The trunk has swung further toward the left of my view and its bark now shows clearly against the shaded planting bed, so I am nearly abreast of it. A short gap of paving still separates me from its base. I keep walking.", + "The pale trunk stands close on my left with its roots in the green strip along the railing, but my body is still a little short of it. Nothing on the lane requires me to change heading. I advance again.", + "The trunk now cuts down the left of my view from canopy to bed, meaning I am almost level with its base. One more stride should bring me even with it rather than beside its outer branches. I move forward.", + "The trunk is at the near edge of my view now, thick and only a step off my left shoulder. A final short step should place me squarely at its base rather than slightly behind it. I take it.", + "The pale trunk rises right at my left shoulder, close enough to touch at its base. I am at the tree, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_e/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b930ba7754829e3e4e25eade9d01769ec48fa4bf --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_e/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Proceed to the base of the third tree from left.", + "Type": 2, + "Start_Pose": [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15917.015, + -8549.698, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15856.696, + -8439.235, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15796.377, + -8328.772, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15736.058, + -8218.309, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15675.739, + -8107.845, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15615.42, + -7997.382, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15555.101, + -7886.919, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15494.782, + -7776.456, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15434.463, + -7665.993, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15374.144, + -7555.53, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15374.144, + -7555.53, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15366.16, + -7429.924, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15358.176, + -7304.319, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15350.192, + -7178.713, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15342.208, + -7053.108, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15334.224, + -6927.502, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15326.24, + -6801.897, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15318.257, + -6676.291, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15310.273, + -6550.686, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15302.289, + -6425.08, + 1428.15, + -0.017, + 86.363, + 0.0 + ], + [ + -15302.289, + -6425.08, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15241.97, + -6314.617, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15181.651, + -6204.154, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15181.651, + -6204.154, + 1428.15, + -0.017, + 61.363, + 0.0 + ] + ], + "Rationale": [ + "Three trees line this courtyard, and mine is the third, the one standing where the lantern-hung corner building begins; they look alike, so I hold it by that corner. It lies to the right of my current heading, so I turn right to open the lane toward it.", + "The turn has opened the paved lane between the galleried hall on my left and the lantern-hung building on my right, with my tree standing farther along that line. The stone paving ahead is clear, so I step forward to close distance.", + "The trunks and canopies on the left have grown slightly larger, so I am closing on the row but still well short of the tree I singled out. The lane remains unobstructed, so I keep walking forward.", + "The lantern-hung facade on my right is sliding past me while the tree line on the left still stretches onward, so my target is not yet abreast. The paving stays open, so I advance again.", + "The corridor ahead brightens where the buildings part, and the tree I am heading for still lies farther down the left-hand line. Nothing stands in the walkway, so I continue forward.", + "A near trunk on my left is nearly level with me and fresh canopies are appearing farther down the lane, so counting a row from here would no longer land on my target; I stay with the tree I picked out beside the corner. The way ahead is clear, so I keep walking.", + "The lane still runs straight and sunlit between the railed gallery and the shopfronts, and my tree is not yet beside me. I press forward along the open stone.", + "Wooden decking now edges the right side while the red railing runs along the left, leaving a wide clear path between them. My tree still lies ahead, so I take another step forward.", + "The nearest trunk is drawing level at my left shoulder and the stone ahead runs bright and empty. The tree I chose still stands deeper along this run, so I take another step forward.", + "The trunks I passed have fallen behind me, so there is no left end left to count from; I simply keep following the tree I fixed on beside the lantern-hung corner. The lane stays clear between the red railing and the shopfronts, so I advance.", + "A tiered tower rises above the roofline on my left, telling me the courtyard is giving way to a longer street. My tree is still ahead of me rather than beside me, so I keep moving along the open stone.", + "A trunk fills my left foreground and my heading is drifting toward the planted strip and railing rather than the open walkway. The paving continues away to my right, so I turn right to sit back on the line of the street.", + "The turn has squared me with the long street, its far end glowing pale beyond the eaves. My tree lies along the left side further down, so I walk forward on the clear stone.", + "The colonnaded shopfront on my right slides past while the railed hall keeps pace on my left, both leaving the middle open. I am not yet level with my tree, so I step onward.", + "Pale blossom and a string of lanterns are resolving at the far end, so the street still has length in it. My tree stands nearer than that, further along the left, so I continue walking.", + "The canopy on my left is spreading wider overhead as its trunk grows nearer, which means I am closing on it. The paving in front of me is empty, so I press on.", + "The trunk on my left sits well ahead of me still, with its planted strip running forward past the railing. Open stone lies between us, so I keep walking toward it.", + "The pale trunk on the left is thickening in my view and the grass border beside it has come closer. I am still short of standing beneath it, so I take another step.", + "Its canopy now reaches over the left side of the street above me, but the base still sits ahead of my shoulder. The paving stays free, so I advance again.", + "The tiered tower behind the hall is fully clear now and the trunk stands only a short way up the left border. I close the remaining gap with another step.", + "The trunk has moved to the near left edge of my view, its bark plainly textured, so I am almost level with it. One more step forward should bring me alongside its base.", + "The tree is now beside me on the left rather than in front, and my heading runs on down the street past it. I turn left so the trunk and the grass strip at its foot sit in front of me instead of slipping behind.", + "The turn has put the trunk and its grassy border squarely ahead of me. A little open pavement still separates me from the base, so I step toward it.", + "The trunk fills the middle of my view and the kerb of its planted bed is right in front of my feet. A final step should set me at its base.", + "The trunk rises directly before me, its bark filling my view at arm's reach. I am at its base, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b221d8f46a5cc2b9f6780c74d167bcf06921d358 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the green bell pepper near the base of the leftmost tree.", + "Type": 5, + "Start_Pose": [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -15141.875, + -8305.455, + 1383.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0 + ], + [ + -15875.983, + -8585.539, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15774.631, + -8510.918, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15673.28, + -8436.296, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15571.929, + -8361.674, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15571.929, + -8361.674, + 1428.15, + -0.017, + 11.363, + 0.0 + ], + [ + -15448.537, + -8336.877, + 1428.15, + -0.017, + 11.363, + 0.0 + ], + [ + -15325.145, + -8312.08, + 1428.15, + -0.017, + 11.363, + 0.0 + ], + [ + -15325.145, + -8312.08, + 1428.15, + 0.0, + 11.363, + -0.0 + ], + [ + -15325.145, + -8312.08, + 1428.15, + 0.0, + 11.363, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -15141.875, + -8305.455, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15141.875, + -8305.455, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15141.875, + -8305.455, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15141.875, + -8305.455, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15141.875, + -8305.455, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15141.875, + -8305.455, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15141.875, + -8305.455, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15141.875, + -8305.455, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -15329.95, + -8291.265, + 1398.257, + -28.202, + 61.507, + 1.862 + ], + [ + -15329.95, + -8291.265, + 1398.257, + -28.202, + 61.507, + 1.862 + ] + ], + "PD_Dist_2D": [ + 907.6, + 785.7, + 665.3, + 547.3, + 433.7, + 433.7, + 308.3, + 183.4, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see a small green object resting on the low stone border at the base of the leftmost tree, far across the paved courtyard. Nothing blocks the open pavement between me and it, so I will walk forward to close that distance.", + "The green target at the foot of the leftmost tree looks slightly larger now, confirming I am heading the right way. The pavement ahead is still clear, so I will keep walking forward to shorten the remaining gap.", + "I am still well short of grabbing range, though the green object beside the leftmost trunk keeps growing in my view. I will advance again along this same heading since the courtyard in front of me remains open.", + "The green object at the tree base is noticeably closer and now sits low on my left side, but it is still out of reach. I will step forward once more before adjusting my heading.", + "The green target now sits well off to my left near the tree trunk, while my heading points along the veranda instead of at it. I will turn left to bring the object toward the center of my view for a straight approach.", + "After the turn, the green object sits near the middle of my view at the base of the leftmost tree. With the path clear, I will walk forward to close the remaining distance for a grasp.", + "The green pepper is large and centered ahead of me now, but it still sits a couple of paces beyond arm's reach. I will step forward again to get close enough to attempt the grab.", + "The green bell pepper fills the lower center of my view, right at the stone border under the leftmost tree, and is clearly within arm's reach. I will attempt to pick it up now, which should place it in my hands.", + "The green bell pepper is now held in my hands rather than resting by the tree. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-016055_y-013142_z001428_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-016055_y-013142_z001428_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c492924df7645cb28121489366bed162631a018 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-016055_y-013142_z001428_t0_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Proceed into the open wooden pavilion.", + "Type": 0, + "Start_Pose": [ + -16054.577, + -13142.345, + 1428.151, + -0.017, + -115.317, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -16054.577, + -13142.345, + 1428.151, + -0.017, + -115.317, + 0.0 + ], + [ + -16108.398, + -13256.116, + 1428.151, + -0.017, + -115.317, + -0.0 + ], + [ + -16162.218, + -13369.887, + 1428.151, + -0.017, + -115.317, + -0.0 + ], + [ + -16216.039, + -13483.658, + 1428.151, + -0.017, + -115.317, + -0.0 + ], + [ + -16216.039, + -13483.658, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16216.735, + -13609.515, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16217.432, + -13735.372, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16218.128, + -13861.229, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16218.824, + -13987.086, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16219.521, + -14112.943, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16220.217, + -14238.8, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16220.913, + -14364.657, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16221.61, + -14490.514, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16222.306, + -14616.371, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16223.002, + -14742.228, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16223.699, + -14868.085, + 1428.151, + -0.017, + -90.317, + -0.0 + ], + [ + -16224.395, + -14993.943, + 1439.695, + -0.017, + -90.317, + -0.0 + ], + [ + -16225.091, + -15119.8, + 1485.388, + -0.017, + -90.317, + -0.0 + ], + [ + -16225.091, + -15119.8, + 1485.388, + -0.017, + -90.317, + -0.0 + ] + ], + "Rationale": [ + "The open wooden pavilion with its tiered roof and exposed pillars stands ahead of me, slightly right of center across the paved courtyard. The stone paving between us is clear, so I will walk forward to begin closing that distance.", + "The pavilion's pillars and railing have grown larger and its roof detail is clearer, confirming my heading is carrying me toward it. The paving ahead remains unobstructed, so I will keep walking forward.", + "The pavilion now fills a good part of the upper right of my view and its balustrade is legible, so I am still on a useful line toward it. Nothing blocks the open stone between me and its base, so I will advance again.", + "The pavilion sits noticeably right of my forward direction, with the tree and planting bed taking up the left side of my view. Turning right should bring its entrance onto my center line so that further walking heads straight into it.", + "The turn has put the pavilion squarely in the middle of my view, with its steps and pillars framed dead ahead. With the heading now aligned, I will walk forward to close the remaining courtyard distance.", + "The pavilion is holding centered and its low steps are becoming distinct, so my line needs no adjustment. I will keep stepping forward toward the open structure.", + "The pavilion's roof now cuts across the top of my view and its stepped base is clearly ahead, showing that the gap is shrinking on a straight line. The paving in front of me is clear, so I will continue walking.", + "The wooden steps and the pillared opening of the pavilion are close and centered, so my approach line is still correct. I will walk forward again to reach the base of those steps.", + "The wooden pavilion fills the middle of my view and its low step platform is now clearly visible ahead, roughly centred on my heading. Nothing blocks the open flagstones between me and it, so I keep walking straight to close the remaining distance.", + "The pavilion has grown larger and its front steps sit almost dead ahead, so my heading still needs no correction. I walk forward again to keep shrinking the gap to the stair foot.", + "The pavilion's stairs and railings now dominate the frame and its roof eaves overhang the top of my view, which tells me I am close but still out on the courtyard paving. Another step forward should bring me to the base of the stairs.", + "The stone steps up into the pavilion are only a short stretch of paving away and lie squarely in front of me. I keep advancing along the same line rather than turning, since the entry gap between the front pillars is directly on my path.", + "I am nearly at the foot of the stairs, with the pillars framing the opening on either side of my view and the interior floor visible beyond the railings. Continuing straight should carry me onto the steps.", + "The steps now spread wide across the bottom of my view and the pavilion's shaded interior opens above them. I walk forward to climb onto the platform instead of stopping short at the threshold.", + "I am on the stairs with the flanking railings and pillars close beside me, and the flat interior deck lies just past the top tread. Another step forward should put me on that deck under the roof.", + "The top of the stairs is right at my feet and the pavilion's floor with its surrounding balustrade opens directly ahead. I step forward to move fully inside rather than remain on the threshold.", + "The steps are behind me and the pavilion's stone floor now runs flat ahead, with the roof beams overhead and railings closing in on both sides. I am still at the very lip of the deck, so one more stride forward should carry me properly inside the open pavilion.", + "I stand on the pavilion's stone floor with its railings on either side and its roof beams above me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-016055_y-013142_z001428_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-016055_y-013142_z001428_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa4b91638e80fd889f479ea25e6417acebc0f710 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-016055_y-013142_z001428_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Grab the wicker basket near the tree trunk in the raised planter.", + "Type": 5, + "Start_Pose": [ + -16054.577, + -13142.345, + 1428.151, + -0.017, + -115.317, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -16775.709, + -13897.854, + 1391.709, + 90, + -155.317, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -16054.577, + -13142.345, + 1428.151, + -0.017, + -115.317, + 0 + ], + [ + -16108.398, + -13256.116, + 1428.151, + -0.017, + -115.317, + -0.0 + ], + [ + -16162.218, + -13369.887, + 1428.151, + -0.017, + -115.317, + -0.0 + ], + [ + -16162.218, + -13369.887, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16259.078, + -13450.253, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16355.938, + -13530.619, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16452.797, + -13610.984, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16549.657, + -13691.35, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16646.517, + -13771.716, + 1441.604, + -0.017, + -140.317, + -0.0 + ], + [ + -16743.377, + -13852.082, + 1441.604, + -0.017, + -140.317, + -0.0 + ], + [ + -16743.377, + -13852.082, + 1441.604, + 0.0, + -140.318, + 0.0 + ], + [ + -16743.377, + -13852.082, + 1441.604, + 0.0, + -140.318, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16775.709, + -13897.854, + 1391.709, + 90.0, + -155.317, + 0.0 + ], + [ + -16729.272, + -13868.126, + 1411.815, + -28.202, + -90.173, + 1.862 + ], + [ + -16729.272, + -13868.126, + 1411.815, + -28.202, + -90.173, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1044.4, + 925.8, + 809.4, + 809.4, + 683.6, + 557.7, + 431.9, + 306.2, + 180.6, + 56.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket is visible far ahead, resting against the trunk of the tree in the raised planter on the left side of the courtyard. The stone paving between me and it is open, so I will walk forward to close that long gap before worrying about fine alignment.", + "The planter and the basket beside the trunk now appear slightly larger, confirming my heading is bringing me nearer. I am still far from any grasping range, so I will keep walking forward across the open paving.", + "My straight-ahead heading points toward the pavilion, while the tree, planter and the basket at its trunk sit off to my left. Continuing forward would carry me past them, so I will turn left to place the target near the center of my view.", + "The turn has put the tree and its raised planter squarely ahead, with the round basket leaning at the base of the trunk. With the heading now usable, I will walk forward to shorten the remaining distance.", + "The planter rim and the basket against the trunk are clearly larger and still centered, so my line of travel is good. I will continue walking forward since I remain several strides short of reach.", + "The mossy planter now fills much of the lower view and the basket sits just right of the trunk, plainly within my forward path. Another step forward should bring me close enough to consider grasping it.", + "I am nearly at the near border of the raised planter, with the basket leaning against the trunk a short way beyond it. I will step forward again to close that last stretch rather than reaching from too far back.", + "I have stepped onto the planter and the wicker basket is large and centered just ahead against the trunk. One more forward step should place it directly at my feet so a grasp becomes feasible.", + "The wicker basket now fills much of my view, resting on the soil of the raised planter beside the tree trunk, but it still sits slightly beyond comfortable arm's reach. I will take one more step forward along the planter edge to close that last bit of distance so a grasp becomes possible.", + "I am standing right at the planter edge with the tree trunk directly in front of me and the wicker basket at the very bottom of my view, well within reach. Nothing separates my hands from it, so I will attempt the grasp now.", + "The wicker basket is now held in my hands rather than sitting on the planter soil. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-016828_y003990_z001218_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-016828_y003990_z001218_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..293e951b7a60ac12160b75f9af6ea32a722c124e --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-016828_y003990_z001218_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the entrance of the wooden bridge.", + "Type": 0, + "Start_Pose": [ + -16827.531, + 3990.036, + 1218.151, + 0.0, + -7.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -16827.531, + 3990.036, + 1218.151, + 0.0, + -7.68, + 0.0 + ], + [ + -16702.801, + 3973.216, + 1218.151, + 0.0, + -7.68, + 0.0 + ], + [ + -16578.071, + 3956.396, + 1228.102, + 0.0, + -7.68, + 0.0 + ], + [ + -16453.341, + 3939.576, + 1228.102, + 0.0, + -7.68, + 0.0 + ], + [ + -16328.611, + 3922.757, + 1228.102, + 0.0, + -7.68, + 0.0 + ], + [ + -16203.881, + 3905.937, + 1218.343, + 0.0, + -7.68, + 0.0 + ], + [ + -16079.151, + 3889.117, + 1218.343, + 0.0, + -7.68, + 0.0 + ], + [ + -15954.421, + 3872.297, + 1218.343, + 0.0, + -7.68, + 0.0 + ], + [ + -15829.691, + 3855.477, + 1218.343, + 0.0, + -7.68, + 0.0 + ], + [ + -15704.961, + 3838.657, + 1218.343, + 0.0, + -7.68, + 0.0 + ], + [ + -15580.231, + 3821.838, + 1218.343, + 0.0, + -7.68, + 0.0 + ], + [ + -15580.231, + 3821.838, + 1218.343, + 0.0, + -7.68, + 0.0 + ] + ], + "Rationale": [ + "From this plaza I can see an arched wooden walkway with red railings straight ahead beyond the tall red gate, which matches the bridge I need to reach. My heading is already lined up with the gate opening and the paved lane leading to it, so no turn is needed. I will move forward to begin closing the distance toward the bridge entrance.", + "The red gate pillars now loom larger on either side and the bridge deck beyond them sits centered in my view, confirming the previous step brought me closer. Nothing blocks the paving between me and the gate. I will keep pushing forward along the same heading.", + "I am passing between the gate columns now, and the arched bridge with its railings is clearly visible dead ahead. The wooden planks on the ground to my left are off to the side and not in my path. Continuing straight forward should shrink the remaining gap to the bridge entrance.", + "Through the gateway the curved bridge deck and its red parapets are now much more distinct, and the flanking pillars have receded to the edges of my view. My alignment with the bridge centerline still looks good. I will advance again to keep narrowing the distance.", + "The bridge's arched railings and steps are now filling the center of my view, so I am within a short distance of its near end. The paving in front of me remains clear and level. I will step forward once more toward the entrance.", + "I can now see the full span of the wooden bridge rising ahead with its red posts and lantern-topped newels at the near end. I am still a few paces short of where the deck begins. Another forward step should bring me nearer to that entrance threshold.", + "The bridge's near railing ends and the start of its planked deck are now directly in front of me, only a short gap of paving remaining. My heading points straight up the middle of the span. I will continue forward to close that last stretch.", + "The wooden planks of the bridge now begin just beyond my feet, with the curved railings sweeping up on both sides. I am essentially at the threshold but not yet standing on the entrance itself. One more forward step should place me right at the mouth of the bridge.", + "The arched wooden bridge with its red railings now spans the whole view directly ahead, and its near foot meets the stone paving just a short distance in front of me. My heading is already centered on the bridge deck and the torii beyond it, so I will keep moving forward to close the last of the gap to the entrance.", + "The wooden planking now begins at my feet with the curved red railings rising on both sides of me, so I am right at the start of the bridge. One more forward step should place me squarely at the entrance rather than just short of it.", + "I am standing on the wooden planking at the bridge's entrance, railings flanking me on both sides. The task is complete, so I stop here without moving onto the span." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-017629_y004015_z001218_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-017629_y004015_z001218_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d01101d468c1b62558e1ac7155f77ea22570117 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-017629_y004015_z001218_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the stack of wooden crates in the courtyard.", + "Type": 0, + "Start_Pose": [ + -17629.306, + 4015.237, + 1218.151, + 0.0, + 44.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -17629.306, + 4015.237, + 1218.151, + 0.0, + 44.16, + -0.0 + ], + [ + -17540.277, + 4066.888, + 1220.831, + 0.0, + 44.16, + -0.0 + ], + [ + -17449.986, + 4154.57, + 1218.151, + 0.0, + 44.16, + -0.0 + ], + [ + -17359.695, + 4242.251, + 1218.151, + 0.0, + 44.16, + -0.0 + ], + [ + -17269.404, + 4329.933, + 1218.151, + 0.0, + 44.16, + -0.0 + ], + [ + -17269.404, + 4329.933, + 1218.151, + 0.0, + 19.16, + -0.0 + ], + [ + -17150.517, + 4371.241, + 1218.151, + 0.0, + 19.16, + -0.0 + ], + [ + -17035.103, + 4412.305, + 1218.151, + 0.0, + 19.16, + -0.0 + ], + [ + -17035.103, + 4412.305, + 1218.151, + 0.0, + 19.16, + -0.0 + ] + ], + "Rationale": [ + "Across the open courtyard I can see the stack of wooden crates ahead and slightly left of my heading, standing against the stone base of the hall. My current heading points close enough to it that straight travel should shorten the gap, so I will move forward.", + "The crate stack now appears larger and closer, confirming that my forward motion is closing distance on it. The paving between me and the crates is clear, so I will continue straight ahead.", + "The wooden crates now dominate the left-center of my view and their panel seams are clearly visible, so I am within a few steps of them. I will keep advancing to bring myself right up beside the stack.", + "The crate stack is close on my left, though my heading is carrying me slightly past its near face along the stone wall. One more forward step should place me level with the stack before I correct my heading.", + "The crates have slid to the far left edge of my view while my heading points down the wall past them. I will turn left to bring the stack back to the center of my view and face it directly.", + "The crate stack now sits squarely in the middle of my view with its front faces toward me. With my heading corrected, I will step forward to close the remaining short gap.", + "The stacked wooden crates now tower across most of my view, so only a small distance remains. I will take one more step forward to stand immediately at the stack.", + "The wooden crate surface fills my view at arm's length, showing I stand directly at the stack. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-018608_y003635_z001221_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-018608_y003635_z001221_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5219e82b430ff7cd1e673e1ac0919bf260169ce1 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-018608_y003635_z001221_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Navigate to the fence post where railing meets the wall.", + "Type": 0, + "Start_Pose": [ + -18607.851, + 3635.238, + 1221.147, + 0.0, + -133.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -18607.851, + 3635.238, + 1221.147, + 0.0, + -133.44, + 0.0 + ], + [ + -18694.392, + 3543.852, + 1224.085, + 0.0, + -133.44, + 0.0 + ], + [ + -18780.932, + 3452.467, + 1226.377, + 0.0, + -133.44, + 0.0 + ], + [ + -18780.932, + 3452.467, + 1226.377, + 0.0, + -108.44, + 0.0 + ], + [ + -18820.742, + 3333.07, + 1226.999, + 0.0, + -108.44, + 0.0 + ], + [ + -18860.553, + 3213.673, + 1227.62, + 0.0, + -108.44, + 0.0 + ], + [ + -18900.363, + 3094.276, + 1227.404, + 0.0, + -108.44, + 0.0 + ], + [ + -18940.174, + 2974.88, + 1226.425, + 0.0, + -108.44, + 0.0 + ], + [ + -18979.985, + 2855.483, + 1225.016, + 0.0, + -108.44, + 0.0 + ], + [ + -19019.795, + 2736.086, + 1224.618, + 0.0, + -108.44, + 0.0 + ], + [ + -19059.606, + 2616.689, + 1224.703, + 0.0, + -108.44, + 0.0 + ], + [ + -19059.606, + 2616.689, + 1224.703, + 0.0, + -108.44, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the wooden railing running across the yard ahead and the plastered wall of the building rising on my right, so the fence post I need is where that railing meets the wall. The junction is still well ahead of me across the grass, so I will move forward to close the gap.", + "The railing and its posts are noticeably larger now, and the corner where the railing runs into the wall on my right is becoming clearer. I still have several strides of grass to cover, so I will keep moving forward along the same heading.", + "The railing now crosses close in front of me, but the point where it meets the wall sits off to my right rather than straight ahead. I will turn right a little to put that junction near the center of my view before continuing.", + "After the small turn, the wall runs down the right side and the railing ends against it just left of center, which is exactly the post I want. The narrow grass strip between railing and wall is clear, so I will move forward along it.", + "The wall is closer on my right and fewer railing posts remain between me and the corner, so my heading is still good. I will continue forward to shorten the distance to the junction post.", + "Only a couple of posts now separate me from the spot where the railing meets the corner timber of the wall. The grass path stays open, so another forward step should bring me closer to that post.", + "The railing end and the wall's corner post are now clearly joined a short distance ahead and slightly left of my heading. I am not yet close enough to call this the target position, so I will step forward again.", + "The capped post where the railing meets the wall is now large and just ahead on my left, with the wall face immediately to my right. One more forward step should place me right at that junction.", + "The wooden railing runs along my left and ends at the tall timber post set against the plaster wall just ahead of me, so the junction I want is directly on my path. I still have a short gap to close, so I will move forward along the fence line toward that corner post.", + "The railing's top rail now enters the frame at close range and terminates at the heavy timber post pressed against the wall, confirming this is the junction named in the task. One more forward step should bring me right up beside that post rather than stopping short of it.", + "The railing's end rail and the timber post meeting the plaster wall fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-020466_y003639_z001234_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-020466_y003639_z001234_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b420acc37ce18159a17807e8284066c54355c456 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-020466_y003639_z001234_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the ceramic pot at the small wooden lantern stand.", + "Type": 5, + "Start_Pose": [ + -20465.531, + 3638.905, + 1234.462, + 0, + 27.84, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -19986.238, + 4063.278, + 1159.462, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -20465.531, + 3638.905, + 1234.462, + 0, + 27.84, + 0 + ], + [ + -20354.24, + 3697.682, + 1234.462, + 0.0, + 27.84, + -0.0 + ], + [ + -20242.948, + 3756.458, + 1234.462, + 0.0, + 27.84, + -0.0 + ], + [ + -20242.948, + 3756.458, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -20166.924, + 3856.762, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -20090.9, + 3957.065, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -20090.9, + 3957.065, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -20090.9, + 3957.065, + 1234.462, + 0.0, + 52.84, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -19986.238, + 4063.278, + 1159.462, + 0.0, + 0.0, + 0.0 + ], + [ + -19986.238, + 4063.278, + 1159.462, + 0.0, + 0.0, + 0.0 + ], + [ + -19986.238, + 4063.278, + 1159.462, + 0.0, + 0.0, + 0.0 + ], + [ + -19986.238, + 4063.278, + 1159.462, + 0.0, + 0.0, + 0.0 + ], + [ + -19986.238, + 4063.278, + 1159.462, + 0.0, + 0.0, + 0.0 + ], + [ + -19986.238, + 4063.278, + 1159.462, + 0.0, + 0.0, + 0.0 + ], + [ + -20108.287, + 3969.478, + 1204.569, + -28.202, + 102.985, + 1.862 + ], + [ + -20108.287, + 3969.478, + 1204.569, + -28.202, + 102.985, + 1.862 + ] + ], + "PD_Dist_2D": [ + 640.2, + 518.7, + 400.0, + 400.0, + 274.4, + 149.1, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the small wooden lantern stand ahead on the right, with a rounded ceramic pot resting in the grass beside its base. It is still far off across the open dirt ground, so I will walk forward to close that distance before worrying about fine alignment.", + "The pot beside the lantern stand has grown noticeably larger and clearer, confirming I am closing on the right target. It still sits well ahead and off to my right, so another step forward is the most direct way to shorten the remaining gap.", + "The ceramic pot and its lantern stand now sit clearly to the right of my heading, while my path points straight down the torii lane past them. I will turn right to swing my facing onto the pot so further forward steps carry me toward it rather than past it.", + "The turn has brought the lantern stand and the ceramic pot into the middle of my view, so my heading now points at them. They remain several paces off through the grass, so I will step forward to close in for a reachable grasp position.", + "The ceramic pot is now large and low in front of me, just left of the lantern post, but it still sits a step beyond comfortable arm's reach. I will move forward once more to stand right over it before attempting the grab.", + "The ceramic pot is directly in front of my feet at the base of the small wooden lantern stand, its rim wide open and unobstructed at the bottom of my view. Nothing stands between me and it, so I will attempt the grab now.", + "The ceramic pot is now held in my hands and no longer resting in the grass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..09fed6d20c135a1be4b73c388941bb606bb6bd40 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the base of the second column from the right.", + "Type": 2, + "Start_Pose": [ + 3990.454, + -10937.574, + 1218.151, + -0.006, + -31.719, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3990.454, + -10937.574, + 1218.151, + -0.006, + -31.719, + 0.0 + ], + [ + 4097.514, + -11003.745, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4204.575, + -11069.916, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4311.635, + -11136.087, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4418.695, + -11202.258, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4525.756, + -11268.428, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4632.816, + -11334.599, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4739.876, + -11400.77, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4846.937, + -11466.941, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4953.997, + -11533.112, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5061.057, + -11599.283, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5168.117, + -11665.454, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5275.178, + -11731.624, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5382.238, + -11797.795, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5489.298, + -11863.966, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5596.359, + -11930.137, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5596.359, + -11930.137, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5665.423, + -12035.354, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5734.488, + -12140.57, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5803.552, + -12245.787, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5872.617, + -12351.004, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5872.617, + -12351.004, + 1218.15, + -0.006, + -56.719, + 0.0 + ] + ], + "Rationale": [ + "Across the courtyard a row of slender pillars carries the raised walkway. They look alike from here, so I settle my target now as the second pillar in from the right end of that run, the one standing just inward of the corner pillar beside the open gap. I walk forward to close the distance.", + "The pillar run is still distant, sitting slightly left of my heading, and the flagstones between us are empty. Nothing calls for a turn yet, so I keep striding straight toward my chosen pillar.", + "The veranda and the pillars beneath it have grown noticeably, which tells me this heading is closing on them. The courtyard ahead is open, so another forward stride is the simplest way to keep gaining ground.", + "The heavy eaves now fill the upper part of my view and the pillars under the walkway read more distinctly. My target pillar still lies ahead and a little to the left, far too distant to justify turning this early, so I continue straight.", + "Coming closer has brought more of the walkway's pillars into view, so I keep tracking the same pillar I picked rather than recounting the run from this new angle. The paving ahead stays clear and I walk on.", + "The shadowed underside of the eave now spreads across the top of my view and the pillar bases sit plainly on the stone. I am still well short of the pillar I am heading for, so I keep moving forward.", + "The nearer pillars now stand out clearly with the bright gap to the hills showing between them. My pillar lies further along that run, so straight walking remains the efficient way to reach its base.", + "The pillars are now large enough to tell apart individually, and the one I am heading for still sits deeper ahead of me. With nothing blocking the flagstones, I take another step forward before considering any turn.", + "The colonnade now runs off toward my left as the eave shadow spreads overhead, yet the pillar I chose, the one standing just inside the corner pillar beside the bright gap to the hills, is still well ahead. The stone in front of me is clear, so I press on.", + "Deep shade from the overhang covers the top of my view and the paving underfoot stays open. My pillar sits further along the run beside that bright gap, so another straight stride is the plain way to keep closing.", + "The bases of the near pillars now stand close on my left while the opening to the hills holds steady in front. Distance rather than heading is what still separates me from my pillar, so I keep walking without turning.", + "I am passing under the roofline now, with the panelled wall sliding by on my right and the pillar line opening out to my left. My target still stands beyond the nearest few, so I continue straight instead of committing to a turn this early.", + "This close the pillars no longer read as a neat countable row, so I hold to the one standing just inside the opening where the hills show through. That opening is still ahead and a little left, and the floor between is clear for another stride.", + "The nearest pillars have grown tall enough that I could walk between them, while the bright opening I am aiming for lies further in along the walkway. Nothing blocks the flagstones, so I take another step forward before adjusting my heading.", + "A broad panelled corner now crowds the right of my view while the pillars stretch away on my left, a sign my heading is starting to slip off the mark. My pillar is still further in, though, so I close the remaining ground with one more stride first.", + "The near wall and its post now block most of my right side, and the run of pillars I need has slid toward the left edge of my view. I turn left so my heading comes back onto the pillar standing beside the open gap, which should let me walk straight in to its base.", + "The turn has cleared the panelled corner out of my way, and the colonnade now spreads across the middle of my view with the bright opening to the hills off to the right of it. My pillar, the one standing just inside that opening, sits ahead of me with clear paving between, so I walk on.", + "The pillar I want has swung near the centre of my view, its shaft and drum base now clearly separated from the ones deeper under the walkway. Only a short stretch of stone still lies between us, so I keep striding straight at it.", + "The base of that pillar now sits low and broad ahead of me, wide enough that I can read the grain of its drum. I am close but not yet standing at it, so another stride should bring me right up against its foot.", + "The pillar now towers directly in front of me, its base filling the lower middle of my view, and the open gap with the hills shows just past its right side. One last step should put me level with its foot.", + "The fluted shaft fills my view at arm's length, its base right at my feet. I have reached the pillar beside the open gap, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-000093_y003127_z000238_t1_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-000093_y003127_z000238_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2a50538d9200036159644a54a9c267f9fca53a3e --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-000093_y003127_z000238_t1_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Discover the market stall covered by a red canopy and approach it.", + "Type": 1, + "Start_Pose": [ + -92.776, + 3126.921, + 237.553, + 0.0, + 155.68, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -92.776, + 3126.921, + 237.553, + 0.0, + 155.68, + -0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + 130.68, + -0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + 105.68, + -0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + 80.68, + -0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + 55.68, + -0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + 30.68, + -0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + 5.68, + -0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + -19.32, + 0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + -44.32, + 0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + -69.32, + 0.0 + ], + [ + -92.776, + 3126.921, + 237.553, + 0.0, + -94.32, + 0.0 + ], + [ + -102.257, + 3001.419, + 235.513, + 0.0, + -94.32, + 0.0 + ], + [ + -102.257, + 3001.419, + 235.513, + 0.0, + -119.32, + 0.0 + ], + [ + -163.888, + 2891.683, + 219.918, + 0.0, + -119.32, + 0.0 + ], + [ + -225.52, + 2781.947, + 211.575, + 0.0, + -119.32, + 0.0 + ], + [ + -287.151, + 2672.211, + 209.495, + 0.0, + -119.32, + 0.0 + ], + [ + -348.783, + 2562.474, + 208.089, + 0.0, + -119.32, + 0.0 + ], + [ + -410.414, + 2452.738, + 208.089, + 0.0, + -119.32, + 0.0 + ], + [ + -472.046, + 2343.002, + 208.089, + 0.0, + -119.32, + 0.0 + ], + [ + -533.677, + 2233.266, + 208.089, + 0.0, + -119.32, + 0.0 + ], + [ + -595.309, + 2123.529, + 208.089, + 0.0, + -119.32, + 0.0 + ], + [ + -595.309, + 2123.529, + 208.089, + 0.0, + -119.32, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, most of my view is a blank stone wall with a column, and I see no red canopy or market stall ahead. Since the open floor continues off to my left, I will begin a steady leftward scan from this spot to reveal more of the surroundings.", + "The rotation has only brought another empty stone corner into view, with bare walls and an open paved floor and still no sign of a red canopy. I will keep turning left in the same direction so the scan stays consistent and covers the unseen part of this hall.", + "A row of columns and green palm fronds has come into the left side of my view, which suggests a more open, decorated area rather than this empty hall. I will continue the same leftward turn to bring that promising opening fully in front of me.", + "Past the columns I can now see palms, arched doorways and a lit courtyard, which is the kind of place where market stalls would stand. Continuing to turn left should swing that courtyard into the center of my view so I can check it for a red canopy.", + "The courtyard with its palms and arched walls is now broadly visible, but nothing in it shows the red canopy I am looking for. I will hold the same leftward scan to keep uncovering ground beyond this section instead of stopping on an uncertain area.", + "A thick column now sits close in front of me and cuts off most of the courtyard, leaving only a narrow strip of the open area visible. I will continue turning left so my line of sight can move past this pillar and keep the scan going.", + "The nearby pillars are now filling almost the whole view and I can barely glimpse the courtyard past them, so I have no useful information from this heading. Keeping the same leftward rotation should carry my view clear of these columns.", + "My view is almost entirely blocked by close stonework, so I cannot judge anything about the surroundings from here. I will keep rotating left in the same direction, which should bring open space and any stalls back into sight.", + "My view is filled almost entirely by close stone masonry, so I cannot see any stall or canopy from this heading. I will keep rotating left in the same steady direction to swing past this blocking column face and open up unseen parts of the surroundings.", + "The rotation has cleared the stonework enough that a market area is now appearing at the left edge, with hanging lanterns, an arched gateway and a shelf of pots. The right half of my view is still blocked by the wall, so I will turn left again to bring that market space into the center of my view and look for a red canopy there.", + "The market interior is now open in front of me, with lanterns overhead, a pottery stand ahead and a stall with a reddish awning further left along the wall. Rather than keep spinning, I will step forward into this open floor to close distance and get a clearer look at the canopied stall.", + "From this closer position I can see a stall on the left side of the hall with a red canopy stretched over its frame, while my heading points more toward the archway and the pot shelves. I will turn left to place that red-roofed stall ahead of me so I can walk straight at it.", + "The stall with the red canopy now sits ahead in my view, past the pot-laden shelf on my right. The floor between us is clear, so I will walk forward to reduce the distance to that canopy.", + "The red canopy stall has grown larger and more detailed ahead of me, confirming that my heading is carrying me toward it. I will continue walking forward since nothing blocks this lane through the market.", + "The red awning and its wooden posts are clearly resolved ahead, but I am still several strides away from it. I will take another step forward to keep closing on the canopied stall.", + "The red canopy now spans a large part of my upper view with the goods beneath it becoming visible, so I am close but not yet at the stall. I will keep advancing on the same heading to bring myself right up to it.", + "The stall with the weathered red canopy stands ahead and slightly left, its wooden posts and the rolled rugs and cushions beneath it now clearly resolved. I am still several paces short of it, so I will keep walking straight to close the remaining gap.", + "The red canopy and its supporting posts now fill more of my view, confirming I am closing on the covered stall rather than the arched gateway to the right. Since the path over the open ground stays clear, I will step forward again.", + "I am close enough now that the red canopy spans the upper part of my view and the rolled rugs beneath it are plainly laid out in front of me. A couple more steps should bring me right to the edge of the stall, so I will continue forward.", + "The canopy now overhangs my position and the goods shelf and rug pile are within a step or two of me. One more step forward should place me right at the stall front for a proper approach.", + "I stand directly under the red canopy, with the stall's rug piles, cushions and pottery shelf immediately in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t3_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb1a43853b4d14429c2f1feea5d181140e4cf139 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t3_a/infos.json @@ -0,0 +1,396 @@ +{ + "Instruction": "Walk to the red awning stand, then head toward the wooden cart wheel.", + "Type": 3, + "Start_Pose": [ + -163.826, + -210.163, + 225.129, + 0.0, + -104.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -163.826, + -210.163, + 225.129, + 0.0, + -104.64, + 0.0 + ], + [ + -195.636, + -331.936, + 212.813, + 0.0, + -104.64, + 0.0 + ], + [ + -227.446, + -453.708, + 203.557, + 0.0, + -104.64, + 0.0 + ], + [ + -227.446, + -453.708, + 203.557, + 0.0, + -129.64, + 0.0 + ], + [ + -307.74, + -550.628, + 201.87, + 0.0, + -129.64, + 0.0 + ], + [ + -388.033, + -647.548, + 203.963, + 0.0, + -129.64, + 0.0 + ], + [ + -468.326, + -744.468, + 203.393, + 0.0, + -129.64, + 0.0 + ], + [ + -548.619, + -841.388, + 201.944, + 0.0, + -129.64, + 0.0 + ], + [ + -628.913, + -938.308, + 210.597, + 0.0, + -129.64, + 0.0 + ], + [ + -709.206, + -1035.228, + 203.256, + 0.0, + -129.64, + 0.0 + ], + [ + -789.499, + -1132.148, + 211.278, + 0.0, + -129.64, + 0.0 + ], + [ + -869.792, + -1229.068, + 212.787, + 0.0, + -129.64, + 0.0 + ], + [ + -950.086, + -1325.988, + 212.865, + 0.0, + -129.64, + 0.0 + ], + [ + -1030.379, + -1422.908, + 203.459, + 0.0, + -129.64, + 0.0 + ], + [ + -1095.344, + -1493.858, + 203.459, + 0.0, + -129.64, + 0.0 + ], + [ + -1095.344, + -1493.858, + 203.459, + 0.0, + -129.64, + 0.0 + ], + [ + -1036.396, + -1422.704, + 203.459, + 0.0, + -129.64, + 0.0 + ], + [ + -977.449, + -1351.55, + 209.36, + 0.0, + -129.64, + 0.0 + ], + [ + -918.501, + -1280.396, + 211.022, + 0.0, + -129.64, + 0.0 + ], + [ + -918.501, + -1280.396, + 211.022, + 0.0, + -104.64, + 0.0 + ], + [ + -918.501, + -1280.396, + 211.022, + 0.0, + -79.64, + 0.0 + ], + [ + -918.501, + -1280.396, + 211.022, + 0.0, + -54.64, + 0.0 + ], + [ + -918.501, + -1280.396, + 211.022, + 0.0, + -29.64, + 0.0 + ], + [ + -918.501, + -1280.396, + 211.022, + 0.0, + -4.64, + 0.0 + ], + [ + -918.501, + -1280.396, + 211.022, + 0.0, + 20.36, + -0.0 + ], + [ + -800.505, + -1236.607, + 213.015, + 0.0, + 20.36, + -0.0 + ], + [ + -682.509, + -1192.818, + 214.054, + 0.0, + 20.36, + -0.0 + ], + [ + -564.513, + -1149.03, + 212.846, + 0.0, + 20.36, + -0.0 + ], + [ + -446.517, + -1105.241, + 204.146, + 0.0, + 20.36, + -0.0 + ], + [ + -384.932, + -1041.383, + 203.062, + 0.0, + 20.36, + -0.0 + ], + [ + -384.932, + -1041.383, + 203.062, + 0.0, + -4.64, + 0.0 + ], + [ + -259.485, + -1051.565, + 204.136, + 0.0, + -4.64, + 0.0 + ], + [ + -134.039, + -1061.746, + 204.676, + 0.0, + -4.64, + 0.0 + ], + [ + -8.592, + -1071.927, + 217.861, + 0.0, + -4.64, + 0.0 + ], + [ + -8.592, + -1071.927, + 217.861, + 0.0, + -29.64, + 0.0 + ], + [ + 100.798, + -1134.171, + 216.202, + 0.0, + -29.64, + 0.0 + ], + [ + 210.189, + -1196.414, + 216.246, + 0.0, + -29.64, + 0.0 + ], + [ + 210.189, + -1196.414, + 216.246, + 0.0, + -29.64, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the market I can pick out a small stall with a red cloth canopy far ahead on the left, beyond the open paving and near the palms. The square in front of me is clear, so I will walk forward to close that distance before worrying about fine heading.", + "The red-topped stall by the palms sits a little larger in view now, which tells me my heading is carrying me the right way. The stone ground ahead is still open, so I will keep walking forward to shorten the gap.", + "My straight path is drifting me toward the pottery arcade on the right, while the red awning stall sits well off to my left near the palm trunks. I will turn left to swing that red canopy nearer the middle of my view before continuing.", + "The turn has brought the red canopy stall into clearer view ahead, standing against the palms and the low wall. With flat paving between me and it, I will walk forward on this heading.", + "The red awning is holding its place slightly left of center and its wooden posts are becoming distinct, so my heading is good. Nothing blocks the paving, so I continue walking toward it.", + "The red cloth canopy and the frame beneath it are noticeably bigger than a moment ago, confirming I am closing on it. The route stays open across the flagstones, so I will step forward again.", + "The red awning now shows its sagging cloth and dark underside clearly, set just left of my path beside the palm trunk. I am still some paces short of it, so I keep walking forward.", + "The red-covered stall is filling more of the view and I can begin to make out the table and goods under it. The paving in front of me remains clear, so another step forward should bring me right up to it.", + "The red cloth canopy on its slim wooden posts stands ahead and slightly left, still well across the paved yard beside the palms. Nothing blocks the open flagstones between us, so I will keep walking straight to close the remaining distance.", + "The red awning is noticeably larger now, and I can pick out the crates of melons set on the ground beneath it. My heading still points at it across clear paving, so another step forward keeps shrinking the gap.", + "The red canopy now hangs high in my view with its palm trunk and counter clearly resolved, so I am within a few paces. The ground between me and the crates is open, so I continue straight ahead.", + "The awning's red cloth spreads across the top of my view and the melon crates sit just ahead on the sand. I am close but not yet at the stand itself, so I walk one more step toward its counter.", + "The canopy underside and its support posts now frame my view, with the halved melons on the wooden counter directly in front. A short gap remains to the stand, so I keep advancing toward it.", + "The counter with its two split melons is barely a stride away between the awning posts. One more short step should bring me right up against the stand.", + "The wooden counter with its halved melons is right in front of me, the red cloth canopy stretched overhead. I have arrived at the red awning stand. I mark reaching it and now turn my attention to finding the wooden cart wheel.", + "Standing pressed against the melon counter, the awning and posts crowd out almost everything else, leaving me no view of the market to search for a wooden cart wheel. Backing up a step should open the surroundings before I reorient.", + "The red awning fruit stall is right in front of me and I have already marked arriving there, so the melon crates and roof posts still crowd my immediate space. I will step back once more to gain clearance from the stall frame before swinging my heading toward the open market ground and the wooden cart wheel.", + "The stall canopy has pulled back a little, but crates and the wall corner still hem in my footing. Another backward step should give me enough open pavement to rotate freely rather than scraping past the stall supports.", + "I now stand clear of the fruit stall with room around me, and the way onward lies off to my right past the wall corner rather than ahead into the melon crates. I will begin turning right to sweep my heading off this stall and toward the open market lane.", + "The turn has brought the shelved stall and the leaning plank into view, so I am still facing enclosed shop frontage rather than a route I can walk. I will keep rotating right to carry my heading further around toward open ground.", + "The hanging platters and sacks of the spice counter now dominate my view, and a post stands almost directly ahead of me. Turning right again should carry my gaze past this counter toward the paved stretch opening on that side.", + "More of the spice stall's low counter is in front of me, though the flagstones now run away clearly to my right. I will continue rotating right so my heading follows that open paving instead of the stall wall.", + "The stall edge has slid to my left and the wider square with its distant domed roofs is appearing at the right of my view. Another turn right should push that open thoroughfare into the centre of my heading.", + "The open market street with its pottery displays and awnings now lies mostly ahead and slightly to my right, while the fruit stall is behind me. One more turn right should square my heading down that street so I can walk on in search of the wooden cart wheel.", + "With the fruit stall under its red cloth behind me, my heading now looks straight down the open market street, past pottery tables on the left and a striped canopy on the right. No wooden cart wheel is close enough to pick out yet, so I will walk forward into the plaza to bring the stalls along this lane within reach of my eyes.", + "The lane ahead stays clear, with pottery and glass vessels lining the left arcade and the striped awning shop to my right. A cart with a wooden wheel is still not distinguishable among the goods, so another step forward should let more of this row resolve.", + "Jars and turquoise bottles on the left counter are getting closer as the street continues to open in front of me. Nothing blocks the paving, and no cart wheel has appeared yet, so I keep walking straight to close on the deeper stalls.", + "The arcade of pots and vases on my left is now beside me, and the far end of the street with its arched gateway is clearly ahead. Since the wooden cart I want is not yet in view, I advance again along the same clear line.", + "The rug-draped bench and stacked jars on my left are sliding past, and more of the covered stall behind them is opening up. A wheeled cart would sit in that shaded row, so I step forward once more to bring it into view.", + "At the far left edge of my view a handcart with a spoked wooden wheel now stands under the timber canopy. It sits well off my current heading, so I turn left to bring that wheel toward the middle of my view before walking on.", + "The turn has put the handcart and its wooden wheel left of center, ahead beneath the awning next to the striped wall. The stone paving between us is open, so I walk forward to close the remaining distance.", + "The cart's wooden wheel is noticeably larger now, standing clear of the jars and glass bottles beside it. Nothing obstructs the paving between us, so I keep walking straight at it.", + "The wooden handcart with its spoked wheel stands ahead on the left side of this stall row, still several paces off behind the pottery tables. The open stone lane in front of me is clear, so I will walk forward to close that gap.", + "The cart and its spoked wheel now sit clearly to my left while my heading still points down the lane toward the archway. I will turn left so the wheel comes into the center of my view and my path leads straight to it.", + "The turn has brought the wooden cart and its large spoked wheel into the middle of my view, with the plank door and stall wall behind it. Nothing blocks the paving between us, so I will step forward toward the wheel.", + "The cart is close now, its wheel large in front of me but still a stride or two away under the stall canopy. One more step forward should bring me right up beside the wheel.", + "The wooden cart wheel is directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t3_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..151653dbe4d1a7efbf5466bfa70e3959185c346f --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t3_b/infos.json @@ -0,0 +1,516 @@ +{ + "Instruction": "Approach the palm tree trunk, then move to the white canopy shop entrance.", + "Type": 3, + "Start_Pose": [ + -163.826, + -210.163, + 225.129, + 0.0, + -104.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -163.826, + -210.163, + 225.129, + 0.0, + -104.64, + 0.0 + ], + [ + -195.636, + -331.936, + 212.813, + 0.0, + -104.64, + 0.0 + ], + [ + -227.446, + -453.708, + 203.557, + 0.0, + -104.64, + 0.0 + ], + [ + -227.446, + -453.708, + 203.557, + 0.0, + -129.64, + 0.0 + ], + [ + -307.74, + -550.628, + 201.87, + 0.0, + -129.64, + 0.0 + ], + [ + -388.033, + -647.548, + 203.963, + 0.0, + -129.64, + 0.0 + ], + [ + -468.326, + -744.468, + 203.393, + 0.0, + -129.64, + 0.0 + ], + [ + -548.619, + -841.388, + 201.944, + 0.0, + 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219.873, + 0.0, + 45.36, + -0.0 + ], + [ + -1317.928, + -1391.66, + 219.873, + 0.0, + 20.36, + -0.0 + ], + [ + -1199.932, + -1347.872, + 205.991, + 0.0, + 20.36, + -0.0 + ], + [ + -1081.936, + -1304.083, + 221.167, + 0.0, + 20.36, + -0.0 + ], + [ + -1081.936, + -1304.083, + 221.167, + 0.0, + -4.64, + 0.0 + ], + [ + -956.49, + -1314.265, + 213.046, + 0.0, + -4.64, + 0.0 + ], + [ + -831.043, + -1324.446, + 220.414, + 0.0, + -4.64, + 0.0 + ], + [ + -705.597, + -1334.627, + 223.355, + 0.0, + -4.64, + 0.0 + ], + [ + -580.15, + -1344.809, + 222.917, + 0.0, + -4.64, + 0.0 + ], + [ + -580.15, + -1344.809, + 222.917, + 0.0, + -29.64, + 0.0 + ], + [ + -580.15, + -1344.809, + 222.917, + 0.0, + -54.64, + 0.0 + ], + [ + -507.314, + -1447.451, + 227.048, + 0.0, + -54.64, + 0.0 + ], + [ + -462.56, + -1532.837, + 227.58, + 0.0, + -54.64, + 0.0 + ], + [ + -462.56, + -1532.837, + 227.58, + 0.0, + -54.64, + 0.0 + ] + ], + "Rationale": [ + "The palm trunks I need to reach stand at the far left edge of this courtyard, well beyond the stalls in front of me. The open paving straight ahead is clear, so walking forward should close distance before I swing toward them.", + "The stall canopy and pottery shelves have grown larger, confirming my last step carried me deeper into the square. The palms remain off to my left and still distant, so another straight step keeps building progress across the open paving.", + "Continuing straight would carry me into the shelves of pots under the awning rather than toward the palms, which sit off my left shoulder. Turning left should bring those trunks nearer the middle of my view so I can walk directly at them.", + "The turn has put two tall palm trunks near the center of my view with open stone between us. Walking forward now should cut that gap along a clean line toward their bases.", + "The palm trunks and the red canopy beside them are noticeably larger, so my heading is carrying me straight at them. Nothing stands in the paved gap, so I keep stepping forward.", + "The nearer palm now fills much more of my view and its trunk base is visible above the flagstones. Distance is still too great to be at the trunk, so I press forward again.", + "The trunks ahead are thicker and their ringed bark is now clearly resolved, showing steady gain. The ground between us stays open, so another forward step should bring me closer to their bases.", + "My heading has drifted so the palm trunks now sit toward the left half of my view while the shelved stall crowds my right. Turning left should place the trunks squarely ahead before I continue walking in.", + "The cluster of palm trunks now sits ahead of me across the open flagstones, with the red awning stall off to my right. My heading points into the clear paved gap between the wall and that stall, so I will walk forward to close the remaining distance to the trunks.", + "The palm trunks have grown noticeably larger and the fronds now fill the upper part of my view, confirming my heading is carrying me toward them. Nothing blocks the stone paving in front of me, so I will keep walking straight ahead.", + "Two palm trunks now rise close ahead, one near the courtyard wall and a thicker one beside the red canopy stall on my right. The gap between them is still open ground, so another step forward should bring me within arm's reach of the trunks.", + "The nearer palm trunk beside the produce crates keeps growing in my view as the far wall closes in, so I still have ground to cover. The paving ahead is clear of crates and pots, so I will continue walking straight toward the trunks.", + "The inscribed courtyard wall is now close ahead and the palm trunks flank it, the stouter one standing to my right past the melon crates. I still have open stone between me and them, so I will step forward again.", + "My current heading points at the blank courtyard wall rather than at a trunk, while the heavy palm trunk I want stands off to my right beyond the pottery and crates. I will turn right to bring that trunk into the center of my path before advancing further.", + "The turn brought the palm trunks and the red stall canopy across my forward view, with a broad trunk standing just left of the melon crates. The sand and stone between us is open, so I will walk forward to close on that trunk.", + "The thick palm trunk ahead is noticeably nearer, rising between the courtyard wall and the crates of melons on my right. My line of travel still clears those crates, so I will keep walking toward the trunk.", + "The tall palm trunk stands just ahead and slightly right, rising out of the dry grass beside the courtyard wall, and open paving still separates me from it. The crates of melons and clay jars sit off to my right, clear of my line of travel. I step forward to keep closing on the trunk.", + "The trunk now dominates the middle of my view and its scaly bark is clearly resolved, so my heading is running straight at it. Nothing blocks the stone paving directly in front of my feet. I walk on to shorten the remaining gap.", + "The palm trunk keeps growing in front of me against the courtyard wall, confirming steady gain on it. The pottery and low wooden platform stay to my right, away from my path. I continue advancing toward the trunk.", + "I can now make out individual bark plates on the trunk and the tuft of dry grass at its base, so only a short stretch of paving is left. My heading still points at the trunk with no obstruction between us. Another step forward should bring me nearly alongside it.", + "The trunk fills the center of my view and the wall behind it is close enough to read its joints, so I am nearly at the tree. The wooden boards on my right are past my shoulder line and do not block me. I step forward again to come right up to the trunk.", + "The trunk now looms over the right half of my view at close range, with the wall filling the rest. One more short step should place me directly at its base rather than a stride short of it. I move forward to finish closing.", + "The palm trunk is right in front of me, its bark plates filling my view at arm's reach with the dry grass at its foot. I have reached the tree I was to approach. I mark reaching it, then set off for the shop under the white canopy.", + "Standing this close, the trunk and the blank courtyard wall take up everything I can see, and no canopy is visible from this heading. The stalls and awnings lie back around to my right, off my current facing. I turn right to swing my view off the wall and toward the covered shop fronts.", + "The ridged bark of the palm fills almost my whole view, so I am right up against the trunk and nothing else is readable from here. I will keep pivoting right to sweep my view off the trunk and pick up the open market side where a white canopy shop should stand.", + "The trunk has slid to my left and a stall platform with clay jars and a striped awning is coming into the right of my view. I will turn right again to bring more of that stall frontage and the space beyond it into sight.", + "I am facing into a shaded stall of pots and wooden crates with the awning fabric overhead, still a closed corner rather than an exit. Another right pivot should carry my view along the stall front toward where the square opens out.", + "Wooden posts and stacked crates still block most of what lies ahead, though the awning line runs off to my right. I keep turning right to follow that line until the open plaza rather than the stall fills my view.", + "A bright gap has appeared at the right edge, with paving and distant buildings past the stall posts. One more turn to the right should place that opening in front of me instead of off to the side.", + "The wide market square with its domes and far stalls now fills the right half of my view while the pot stall still crowds my left. Turning right once more should square me onto the open ground so I can start across toward a canopied shopfront.", + "The plaza is open in front of me and a blue and white striped canopy stands over a shopfront on the far right side of the square. With clear paving between the melon crates and that stall, I will walk forward to begin closing the distance.", + "I have cleared the awning overhead and the square is fully open ahead, with the striped canopy shop still off to my right across the paving. Another step forward should bring me further into the square and closer to that shopfront.", + "The open plaza stretches ahead of me, with produce crates crowding the stall on my left and a long row of shopfronts and awnings across the far side. The paving in front is clear, so I keep walking to close the gap toward that canopied market frontage.", + "The crates of melons have slid to my lower left as I advance, and the covered shopfronts under their awnings sit farther across the square. There is still plenty of clear stone between me and them, so I take another step forward.", + "The square has opened up in front of me, with the arcaded buildings and their striped awnings still some way off across the broken paving. Loose slabs lie to the sides but not directly in my path, so I continue walking straight ahead.", + "The shop row on the far side of the plaza is growing, and the canopied stall fronts sit off toward my left. I still have open ground ahead, so I press forward to bring that frontage within reach.", + "My last stride barely changed the view, so pushing straight on across this rubble-strewn stretch gains little. The shaded shop frontage with its hanging wares and canopy lies off to my left rather than dead ahead, so I turn left to put it in front of me.", + "The turn has brought the covered market arcade into view, its posts, hanging plates and pale draped canopy filling my left foreground. With clear paving running toward it, I walk forward to close on that shop frontage.", + "The canopied shopfront is noticeably nearer, with its hanging lamps and displayed goods now clearly readable along my left. Nothing blocks the stone in front of me, so I keep advancing to draw level with its entrance.", + "The white canopy and the goods spread beneath it now sit off my left shoulder rather than ahead, so walking straight would carry me past the opening. I turn left to square up with the shop front before stepping in.", + "Ahead on my left runs the covered market front with hanging plates and a pale white canopy stretched over its frontage, which matches the shop I am heading for. It is still several strides down the lane, so I will walk forward along the open paving to close that gap.", + "The stall front has grown larger and its white canopy now hangs clearly above the goods on my left, but the shop opening itself is still further along. I will keep stepping forward down the lane to bring that entrance beside me.", + "Sacks, pottery and the lamp-hung awning of the shop are now close on my left, yet I am still short of the point where the frontage opens into the interior. Another step forward should carry me level with that opening.", + "The counters of glazed jars and crates in front of the shop are right beside me now, with the shaded interior beginning to show past them. I will advance one more stride so I stand square with the entrance instead of its side wall.", + "I am now level with the shop, and its awning, baskets and open front lie to my left while my heading still points on down the lane. Turning left should swing the entrance toward the centre of my view.", + "The baskets of grain and the shaded interior have come into view, but the opening still sits off to my left rather than straight ahead. One more turn to the left should square my heading with the entrance before I step in.", + "The shop's shaded interior with its rows of grain baskets and stacked crates now fills my view straight ahead. With the entrance squarely in front of me, I will step forward to move in under the canopy.", + "I am inside the shaded shop front with the counter of grain baskets close before me and its ceiling of hanging plates overhead. A short final step should bring me right up to the goods at the entrance.", + "The spice baskets on the shop counter fill my view at arm's length beneath the canopy. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t3_c/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8fc9a7a6e0a35df11ac937bf87cbcc88e935e369 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t3_c/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Move to the white canopy shop entrance, then approach the wooden door.", + "Type": 3, + "Start_Pose": [ + -163.826, + -210.163, + 225.129, + 0.0, + -104.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -163.826, + -210.163, + 225.129, + 0.0, + -104.64, + 0.0 + ], + [ + -195.636, + -331.936, + 212.813, + 0.0, + -104.64, + 0.0 + ], + [ + -227.446, + -453.708, + 203.557, + 0.0, + -104.64, + 0.0 + ], + [ + -259.257, + -575.481, + 201.823, + 0.0, + -104.64, + 0.0 + ], + [ + -291.067, + -697.254, + 201.823, + 0.0, + -104.64, + 0.0 + ], + [ + -322.877, + -819.027, + 201.823, + 0.0, + -104.64, + 0.0 + ], + [ + -354.687, + -940.799, + 201.823, + 0.0, + -104.64, + 0.0 + ], + [ + -383.425, + -1048.027, + 203.061, + 0.0, + -104.64, + 0.0 + ], + [ + -405.309, + -1050.584, + 203.061, + 0.0, + -104.64, + 0.0 + ], + [ + -452.7, + -1148.355, + 206.004, + 0.0, + -104.64, + 0.0 + ], + [ + -486.552, + -1269.334, + 215.526, + 0.0, + -104.64, + 0.0 + ], + [ + -518.362, + -1391.107, + 228.063, + 0.0, + -104.64, + 0.0 + ], + [ + -518.362, + -1391.107, + 228.063, + 0.0, + -104.64, + 0.0 + ], + [ + -495.008, + -1301.707, + 217.816, + 0.0, + -104.64, + 0.0 + ], + [ + -495.008, + -1301.707, + 217.816, + 0.0, + -79.64, + 0.0 + ], + [ + -495.008, + -1301.707, + 217.816, + 0.0, + -54.64, + 0.0 + ], + [ + -495.008, + -1301.707, + 217.816, + 0.0, + -29.64, + 0.0 + ], + [ + -495.008, + -1301.707, + 217.816, + 0.0, + -4.64, + 0.0 + ], + [ + -495.008, + -1301.707, + 217.816, + 0.0, + 20.36, + -0.0 + ], + [ + -495.008, + -1301.707, + 217.816, + 0.0, + 45.36, + -0.0 + ], + [ + -406.573, + -1212.154, + 243.151, + 0.0, + 45.36, + -0.0 + ], + [ + -318.139, + -1122.601, + 238.639, + 0.0, + 45.36, + -0.0 + ], + [ + -318.139, + -1122.601, + 238.639, + 0.0, + 20.36, + -0.0 + ], + [ + -318.139, + -1122.601, + 238.639, + 0.0, + -4.64, + 0.0 + ], + [ + -192.692, + -1132.782, + 205.207, + 0.0, + -4.64, + 0.0 + ], + [ + -67.972, + -1139.131, + 206.187, + 0.0, + -4.64, + 0.0 + ], + [ + 54.714, + -1136.983, + 213.31, + 0.0, + -4.64, + 0.0 + ], + [ + 54.714, + -1136.983, + 213.31, + 0.0, + -29.64, + 0.0 + ], + [ + 164.104, + -1199.226, + 216.203, + 0.0, + -29.64, + 0.0 + ], + [ + 164.104, + -1199.226, + 216.203, + 0.0, + -54.64, + 0.0 + ], + [ + 236.94, + -1301.868, + 219.076, + 0.0, + -54.64, + 0.0 + ], + [ + 236.94, + -1301.868, + 219.076, + 0.0, + -54.64, + 0.0 + ] + ], + "Rationale": [ + "Across the open paved square I can see a stall with a pale white canopy stretched over its counter, hung with plates and lanterns. The ground between us is clear flagstone with nothing blocking the line. I will walk straight ahead to begin closing that distance.", + "The canopied stall has grown slightly larger and sits close to the center of my view, so my heading is already good. Nothing stands between me and it on the flagstones. Another step forward should keep shrinking the gap without any turn.", + "The hanging plates and the sacks along the stall counter are now clearly resolved under the white canopy ahead. I am still well out in the square, short of the stall front. I will keep walking straight toward it.", + "The canopy and its wooden posts fill more of my view, and the counter of sacks behind it is plainly in front of me. Pottery and a low bench sit off to the right, clear of my path. Continuing straight should bring me nearer the stall front.", + "The white awning now spans much of the upper view and the hanging dishes are close overhead height. A few loose planks lie on the ground ahead, but the paving to their left is open. I will step forward again toward the stall.", + "I am nearly at the edge of the canopy, with its beams and the row of hanging plates just ahead and above. The shaded counter of sacks is still a short distance beyond. Another forward step should carry me under the canopy toward its front.", + "The canopy now covers the top of my view and I can see the full shaded row of baskets on the counter ahead. The crates on the right leave the middle of the floor clear. I will keep walking in to reach the shop front itself.", + "I am standing beneath the canopy now, with the stepped stone platform and the counter of baskets directly in front of me. The entrance area is close but I am not yet up against the counter. I will advance a little further to settle at the stall front.", + "I am now under the white canopy, with the hanging plates overhead and the long counter of filled baskets directly ahead. The entrance step still lies a few paces in front of me, so I keep walking straight toward it.", + "The stall's stone step and the counter of grain baskets are close now, and the shop's shaded interior fills most of my view. Nothing blocks the flagstones in front of me, so another stride should bring me right up to the entrance.", + "The counter with its baskets of grain now spans my whole view and the hanging dishes are almost overhead. One more step forward should place me squarely at the canopy shop's entrance.", + "The grain baskets and the timber counter are within arm's reach, with the white canopy and its hanging dishes right above me. I have arrived at the canopy shop entrance. I mark reaching it, then set off to find the wooden door.", + "I am pressed close to the counter, with a support post and baskets filling almost everything I can see. Backing up a pace should open enough space around me to swing my heading toward the street without scraping the stall.", + "With a little clearance from the counter, I still face the shop's back wall, where no doorway is visible. Turning right should begin swinging my view along the stall and out toward the open street where a wooden door might stand.", + "The rotation so far has only brought more of the basket counter and crates in front of me, still inside the shaded stall. I continue turning right to keep bringing the brighter open street into view.", + "Crates of dishes now sit before me and the striped wall at the edge of the stall is appearing on the right side of my view. Another turn right should carry my heading past the stall and onto the open street beyond.", + "The baskets on the counter have swung behind my left shoulder and daylight from the open lane is finally entering the right side of my view. Since my other destination lies out in the street rather than inside this covered stall, I keep pivoting right to unwind my heading.", + "The bright market lane with its palm and distant arcades now occupies most of my view, though the stall's crates still crowd the left. I turn right once more to bring the open paved street squarely in front of me before I start walking.", + "The square opens ahead with a striped awning shop off to my right and clear flagstones between. A final right pivot should center that open ground so I can set off along it without brushing the pottery stacked at my left.", + "I am now facing straight down the open square, with the canopy stall left behind me and nothing blocking the flagstones ahead. I walk forward to cross toward the row of shopfronts where a wooden door should be findable.", + "The arcaded buildings and the striped awning have grown noticeably closer, and my lane across the stone is still unobstructed. I take another stride forward to reach the shopfront row where I can look for the wooden door.", + "Straight ahead I only see arcades and the awning stall over to the right, none of which offers the wooden door I want. The shaded shopfronts along my left look more promising, so I pivot left to bring that side into view.", + "The timber shop with its handcart and low canopy has come into view but still sits off toward my left edge, partly cut off. A second left pivot should place its frontage, and any door in it, directly ahead of me.", + "The planked wooden door is now clearly visible in the striped wall just left of the handcart, ahead of me. The flagstones between us are open apart from the draped bench at my left, so I walk forward to close the distance to that door.", + "Along the shaded wall to my left I can pick out a heavy timber door set under the overhang, past the hanging carpet. The lane ahead is open stone, so I will keep walking to close the gap toward it.", + "The wooden door has slid toward the left edge of my view as I come alongside the stall, and the handcart and vase tables sit clear to the right of my line. Another stride forward should bring me level with the doorway before I swing toward it.", + "I am now abreast of the shopfront, and the timber door has slipped off the left side of my view while I face straight down the lane. I will turn left so the doorway comes back in front of me instead of passing it by.", + "The tall planked door is now plainly in my view on the left, with the handcart standing off to its right and leaving room along the wall. I will step forward to shorten the remaining distance to that doorway.", + "From this close range the cart has drifted into the middle of my view and the door boards fill the left side, so I am not squared on the entrance. Turning left should put the wooden door directly ahead of me.", + "The heavy wooden door now sits centred in my view with its frame and lintel clearly visible, and the cart is pushed to the right of my line. One more step forward should bring me right up to it.", + "The wooden door's planks and iron fittings fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t5_a_pd/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f85d42c310cd0cadf92594cb9443022cf4fc8ccd --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-000164_y-000210_z000225_t5_a_pd/infos.json @@ -0,0 +1,715 @@ +{ + "Instruction": "Grab the tomato beside the red umbrella stand, then place it near the wooden cart wheel.", + "Type": 5, + "Start_Pose": [ + -163.826, + -210.163, + 225.129, + 0, + -104.64, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1079.349, + -1355.937, + 180.745, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + 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175.319, + -28.193, + 45.51, + 1.87 + ], + [ + 35.904, + -1044.439, + 174.418, + -28.193, + 20.508, + 1.864 + ], + [ + 145.475, + -1106.105, + 177.725, + -28.209, + 20.497, + 1.853 + ], + [ + 254.68, + -1168.247, + 186.097, + -28.212, + 20.49, + 1.853 + ], + [ + 242.843, + -1186.076, + 231.051, + 0.0, + -29.641, + 0.0 + ], + [ + 242.843, + -1186.076, + 231.051, + 0.0, + -29.641, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1466.6, + 1352.6, + 1240.9, + 1240.9, + 1115.3, + 989.8, + 864.4, + 739.2, + 614.3, + 489.8, + 366.2, + 245.0, + 245.0, + 132.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.8, + 21.4, + 21.4, + 21.4, + 20.8, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red canopy stand I need to reach sits far ahead on the left, near the palms and the wall, well beyond the pottery stalls. Nothing blocks the open paved courtyard in front of me, so I will walk forward to close that distance before worrying about fine alignment.", + "The red stand under the palms has grown slightly larger, confirming my heading is carrying me toward it. The paving ahead is still clear of stalls and goods, so I will keep walking forward rather than turn this early.", + "The red stand I am heading for now sits well off to the left edge of my view, while my current heading points straight at the shop counter with hanging plates. Continuing forward would carry me past the target, so I will turn left to bring the stand and the ground beside it into the center of my view.", + "After the turn, the red stand under the palms sits closer to the middle of my view with open flagstones leading to it. This heading looks correct, so I will walk forward to shorten the distance to the area beside that stand where the tomato should be.", + "The red stand is clearly closer now, and a small red object rests on the ground at its base, likely the tomato I need. The paving between us stays open, so I will continue walking forward to get within reach.", + "The red canopied stand is ahead and slightly left, and I can now make out a small red tomato resting on the ground at its base. My heading already lines up with that spot, so no turn is needed. I will keep walking forward to close the remaining distance.", + "The tomato beside the red stand is noticeably larger in view than a moment ago, confirming my heading is correct. It is still far too distant for any grasp attempt. I will continue advancing straight toward it.", + "The red tomato now sits clearly on the stones just left of the canopy posts, distinct from the produce crates behind it. Nothing blocks the flagstone path between us. I will step forward again to keep closing in.", + "The tomato is now large and low in my view, sitting on the pavement ahead and slightly left of the canopy. It is still beyond comfortable reach, so an interaction attempt would be premature. I will walk forward to shorten the gap further.", + "The tomato dominates the near foreground now, framed by the crates and the red canopy stand behind it. A little more ground remains before I would be close enough to reach down for it. I will advance one more step toward it.", + "The tomato sits low and slightly left of me on the stones beside the red canopy stall, but it is still a couple of paces beyond arm's reach. I will walk forward again to close that remaining gap before attempting any grasp.", + "The tomato now fills the lower left of my view, close enough that it looks within reach beside the crates. I will try to pick it up from here rather than step further and risk pushing past it.", + "My hands are still empty, so that grasp attempt did not take hold. The tomato was likely slightly outside my reach. I will step forward once more to shorten the gap before trying again.", + "My earlier grasp attempt left the tomato lying untouched, so I closed in with another step and am now right at the crates under the stall canopy. From this tighter position the tomato should fall inside reach, so I will attempt the pick again.", + "The tomato is now held in my hands, so the pick succeeded and the first half of the task is done. Facing into this cramped stall corner gives me no route toward the wooden cart wheel, so I will turn right to swing my heading back toward the open market street.", + "The tomato is in my hands now, so the pickup near the red stand is done and I only need to carry it to the wooden cart wheel. Facing this way I see only crates, posts and the stall wall, which is no route out of this corner. I will keep turning right to sweep my heading toward open ground.", + "Carrying the tomato, I still face a closed stone corner with a leaning plank and stacked crates directly ahead. Nothing here resembles the wooden cart wheel, and there is no walkable gap in this direction. I continue rotating right to keep searching for the open street.", + "The tomato remains in my grip while my heading now shows the long spice counter and hanging plates of the covered stall. That interior line of goods gives no path forward and no cart. Another right turn should bring more of the open square into view.", + "With the tomato held, the right edge of my view has finally opened onto bright pottery displays and the wider plaza beyond the stall. The counter and pillars still block the center of my heading. I will turn right again to place that open ground in front of me.", + "The broad paved square with distant domes and market awnings now fills most of my view, and the tomato is still in my hands. The stall roof and its posts remain on my left, slightly off the clear walking lane. One more right turn should center that open lane before I start walking toward the carts.", + "The tomato is secured in my hands, so the remaining job is to carry it to a wooden cart wheel. From this heading the market street opens straight ahead between the vase stalls on my left and the striped awning on my right, and no cart is within reach here. I will walk forward along that open lane to search further down it.", + "Carrying the tomato, I see the pottery stalls on my left drawing nearer, which confirms my last step advanced me down the lane. Still nothing resembling a wooden cart with a spoked wheel is close enough to use as a drop spot. I will keep walking forward along this open paving.", + "The vases and jars on the left stall are now large in view, so I am steadily closing along the market street with the tomato in hand. The paving ahead stays clear of obstacles and the shaded stall row continues further on. I will step forward again to keep scanning that side for a wooden cart.", + "I am still holding the tomato and the low stall with jugs and plates is passing on my left. The wooden cart I need has not appeared yet, and the lane ahead beneath the awnings is open. Another forward step should bring more of the left-hand stalls into view.", + "The carpet-draped stall and clustered pots now sit at the left edge of my view, and the tomato is still in my hands. Deeper along this shaded row I can make out further stall structures that may include the wooden cart. I will continue advancing rather than stopping among these pots.", + "The tomato is still in my hands, so I only need to reach a wooden cart wheel to set it down. The open lane ahead is clear and the stalls on my left are the most likely place for a cart, though my last stride covered less ground than a normal step. I will keep walking forward to bring those left-hand stalls fully into view.", + "A wooden handcart with a large spoked wheel has come into view at the far left edge of the stall row, which matches the drop target for the tomato I am carrying. Facing straight down the lane would carry me past it. I will turn left so the cart sits ahead of me instead of off to the side.", + "After the turn, the handcart with its wooden wheel is now framed left of center under the stall awning, no longer at the edge of my view. Nothing blocks the open ground between me and the pottery display in front of it. I will step forward to close that distance while holding the tomato.", + "The cart wheel is noticeably larger and its spokes are clearly resolved, so my heading is carrying me toward it rather than past it. I am still too far away for a placement that would count as beside the wheel. I will advance another step along this clear stretch of paving.", + "The wooden cart and its wheel now fill much of the left side of my view, with the jars and stall table just to its right. A short gap of paving still separates me from the ground beside the wheel where the tomato should go. I will keep walking forward to reduce that remaining distance.", + "The wooden handcart with its large spoked wheel now sits well off to my left, close against the shop wall, while my heading still points down the open lane past it. Carrying the tomato, I turn left to bring that wheel into the center of my view before closing the last distance.", + "The cart and its spoked wheel are now roughly ahead of me, but still several paces off behind the pottery stand's floor jars. I step forward to shorten that gap so the wheel comes within placing range.", + "The wheel is much larger in view now, yet I am still a stride short of standing right beside it. I advance once more so the tomato can be set down close against the wheel rather than out in the open lane.", + "I am now right up against the wooden cart, with its bed filling my view and the wheel just at my lower left. This is as near the wheel as I can stand, so I release the tomato here and expect it to come to rest beside the wheel.", + "The tomato now rests on the ground right beside the wooden cart's spoked wheel, and my hands are empty. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-000313_y-000451_z000204_t1_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-000313_y-000451_z000204_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..66fa8fe730cfab6e7f2db4412e4cae146dd4c547 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-000313_y-000451_z000204_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the wooden wheel resting near the market stall; after locating it, head over to it.", + "Type": 1, + "Start_Pose": [ + -312.617, + -451.052, + 203.591, + 0.0, + -124.64, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -312.617, + -451.052, + 203.591, + 0.0, + -124.64, + 0.0 + ], + [ + -312.617, + -451.052, + 203.591, + 0.0, + -99.64, + 0.0 + ], + [ + -312.617, + -451.052, + 203.591, + 0.0, + -74.64, + 0.0 + ], + [ + -312.617, + -451.052, + 203.591, + 0.0, + -49.64, + 0.0 + ], + [ + -231.112, + -546.955, + 201.846, + 0.0, + -49.64, + 0.0 + ], + [ + -149.607, + -642.859, + 201.846, + 0.0, + -49.64, + 0.0 + ], + [ + -68.103, + -738.762, + 201.846, + 0.0, + -49.64, + 0.0 + ], + [ + 13.402, + -834.666, + 201.846, + 0.0, + -49.64, + 0.0 + ], + [ + 94.907, + -930.569, + 201.846, + 0.0, + -49.64, + 0.0 + ], + [ + 176.412, + -1026.472, + 207.182, + 0.0, + -49.64, + 0.0 + ], + [ + 257.917, + -1122.376, + 212.324, + 0.0, + -49.64, + 0.0 + ], + [ + 257.917, + -1122.376, + 212.324, + 0.0, + -49.64, + 0.0 + ] + ], + "Rationale": [ + "From this open courtyard I can see palm trees and a covered market stall hung with plates off to my right, but no wooden wheel anywhere in front of me. The stall frontage is the strongest cue for where such an item would be resting, so I will turn right to sweep my view along it.", + "The stall with its hanging plates and rows of baskets is now more centered, yet I still see no wooden wheel among the goods laid out here. I will keep rotating right in the same direction to extend the scan past this stall into the market area beyond it.", + "Further along the row of stalls I can now make out a small wooden handcart with a spoked wheel standing to the right of center, beside the pottery displays. I will turn right once more to bring that cart and its wheel closer to the middle of my view before advancing.", + "The wooden cart wheel is now roughly ahead of me, parked beside the stall under the awning with the pots and jugs. The open sandy ground between us looks clear, so I will walk forward to close the distance.", + "The cart and its wooden wheel have grown noticeably larger and stay near the center of my view, confirming my heading is good. I am still well short of it, so I will continue walking straight ahead.", + "The wooden wheel remains squarely in front of me beside the stall, with a clear stretch of paving leading toward it. There is still distance to cover before I would be standing beside it, so I will step forward again.", + "I am now close enough to see the spokes and rim of the wheel clearly against the cart's wooden body. The pots on the right leave the lane toward it open, so I will keep moving forward.", + "The cart with its wooden wheel is only a short way ahead of me now, under the stall's timber roof. I will take another step forward to bring myself right up beside it.", + "The wooden handcart with its spoked wheel is clearly in front of me, slightly left, standing beside the pottery stall under the awning. The wheel still reads as mid-range rather than close, so I will keep walking straight ahead to close that remaining gap. The open flagstone strip on my left looks clear enough for another step.", + "The cart and its wooden wheel now fill much more of my view on the left, confirming I am nearly upon it. One more step forward should bring me within immediate reach of the wheel rather than stopping short. The floor between me and the cart still appears unobstructed.", + "The wooden spoked wheel on the market stall's handcart is directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-000313_y-000451_z000204_t1_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-000313_y-000451_z000204_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..72d12b9c57c010edaa8c166400989f8a8a823032 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-000313_y-000451_z000204_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Identify the doorway on the blue-and-white striped wall where a wooden wheel is situated, then proceed to that entrance.", + "Type": 1, + "Start_Pose": [ + -312.617, + -451.052, + 203.591, + 0.0, + -124.64, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -312.617, + -451.052, + 203.591, + 0.0, + -124.64, + 0.0 + ], + [ + -312.617, + -451.052, + 203.591, + 0.0, + -99.64, + 0.0 + ], + [ + -312.617, + -451.052, + 203.591, + 0.0, + -74.64, + 0.0 + ], + [ + -279.279, + -572.415, + 201.862, + 0.0, + -74.64, + 0.0 + ], + [ + -245.941, + -693.779, + 201.862, + 0.0, + -74.64, + 0.0 + ], + [ + -212.603, + -815.142, + 201.862, + 0.0, + -74.64, + 0.0 + ], + [ + -212.603, + -815.142, + 201.862, + 0.0, + -49.64, + 0.0 + ], + [ + -131.098, + -911.046, + 201.862, + 0.0, + -49.64, + 0.0 + ], + [ + -49.594, + -1006.949, + 202.471, + 0.0, + -49.64, + 0.0 + ], + [ + 31.911, + -1102.852, + 210.253, + 0.0, + -49.64, + 0.0 + ], + [ + 113.416, + -1198.756, + 216.018, + 0.0, + -49.64, + 0.0 + ], + [ + 194.921, + -1294.659, + 218.776, + 0.0, + -49.64, + 0.0 + ], + [ + 194.921, + -1294.659, + 218.776, + 0.0, + -49.64, + 0.0 + ] + ], + "Rationale": [ + "From this open courtyard I mostly see palm trees and a covered stall hung with plates, and no doorway on a blue-and-white striped wall is in front of me. At the far right edge of my view the buildings continue past the stall, so I will turn right to sweep that unseen stretch of facade for the striped wall and its wheel.", + "A wall painted in pale blue and cream stripes has just appeared at the right side of my view beyond the stall, which matches the wall described in the task. I will keep turning right in the same direction to bring that striped facade toward the middle of my view and check it for a doorway.", + "The striped blue-and-white wall now fills the center-right of my view, and I can make out a wooden door on it with a spoked wooden cart wheel standing beside it. That combination matches the target, so I will walk forward across the open paving to close the distance instead of scanning further.", + "The doorway on the striped wall and the wooden wheel beside it have grown larger and stay ahead and slightly right of my heading. The ground between us is still clear of goods and stalls, so I will keep stepping forward toward that entrance.", + "I am closer now, and the wooden door with its studded planks and the cart wheel to its right are clearly set into the blue-and-white striped wall. The draped block and pottery sit to my left rather than in my path, so another step forward should keep shrinking the gap.", + "The doorway and the wooden wheel sit noticeably right of center in my view while empty stall frontage occupies the middle. I will turn right to place that entrance squarely ahead so my remaining steps run straight at it.", + "The wooden door on the striped wall is now near the middle of my view with the wheel leaning just to its right. With the paving in front of me open, I will walk forward to close in on that entrance.", + "The planked door and the spoked wheel beside it are noticeably nearer and still aligned with my heading. The jars and rug are off to my left and the market tables to my right, so I will keep advancing straight toward the entrance.", + "The plank door set into the blue and yellow striped wall is directly ahead, with the wooden cart wheel resting right beside its frame, which matches the entrance I was told to find. My heading is already centered on that doorway and the stone floor between us is clear of pots and clutter, so I will keep walking forward to close the remaining distance.", + "The striped wall and its wooden door now fill much of my view, and the cart wheel sits just to the right of the doorway, confirming this is the target entrance. I am still a few paces short of standing at it, so I will step forward again along the same clear line.", + "The wooden door is now very close, its planks and frame dominating the view with the cart wheel just at my right shoulder. One more step forward should bring me right up to the entrance rather than leaving me short of it.", + "I stand directly at the wooden door on the blue and yellow striped wall, with the wooden wheel right beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-000454_y-000442_z000231_t1_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-000454_y-000442_z000231_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9ccc7cf355b90065a1c3216ddf2d24b130d81b92 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-000454_y-000442_z000231_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for the stall covered by a purely red canopy roof, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + -454.012, + -441.566, + 231.416, + 0.0, + 155.36, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -454.012, + -441.566, + 231.416, + 0.0, + 155.36, + -0.0 + ], + [ + -454.012, + -441.566, + 231.416, + 0.0, + -179.64, + 0.0 + ], + [ + -454.012, + -441.566, + 231.416, + 0.0, + -154.64, + 0.0 + ], + [ + -454.012, + -441.566, + 231.416, + 0.0, + -129.64, + 0.0 + ], + [ + -534.305, + -538.486, + 220.688, + 0.0, + -129.64, + 0.0 + ], + [ + -614.598, + -635.406, + 208.751, + 0.0, + -129.64, + 0.0 + ], + [ + -694.892, + -732.326, + 206.351, + 0.0, + -129.64, + 0.0 + ], + [ + -775.185, + -829.246, + 208.116, + 0.0, + -129.64, + 0.0 + ], + [ + -855.478, + -926.166, + 202.054, + 0.0, + -129.64, + 0.0 + ], + [ + -855.478, + -926.166, + 202.054, + 0.0, + -104.64, + 0.0 + ], + [ + -887.288, + -1047.939, + 201.897, + 0.0, + -104.64, + 0.0 + ], + [ + -919.099, + -1169.711, + 207.217, + 0.0, + -104.64, + 0.0 + ], + [ + -950.909, + -1291.484, + 213.045, + 0.0, + -104.64, + 0.0 + ], + [ + -950.909, + -1291.484, + 213.045, + 0.0, + -129.64, + 0.0 + ], + [ + -1031.202, + -1388.404, + 203.593, + 0.0, + -129.64, + 0.0 + ], + [ + -1111.225, + -1484.856, + 203.558, + 0.0, + -129.64, + 0.0 + ], + [ + -1111.225, + -1484.856, + 203.558, + 0.0, + -129.64, + 0.0 + ] + ], + "Rationale": [ + "I am standing in an open stone courtyard, and the only canopy I can see is the pale blue awning over the stall straight ahead, which does not match the purely red roof I am looking for. Nothing red appears along the arcades or shop fronts in this heading, so I will turn right to begin a steady scan of the square.", + "The blue awning has shifted to my left edge and the new sector shows only a shaded stall counter with baskets under a plain wooden roof, still no red covering. I will keep rotating in the same rightward direction to sweep the remaining unseen part of the courtyard.", + "A small stall on the far side of the palms now shows a bright red cloth roof at the right of my view, which matches the purely red canopy described in the task. I will turn right once more to bring that red-roofed stall closer to the center of my heading before advancing.", + "The stall with the plain red cloth roof is now near the middle of my view, framed between the palms and the arcade on my right. The paved courtyard between us looks open and walkable, so I will step forward to close the distance toward it.", + "The red canopy has grown slightly larger and stays just left of center, confirming I am tracking the right stall. The pavement ahead remains clear of obstacles, so I will keep walking straight toward it.", + "The red-roofed stall and its wooden posts are becoming clearly defined ahead of me, with the hanging plates and basket counter passing along my right. I am still some distance away, so I will continue advancing on this heading.", + "The red cloth roof now hangs plainly ahead with its draped folds and the stall's counter visible beneath it. The route between the palm trunks and the shop steps is still open, so I will take another step forward to keep closing in.", + "The red canopy is much nearer now, sitting slightly right of my heading with produce crates set out at its base. I will move forward again to reduce the remaining gap before adjusting my alignment.", + "The red-canopied stall now sits noticeably right of my heading, its cloth roof and wooden posts clearly visible past the palm trunks. Walking straight ahead would carry me left of it, so I will turn right to place the canopy nearer the center of my view before continuing.", + "The red canopy is now framed close to the middle of my view with the vendor shelving and hanging plates on my right. The ground between us is open pavement, so I will step forward to close the distance toward that stall.", + "The red canopy has grown larger and I can now make out the crates of melons under it, confirming this is the stall covered by the purely red roof. The route stays clear, so I will keep walking toward it.", + "The red awning now fills the upper part of my view and the stall's counter and melon crates are close ahead. I will advance again to bring myself right up to the stall.", + "I am very close under the red canopy, but its counter and the crates have drifted to my left while a leaning plank and the neighboring shelves crowd the right side. I will turn left to face the stall front squarely before stepping in.", + "Turning left has brought the red-roofed stall front and center, with its counter and the surrounding melon crates directly ahead. The ground in front is clear, so I will walk forward to close the last stretch.", + "The cut melons on the stall counter are now clearly visible just ahead beneath the red cloth roof. One more step forward should place me right at the stall.", + "I stand right at the counter of the stall under its purely red cloth canopy. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-000711_y003281_z000869_t1_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-000711_y003281_z000869_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d9a2ee153e885f00c014a9c8376a5cce43536608 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-000711_y003281_z000869_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the stone staircase, then navigate to its base.", + "Type": 1, + "Start_Pose": [ + -711.295, + 3280.925, + 868.829, + 0.0, + 35.68, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -711.295, + 3280.925, + 868.829, + 0.0, + 35.68, + -0.0 + ], + [ + -711.295, + 3280.925, + 868.829, + 0.0, + 10.68, + -0.0 + ], + [ + -711.295, + 3280.925, + 868.829, + 0.0, + -14.32, + 0.0 + ], + [ + -711.295, + 3280.925, + 868.829, + 0.0, + -39.32, + 0.0 + ], + [ + -613.928, + 3201.174, + 868.829, + 0.0, + -39.32, + 0.0 + ], + [ + -516.561, + 3121.424, + 869.183, + 0.0, + -39.32, + 0.0 + ], + [ + -464.955, + 3039.715, + 869.232, + 0.0, + -39.32, + 0.0 + ], + [ + -367.588, + 2959.965, + 869.232, + 0.0, + -39.32, + 0.0 + ], + [ + -270.221, + 2880.214, + 869.232, + 0.0, + -39.32, + 0.0 + ], + [ + -172.854, + 2800.463, + 869.232, + 0.0, + -39.32, + 0.0 + ], + [ + -75.487, + 2720.713, + 869.232, + 0.0, + -39.32, + 0.0 + ], + [ + 21.88, + 2640.962, + 869.232, + 0.0, + -39.32, + 0.0 + ], + [ + 119.247, + 2561.211, + 869.232, + 0.0, + -39.32, + 0.0 + ], + [ + 119.247, + 2561.211, + 869.232, + 0.0, + -39.32, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a long arcaded wall of arched windows and open floor, with no staircase anywhere in view. I will turn left to begin a consistent scan of the hall and check the parts of the room currently behind the edge of my view.", + "Turning has brought a large pointed archway into the left of my view, which suggests a passage or adjoining bay that I have not yet inspected. No steps are visible yet, so I will continue turning left in the same direction to bring that archway and the space beyond it into the center of my view.", + "Past the massive pier ahead I can now glimpse what looks like stone steps in the bay to the left, partly hidden behind the arch column. I will turn left once more to clear that pier and put the steps squarely in front of me before moving.", + "The stone staircase is now visible ahead, a short flight rising toward an arched opening in the far wall. The floor between me and it is clear, so I will walk forward to close the distance toward its base.", + "I have cleared the arch pier and the staircase sits ahead, still some distance across the open hall. I will keep walking forward since my heading already points at the steps and nothing blocks the path.", + "The staircase and its arched doorway are growing larger and remain near the center of my view, confirming my heading is good. I will continue advancing to reduce the remaining gap to the bottom step.", + "The flight of stone steps is now clearly resolved ahead with its individual treads visible, but I am still several strides short of standing at its base. I will step forward again along the same heading.", + "The staircase fills more of my view and the lowest step is closer, though I am not yet at the foot of it. I will keep walking forward to bring myself right up to the base of the stairs.", + "The stone staircase under the arched opening is clearly ahead and slightly left of my heading, and the floor between me and it is open. I am still several body lengths short of the lowest step, so I will keep walking straight to close that gap.", + "The staircase now fills more of my view and its individual treads and the bottom step edge are distinct, confirming I am closing in. The bottom step is still ahead of me rather than at my feet, so I continue advancing toward its base.", + "The steps now dominate the center of my view with the arched window above them, so my heading is well aligned with the staircase. There is still a short stretch of floor before the lowest tread, and I will step forward again to reach the base.", + "I am very close now, with the bottom step spanning the lower part of my view and the treads rising just in front of me. One more short step forward should place me right at the foot of the staircase.", + "The lowest tread of the stone staircase is directly at my feet, filling the near foreground. The task is complete, so I stop here at the base." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-001131_y-000609_z000202_t2_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-001131_y-000609_z000202_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a55cca1858c0178c0fc5e75035642869c3c1b7e4 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-001131_y-000609_z000202_t2_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the trunk of the left palm tree.", + "Type": 2, + "Start_Pose": [ + -1130.818, + -608.503, + 201.887, + 0.0, + -137.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1130.818, + -608.503, + 201.887, + 0.0, + -137.28, + 0.0 + ], + [ + -1223.284, + -693.888, + 201.887, + 0.0, + -137.28, + 0.0 + ], + [ + -1315.75, + -779.273, + 213.052, + 0.0, + -137.28, + 0.0 + ], + [ + -1408.215, + -864.657, + 204.865, + 0.0, + -137.28, + 0.0 + ], + [ + -1500.681, + -950.042, + 206.551, + 0.0, + -137.28, + 0.0 + ], + [ + -1593.147, + -1035.427, + 203.811, + 0.0, + -137.28, + 0.0 + ], + [ + -1685.613, + -1120.812, + 201.897, + 0.0, + -137.28, + 0.0 + ], + [ + -1778.079, + -1206.196, + 205.311, + 0.0, + -137.28, + 0.0 + ], + [ + -1778.079, + -1206.196, + 205.311, + 0.0, + -162.28, + 0.0 + ], + [ + -1897.966, + -1244.504, + 202.097, + 0.0, + -162.28, + 0.0 + ], + [ + -2017.854, + -1282.811, + 201.897, + 0.0, + -162.28, + 0.0 + ], + [ + -2137.742, + -1321.118, + 201.897, + 0.0, + -162.28, + 0.0 + ], + [ + -2257.629, + -1359.425, + 201.897, + 0.0, + -162.28, + 0.0 + ], + [ + -2377.517, + -1397.732, + 207.278, + 0.0, + -162.28, + 0.0 + ], + [ + -2377.517, + -1397.732, + 207.278, + 0.0, + 172.72, + -0.0 + ], + [ + -2502.361, + -1381.784, + 208.034, + 0.0, + 172.72, + -0.0 + ], + [ + -2502.361, + -1381.784, + 208.034, + 0.0, + 172.72, + -0.0 + ] + ], + "Rationale": [ + "Three palm trunks rise from this courtyard, and the leftmost one is the slender trunk standing among the pottery jars and baskets beside the covered market stalls on my left. That trunk beside the jars is my target, so I keep it fixed in mind and walk forward across the open flagstones toward it.", + "The palm standing among the jars and baskets on my left is noticeably nearer, its trunk now thicker in view. Nothing blocks the paved ground between us, so I step forward again to keep closing the gap.", + "The trunk beside the pottery stalls now shows its ridged bark clearly on my left, while the courtyard wall behind it is still some distance off. I continue walking straight ahead to shorten that remaining distance.", + "My target palm, the one rooted among the baskets and crates, is drifting toward the left side of my view as I advance, which is expected since it sits off my straight heading. The ground stays open, so I take another step forward rather than turning yet.", + "The crates and baskets at the foot of my target palm are close now, and its trunk fills the left part of my view. Advancing straight still brings me nearer to it, so I walk forward again.", + "The stone boundary wall ahead is growing, but there is still open ground between me and it, and my palm sits near the left corner of that wall. Another forward step should carry me deeper into the corner where its trunk stands.", + "The wall ahead is closer, and my palm's trunk is now a broad column at the left edge of my view with dry tufts at its base. I step forward once more to draw level with it before adjusting my heading.", + "The trunk I am heading for now sits at the extreme left of my view and is about to slip out of sight, while straight ahead there is only the boundary wall. I turn left to swing that trunk back toward the center of my view so I can walk directly at it.", + "The turn worked: the trunk beside the baskets and crates now stands well inside my view rather than sliding off the edge. Bare paving and a few dry tufts lie between us, so I walk forward along this new heading.", + "The scaled bark of my palm is resolving into individual overlapping plates, so the gap is shrinking steadily. The stall shelves stay off to my left and nothing crosses my path, so another step forward is safe.", + "The trunk now rises past the top of my view and the corner where the two walls meet sits just behind it. I am still a few paces short of touching distance, so I keep advancing.", + "The carved pilaster on the wall behind the palm is sharp now, which tells me how little ground is left. My heading still points into that corner, so I take another step rather than adjusting yet.", + "Only a short stretch of sandy ground and a fringe of dry grass separates me from the base of the trunk. Stepping forward again should bring me right up against it.", + "At this range the trunk has crowded into the left margin while my heading points straight at the wall's carved band. Turning left should bring the bark squarely in front of me for the final step.", + "The palm's scaled trunk is now centered and fills most of my view, with only a stride of sand at its foot. One more step forward should put me right at the bark.", + "The palm's bark plates fill my view at arm's length, so I am standing at that trunk. The task is complete and there is nowhere closer to go." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-001131_y-000609_z000202_t2_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-001131_y-000609_z000202_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..174c469a8fe0c09008bd8b09885c7612b242e02b --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-001131_y-000609_z000202_t2_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Proceed to the base of the right palm tree.", + "Type": 2, + "Start_Pose": [ + -1130.818, + -608.503, + 201.887, + 0.0, + -137.28, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1130.818, + -608.503, + 201.887, + 0.0, + -137.28, + 0.0 + ], + [ + -1223.284, + -693.888, + 201.887, + 0.0, + -137.28, + 0.0 + ], + [ + -1223.284, + -693.888, + 201.887, + 0.0, + -112.28, + 0.0 + ], + [ + -1271.001, + -810.35, + 206.261, + 0.0, + -112.28, + 0.0 + ], + [ + -1318.718, + -926.813, + 204.851, + 0.0, + -112.28, + 0.0 + ], + [ + -1366.436, + -1043.276, + 206.946, + 0.0, + -112.28, + 0.0 + ], + [ + -1414.153, + -1159.738, + 205.381, + 0.0, + -112.28, + 0.0 + ], + [ + -1461.87, + -1276.201, + 201.897, + 0.0, + -112.28, + 0.0 + ], + [ + -1509.588, + -1392.664, + 202.217, + 0.0, + -112.28, + 0.0 + ], + [ + -1557.305, + -1509.126, + 211.274, + 0.0, + -112.28, + 0.0 + ], + [ + -1605.022, + -1625.589, + 209.153, + 0.0, + -112.28, + 0.0 + ], + [ + -1652.74, + -1742.052, + 210.888, + 0.0, + -112.28, + 0.0 + ], + [ + -1700.457, + -1858.514, + 215.333, + 0.0, + -112.28, + 0.0 + ], + [ + -1748.174, + -1974.977, + 224.042, + 0.0, + -112.28, + 0.0 + ], + [ + -1748.174, + -1974.977, + 224.042, + 0.0, + -112.28, + 0.0 + ] + ], + "Rationale": [ + "Two palm trunks rise from this courtyard, and the one I want is the right one, the trunk standing beside the red awning stall on that side. Its base lies far across the open flagstones, so I will walk forward to close some of that distance before fixing my heading.", + "The palm beside the red awning stall sits well to the right of my current heading, so continuing straight would carry me past it toward the far wall. I will turn right to swing that trunk onto my line of travel.", + "The turn brought the palm by the awning stall much closer to the middle of my view, so my heading now points into its side of the courtyard. The paving between us is clear, so I will step forward to close the gap.", + "The thick trunk rising beside the awning stall is now roughly centered ahead, and its base with the scattered jars is still a long way off. I keep walking straight since my heading already runs toward it.", + "The trunk beside the stall has grown noticeably wider in my view, confirming I am closing on it rather than drifting. The pots and dry grass around its foot are still several paces away, so I continue forward.", + "The other palm has slipped out of my view as I advance, but I am still following this trunk standing next to the awning stall. Its base remains ahead and slightly left of center, so I press forward without turning.", + "The trunk's scaly bark and the jars clustered at its foot are clearly resolved now, so I am within a short walk of it. The ground between me and that base is open paving, so I keep stepping straight ahead.", + "The trunk now dominates the center of my view and its base sits just beyond the grass tufts a few paces off. I will walk forward again to stand right at that base.", + "The jars and dry tufts that ring the foot of this trunk are close enough to pick out individually, yet the trunk still sits back near the corner wall. Nothing blocks the paving between us, so I take another step toward it.", + "The trunk fills more of my view now and the pots have slid off to my right as I close in. Its foot is still a couple of paces beyond the plank on the ground, so I keep walking straight at it.", + "Only the lower trunk and the wall behind it remain in view, which tells me I am nearly on top of the target. The base is not yet within arm's reach, so another step forward should bring me right up to it.", + "The scaly plates of the trunk now span the center of my view and the ground at its foot is just ahead of the dry grass. I will step forward once more to stand at the base itself.", + "The bark is close enough that I can read individual fibers on each plate, so I am essentially at the trunk. One short step should settle me right against its base.", + "The palm's scaly base fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x-001131_y-000609_z000202_t5_a_p/infos.json b/dataset/trajectory/Lv_Bazaar/task_x-001131_y-000609_z000202_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..baa27c64ef450862147c96c7d6b5c4408ca7d1ba --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x-001131_y-000609_z000202_t5_a_p/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Lift the jerry can at the base of the left palm tree.", + "Type": 5, + "Start_Pose": [ + -1130.818, + -608.503, + 201.887, + 0, + -137.28, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2308.089, + -1517.664, + 131.897, + 0, + 60, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1130.818, + -608.503, + 201.887, + 0, + -137.28, + 0 + ], + [ + -1223.284, + -693.888, + 201.887, + 0.0, + -137.28, + 0.0 + ], + [ + -1315.75, + -779.273, + 213.052, + 0.0, + -137.28, + 0.0 + ], + [ + -1408.215, + -864.657, + 204.865, + 0.0, + -137.28, + 0.0 + ], + [ + -1500.681, + -950.042, + 206.551, + 0.0, + -137.28, + 0.0 + ], + [ + -1593.147, + -1035.427, + 203.811, + 0.0, + -137.28, + 0.0 + ], + [ + -1685.613, + -1120.812, + 201.897, + 0.0, + -137.28, + 0.0 + ], + [ + -1778.079, + -1206.196, + 205.311, + 0.0, + -137.28, + 0.0 + ], + [ + -1870.545, + -1291.581, + 202.882, + 0.0, + -137.28, + 0.0 + ], + [ + -1963.01, + -1376.966, + 201.897, + 0.0, + -137.28, + 0.0 + ], + [ + -2055.476, + -1462.351, + 207.331, + 0.0, + -137.28, + 0.0 + ], + [ + -2055.476, + -1462.351, + 207.331, + 0.0, + -162.28, + 0.0 + ], + [ + -2175.364, + -1500.658, + 201.897, + 0.0, + -162.28, + 0.0 + ], + [ + -2175.364, + -1500.658, + 201.897, + 0.0, + -162.28, + 0.0 + ], + [ + -2175.364, + -1500.658, + 201.897, + 0.0, + -162.28, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2308.089, + -1517.664, + 131.897, + 0.0, + 60.0, + -0.0 + ], + [ + -2168.283, + -1520.813, + 172.003, + -28.202, + -112.135, + 1.862 + ], + [ + -2168.283, + -1520.813, + 172.003, + -28.202, + -112.135, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1487.5, + 1362.1, + 1236.9, + 1111.8, + 987.0, + 862.4, + 738.2, + 614.8, + 492.5, + 372.7, + 258.6, + 258.6, + 133.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The jerry can should sit at the foot of the left palm tree across this courtyard, but from here the trunks and the open paving are all I can resolve. My heading already points into the open plaza toward those palms, so I will walk forward to close distance and bring their bases into view.", + "The palms and the far stone wall have grown slightly larger, confirming my heading carries me deeper into the courtyard. Nothing blocks the paved ground in front of me, so I will keep walking forward toward the tree bases where the can should be.", + "The left palm's trunk is now clearly separated from the shaded stalls beside it, but the ground at its base is still too far to read. Continuing straight remains the most direct way to reach that spot, so I will step forward again.", + "The far wall fills more of my view and the palm trunks are noticeably closer, so my approach is working. Baskets and jars stay off to the left side and do not sit in my path. I will advance again to reach the base of the left palm.", + "A small reddish object is beginning to stand out against the pale wall near the tree line ahead, which fits the jerry can I need. It is still far away and low in the frame, so I will keep walking straight to close in on it.", + "The reddish can is now clearly resolvable near the base of the wall, slightly left of my center of view. The distance is still too great for any grasp, so I will continue forward rather than adjust heading yet.", + "The jerry can is unmistakable now, standing on the paving between the left palm's trunk and the wall. Open ground separates me from it, so another forward step should keep shrinking the gap toward reaching range.", + "The can now sits low and left in my view, close enough that its handle and ribbed side are visible, but still several paces off. I will walk forward again to get within grasping distance before worrying about final alignment.", + "The red jerry can sits on the flagstones at the foot of the left palm, clearly identified and still several paces ahead. Nothing blocks the open pavement between us, so I will keep walking straight to close the remaining gap.", + "The can now appears noticeably larger and lower in my view, confirming I am closing on it, but it is still out of arm's reach. I will step forward again along the same heading to shorten the distance further.", + "I am close to the can now, but it has drifted to the far left edge of my view while my heading points at the bare wall. Turning left should bring the jerry can back into the center of my view for a straight final approach.", + "The jerry can is now centered ahead of me at the base of the palm, so my heading is right. A short step forward should place it within arm's reach for the grasp.", + "The jerry can fills the lower center of my view, right in front of me and clearly within reach. My hands are empty, so 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 lifting task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x000037_y-000702_z000202_t3_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x000037_y-000702_z000202_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..191800be37c91e3bd7f4f10a356cfc702d7670ea --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x000037_y-000702_z000202_t3_a/infos.json @@ -0,0 +1,376 @@ +{ + "Instruction": "Walk to the red awning, then head toward the blue awning.", + "Type": 3, + "Start_Pose": [ + 37.427, + -702.064, + 201.897, + 0.0, + -172.8, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 37.427, + -702.064, + 201.897, + 0.0, + -172.8, + 0.0 + ], + [ + -87.44, + -717.838, + 201.897, + 0.0, + -172.8, + 0.0 + ], + [ + -87.44, + -717.838, + 201.897, + 0.0, + -147.8, + 0.0 + ], + [ + -193.941, + -784.906, + 201.897, + 0.0, + -147.8, + 0.0 + ], + [ + -300.442, + -851.973, + 201.897, + 0.0, + -147.8, + 0.0 + ], + [ + -406.943, + -919.04, + 201.897, + 0.0, + -147.8, + 0.0 + ], + [ + -513.444, + -986.107, + 201.897, + 0.0, + -147.8, + 0.0 + ], + [ + -619.945, + -1053.175, + 210.519, + 0.0, + -147.8, + 0.0 + ], + [ + -726.446, + -1120.242, + 214.653, + 0.0, + -147.8, + 0.0 + ], + [ + -832.947, + -1187.309, + 210.816, + 0.0, + -147.8, + 0.0 + ], + [ + -939.448, + -1254.377, + 208.23, + 0.0, + -147.8, + 0.0 + ], + [ + -939.448, + -1254.377, + 208.23, + 0.0, + -122.8, + 0.0 + ], + [ + -1007.627, + -1360.169, + 216.999, + 0.0, + -122.8, + 0.0 + ], + [ + -1075.806, + -1465.962, + 203.45, + 0.0, + -122.8, + 0.0 + ], + [ + -1075.806, + -1465.962, + 203.45, + 0.0, + -122.8, + 0.0 + ], + [ + -1075.806, + -1465.962, + 203.45, + 0.0, + -147.8, + 0.0 + ], + [ + -1075.806, + -1465.962, + 203.45, + 0.0, + -172.8, + 0.0 + ], + [ + -1075.806, + -1465.962, + 203.45, + 0.0, + 162.2, + -0.0 + ], + [ + -1075.806, + -1465.962, + 203.45, + 0.0, + 137.2, + -0.0 + ], + [ + -1075.806, + -1465.962, + 203.45, + 0.0, + 112.2, + -0.0 + ], + [ + -1123.36, + -1349.433, + 205.85, + 0.0, + 112.2, + -0.0 + ], + [ + -1170.915, + -1232.904, + 222.248, + 0.0, + 112.2, + -0.0 + ], + [ + -1218.47, + -1116.375, + 203.726, + 0.0, + 112.2, + -0.0 + ], + [ + -1266.024, + -999.846, + 202.998, + 0.0, + 112.2, + -0.0 + ], + [ + -1313.579, + -883.316, + 204.255, + 0.0, + 112.2, + -0.0 + ], + [ + -1313.579, + -883.316, + 204.255, + 0.0, + 87.2, + -0.0 + ], + [ + -1307.431, + -757.608, + 211.972, + 0.0, + 87.2, + -0.0 + ], + [ + -1301.283, + -631.899, + 212.254, + 0.0, + 87.2, + -0.0 + ], + [ + -1295.134, + -506.19, + 215.199, + 0.0, + 87.2, + -0.0 + ], + [ + -1288.986, + -380.482, + 213.379, + 0.0, + 87.2, + -0.0 + ], + [ + -1288.986, + -380.482, + 213.379, + 0.0, + 112.2, + -0.0 + ], + [ + -1336.541, + -263.952, + 208.072, + 0.0, + 112.2, + -0.0 + ], + [ + -1384.095, + -147.423, + 208.072, + 0.0, + 112.2, + -0.0 + ], + [ + -1431.65, + -30.894, + 208.146, + 0.0, + 112.2, + -0.0 + ], + [ + -1483.671, + 3.383, + 220.896, + 0.0, + 112.2, + -0.0 + ], + [ + -1483.671, + 3.383, + 220.896, + 0.0, + 112.2, + -0.0 + ] + ], + "Rationale": [ + "From the edge of this open courtyard I can pick out the red awning over a stall to the right, past the palms, while a pale blue canopy sits far off to the left over the pottery sellers. The red one is my first destination, so I step forward onto the open flagstones to begin closing the distance.", + "The red awning sits well off to my right rather than straight ahead, so walking on this heading would carry me past it. I will turn right to bring that red canopy toward the middle of my view before continuing.", + "The turn has put the red awning near the center of my view, tucked between the palm trunks against the far wall. With the flagstones open in front of me, I will walk straight ahead to close on it.", + "The red awning is a little larger and still holds near the middle of my view, so my heading is good. I will keep walking forward across the open stones toward it.", + "The red canopy keeps growing ahead of me and the posts beneath it are starting to separate from the palm trunks. Nothing blocks the paving, so I continue straight forward.", + "The red awning now hangs clearly above its stall a short way ahead and slightly right of center, still comfortably within my heading. I will step forward again to keep shrinking the gap.", + "I can now make out the frame and the goods under the red cloth, which tells me I am getting close. The paving between us is open, so I keep advancing.", + "The red awning is large in my view now, with crates of melons set out beneath it just ahead and to the right. I will walk forward again to bring myself right up to that stall.", + "The red cloth awning over the fruit stall is clearly ahead and slightly right, its posts and produce crates now readable at close range. My heading still points into the open paving in front of it, so I will walk forward to close the remaining gap.", + "The red awning now hangs large above the stall and I can pick out melons in the crates beneath it, so only a short distance remains. Nothing blocks the paving directly in front of me, so I will step forward again to draw level with the stall.", + "The red awning and the counter under it sit off to my right while my heading still runs past them toward the far courtyard wall. I will turn right so the stall beneath the red cloth sits centered ahead of me for a straight final approach.", + "The turn has brought the red awning and its supporting posts squarely in front of me, with the produce counter directly along my heading. I will walk forward to close on the stall beneath the red cloth.", + "The stall table with the halved watermelons is only a couple of paces off and the red canopy already spans above me. I will take another step forward to stand right at the counter under the red awning.", + "The counter with its cut watermelons is right in front of me and the red cloth canopy stretches directly overhead. I have arrived at the stall under the red awning, so I mark reaching it and then set off for the blue awning.", + "Standing at the red stall, my view is filled by its counter and posts, and no blue awning is anywhere in this narrow field. I will turn left to swing my gaze across the open courtyard and search for the blue canopy.", + "The turn has opened the courtyard on my left, showing palms, melon crates and the far wall, but still no blue canopy in sight. I will keep turning left to bring more of the square into view and locate the blue awning.", + "Now that the red-canopied fruit stall is behind me, I need to pick out the blue awning somewhere across this courtyard. My view still holds only palm trunks, melon crates and the shaded stalls on the far wall, with no blue cloth anywhere. I will keep swinging left to open up more of the square.", + "The sweep has brought a long pottery stall under a wooden roof into view, but there is still no blue cloth among the earthen jars and bowls. The courtyard clearly continues further to my left, past the corner of that shed. I will turn left again to keep uncovering that side.", + "A blue and white striped canopy has just come into view over the striped facade on my left, beyond the scattered planks. It sits well off to the side of my heading, so walking now would carry me past it. One more left turn should put it closer to straight ahead.", + "The blue and white striped canopy now sits ahead of me, slightly left, with its hanging lanterns just discernible against the striped wall. The paving between us is open apart from a few loose planks. I will walk forward to start closing that distance.", + "The blue striped canopy has grown noticeably and its lanterns are clearer, so my heading is carrying me straight at it. There is still a broad stretch of empty flagstones between me and the stall. I will take another step forward.", + "The awning and the goods laid out beneath it are noticeably nearer, and the pots and glass vessels on the ground now read individually. Nothing blocks the paving directly in front of my feet. I will keep advancing toward the blue canopy.", + "The blue striped awning with its three hanging lanterns is close enough now to fill a good part of my view, and the rug of stacked plates and jars lies just short of it. I am still several paces away from the stall itself. I will step forward again.", + "The stacked plates and green vessels on their carpet now spread across the foreground, and the blue striped canopy stands just beyond them. I am not yet under or beside it. Another forward step should bring me up to that stall.", + "The blue and white striped awning stands over its stall ahead of me, but stacked plates, bowls and jars spread on the carpet fill the ground immediately in front. I will turn left so the open paving beside that display lines up with my heading, keeping the awning toward my right as I close in.", + "Clear paving now runs ahead of me past the edge of the carpet, and the blue striped awning sits off to my right front above the shopfront. I will walk forward along this open lane to cut the distance to it.", + "The awning and its lanterns are noticeably larger and the dish display has slipped to my right edge, so the paving in front of me is unobstructed. I keep walking straight to close on the stall.", + "From here the handcart and the three hanging lanterns under the blue striped canopy are clearly separated, and the striped shopfront wall behind them is close. Continuing forward should bring me within a few steps of that awning.", + "The blue canopy now spans a large part of my right forward view and the cart beneath it is close on the open paving. I will take another step forward toward it.", + "As I have advanced, the blue striped awning has drifted well over to my right side while the archway fills the left of my view. I will turn right to bring the canopy and its cart back in front of me before continuing.", + "The blue striped canopy with its hanging lanterns and the cart beneath it now sits squarely ahead of me. I will walk forward over the broken paving to close the last of the gap.", + "The awning now stretches across the top of my view and the cart with its crates stands just a short distance in front. Another step forward should put me right at the stall under the blue canopy.", + "The blue and white striped canopy with its hanging lanterns now spans the upper part of my view, so I am nearly under it. A handcart and stacked crates sit ahead against the striped wall, but the sandy strip to their right stays open. I will step forward again to close the last of the gap.", + "The lanterns now hang almost directly above me and the striped fabric edge is visible at the top right, so I am right at the awning. Crates crowd the space immediately in front, leaving only a short stretch of clear ground. One more short step forward should settle me squarely beneath the canopy.", + "The blue striped awning and its lanterns hang directly overhead, so I am standing beneath it. The task is complete and there is nothing further to reach." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x000180_y-000716_z000202_t0_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x000180_y-000716_z000202_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b42bd3e7f259a3de6c9497fe58f484844843663b --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x000180_y-000716_z000202_t0_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Approach the stall with the blue striped awning.", + "Type": 0, + "Start_Pose": [ + 179.698, + -716.019, + 201.898, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 179.698, + -716.019, + 201.898, + 0.0, + -178.56, + 0.0 + ], + [ + 53.879, + -719.182, + 201.898, + 0.0, + -178.56, + 0.0 + ], + [ + -71.941, + -722.345, + 201.898, + 0.0, + -178.56, + 0.0 + ], + [ + -197.76, + -725.508, + 201.898, + 0.0, + -178.56, + 0.0 + ], + [ + -197.76, + -725.508, + 201.898, + 0.0, + 156.44, + -0.0 + ], + [ + -313.127, + -675.201, + 201.898, + 0.0, + 156.44, + -0.0 + ], + [ + -428.495, + -624.894, + 203.857, + 0.0, + 156.44, + -0.0 + ], + [ + -543.863, + -574.587, + 204.693, + 0.0, + 156.44, + -0.0 + ], + [ + -659.23, + -524.28, + 207.179, + 0.0, + 156.44, + -0.0 + ], + [ + -774.598, + -473.973, + 205.323, + 0.0, + 156.44, + -0.0 + ], + [ + -889.966, + -423.666, + 204.492, + 0.0, + 156.44, + -0.0 + ], + [ + -1005.333, + -373.359, + 223.939, + 0.0, + 156.44, + -0.0 + ], + [ + -1005.333, + -373.359, + 223.939, + 0.0, + 131.44, + -0.0 + ], + [ + -1088.631, + -279.008, + 222.32, + 0.0, + 131.44, + -0.0 + ], + [ + -1171.929, + -184.658, + 208.146, + 0.0, + 131.44, + -0.0 + ], + [ + -1255.227, + -90.308, + 211.455, + 0.0, + 131.44, + -0.0 + ], + [ + -1338.525, + 4.042, + 212.519, + 0.0, + 131.44, + -0.0 + ], + [ + -1338.525, + 4.042, + 212.519, + 0.0, + 131.44, + -0.0 + ] + ], + "Rationale": [ + "Scanning the open plaza, I pick out a pale blue striped awning over a small stall on the left side of the courtyard, well ahead of me. A wide stretch of empty paving lies between us, so I will step forward to begin closing that gap before refining my heading.", + "The blue striped awning has grown slightly larger and the goods laid out on the rug have slid toward the lower left of my view, confirming my forward step made real ground. The stall is still far off across the paving, so I will continue straight to keep shrinking the distance.", + "I am now well out onto the flagstones and the striped awning with its hanging lanterns is clearly visible ahead to my left, still at some distance beside the striped building. The ground in front of me is clear, so another forward step is the simplest way to keep advancing before I correct my heading.", + "My current heading points at the long shaded arcade straight ahead, while the blue striped awning sits noticeably off to my left near the red and white striped facade. Turning left should swing that awning toward the middle of my view so I can walk directly at it instead of drifting past.", + "After the turn, the blue striped awning and its cluster of lanterns now sit near the middle of my view against the striped building. With my heading pointed at it and open paving between us, I will step forward to close the remaining distance.", + "The awning and the lamps hanging beneath it are visibly larger than a moment ago, so my heading is carrying me straight toward the stall. Nothing blocks the paving in front of me, so I will keep advancing.", + "The striped awning is still ahead and slightly left of center, with its lanterns and the small cart beneath it becoming easier to make out. I am not yet close enough to stand at the stall, so I will continue forward.", + "The blue striped canopy now reads clearly with its lanterns and the crates beside it, but there is still a stretch of open paving before I reach the stall front. Another forward step should bring me appreciably nearer without needing any change of heading.", + "The stall with the pale blue striped awning and its cluster of hanging lanterns is clearly visible ahead and toward my left, tucked against the striped building across the open square. It is still well beyond reach, so I will keep walking forward over the flagstones to close the gap.", + "The awning and the lanterns under it have grown noticeably larger, confirming my heading is carrying me toward the right stall. The pottery spread on the rug to my right is not my target, so I will continue advancing rather than diverting.", + "The blue striped canopy, its lantern strings, and the small cart beneath it are now distinct off to my left, but I am still several paces short of the stall. I will step forward again to shorten the remaining distance before adjusting my heading.", + "My heading is now pointed past the stall toward the wall and the pottery on the right, leaving the blue striped awning off at the left side of my view. I will turn left so the stall sits centered ahead and the last stretch can be walked straight in.", + "After the turn the blue striped awning with its hanging lanterns is centered ahead of me, with the small cart and crates beneath it. The alignment is good, so I will walk straight forward to close the remaining distance.", + "The canopy, the lanterns, and the wooden cart are all growing larger straight in front of me, so my heading remains correct. I will keep stepping forward across the loose stones to get within a few paces of the stall.", + "The blue striped awning now spans the upper part of my view with the lanterns hanging just above the cart and stacked crates. I am close but not yet standing at the stall, so I will advance one more step.", + "The lanterns hang almost directly overhead and the crates and pots of the stall are nearly within arm's reach at the base of the blue awning. A final short step forward should place me right at the stall front.", + "The blue striped awning and its hanging lanterns are directly overhead, with the stall's crates and pots within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x000180_y-000716_z000202_t0_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x000180_y-000716_z000202_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..86700ca26db26a990852bf54d735275ab777ef5a --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x000180_y-000716_z000202_t0_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Move to the stall with the red awning.", + "Type": 0, + "Start_Pose": [ + 179.698, + -716.019, + 201.898, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 179.698, + -716.019, + 201.898, + 0.0, + -178.56, + 0.0 + ], + [ + 53.879, + -719.182, + 201.898, + 0.0, + -178.56, + 0.0 + ], + [ + -71.941, + -722.345, + 201.898, + 0.0, + -178.56, + 0.0 + ], + [ + -71.941, + -722.345, + 201.898, + 0.0, + -153.56, + 0.0 + ], + [ + -184.635, + -778.385, + 201.898, + 0.0, + -153.56, + 0.0 + ], + [ + -297.329, + -834.425, + 201.898, + 0.0, + -153.56, + 0.0 + ], + [ + -410.023, + -890.465, + 201.898, + 0.0, + -153.56, + 0.0 + ], + [ + -522.718, + -946.505, + 207.742, + 0.0, + -153.56, + 0.0 + ], + [ + -635.412, + -1002.545, + 210.611, + 0.0, + -153.56, + 0.0 + ], + [ + -635.412, + -1002.545, + 210.611, + 0.0, + -128.56, + 0.0 + ], + [ + -713.864, + -1100.961, + 214.75, + 0.0, + -128.56, + 0.0 + ], + [ + -792.316, + -1199.377, + 212.322, + 0.0, + -128.56, + 0.0 + ], + [ + -870.769, + -1297.793, + 212.986, + 0.0, + -128.56, + 0.0 + ], + [ + -949.221, + -1396.21, + 214.061, + 0.0, + -128.56, + 0.0 + ], + [ + -1008.134, + -1460.651, + 216.005, + 0.0, + -128.56, + 0.0 + ], + [ + -1008.134, + -1460.651, + 216.005, + 0.0, + -128.56, + 0.0 + ] + ], + "Rationale": [ + "From this open courtyard I can pick out a red awning off to the right, past the palm trunks near the far buildings, while a blue canopy sits to the left. The paving straight ahead is clear of goods and crates, so I will step forward to gain ground toward the market area before committing to a heading.", + "The red awning on the right has grown slightly clearer against the stone wall, confirming it as the stall I want. The ground in front of me is still open, so another forward step should close distance before I swing my heading toward it.", + "The red awning sits well to the right of my current heading, while straight ahead only leads to the pottery display and the far wall. I will turn right to bring that stall closer to the center of my view so I can walk straight at it.", + "After the turn the red awning is now visible ahead of me, standing on its wooden posts beside the palms and the arcaded shop on my right. The wide flagstone ground between us is clear, so I will advance toward it.", + "The red awning is a little larger and slightly right of center, so my heading is close to correct. I will keep moving forward across the open paving to shorten the distance.", + "The red cloth canopy and its supporting posts are clearly resolved now, with a small table of goods beneath it. Nothing blocks the stone ground in between, so I will continue straight toward the stall.", + "The red awning stall is noticeably nearer, and I can make out crates and produce sitting around its base. I will step forward again since I am still several paces short of standing at the stall.", + "The red awning now hangs well above the goods just ahead and slightly to my right, so I am closing in on the correct stall. I will move forward once more to bring myself up to it.", + "The stall with the red awning stands ahead but sits off to the right of my heading, near the covered shopfront. I will turn right so the awning and its produce table come closer to the center of my view before I continue closing the gap.", + "With the red awning now roughly ahead of me, the paved ground between us is open apart from scattered slabs. I will step forward to reduce the remaining distance to that stall.", + "The red awning and the posts holding it are growing larger, so my heading is still carrying me toward the target stall. I will keep walking forward to close more of the gap.", + "I can now make out melons in crates set out beneath the red cloth canopy, confirming this is the stall I want. Another step forward should bring me into the stall's immediate area.", + "The red cloth canopy is directly overhead to my left and the produce table with cut melon is only a short distance ahead. I will advance once more to stand within the stall itself.", + "I am practically under the red awning now, with the melon table just in front and a wall to my right limiting further room. I will take one short step forward to settle at the stall counter.", + "I am standing under the red awning with its melon table right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t2_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d6211409dc3cc0b12ff74606a644ed523eb7c471 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the base of the central stone column on the left.", + "Type": 2, + "Start_Pose": [ + 1300.745, + 344.913, + 266.625, + 0.0, + 138.24, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1300.745, + 344.913, + 266.625, + 0.0, + 138.24, + -0.0 + ], + [ + 1206.862, + 428.737, + 221.357, + 0.0, + 138.24, + -0.0 + ], + [ + 1112.978, + 512.56, + 274.258, + 0.0, + 138.24, + -0.0 + ], + [ + 1112.978, + 512.56, + 274.258, + 0.0, + 113.24, + -0.0 + ], + [ + 1063.316, + 628.207, + 276.508, + 0.0, + 113.24, + -0.0 + ], + [ + 1063.316, + 628.207, + 276.508, + 0.0, + 88.24, + -0.0 + ], + [ + 1067.182, + 754.007, + 276.508, + 0.0, + 88.24, + -0.0 + ], + [ + 1067.182, + 754.007, + 276.508, + 0.0, + 88.24, + -0.0 + ] + ], + "Rationale": [ + "The tall stone column standing on the left side of this hall, the one with the carved capital rising beside the bread oven, is my destination. A broad flight of steps separates me from the paved floor it stands on, so I will walk forward to climb them and close distance.", + "I am now level with the floor and the chained column looms much larger at the left edge of my view. Its base is still several paces off across the flagstones, so I will keep walking forward to close the remaining gap.", + "My heading is carrying me toward the oven and worktables straight ahead, while the column I want has slid to the far left margin and its base is nearly out of sight. I will turn left to bring that column back into the center of my view before advancing further.", + "The turn worked, and the chained column now stands clearly in my view with its base and the flagstones around it visible. Nothing blocks the floor between us, so I will walk forward to close on it.", + "I am close enough that the column fills much of the left half of my view, but my heading still points past it toward the oven. I will turn left again so I face the column squarely and can step up to its base.", + "The column is now centered before me, its chained base and moulded footing plainly in view. Only a short stretch of flagstone remains, so I will take one more step forward to stand at its base.", + "The chained base of the stone column fills my view directly in front of me. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t2_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..415fa4ecca159fab07b17ceb4532ee60300dec8a --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the arched oven glowing on the left.", + "Type": 2, + "Start_Pose": [ + 1300.745, + 344.913, + 266.625, + 0.0, + 138.24, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1300.745, + 344.913, + 266.625, + 0.0, + 138.24, + -0.0 + ], + [ + 1206.862, + 428.737, + 221.357, + 0.0, + 138.24, + -0.0 + ], + [ + 1112.978, + 512.56, + 274.258, + 0.0, + 138.24, + -0.0 + ], + [ + 1019.095, + 596.384, + 276.509, + 0.0, + 138.24, + -0.0 + ], + [ + 925.211, + 680.207, + 276.509, + 0.0, + 138.24, + -0.0 + ], + [ + 913.323, + 752.93, + 276.509, + 0.0, + 138.24, + -0.0 + ], + [ + 865.113, + 835.985, + 276.509, + 0.0, + 138.24, + -0.0 + ], + [ + 771.229, + 919.809, + 276.509, + 0.0, + 138.24, + -0.0 + ], + [ + 771.229, + 919.809, + 276.509, + 0.0, + 113.24, + -0.0 + ], + [ + 771.229, + 919.809, + 276.509, + 0.0, + 113.24, + -0.0 + ] + ], + "Rationale": [ + "The arched oven glowing on the left side of this kitchen hall is my target, its firelight clear beyond the stone pillar and the work tables. Nothing blocks the tiled floor ahead of me, so I will step forward to close the long gap.", + "The lit oven mouth has grown larger and sits to my left, with the tables and stools passing on the right. The floor between us is still clear, so I will keep walking straight toward it.", + "The oven's flame is bright now and its arch fills more of my left view, but I am still several strides short of it. The stools and worktable stand off to my right and do not block my line, so I continue forward.", + "The glowing arch is close on my left, with baskets and dishes lining the low hearth counter below it. The lane of floor ahead remains open past the near table, so another step forward should bring me nearer.", + "The oven now dominates the left side and I can see the fire inside its arch clearly. I am still beside the counter rather than at the oven, so I advance again to draw level with it.", + "Stacked dishes and the hearth ledge stream past on my left while the oven mouth stays just ahead of that line. A short additional step should place me directly at the glowing arch.", + "The burning arch is very near on my left, its light spilling over the plates on the counter. One more forward step should bring me alongside the oven itself.", + "I have arrived beside the oven, but its glowing arch is pushed to the far left edge of my view while my heading points down the empty hall. Turning left should swing the fiery mouth into the center of my view.", + "The glowing arched oven fills the center of my view an arm's reach beyond the dish counter. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t2_c/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..62512f444af8e573ccbe02fb0b48628215ba24d7 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t2_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Move to the burning candles on the workbench against the far right wall.", + "Type": 2, + "Start_Pose": [ + 1300.745, + 344.913, + 266.625, + 0.0, + 138.24, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1300.745, + 344.913, + 266.625, + 0.0, + 138.24, + -0.0 + ], + [ + 1206.862, + 428.737, + 221.357, + 0.0, + 138.24, + -0.0 + ], + [ + 1206.862, + 428.737, + 221.357, + 0.0, + 163.24, + -0.0 + ], + [ + 1086.349, + 465.03, + 274.489, + 0.0, + 163.24, + -0.0 + ], + [ + 965.836, + 501.323, + 276.497, + 0.0, + 163.24, + -0.0 + ], + [ + 845.324, + 537.616, + 276.497, + 0.0, + 163.24, + -0.0 + ], + [ + 845.324, + 537.616, + 276.497, + 0.0, + -171.76, + 0.0 + ], + [ + 720.764, + 519.578, + 276.497, + 0.0, + -171.76, + 0.0 + ], + [ + 596.204, + 501.54, + 276.497, + 0.0, + -171.76, + 0.0 + ], + [ + 596.204, + 501.54, + 276.497, + 0.0, + 163.24, + -0.0 + ], + [ + 475.692, + 537.833, + 276.497, + 0.0, + 163.24, + -0.0 + ], + [ + 355.179, + 574.126, + 276.497, + 0.0, + 163.24, + -0.0 + ], + [ + 355.179, + 574.126, + 276.497, + 0.0, + 138.24, + -0.0 + ], + [ + 299.493, + 645.143, + 276.497, + 0.0, + 138.24, + -0.0 + ], + [ + 299.493, + 645.143, + 276.497, + 0.0, + 138.24, + -0.0 + ] + ], + "Rationale": [ + "From the low steps the hall opens ahead, with the bread oven glowing on the left and a small point of candlelight much further off along the right-hand wall. I walk forward to get up onto the flat floor of the room and start closing that distance.", + "Standing on the open floor, the oven and its tables fill the left of my view, while the candlelit stretch of wall I want lies off toward the right. I turn right to bring that side of the hall into the center of my heading.", + "The turn has put the far stone wall in the middle of my view, and a small flame burns against it past the long table and stools. Clear paving lies between me and it, so I walk forward toward that light.", + "The flame against the far wall is still ahead of me but small, so I have not yet covered the length of the hall. The lane between the stools stays open, and I keep walking forward.", + "Closer in, I can now pick out the candle standing on a low bench with crates stacked beside it, near the arched doorway on that wall. Nothing blocks the floor immediately in front of me, so I advance again.", + "The tables and stools crowd the straight line to the candlelit bench slightly left of me, while the paving toward the archway on my right is open. I turn right to take that clear lane and come at the bench from its near side.", + "The stone counter with its hanging pans runs along my right and leaves a clear stretch of floor ahead, while the candle keeps burning on the bench off to my left. I walk forward along this open lane to draw level with it.", + "The archway and clear paving still lie ahead, and the candle on the plank bench with its crates is now close on my left. One more step forward should carry me alongside it before I swing back toward the bench.", + "The archway now fills the middle of my view and the candlelit workbench has slipped to the far left edge, so holding this heading would carry me out of the room instead. I turn left to swing the bench with its crates back in front of me.", + "The candle and its plank shelf sit ahead and slightly left again, with only open paving and a few crates between us. I step forward to close on the workbench.", + "The flame and the tools propped against the wall are much larger now, but the shelf still stands a couple of paces off past the stacked crates. I keep walking to close the remaining gap.", + "Up close the crates have crowded into the center and pushed the candles to the left edge of what I can see. I turn left so the workbench top sits squarely in front of me rather than at the corner of my view.", + "The bench with its burning candles is centered now, though the plank edge is still an arm's length or more away past the crate. A short step forward should bring me right up against it.", + "The burning candles on the workbench stand directly before me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t5_a_p/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..48a3142d0accbdf5add185891d5eb13d4cec8e1d --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001301_y000345_z000267_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Grab the wicker basket near the central stone column on the left.", + "Type": 5, + "Start_Pose": [ + 1300.745, + 344.913, + 266.625, + 0, + 138.24, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 978.351, + 744.666, + 220.453, + 90, + 138.24, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1300.745, + 344.913, + 266.625, + 0, + 138.24, + 0 + ], + [ + 1206.862, + 428.737, + 221.357, + 0.0, + 138.24, + -0.0 + ], + [ + 1112.978, + 512.56, + 274.258, + 0.0, + 138.24, + -0.0 + ], + [ + 1019.095, + 596.384, + 276.509, + 0.0, + 138.24, + -0.0 + ], + [ + 1019.095, + 596.384, + 276.509, + 0.0, + 138.24, + -0.0 + ], + [ + 1019.095, + 596.384, + 276.509, + 0.0, + 138.24, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 978.351, + 744.666, + 220.453, + 90.0, + 138.24, + 0.0 + ], + [ + 978.351, + 744.666, + 220.453, + 90.0, + 138.24, + 0.0 + ], + [ + 978.351, + 744.666, + 220.453, + 90.0, + 138.24, + 0.0 + ], + [ + 978.351, + 744.666, + 220.453, + 90.0, + 138.24, + 0.0 + ], + [ + 1005.328, + 580.049, + 246.616, + -28.202, + -171.616, + 1.862 + ], + [ + 1005.328, + 580.049, + 246.616, + -28.202, + -171.616, + 1.862 + ] + ], + "PD_Dist_2D": [ + 513.6, + 389.9, + 268.3, + 153.8, + 21.4, + 21.4 + ], + "Rationale": [ + "From the top of the steps I can see the round wicker basket resting on the floor beside the stone column on the left, well beyond my reach. My heading already lines up with that side of the room, so I will walk straight ahead to close the gap.", + "The basket by the column is noticeably larger now and stays slightly left of my path, so my current heading is still usable. I am nevertheless too far away to reach it, so I will keep walking forward.", + "The wicker basket now fills much of the left foreground near the column base, but it still sits a couple of paces off. One more step forward should bring it close enough in front of me for a grasp attempt.", + "The wicker basket is right at my lower left edge, close enough that it crowds the corner of my view, and nothing stands between us. This is the interaction distance the task needs, so I will attempt to pick it up now.", + "The wicker basket is in my hands rather than resting on the floor. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001567_y000327_z000207_t1_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001567_y000327_z000207_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf4596a77d6a7e9269aa3f0fd1740fce9e9e3a45 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001567_y000327_z000207_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search the open stone kitchen for the candles glowing on the counter against the stone wall, then approach them.", + "Type": 1, + "Start_Pose": [ + 1567.292, + 327.461, + 207.466, + 0.0, + 75.68, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1567.292, + 327.461, + 207.466, + 0.0, + 75.68, + -0.0 + ], + [ + 1567.292, + 327.461, + 207.466, + 0.0, + 100.68, + -0.0 + ], + [ + 1567.292, + 327.461, + 207.466, + 0.0, + 125.68, + -0.0 + ], + [ + 1567.292, + 327.461, + 207.466, + 0.0, + 150.68, + -0.0 + ], + [ + 1457.556, + 389.092, + 207.985, + 0.0, + 150.68, + -0.0 + ], + [ + 1347.819, + 450.724, + 207.985, + 0.0, + 150.68, + -0.0 + ], + [ + 1347.819, + 450.724, + 207.985, + 0.0, + 175.68, + -0.0 + ], + [ + 1222.318, + 460.205, + 213.639, + 0.0, + 175.68, + -0.0 + ], + [ + 1096.817, + 469.685, + 274.522, + 0.0, + 175.68, + -0.0 + ], + [ + 971.315, + 479.166, + 276.508, + 0.0, + 175.68, + -0.0 + ], + [ + 845.814, + 488.646, + 276.508, + 0.0, + 175.68, + -0.0 + ], + [ + 720.312, + 498.127, + 276.508, + 0.0, + 175.68, + -0.0 + ], + [ + 594.811, + 507.607, + 276.508, + 0.0, + 175.68, + -0.0 + ], + [ + 469.309, + 517.088, + 276.508, + 0.0, + 175.68, + -0.0 + ], + [ + 469.309, + 517.088, + 276.508, + 0.0, + 150.68, + -0.0 + ], + [ + 359.573, + 578.719, + 276.508, + 0.0, + 150.68, + -0.0 + ], + [ + 294.939, + 626.25, + 276.508, + 0.0, + 150.68, + -0.0 + ], + [ + 298.779, + 656.875, + 276.508, + 0.0, + 150.68, + -0.0 + ], + [ + 298.779, + 656.875, + 276.508, + 0.0, + 150.68, + -0.0 + ] + ], + "Rationale": [ + "From this open courtyard I see colonnades, a palm and a domed roof, but no candlelit counter anywhere ahead. On the right edge of my view there is a raised stone terrace with what look like work tables and warm light, so I will turn right to bring that promising area into view. This should start a consistent rightward scan toward the likely kitchen side.", + "The turn has brought a stepped stone terrace with tables and a glowing arched opening into the right of my view, which reads as a cooking area. The candles are still not visible, so I will keep turning right in the same direction to center that warm-lit space. That should reveal the counters along the stone wall behind it.", + "I can now see the domed oven, benches and long tables under a covered stone hall, confirming this is the kitchen area rather than the open courtyard. The interior is still off to my right and partly hidden behind a pillar, so one more turn in the same direction should square me up with it. I will continue the rightward scan.", + "The covered kitchen is now centered ahead of me, with the lit oven, stacked crockery and long tables raised a few steps above the sand. The candles on a counter against the stone wall are most likely inside this shaded interior, which is still too far and too dim to read. I will walk forward toward the steps to get inside the kitchen.", + "I am closer to the stepped platform, and the tables, oven and a small point of flame near the back wall are clearer, but I am still on the sand below. Continuing straight ahead should carry me up to and onto the kitchen floor where the counters run along the stone wall. I will keep walking forward.", + "From the foot of the steps I can see the kitchen interior, with the oven and tables toward the left and a deeper section with crates and an arched passage on the right side of the hall. The counter against the stone wall that I want extends into that right-hand part, which is not yet in front of me. I will turn right to face that stretch before advancing further.", + "My heading now points into the deeper part of the kitchen, with the fire glow on the back stone wall and crates stacked ahead of me. Nothing blocks the floor between me and that wall, so stepping forward should close the distance and let me read what stands on the counters. I will walk ahead.", + "I have moved further in, and the long work counters, hanging pans and the lit back wall are noticeably larger in front of me. The small flame near that stone wall is still too far to confirm as the candles I need, so I will keep walking forward to bring it within clear view.", + "I am inside the open stone kitchen now, and a small warm flame is burning on the work counter against the far stone wall ahead of me. That glow matches the candles I was told to find, so I will keep walking straight toward it across the tiled floor between the stools.", + "The flame on the counter against the stone wall is still ahead and slightly left, and it reads larger than a moment ago, so my heading is carrying me toward it. The lane past the stools and the low counter stays open, so I will step forward again to close distance.", + "The candlelight against the stone wall is growing brighter and the wall behind it is clearly lit, confirming I am closing on the target. The floor between the work table on my left and the arch on my right is clear, so another forward step should bring me nearer.", + "I can now make out an individual candle standing on the counter ledge ahead and left, with its glow spread across the stone blocks behind it. Nothing blocks the tiles in front of me, so I will keep advancing toward that counter.", + "The candle on the counter against the stone wall is close now, sitting just left of the crates stacked on the floor. I will step forward once more to shorten the remaining gap before fine tuning my heading.", + "The candles are now burning at the left edge of my view on the counter, while my heading points at the bare stone wall and the archway on the right. I will turn left to bring the candles back toward the center of my view before continuing the approach.", + "The turn worked, and the lit candles on the counter against the stone wall now sit near the middle of my view. With the path between the crates and the counter open, I will walk forward to close the remaining distance to them.", + "Two candle flames on the counter fill much of my view now, with the stone wall brightly lit right behind them. I am nearly at the counter, so I will take one more short step forward to stand directly at the candles.", + "The lit candles now fill the middle of my view, standing on the wooden counter ledge against the stone wall, with a crate close on my right. I am nearly there but still a short step back from the counter edge, so I will take one more small step forward to close the last of the gap. This should bring me directly in front of the glowing candles.", + "The glowing candles on the counter against the stone wall are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001567_y000327_z000207_t1_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001567_y000327_z000207_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd1a3a0c39f6d925955980b5a0170c7f3371850a --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001567_y000327_z000207_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search the open stone kitchen for the fire burning inside the arched stone oven, then approach it.", + "Type": 1, + "Start_Pose": [ + 1567.292, + 327.461, + 207.466, + 0.0, + 75.68, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1567.292, + 327.461, + 207.466, + 0.0, + 75.68, + -0.0 + ], + [ + 1567.292, + 327.461, + 207.466, + 0.0, + 100.68, + -0.0 + ], + [ + 1567.292, + 327.461, + 207.466, + 0.0, + 125.68, + -0.0 + ], + [ + 1493.884, + 429.695, + 208.006, + 0.0, + 125.68, + -0.0 + ], + [ + 1420.476, + 531.928, + 208.006, + 0.0, + 125.68, + -0.0 + ], + [ + 1420.476, + 531.928, + 208.006, + 0.0, + 150.68, + -0.0 + ], + [ + 1310.739, + 593.56, + 208.006, + 0.0, + 150.68, + -0.0 + ], + [ + 1201.003, + 655.191, + 245.932, + 0.0, + 150.68, + -0.0 + ], + [ + 1091.267, + 716.823, + 276.316, + 0.0, + 150.68, + -0.0 + ], + [ + 981.53, + 778.454, + 276.316, + 0.0, + 150.68, + -0.0 + ], + [ + 871.794, + 840.086, + 276.316, + 0.0, + 150.68, + -0.0 + ], + [ + 871.794, + 840.086, + 276.316, + 0.0, + 125.68, + -0.0 + ], + [ + 795.735, + 939.64, + 276.316, + 0.0, + 125.68, + -0.0 + ], + [ + 783.715, + 981.937, + 276.316, + 0.0, + 125.68, + -0.0 + ], + [ + 783.715, + 981.937, + 276.316, + 0.0, + 125.68, + -0.0 + ] + ], + "Rationale": [ + "From this open courtyard I see colonnades and a domed structure ahead, but no kitchen hearth or arched oven anywhere in view. The right side of my view is cut off by a raised platform and shaded structure that could hide a work area, so I will turn right to scan that direction for the oven.", + "Turning right has brought a raised stone platform under a covered structure into view, and at its far side I can make out a warm glow inside what looks like an arched opening. I will continue turning right to bring that promising bright arch fully into the center of my view before committing to it.", + "Now the arched stone oven with its glowing interior is clearly visible ahead on the raised kitchen platform, along with work tables and a lit lamp. The target is identified, so instead of scanning further I will walk forward to close the distance toward that oven.", + "The glowing arched oven and the kitchen work area are still ahead of me, but the stone steps up to the platform remain some distance away. I will keep walking forward to reach the base of that open kitchen.", + "I have come close to the steps, and the arched oven now sits toward the left-of-center while much of my view is filled by the stone pillar and the platform edge. A small turn to the right should square my heading with the open kitchen floor so I can walk straight in toward the fire.", + "With this heading the interior of the open kitchen is laid out in front of me, with the burning oven arch glowing on the left and clear floor between the steps and the tables. I will walk forward to enter the kitchen and shorten the gap to the fire.", + "The oven's arched mouth and its fire are noticeably larger now, and the paved kitchen floor ahead of me is unobstructed. I will keep moving forward to draw nearer to the burning oven.", + "I am now inside the kitchen with the fire in the arched stone oven burning plainly to my left, past the pillar. There is still open floor between me and it, so I will continue walking forward to close in on the oven.", + "The arched stone oven with flames glowing inside it is clearly visible ahead on my left, so the search target is confirmed and I only need to close distance. The tiled floor between me and the oven counter is open, so I will keep walking forward toward it.", + "The oven mouth and its burning interior now fill more of the left side of my view, confirming I am closing in on the target. The floor directly ahead is still clear of stools and crates, so I will take another step forward.", + "The burning oven has drifted to the far left edge of my view and is now partly cut off, while my heading points at the empty right-hand wall. Turning left should bring the fire and its arch back to the center of my view so I can walk straight at it.", + "The turn has recentered the arched oven and its flames in front of me, so my heading now points at the target. I will step forward to shorten the remaining distance to the oven.", + "The fire inside the arched oven is close now, with the plate-laden counter just in front of me. I will advance one more short step to settle right at the oven.", + "The fire is burning directly in front of me inside the arched stone oven, at arm's length beyond the counter. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001584_y-002411_z000214_t1_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001584_y-002411_z000214_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b651a14fca676b3766d73ca6f9f4c05cc5e71a22 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001584_y-002411_z000214_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the small two-wheeled wooden cart in this area, then navigate over to it.", + "Type": 1, + "Start_Pose": [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -64.64, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -64.64, + 0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -89.64, + 0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -114.64, + 0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -139.64, + 0.0 + ], + [ + 1488.419, + -2492.011, + 211.959, + 0.0, + -139.64, + 0.0 + ], + [ + 1392.515, + -2573.516, + 208.148, + 0.0, + -139.64, + 0.0 + ], + [ + 1296.612, + -2655.02, + 208.148, + 0.0, + -139.64, + 0.0 + ], + [ + 1296.612, + -2655.02, + 208.148, + 0.0, + -164.64, + 0.0 + ], + [ + 1175.248, + -2688.358, + 208.49, + 0.0, + -164.64, + 0.0 + ], + [ + 1053.885, + -2721.696, + 211.786, + 0.0, + -164.64, + 0.0 + ], + [ + 1053.885, + -2721.696, + 211.786, + 0.0, + -139.64, + 0.0 + ], + [ + 957.982, + -2803.201, + 208.148, + 0.0, + -139.64, + 0.0 + ], + [ + 881.559, + -2855.659, + 215.418, + 0.0, + -139.64, + 0.0 + ], + [ + 881.559, + -2855.659, + 215.418, + 0.0, + -139.64, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see market stalls with produce crates ahead and a wall to the right, with no small wheeled cart anywhere in view. I will turn left to begin a steady scan of the courtyard in one consistent direction, since the open paved area continues that way.", + "The new view shows a striped awning, pottery and a low table under it, but still no two-wheeled cart. I will keep turning left in the same direction to continue the scan into the part of the courtyard that is still hidden.", + "Under the striped canopy I can now make out a spoked wheel and a wooden body tucked against the wall on the far left, which looks like the small cart I need. I will turn left once more to bring that object closer to the center of my view before walking toward it.", + "The two-wheeled wooden cart is now visible ahead near the doorway in the wall, and the flagstone path between me and it looks clear. I will walk forward to close the distance toward it.", + "The cart against the far wall has grown slightly larger, so my heading is still good but I am not close yet. I will step forward again along the open paving to keep closing in.", + "The cart is clearer now beside the door, though a wooden post and stacked crates sit to my right along the shop front. I will continue walking forward on the open stone path to reduce the remaining distance.", + "The cart has drifted toward the left of my view while the awning post and crates crowd the right side. I will turn left to place the cart closer to the center of my heading before moving in further.", + "The wooden cart with its large spoked wheel now sits ahead of me next to the door, with clear flagstones in between. I will walk forward to advance toward it.", + "The small wooden cart with its two spoked wheels stands clearly ahead on my right, parked against the wall beside the doorway. The paved ground between us is open, so I will step forward again to close the remaining distance toward it.", + "The cart is now close but sits off to my right, with its wheel and box body pushed toward the edge of my view while my heading points at the empty corner ahead. I will turn right to bring the cart back into the center of my view before continuing.", + "The two-wheeled cart is now framed roughly ahead of me, resting in front of the wooden door with clear stone paving leading up to it. I will walk forward to reduce the last stretch of distance to the cart.", + "The cart now fills much of my view, its near wheel and plank bed only a short step away. I will advance once more to stand right beside it, which should place me close enough to count as reaching the target.", + "The two-wheeled wooden cart is directly in front of me, its bed and wheel within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001584_y-002411_z000214_t1_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001584_y-002411_z000214_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03362dd1068aaf34fb214e8a3a43824c8238ba4c --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001584_y-002411_z000214_t1_b/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Determine where the wooden door near the two-wheeled cart is situated; once found, make your way to that door.", + "Type": 1, + "Start_Pose": [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -64.64, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -64.64, + 0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -39.64, + 0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -14.64, + 0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + 10.36, + -0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + 35.36, + -0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + 60.36, + -0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + 85.36, + -0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + 110.36, + -0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + 135.36, + -0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + 160.36, + -0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -174.64, + 0.0 + ], + [ + 1584.322, + -2410.506, + 214.318, + 0.0, + -149.64, + 0.0 + ], + [ + 1475.722, + -2474.119, + 212.158, + 0.0, + -149.64, + 0.0 + ], + [ + 1367.123, + -2537.732, + 208.321, + 0.0, + -149.64, + 0.0 + ], + [ + 1258.523, + -2601.345, + 208.321, + 0.0, + -149.64, + 0.0 + ], + [ + 1149.924, + -2664.959, + 208.321, + 0.0, + -149.64, + 0.0 + ], + [ + 1041.324, + -2728.572, + 212.229, + 0.0, + -149.64, + 0.0 + ], + [ + 932.725, + -2792.185, + 208.148, + 0.0, + -149.64, + 0.0 + ], + [ + 824.125, + -2855.798, + 214.07, + 0.0, + -149.64, + 0.0 + ], + [ + 709.512, + -2893.005, + 209.414, + 0.0, + -149.64, + 0.0 + ], + [ + 709.512, + -2893.005, + 209.414, + 0.0, + -124.64, + 0.0 + ], + [ + 630.07, + -2959.399, + 208.148, + 0.0, + -124.64, + 0.0 + ], + [ + 630.07, + -2959.399, + 208.148, + 0.0, + -124.64, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see market stalls with produce crates under a reed awning and a palm above, with no two-wheeled cart or wooden door anywhere in sight. Since the target cannot be judged from this narrow slice of the courtyard, I will turn right to begin a steady scan of the surroundings.", + "The stalls have swung to my left and ahead of me lies mostly open paved ground against a tall stone facade, still with no handcart or door in view. I will keep rotating in the same rightward direction so the scan stays consistent and covers new ground.", + "Now I face a courtyard with a young palm, clay jars along a low wall, and building facades, but there is no two-wheeled cart or wooden door here either. I will continue the same rightward sweep to reveal the next portion of the square.", + "A canopied vendor stand with stacked wares appears on the right side of the square, which suggests a working area, yet I still see no handcart or wooden door. I will turn right again to keep uncovering unseen sections rather than stopping at this stall.", + "A large stone pier now blocks most of my right field of view, hiding whatever lies beyond it, while the canopy stall drifts left. Turning right once more should carry my view past this masonry edge toward the area it conceals.", + "The stone wall now fills nearly everything ahead and only a sliver of the stall area remains at my far left, so this heading gives me no useful information. I will continue turning right in the same direction to get past this blank facade.", + "The masonry wall still occupies the view, but wooden crates and a corner edge are appearing at the right margin, hinting at a storage yard just beyond. I will keep turning right to bring that yard properly into view.", + "Stacked wooden crates, jars and a timber awning are now visible along this wall, the kind of goods yard where a handcart and its service door would plausibly sit. I will turn right again to open up more of this yard and check for the cart.", + "My view is still filled by a tall blank stone wall with a few stacked wooden crates and a shaded overhang, and no cart or door is in sight here. I will keep rotating right in the same consistent direction so the sweep continues past this wall toward the more open ground on that side.", + "The wall is beginning to fall away on the left and an open paved courtyard with a palm and a boundary wall is opening up on the right edge of my view, but I still see no two-wheeled cart or wooden door. Continuing the same rightward rotation should bring that unexamined open area fully into view.", + "Across the courtyard on the right I can now make out a small two-wheeled cart standing against the far wall, with what looks like a framed wooden door in the stonework right beside it. I will turn right once more to bring that cart and door closer to the center of my heading before advancing.", + "The cart and the doorway beside it now sit ahead of me across the open flagstone courtyard, roughly along my heading. The paving between us looks clear of obstacles, so I will walk forward to close that distance.", + "The cart and the wooden door behind it have grown slightly larger, confirming I am closing on the correct corner of the courtyard. The stone paving ahead is still open, so I will keep walking forward on this heading.", + "The paneled wooden door in the far wall is now clearly readable, with the two-wheeled cart parked directly in front of it, which matches the door I was asked to find. I will continue stepping forward across the open paving toward it.", + "The cart's wheels and the door's frame and lintel are much more distinct now, so my line of travel is taking me right to them. Crates sit off to the right of my path, leaving the ground ahead clear, so I will keep advancing.", + "I am close enough that the cart fills much of the right foreground and the wooden door stands just behind and slightly left of it. I will step forward again to reach the door itself rather than stopping short beside the cart.", + "The wooden double door is clearly in view ahead against the stone wall, with the two-wheeled handcart parked directly in front of it, which matches the target description. The open flagstone strip to the left of the cart still gives me a clear lane, so I will keep walking forward to close the remaining distance to that door.", + "The door now fills a larger part of my view and its plank panels and framing are much more distinct, so I am closing in correctly on the cart-side door. There is still a gap of open ground before I reach it, so I will step forward again along the same heading.", + "I am now very close to the wooden door, whose vertical planks and horizontal braces dominate the right of my view beside the cart. A short stretch of paving still separates me from the door face, so I will advance once more to stand at it.", + "I have arrived beside the wooden door, but it is angled off to my right and I am currently facing partly along the wall and the corner crates. Turning right should square my heading onto the door face so my final approach is straight at it.", + "The turn brought the planked door with its metal handle into the center of my view, so my heading is now on the door itself. I will take one short step forward to close the last bit of distance and stand directly at the door.", + "The wooden door's planks and handle fill my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5cdadd31f3065734629343a9450a2bcf36f4f076 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the base of the first pillar from the left.", + "Type": 2, + "Start_Pose": [ + 1762.54, + 1178.346, + 211.666, + 0.0, + 55.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1762.54, + 1178.346, + 211.666, + 0.0, + 55.68, + -0.0 + ], + [ + 1833.501, + 1282.293, + 213.513, + 0.0, + 55.68, + -0.0 + ], + [ + 1833.501, + 1282.293, + 213.513, + 0.0, + 30.68, + -0.0 + ], + [ + 1941.744, + 1346.512, + 207.961, + 0.0, + 30.68, + -0.0 + ], + [ + 2049.986, + 1410.73, + 207.326, + 0.0, + 30.68, + -0.0 + ], + [ + 2158.229, + 1474.949, + 207.843, + 0.0, + 30.68, + -0.0 + ], + [ + 2266.471, + 1539.168, + 209.663, + 0.0, + 30.68, + -0.0 + ], + [ + 2374.714, + 1603.386, + 213.464, + 0.0, + 30.68, + -0.0 + ], + [ + 2374.714, + 1603.386, + 213.464, + 0.0, + 30.68, + -0.0 + ] + ], + "Rationale": [ + "Scanning the arcade from this open courtyard, I settle the count at its left end: the pillar standing closest to me on the raised step, with a cluster of clay jars beside its base. I will walk forward across the paving to close the wide gap toward that colonnade.", + "The jar-flanked pillar I chose sits off to my left, while my heading still points down the length of the arcade. I will turn left so that pillar comes into the center of my path rather than passing by my shoulder.", + "The turn has put the pillar with the jars at its foot roughly ahead of me, with clear paving and low steps between us. I will move forward along this heading to shorten the distance.", + "The jar-marked pillar is growing larger and its carved base is now clearly visible above the low steps. Nothing blocks the stretch of paving in front of me, so I keep walking straight toward it.", + "The pillar with the pot at its foot now fills much of my forward view, though I am still out on the lower paving. I continue advancing to reach the step below its base.", + "I am close enough now that the pillar's banded plinth and the small jar beside it stand out plainly ahead and slightly left. A few more paces should bring me right against its base, so I step forward again.", + "The target pillar's wide base is directly in front of me at the top of the shallow steps, with the jar resting against it. One more step forward should place me at that base.", + "The banded base of the jar-flanked pillar is right beside me, filling my near view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9540d67dd244e7ef6dea272202d89ebce0cffd13 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the base of the arcade pillar with clay jars at its foot.", + "Type": 2, + "Start_Pose": [ + 1762.54, + 1178.346, + 211.666, + 0.0, + 55.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1762.54, + 1178.346, + 211.666, + 0.0, + 55.68, + -0.0 + ], + [ + 1833.501, + 1282.293, + 213.513, + 0.0, + 55.68, + -0.0 + ], + [ + 1904.462, + 1386.24, + 214.564, + 0.0, + 55.68, + -0.0 + ], + [ + 1975.423, + 1490.187, + 207.88, + 0.0, + 55.68, + -0.0 + ], + [ + 2046.385, + 1594.135, + 210.819, + 0.0, + 55.68, + -0.0 + ], + [ + 2117.346, + 1698.082, + 214.631, + 0.0, + 55.68, + -0.0 + ], + [ + 2188.307, + 1802.029, + 212.361, + 0.0, + 55.68, + -0.0 + ], + [ + 2188.307, + 1802.029, + 212.361, + 0.0, + 30.68, + -0.0 + ], + [ + 2296.549, + 1866.247, + 212.384, + 0.0, + 30.68, + -0.0 + ], + [ + 2404.792, + 1930.466, + 215.062, + 0.0, + 30.68, + -0.0 + ], + [ + 2404.792, + 1930.466, + 215.062, + 0.0, + 30.68, + -0.0 + ] + ], + "Rationale": [ + "Among the arcade pillars on my left, only the near one has a cluster of clay jars sitting at its base on the raised walkway, so that squat, jar-flanked pillar is my target. It is still well ahead across the broken paving, so I will walk forward to close the gap.", + "The jar-flanked pillar base is still off to my left and the arcade columns are only slightly larger in my view. Nothing blocks the open paving in front of me, so I will keep walking forward to shorten the distance before angling in.", + "The arcade is growing on my left and the small pottery vessels at the pillar foot are becoming clearer, confirming I am closing on the right column. The courtyard floor ahead is still clear, so I will continue walking straight before turning in toward it.", + "The pillar with the jars at its foot now sits clearly to my left, but I am still out on the open paving and roughly level with it rather than beside it. Another forward step should bring me nearer to the arcade edge before I swing left.", + "The arcade columns now fill much of the left of my view and the pottery beside the target pillar is close enough to make out individually. Walking forward again should carry me alongside the raised walkway where that pillar stands.", + "I am nearly abreast of the arcade, with the jars at the pillar foot showing just past the near column on my left. Dry brush lies along the edge but the paving straight ahead remains open, so I will take one more step forward before turning in.", + "I have drawn level with the arcade, and the pillar whose foot holds the clay jars is now off to my left rather than in front of me. Walking straight would carry me past it, so I will turn left to put that pillar base squarely ahead.", + "The turn has framed the pillar with the group of clay jars at its foot near the center of my view, with the pottery and side table just beyond it. The step up onto the walkway is short, so I will walk forward to reach that pillar base.", + "I am up on the walkway now, with the target pillar's banded base filling the middle of my view and the row of clay jars sitting just off its left side. A short step should bring me right up against that base.", + "The pillar's banded base stands within arm's reach, with its clay jars beside it. I have arrived at the target, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_c/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..267e05ede03db62dc29d844b87cde66fa2411a3f --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the base of the third pillar from the left.", + "Type": 2, + "Start_Pose": [ + 1762.54, + 1178.346, + 211.666, + 0.0, + 55.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1762.54, + 1178.346, + 211.666, + 0.0, + 55.68, + -0.0 + ], + [ + 1833.501, + 1282.293, + 213.513, + 0.0, + 55.68, + -0.0 + ], + [ + 1904.462, + 1386.24, + 214.564, + 0.0, + 55.68, + -0.0 + ], + [ + 1975.423, + 1490.187, + 207.88, + 0.0, + 55.68, + -0.0 + ], + [ + 2046.385, + 1594.135, + 210.819, + 0.0, + 55.68, + -0.0 + ], + [ + 2117.346, + 1698.082, + 214.631, + 0.0, + 55.68, + -0.0 + ], + [ + 2188.307, + 1802.029, + 212.361, + 0.0, + 55.68, + -0.0 + ], + [ + 2259.268, + 1905.976, + 219.294, + 0.0, + 55.68, + -0.0 + ], + [ + 2330.229, + 2009.923, + 208.248, + 0.0, + 55.68, + -0.0 + ], + [ + 2401.19, + 2113.87, + 211.957, + 0.0, + 55.68, + -0.0 + ], + [ + 2472.151, + 2217.817, + 242.678, + 0.0, + 55.68, + -0.0 + ], + [ + 2472.151, + 2217.817, + 242.678, + 0.0, + 55.68, + -0.0 + ] + ], + "Rationale": [ + "The arcade runs off to my left, and counting from its left end the third pillar along the raised walkway is my goal. The columns are alike, so I hold that one by where it falls in the run, above the table of jars set against the back wall. I walk forward to begin closing the distance.", + "The colonnade has grown slightly larger, so my heading along the open paving beside it is carrying me the right way. My pillar is still well down the arcade, past the jar table. I keep walking forward.", + "The arcade is opening out to my left as I close on it, and the jar table under the arches is now clearly readable. My pillar still stands a good way ahead along the raised walkway. Another step forward should shorten that gap.", + "The nearest columns tower higher and the raised step at the walkway edge is closer on my left. My target pillar still sits further along the run, so I have distance left to cover. I continue straight ahead.", + "The left end of the row I counted from has slid out behind my shoulder, so I stop counting and simply follow the pillar I picked, the one rising just past the jar table. It is still several paces ahead along the walkway. I step forward again.", + "My pillar now stands close ahead on the raised walkway, its banded base clear above the step. The remaining gap is only a few paces of open ground. I walk forward to close on it.", + "The pillar I am following now dominates the view just left of centre, with the low step at its foot in reach. Its base is not yet directly beside me, so I have not arrived. I keep moving forward.", + "The base of my pillar sits close ahead on the platform, its moulded foot filling much of the view. A little more ground remains before I am standing at it. I advance once more.", + "The shaft I am following rises directly ahead, its ringed foot resting on the walkway a stride or two beyond the low step. There is still a short stretch of paving between me and that base. I walk on to take it up.", + "The patterned collar around the foot of my pillar is now large and sunlit just ahead, with the neighbouring shafts falling away behind it. Only a pace or so of floor separates me from standing right at it. One more step forward should bring me level with the base.", + "The banded foot of my pillar fills the view an arm's length in front of me. I am at its base, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_d/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f3a0dd62242416ddbbee14fcc0243b39d0d01f --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t2_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Move to the base of the fourth pillar from the left.", + "Type": 2, + "Start_Pose": [ + 1762.54, + 1178.346, + 211.666, + 0.0, + 55.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1762.54, + 1178.346, + 211.666, + 0.0, + 55.68, + -0.0 + ], + [ + 1833.501, + 1282.293, + 213.513, + 0.0, + 55.68, + -0.0 + ], + [ + 1904.462, + 1386.24, + 214.564, + 0.0, + 55.68, + -0.0 + ], + [ + 1975.423, + 1490.187, + 207.88, + 0.0, + 55.68, + -0.0 + ], + [ + 2046.385, + 1594.135, + 210.819, + 0.0, + 55.68, + -0.0 + ], + [ + 2117.346, + 1698.082, + 214.631, + 0.0, + 55.68, + -0.0 + ], + [ + 2188.307, + 1802.029, + 212.361, + 0.0, + 55.68, + -0.0 + ], + [ + 2188.307, + 1802.029, + 212.361, + 0.0, + 80.68, + -0.0 + ], + [ + 2208.689, + 1926.226, + 228.083, + 0.0, + 80.68, + -0.0 + ], + [ + 2229.072, + 2050.424, + 208.118, + 0.0, + 80.68, + -0.0 + ], + [ + 2249.455, + 2174.622, + 208.118, + 0.0, + 80.68, + -0.0 + ], + [ + 2269.837, + 2298.819, + 208.118, + 0.0, + 80.68, + -0.0 + ], + [ + 2269.837, + 2298.819, + 208.118, + 0.0, + 55.68, + -0.0 + ], + [ + 2340.798, + 2402.766, + 208.118, + 0.0, + 55.68, + -0.0 + ], + [ + 2411.76, + 2506.713, + 219.478, + 0.0, + 55.68, + -0.0 + ], + [ + 2473.512, + 2598.766, + 243.043, + 0.0, + 55.68, + -0.0 + ], + [ + 2473.512, + 2598.766, + 243.043, + 0.0, + 55.68, + -0.0 + ] + ], + "Rationale": [ + "Counting the arcade from its left end, my pillar is the fourth, and since they all share the same pale drum and base I pin it to the one standing beside the tall palm that rises at the courtyard edge. It lies far down the row, so I walk forward to close that distance.", + "The row of pillars has grown wider in my view but I am still well short of the one by the palm. The paved courtyard ahead is clear of debris, so I keep walking straight along the arcade.", + "The nearest pillars are sliding toward my left as I advance, while the palm marking my target still sits well ahead. Nothing blocks the open courtyard, so I take another step forward.", + "The raised platform with its jars and table passes on my left, and the pillar I want, beside the palm, remains further down the colonnade. I continue walking forward over the open paving.", + "The near columns now loom large on my left while the palm beside my pillar is closer but not yet abreast of me. The dry ground ahead stays passable, so I keep advancing along the row.", + "The left end of the arcade has slid out of my view, so I no longer count from it and simply follow the pillar standing next to the palm. That palm is still a few paces ahead along the platform, so I walk on.", + "My heading has drifted in toward the columns and the platform edge, which would carry me into the arcade too early. Turning right swings me back onto the open courtyard line running past the palm, so I can travel level with my pillar before angling in.", + "With the courtyard now open ahead and the palm marking my pillar off to the left front, my path is clear of the platform edge. I step forward to draw level with that pillar.", + "The palm is noticeably nearer off my left front, and the pillar I want rises just inside the colonnade beside it. The open paving between me and that point is unobstructed, so I keep walking to bring myself abreast of it.", + "The palm now stands only a short way off my left shoulder, its trunk clearly separated from the arcade behind it. I am not yet level with the pillar beside it, so another step forward is the simplest way to close the gap.", + "The palm and the raised step beside it have come nearly level with me, and the pillar I am heading for sits just past that step. I advance once more so that turning in will put me straight onto its base.", + "I am now level with the palm, and the pillar I want stands to its left inside the shaded arcade, off my current heading. Turning left should swing that pillar and the step beneath it into the middle of my view so I can walk straight in.", + "The turn has placed the pillar beside the palm squarely ahead, with the low step of the platform between us and the palm now to my right. The way in is clear, so I walk toward its base.", + "The pillar's ringed base and its shadowed drum now fill much of the view ahead, with the platform step just under my feet line. A couple of paces still separate me from it, so I continue straight in.", + "The moulded base of the pillar is close enough that its carved band dominates my view and the paving around it is clear. One short step more should place me right at its foot.", + "The pillar's base stands directly before me, filling my view with the palm at its side. I am at its foot, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t5_a_p/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf5e4e43c90f59fc76629acf87d82edeffb9cfda --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001763_y001178_z000212_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the ceramic vase near the first pillar from the left.", + "Type": 5, + "Start_Pose": [ + 1762.54, + 1178.346, + 211.666, + 0, + 55.68, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2288.479, + 1606.492, + 139.78, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1762.54, + 1178.346, + 211.666, + 0, + 55.68, + 0 + ], + [ + 1833.501, + 1282.293, + 213.513, + 0.0, + 55.68, + -0.0 + ], + [ + 1904.462, + 1386.24, + 214.564, + 0.0, + 55.68, + -0.0 + ], + [ + 1904.462, + 1386.24, + 214.564, + 0.0, + 30.68, + -0.0 + ], + [ + 2012.705, + 1450.459, + 207.518, + 0.0, + 30.68, + -0.0 + ], + [ + 2120.947, + 1514.678, + 211.89, + 0.0, + 30.68, + -0.0 + ], + [ + 2120.947, + 1514.678, + 211.89, + 0.0, + 30.681, + -0.0 + ], + [ + 2120.947, + 1514.678, + 211.89, + 0.0, + 30.681, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2288.479, + 1606.492, + 139.78, + 0.0, + 0.0, + 0.0 + ], + [ + 2288.479, + 1606.492, + 139.78, + 0.0, + 0.0, + 0.0 + ], + [ + 2288.479, + 1606.492, + 139.78, + 0.0, + 0.0, + 0.0 + ], + [ + 2288.479, + 1606.492, + 139.78, + 0.0, + 0.0, + 0.0 + ], + [ + 2288.479, + 1606.492, + 139.78, + 0.0, + 0.0, + 0.0 + ], + [ + 2288.479, + 1606.492, + 139.78, + 0.0, + 0.0, + 0.0 + ], + [ + 2109.527, + 1532.731, + 178.163, + -28.202, + 80.825, + 1.862 + ], + [ + 2109.527, + 1532.731, + 178.163, + -28.202, + 80.825, + 1.862 + ] + ], + "PD_Dist_2D": [ + 678.2, + 558.7, + 442.7, + 442.7, + 316.9, + 191.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The arcade of pillars runs along my left, and near the leftmost one I can make out a pale ceramic vase standing on the paving beside the low step. It is still far across the open courtyard, so I will walk forward to close that gap before worrying about fine alignment.", + "The vase near the first pillar is now clearly resolved, taller and better defined than before, which confirms I am closing on the right target. The path over the flagstones stays clear, so I will keep walking forward to shorten the remaining distance.", + "The vase now sits well to the left of my heading, close to the corner of my view, so continuing straight would carry me past it. I will turn left to swing my facing toward the pillar and bring the vase nearer the center of my view.", + "After the turn the vase sits close to the middle of my view with the pillar just behind it, so my heading is now usable. I will walk forward along this line to reduce the remaining distance toward the vase.", + "The vase fills a good part of my lower view now, but it still stands a couple of paces off at the edge of the step, likely beyond arm's reach. One more step forward should place me close enough to attempt the grasp.", + "I am standing right at the vase, which now dominates the near foreground directly in front of me at the base of the first pillar. This is within reach, so I will attempt to pick it up.", + "The ceramic vase is now held in my hands rather than resting on the paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001867_y000888_z000219_t1_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001867_y000888_z000219_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be84feb24e7fd2943bf4a567567ff0ed9515ce02 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001867_y000888_z000219_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for the small two-wheeled wooden cart visible near the stone steps; after locating it, head over to it.", + "Type": 1, + "Start_Pose": [ + 1866.655, + 887.63, + 219.272, + 0.0, + 55.36, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 55.36, + -0.0 + ], + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 80.36, + -0.0 + ], + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 105.36, + -0.0 + ], + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 130.36, + -0.0 + ], + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 155.36, + -0.0 + ], + [ + 1866.655, + 887.63, + 219.272, + 0.0, + -179.64, + 0.0 + ], + [ + 1740.799, + 886.839, + 214.753, + 0.0, + -179.64, + 0.0 + ], + [ + 1614.942, + 886.048, + 208.118, + 0.0, + -179.64, + 0.0 + ], + [ + 1489.085, + 885.258, + 211.053, + 0.0, + -179.64, + 0.0 + ], + [ + 1363.229, + 884.467, + 213.277, + 0.0, + -179.64, + 0.0 + ], + [ + 1363.229, + 884.467, + 213.277, + 0.0, + 155.36, + -0.0 + ], + [ + 1248.83, + 936.939, + 246.892, + 0.0, + 155.36, + -0.0 + ], + [ + 1156.163, + 994.182, + 274.567, + 0.0, + 155.36, + -0.0 + ], + [ + 1081.859, + 1030.458, + 276.509, + 0.0, + 155.36, + -0.0 + ], + [ + 1081.859, + 1030.458, + 276.509, + 0.0, + 155.36, + -0.0 + ], + [ + 1081.859, + 1030.458, + 276.509, + 0.0, + 155.36, + -0.0 + ] + ], + "Rationale": [ + "From this spot I only see an arcade of columns on the left and open paving ahead, with no small wooden cart anywhere in view. I will turn right to begin a steady scan of the courtyard and check the sides of the plaza where stone steps and stalls are more likely.", + "The courtyard now opens toward a domed building and palms, but I still see no two-wheeled cart near any steps. I will keep rotating right in the same direction to sweep the next portion of the plaza edge.", + "On this heading I can see a shaded market stall with jars and a staircase against the right wall, which suggests the built-up side of the square continues further right. I will continue the same rightward scan toward that structured area, where a cart parked by steps seems more plausible.", + "Off to the right, past the stall and beyond a raised stone platform, I can make out what looks like a wooden cart with a spoked wheel in a recessed bay. I will turn right again to bring that candidate closer to the center of my view and confirm it.", + "The two-wheeled wooden cart is now clearly sitting on the raised floor beside a column, just above a broad flight of stone steps, but it is still right of my center while my heading points slightly off. I will turn right once more to square up with the stepped entrance so I can walk straight in toward the cart.", + "I am now facing the stepped opening with the small wooden cart resting on the platform to the left of the near column. With the target confirmed and the paved ground between us clear, I will walk forward to close the distance.", + "The cart and its steps have grown larger in view, so my forward heading is carrying me toward it correctly. I will keep walking forward since I am still out on the pavement below the stairs.", + "The stone steps are close now and the wooden cart with its spoked wheel stands just beyond them on the left of the column. I will continue forward to reach the steps and get within a short distance of the cart.", + "The two-wheeled wooden cart is clearly in view on the left side of the raised interior, just past the stone steps directly ahead of me. I will keep walking forward to close the remaining gap and reach the top of the steps where the cart stands.", + "I am now close to the steps, but the cart sits off to my left while the thick column occupies the center of my view. I will turn left to place the cart nearer the middle of my heading so my next steps lead straight to it.", + "The cart is now framed left of the column with a clear stretch of floor between us. I will step forward to climb toward the raised level and shorten the distance to it.", + "The cart fills much more of my view now, with its spoked wheel and wooden bed plainly visible ahead and slightly left. I will continue walking forward to come right up beside it.", + "I am nearly at the cart, close enough to see the flat breads laid out on its wooden top. One more short step forward should bring me directly to its edge.", + "I am standing right at the cart, and its loaded surface is close under my viewpoint while the upper part of my view is filled with wall and ceiling. I will look down to bring the cart fully into view and confirm I have arrived at it.", + "The wooden two-wheeled cart is directly beneath me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001867_y000888_z000219_t1_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001867_y000888_z000219_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..749b2d6d9f733acc017242065b49c71bb167a983 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001867_y000888_z000219_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Identify the base of the staircase next to the palm tree, then proceed to that spot.", + "Type": 1, + "Start_Pose": [ + 1866.655, + 887.63, + 219.272, + 0.0, + 55.36, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 55.36, + -0.0 + ], + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 80.36, + -0.0 + ], + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 105.36, + -0.0 + ], + [ + 1833.317, + 1008.993, + 207.787, + 0.0, + 105.36, + -0.0 + ], + [ + 1799.979, + 1130.357, + 213.282, + 0.0, + 105.36, + -0.0 + ], + [ + 1766.641, + 1251.72, + 212.454, + 0.0, + 105.36, + -0.0 + ], + [ + 1733.303, + 1373.084, + 213.905, + 0.0, + 105.36, + -0.0 + ], + [ + 1699.965, + 1494.447, + 208.201, + 0.0, + 105.36, + -0.0 + ], + [ + 1666.628, + 1615.81, + 216.354, + 0.0, + 105.36, + -0.0 + ], + [ + 1666.628, + 1615.81, + 216.354, + 0.0, + 130.36, + -0.0 + ], + [ + 1585.123, + 1711.714, + 208.229, + 0.0, + 130.36, + -0.0 + ], + [ + 1503.618, + 1807.617, + 210.965, + 0.0, + 130.36, + -0.0 + ], + [ + 1422.113, + 1903.521, + 227.126, + 0.0, + 130.36, + -0.0 + ], + [ + 1422.113, + 1903.521, + 227.126, + 0.0, + 130.36, + -0.0 + ] + ], + "Rationale": [ + "From here the view is dominated by the arcade of columns on my left, and I see no staircase base anywhere in front of me. The only palm fronds I can pick out are at the far right edge of my view, so I will turn right to bring that side of the courtyard into sight.", + "The turn has opened the courtyard with a domed building ahead and a tall palm trunk rising on the right side, which is a strong cue for where the target staircase should be. The palm and the wall behind it are still cut off at the edge of my view, so I will continue turning right in the same direction to see their base clearly.", + "Now the palm tree stands clearly on the right side of the courtyard, and a stone stair running up the wall behind it is visible just beside its trunk. That matches the staircase next to the palm tree, so I will stop scanning and walk forward across the open paving toward it.", + "The stairway beside the palm is larger in my view than before, confirming I am closing on it. The paving between me and that wall is clear, so I will keep walking forward.", + "The stair treads climbing the right-hand wall are now distinct, with the palm trunk rising right at their lower end. I am still a good distance from the bottom step, so another step forward should shorten the gap.", + "The staircase and the pots set along the wall beside it are filling more of the right side of my view as I close in. The base of the stairs remains ahead and slightly to my right, so I continue advancing.", + "I can now clearly see the lowest steps where the stairway meets the courtyard floor, right next to the palm trunk. The route stays clear of the jars along the wall, so I will step forward again to reduce the remaining distance.", + "The base of the staircase next to the palm is close on my right, with the lower treads and their shadows plainly in view. One more step forward should bring me level with that spot before I turn to face it.", + "The wide stone staircase rising against the right-hand wall is now clearly visible, with the tall palm trunk standing directly beside its lower steps. Its base sits off to my right rather than ahead of me, so I will turn right to put the bottom of those steps near the center of my view before closing the remaining distance.", + "The turn has lined me up with the staircase, and its lowest steps beside the palm trunk are now framed roughly ahead of me. The open sand and paving between me and those steps looks clear, so I will walk forward to shorten the gap to the stair base.", + "The steps and the palm trunk beside them fill more of my view now, but the lowest riser is still a few paces off past the row of jars on my right. I will keep walking forward along this heading to reach the foot of the staircase.", + "The stairway now dominates my view with the palm trunk right at its side, and the bottom steps are just ahead and slightly left. One more step forward should place me directly at the base of the staircase.", + "I am standing right at the lowest steps of the staircase, with the palm trunk immediately beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001867_y000888_z000219_t1_c/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001867_y000888_z000219_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dc9bda339d6aa5be7be55582d3335ed82142e50d --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001867_y000888_z000219_t1_c/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Locate the trunk of the palm tree growing beside the staircase; once found, navigate to it.", + "Type": 1, + "Start_Pose": [ + 1866.655, + 887.63, + 219.272, + 0.0, + 55.36, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 55.36, + -0.0 + ], + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 80.36, + -0.0 + ], + [ + 1866.655, + 887.63, + 219.272, + 0.0, + 105.36, + -0.0 + ], + [ + 1833.317, + 1008.993, + 207.787, + 0.0, + 105.36, + -0.0 + ], + [ + 1799.979, + 1130.357, + 213.282, + 0.0, + 105.36, + -0.0 + ], + [ + 1766.641, + 1251.72, + 212.454, + 0.0, + 105.36, + -0.0 + ], + [ + 1733.303, + 1373.084, + 213.905, + 0.0, + 105.36, + -0.0 + ], + [ + 1699.965, + 1494.447, + 208.201, + 0.0, + 105.36, + -0.0 + ], + [ + 1666.628, + 1615.81, + 216.354, + 0.0, + 105.36, + -0.0 + ], + [ + 1633.29, + 1737.174, + 208.118, + 0.0, + 105.36, + -0.0 + ], + [ + 1599.952, + 1858.537, + 213.984, + 0.0, + 105.36, + -0.0 + ], + [ + 1566.614, + 1979.901, + 210.474, + 0.0, + 105.36, + -0.0 + ], + [ + 1533.276, + 2101.264, + 210.838, + 0.0, + 105.36, + -0.0 + ], + [ + 1499.938, + 2222.627, + 212.043, + 0.0, + 105.36, + -0.0 + ], + [ + 1499.938, + 2222.627, + 212.043, + 0.0, + 130.36, + -0.0 + ], + [ + 1418.433, + 2318.531, + 216.348, + 0.0, + 130.36, + -0.0 + ], + [ + 1336.928, + 2414.434, + 208.118, + 0.0, + 130.36, + -0.0 + ], + [ + 1336.928, + 2414.434, + 208.118, + 0.0, + 155.36, + -0.0 + ], + [ + 1222.529, + 2466.907, + 208.118, + 0.0, + 155.36, + -0.0 + ], + [ + 1222.529, + 2466.907, + 208.118, + 0.0, + 155.36, + -0.0 + ] + ], + "Rationale": [ + "From this spot I mostly face an arcade of columns, with only a bit of palm foliage visible off to the right edge and no staircase in sight. I will turn right to swing my view toward that greenery and open courtyard, where a stair-side palm is more likely to stand.", + "The courtyard now opens up ahead with a domed building and several palms, and I can see a tall palm trunk with what looks like a stone stair on the right side of the view. I will continue turning right in the same direction to bring that palm and the stair structure closer to the center of my view.", + "Now I can clearly see a large palm rising on the right side of the courtyard next to a stone staircase running up the wall, which matches the trunk I need to reach. It is still far off across the paved yard, so I will walk forward to close that distance.", + "The palm beside the staircase has grown slightly larger on the right and the stair steps against the wall are more distinct, confirming I am heading the right way. I will keep walking forward across the open pavement to shorten the gap.", + "The staircase and the thick palm trunk beside it continue to grow in the right half of my view as the courtyard opens further. Since the route ahead is still clear paving, I will take another step forward toward that trunk.", + "I am now well into the courtyard, with the ribbed palm trunk and the flight of stone steps clearly framed to my right. The distance is still too great to stop here, so I will keep advancing.", + "The palm trunk beside the stairway is noticeably thicker and closer in my view, and the pottery near its base is now easy to make out. I will continue forward along the same heading to bring the trunk within reach.", + "The stair-side palm now dominates the right portion of my view, with its trunk running up past the steps, so I am close but not yet beside it. I will step forward again to keep closing on the base of that trunk.", + "The thick palm trunk rising right beside the stone staircase on my right is clearly the trunk I need, and it still stands well ahead of me across the open courtyard. I will keep walking forward along this heading to close the remaining distance toward it.", + "The palm trunk and the steps beside it now fill more of my right-hand view, so my forward motion is steadily shortening the gap. I will continue advancing since the paving in front of me remains clear.", + "The staircase and the palm growing at its base are close on my right, but I am still a few paces short of standing at the trunk itself. Another step forward should bring me nearer to the base of that palm.", + "The scaled bark of the trunk is now large and detailed at my right, confirming this is the palm beside the staircase. I will step forward again to draw level with its base rather than stopping while it is still off to the side.", + "I am nearly alongside the trunk, with the low dry brush at its foot spread across the ground just ahead of me. One more forward step should place me beside the palm's base instead of slightly behind it.", + "The palm trunk sits at the far right edge of my view while my heading still points across the courtyard toward the domed building. Turning right should swing the trunk into the center of my view so I can walk straight at it.", + "The palm trunk now stands squarely in the middle of my view with the staircase just beyond it on the right. With the trunk centered, I will walk forward to close the last of the distance to it.", + "The trunk is centered and much larger, but there is still a short stretch of paving and dry grass between me and its base. I will take another step forward to arrive right at the trunk.", + "The thick, scaled palm trunk beside the staircase now fills much of my view just right of center, so the target is clearly identified and only a short gap remains. My heading still points slightly past it toward the open courtyard, so I will turn right to square up on the trunk and the stair wall behind it. This small adjustment should let a final forward step close on the base rather than drift past it.", + "After the turn the palm trunk stands very close on the left front with the stair wall and dry brush beside it, confirming this is the tree growing next to the staircase. The remaining gap is small, so I will step forward once to bring myself right up against the trunk. This should place me within touching distance of the target.", + "The palm trunk beside the staircase now fills the left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001986_y-002944_z000215_t0_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001986_y-002944_z000215_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7688387a69202bc701f2c4baf80e40207643e23a --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001986_y-002944_z000215_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the palm tree trunk in the courtyard.", + "Type": 0, + "Start_Pose": [ + 1986.399, + -2943.851, + 215.145, + 0.0, + 55.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1986.399, + -2943.851, + 215.145, + 0.0, + 55.68, + -0.0 + ], + [ + 2057.36, + -2839.904, + 215.145, + 0.0, + 55.68, + -0.0 + ], + [ + 2128.321, + -2735.957, + 208.148, + 0.0, + 55.68, + -0.0 + ], + [ + 2128.321, + -2735.957, + 208.148, + 0.0, + 30.68, + -0.0 + ], + [ + 2236.564, + -2671.738, + 217.821, + 0.0, + 30.68, + -0.0 + ], + [ + 2344.806, + -2607.519, + 211.591, + 0.0, + 30.68, + -0.0 + ], + [ + 2453.049, + -2543.301, + 208.148, + 0.0, + 30.68, + -0.0 + ], + [ + 2561.292, + -2479.082, + 211.266, + 0.0, + 30.68, + -0.0 + ], + [ + 2669.534, + -2414.864, + 214.118, + 0.0, + 30.68, + -0.0 + ], + [ + 2777.777, + -2350.645, + 208.148, + 0.0, + 30.68, + -0.0 + ], + [ + 2886.019, + -2286.426, + 208.148, + 0.0, + 30.68, + -0.0 + ], + [ + 2886.019, + -2286.426, + 208.148, + 0.0, + 30.68, + -0.0 + ] + ], + "Rationale": [ + "The courtyard opens ahead of me and a broad palm with a thick scaled trunk stands against the left wall over the paved area. The flagstones between me and it look clear, so I will step forward to begin closing that distance before refining my heading.", + "The palm's trunk now appears larger and lower in my view, confirming I am genuinely gaining on it. The paving ahead remains open, so I will advance again to keep shortening the gap toward the trunk.", + "The palm trunk now sits well to the left of my heading, while straight ahead I would only pass the wall and the row of clay jars. I will turn left to bring the trunk toward the center of my view so my next steps head directly at it.", + "The turn has placed the palm's scaled trunk near the middle of my view with clear paving leading up to it. With the heading now aligned, I will walk forward to close the remaining distance.", + "The trunk holds its central position and its scaled bark is becoming more distinct, so my line of travel is still correct. I will keep advancing since a noticeable stretch of paving still separates me from the tree.", + "The palm now fills much of the upper part of my view and the base of the trunk is clearly visible against the wall behind it. No adjustment of heading seems needed, so I will step forward again to reduce the remaining gap.", + "I am close enough now to make out individual scale plates on the trunk, but there is still a short span of open pavement in front of me. I will advance once more to bring myself right up beside the trunk.", + "The trunk dominates the center of my view and the ground at its base is only a step or two away. I will move forward again to stand directly at the trunk rather than stopping short of it.", + "The scaly palm trunk now stands slightly left of center and its fronds spread across the top of my view, so I am close but not yet beside it. The paved ground between me and the base is still clear, so I will step forward again to close the remaining gap.", + "The trunk's textured scales fill much of the left side of my view and the wall behind it is close, showing only a short stretch of pavement remains. One more step forward should bring me right up against the trunk so I can stop there.", + "The palm trunk's scaly bark is directly in front of me at arm's length, filling the left of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001986_y-002944_z000215_t0_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001986_y-002944_z000215_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b87253b2d4a465fcde1c65bbeea58bfef4325ff0 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001986_y-002944_z000215_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the cluster of clay pots on the ground.", + "Type": 0, + "Start_Pose": [ + 1986.399, + -2943.851, + 215.145, + 0.0, + 55.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1986.399, + -2943.851, + 215.145, + 0.0, + 55.68, + -0.0 + ], + [ + 2057.36, + -2839.904, + 215.145, + 0.0, + 55.68, + -0.0 + ], + [ + 2128.321, + -2735.957, + 208.148, + 0.0, + 55.68, + -0.0 + ], + [ + 2128.321, + -2735.957, + 208.148, + 0.0, + 80.68, + -0.0 + ], + [ + 2148.704, + -2611.759, + 208.148, + 0.0, + 80.68, + -0.0 + ], + [ + 2169.087, + -2487.562, + 213.471, + 0.0, + 80.68, + -0.0 + ], + [ + 2189.469, + -2363.364, + 208.148, + 0.0, + 80.68, + -0.0 + ], + [ + 2209.852, + -2239.166, + 208.148, + 0.0, + 80.68, + -0.0 + ], + [ + 2230.235, + -2114.969, + 208.148, + 0.0, + 80.68, + -0.0 + ], + [ + 2230.235, + -2114.969, + 208.148, + 0.0, + 80.68, + -0.0 + ] + ], + "Rationale": [ + "From this corner of the courtyard I can already pick out the cluster of round clay pots sitting on the ground ahead, just right of center near the tall stone pillar and the pale blue awning. Nothing blocks the open paved ground between us, so I will step forward along my current heading to begin closing that distance.", + "The pot cluster has grown slightly larger and the pillar beside it is more distinct, confirming I am closing on the right target. The paved ground straight ahead is still clear, so I will continue forward.", + "The high wall and the palm now fill the left side of my view, and the pots sit just off to the right where the courtyard opens out past the pillar. I will turn right to set my heading into that open ground so my next steps lead directly at the pot cluster instead of toward the wall.", + "With the new heading the row of clay pots is clearly in front of me on open flagstones, with the market arcade beyond. I will walk forward along this line to keep reducing the gap.", + "The pots have moved noticeably lower and larger in my view, so this heading is carrying me straight into the cluster. I will take another step forward.", + "I can now make out individual pot rims and handles on the ground to my left front, so I am getting close. Another forward step should bring me right up beside the cluster.", + "The nearest pots are large in front of me now, with the awning-covered stall and stacked plates just past them. I will advance once more to stand at the edge of the cluster rather than stopping short of it.", + "The clay pots are now at arm's-length scale directly in front of me, with more pots scattered on the ground ahead. One more short step forward should place me squarely at the cluster.", + "The clay pots now sit directly at my feet on the lower left of my view, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x001986_y-002944_z000215_t0_c/infos.json b/dataset/trajectory/Lv_Bazaar/task_x001986_y-002944_z000215_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1cc6c3f24a0c258bf32f33fd690773f04ff318c --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x001986_y-002944_z000215_t0_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the market stall with the blue cloth canopy.", + "Type": 0, + "Start_Pose": [ + 1986.399, + -2943.851, + 215.145, + 0.0, + 55.68, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1986.399, + -2943.851, + 215.145, + 0.0, + 55.68, + -0.0 + ], + [ + 1986.399, + -2943.851, + 215.145, + 0.0, + 80.68, + -0.0 + ], + [ + 2006.782, + -2819.654, + 208.182, + 0.0, + 80.68, + -0.0 + ], + [ + 2027.164, + -2695.456, + 208.182, + 0.0, + 80.68, + -0.0 + ], + [ + 2047.547, + -2571.258, + 208.182, + 0.0, + 80.68, + -0.0 + ], + [ + 2067.93, + -2447.061, + 208.182, + 0.0, + 80.68, + -0.0 + ], + [ + 2088.312, + -2322.863, + 208.182, + 0.0, + 80.68, + -0.0 + ], + [ + 2108.695, + -2198.666, + 208.182, + 0.0, + 80.68, + -0.0 + ], + [ + 2129.078, + -2074.468, + 208.182, + 0.0, + 80.68, + -0.0 + ], + [ + 2149.46, + -1950.27, + 215.204, + 0.0, + 80.68, + -0.0 + ], + [ + 2149.46, + -1950.27, + 215.204, + 0.0, + 55.68, + -0.0 + ], + [ + 2220.421, + -1846.323, + 208.148, + 0.0, + 55.68, + -0.0 + ], + [ + 2268.442, + -1764.337, + 224.99, + 0.0, + 55.68, + -0.0 + ], + [ + 2268.442, + -1764.337, + 224.99, + 0.0, + 55.68, + -0.0 + ] + ], + "Rationale": [ + "Across the courtyard I can pick out the pale blue cloth canopy of a market stall standing over a cluster of clay pots, off to the right of where I am facing. A palm and a wall corner crowd the left of my view, so I will turn right to put that canopy and the open paved ground leading to it in front of me. This should give me a heading I can simply walk along.", + "The blue canopy is now near the middle of my view, just left of straight ahead, with unobstructed paving between me and it. Nothing blocks the route, so I will step forward to begin closing the sizeable gap.", + "The canopy and the row of large clay jars beneath it have grown noticeably, confirming my heading leads to the stall. The ground ahead is still clear, so I will keep advancing.", + "I am moving through the gap between the stone wall pillars, and the blue canopy sits clearly on my left with its supporting post now distinguishable. Distance is still considerable, so another step forward is the direct way to close it.", + "The stall is closer now, and I can make out stacked plates on a table under the pale blue cloth beside the clay pots. I will continue straight ahead to reduce the remaining distance.", + "The blue cloth canopy is now large on my left while a separate red awning stands off to the right, so I am tracking the correct stall. The open sandy paving ahead still lets me advance, so I will take another step forward.", + "I am close enough to see the striped cloth, the wooden poles, and the stacked bowls and jars of the blue canopied stall on my left. I will move forward again to draw level with its front instead of stopping short of it.", + "The pale blue canopy now stretches across the upper left of my view with its goods only a short way off to my side. A further step forward should bring me alongside the stall rather than merely near its edge.", + "The stall with the pale blue cloth canopy now looms close on my left, with its stacked plates and clay pots clearly visible at arm's-length scale. I still have a few steps of open sand between me and its front edge, so I will advance again to close that gap.", + "I am now beside the stall, but its blue canopy has slid to the far left edge of my view and my heading points across the open plaza instead of at the goods. Turning left should swing the canopy and its display back to the center of my view so I can approach it head on.", + "With the turn done, the blue cloth canopy and the wooden table of stacked plates sit centered in the left half of my view, its posts clearly aligned with my heading. A short stretch of sand still separates me from the display, so I will step forward to close it.", + "The canopy cloth now hangs over me at the top of my view and the plate stacks are almost within reach, so I am nearly at the stall. One more short step should bring me right up to its display edge for a proper standing position.", + "I stand directly at the market stall, its blue cloth canopy overhead and its stacked plates and bowls within arm's reach. The approach task is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t0_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3542b50d4e83bd3eb216f80e333f5e8a3b6fa43e --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t0_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head toward the striped blue and white wall.", + "Type": 0, + "Start_Pose": [ + 2202.669, + -2237.753, + 208.148, + 0.0, + -172.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2202.669, + -2237.753, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 2077.802, + -2253.527, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1952.936, + -2269.302, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1828.069, + -2285.076, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1703.203, + -2300.85, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1578.336, + -2316.624, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1578.336, + -2316.624, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1471.835, + -2383.692, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1365.334, + -2450.759, + 210.392, + 0.0, + -147.8, + 0.0 + ], + [ + 1365.334, + -2450.759, + 210.392, + 0.0, + -172.8, + 0.0 + ], + [ + 1240.467, + -2466.533, + 208.337, + 0.0, + -172.8, + 0.0 + ], + [ + 1115.601, + -2482.308, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 990.734, + -2498.082, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 865.868, + -2513.856, + 227.726, + 0.0, + -172.8, + 0.0 + ], + [ + 865.868, + -2513.856, + 227.726, + 0.0, + 162.2, + -0.0 + ], + [ + 746.034, + -2475.382, + 214.746, + 0.0, + 162.2, + -0.0 + ], + [ + 746.034, + -2475.382, + 214.746, + 0.0, + 137.2, + -0.0 + ], + [ + 653.687, + -2389.868, + 208.148, + 0.0, + 137.2, + -0.0 + ], + [ + 561.341, + -2304.354, + 208.148, + 0.0, + 137.2, + -0.0 + ], + [ + 561.341, + -2304.354, + 208.148, + 0.0, + 137.2, + -0.0 + ] + ], + "Rationale": [ + "I can see the striped blue and white panel on the left wall ahead, beyond a wooden canopy at the end of this stone alley. The paved lane in front of me is clear, so I will move forward along it to begin closing the distance to that wall.", + "The striped panel on the left wall has grown slightly larger and the canopy beams above it are closer, confirming my heading is taking me toward the target. I will keep moving forward along the open ground between the wall and the market stalls.", + "The striped stripes are now clearly resolved on the left wall and the courtyard beyond is opening up, so my current heading remains good. Another step forward should bring me further down this lane toward the wall.", + "The striped wall now fills much of the upper left of my view and the courtyard opening ahead is wider, so distance is still closing well. I will continue straight rather than turn yet, since nothing blocks the ground immediately in front of me.", + "Crates and stacked timber are appearing along the base of the striped wall to my left, but the lane straight ahead into the courtyard is still open. I will take one more step forward to reach the wider courtyard before adjusting my heading.", + "I have come close alongside the striped wall, and its lower section on my left is crowded with crates and leaning boards that leave no room to press straight in. Turning right toward the open courtyard should give me clear ground to travel on and a better line to approach a clean stretch of the striped wall.", + "Facing the open courtyard now, the striped wall sits just off my left shoulder and the flagstones ahead are unobstructed. I will move forward across this open ground to get clear of the clutter stacked along the wall's base.", + "The courtyard continues to open in front of me with only a cart and stalls off to the right, well clear of my path. Another forward step should carry me past the crates and timber at the wall's base so I can turn back toward the striped surface from open floor.", + "The open courtyard ahead is bounded by plain stone, and only a sliver of the blue and white striped surface shows at the far left edge of my view. I will turn left to bring that striped wall properly into the center of my heading before continuing.", + "The turn has brought the blue and white striped wall into clear view on the left side of the courtyard, past the crates and low benches. The floor between me and it looks open, so I will move forward to start closing that distance.", + "The striped wall is noticeably larger on my left now, its bands clearly readable behind the wooden posts. I still have open ground in front of me, so another step forward should keep shrinking the gap.", + "The striped surface now dominates the left side of my view, though I am still travelling alongside it rather than up to it. I will continue forward across the open dirt to draw level with the wall.", + "The striped blocks are close enough that individual bands and their weathering are distinct on my left. The corner of the courtyard is ahead, so one more forward step should bring me near the base of that wall.", + "I have drawn nearly level with the striped wall, but it lies off to my left while my heading points at the plain corner ahead. I will turn left so the striped surface sits in front of me instead of beside me.", + "The blue and white striped wall now fills the left and central part of my view with clear floor at its base. I will step forward to close the last of the gap toward it.", + "I am right up against the striped wall, but it still runs away obliquely to my left rather than facing me squarely. I will turn left to square my heading onto the striped surface.", + "The blue and cream striped wall now fills the center of my view with only a short stretch of open sand between us, and the wooden post is off to my left rather than blocking my path. I will move forward to close that remaining gap on the striped surface.", + "The striped courses of the wall now dominate nearly the whole view, so my heading is squarely on the target and only a small distance remains. One more forward step should bring me right up against the striped wall.", + "The striped blue and cream wall is directly in front of me, filling the view at arm's length. The task is complete, so there is no reason to advance further." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t0_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..40c3cf79b24cd1fadf39b5c65d4e917b89472552 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the stall covered by the red and white awning.", + "Type": 0, + "Start_Pose": [ + 2202.669, + -2237.753, + 208.148, + 0.0, + -172.8, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2202.669, + -2237.753, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 2202.669, + -2237.753, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 2096.168, + -2304.82, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1989.667, + -2371.887, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1883.166, + -2438.955, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1776.665, + -2506.022, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1670.164, + -2573.089, + 216.079, + 0.0, + -147.8, + 0.0 + ], + [ + 1563.663, + -2640.157, + 215.152, + 0.0, + -147.8, + 0.0 + ], + [ + 1563.663, + -2640.157, + 215.152, + 0.0, + -122.8, + 0.0 + ], + [ + 1495.484, + -2745.949, + 210.562, + 0.0, + -122.8, + 0.0 + ], + [ + 1427.366, + -2850.14, + 214.157, + 0.0, + -122.8, + 0.0 + ], + [ + 1427.366, + -2850.14, + 214.157, + 0.0, + -122.8, + 0.0 + ] + ], + "Rationale": [ + "I can see the red and white striped awning far ahead on the right side of the courtyard, sitting against the tall stone wall. My current heading points too far along the left wall, so I will turn right to bring that awning nearer the center of my view before advancing.", + "The striped awning now sits ahead of me above the stall counters, with open flagstone ground between us. I will move forward along this clear stretch to begin closing the distance to it.", + "The awning and the posts holding it are noticeably larger and the stall's crates and jars are becoming distinct, confirming I am on the right line. The path in front of me is still open paving, so I will continue forward.", + "The red and white canopy now spans a wide part of my view to the right, and the stall's table with jars is clearly visible beneath it. I am still several paces short of the stall, so I will keep moving forward.", + "The striped awning is now close overhead on my right, but my body is still out on the open courtyard rather than at the stall front. Another forward step should bring me alongside its counter.", + "The canopy's underside and support posts fill the right side of my view, and the rug with pots and stools marks the stall floor just ahead. I will step forward again to draw level with that display.", + "I am nearly beside the stall now, with its rug, stools and glass jars laid out to my right under the striped cloth. One more forward step should place me at the stall's frontage rather than passing along it.", + "The stall's rug, stools and jars now sit to my right while my heading still runs parallel down the courtyard past it. Turning right should square me onto the stall front under the striped awning so I can close the last short gap face on.", + "The red and white striped awning now hangs directly overhead in my view, with the stall's rug, stools and table of green glass bottles centered ahead of me. My heading is aligned on that display, so I will step forward to close the remaining gap to the stall front.", + "I am now under the awning's edge, with the carpeted stall floor, stools and pots filling the lower half of my view. A short additional step forward should bring me right up to the goods table, close enough to count as reaching this stall.", + "I am standing at the stall's table of green glass bottles, beneath the red and white awning frame. The approach task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t0_c/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6c8d95ba9aa5cb14c057f4f3516b017f8cf96119 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t0_c/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Navigate to the wooden doorway beneath the market awning.", + "Type": 0, + "Start_Pose": [ + 2202.669, + -2237.753, + 208.148, + 0.0, + -172.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2202.669, + -2237.753, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 2077.802, + -2253.527, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1952.936, + -2269.302, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1828.069, + -2285.076, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1703.203, + -2300.85, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1578.336, + -2316.624, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1453.47, + -2332.399, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1328.603, + -2348.173, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1328.603, + -2348.173, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1222.102, + -2415.24, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1115.601, + -2482.308, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1009.1, + -2549.375, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 902.599, + -2616.442, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 796.098, + -2683.509, + 211.505, + 0.0, + -147.8, + 0.0 + ], + [ + 689.597, + -2750.577, + 208.953, + 0.0, + -147.8, + 0.0 + ], + [ + 689.597, + -2750.577, + 208.953, + 0.0, + -122.8, + 0.0 + ], + [ + 621.418, + -2856.37, + 208.148, + 0.0, + -122.8, + 0.0 + ], + [ + 621.418, + -2856.37, + 208.148, + 0.0, + -97.8, + 0.0 + ], + [ + 604.337, + -2981.064, + 208.148, + 0.0, + -97.8, + 0.0 + ], + [ + 604.337, + -2981.064, + 208.148, + 0.0, + -97.8, + 0.0 + ] + ], + "Rationale": [ + "From the mouth of this stone alley I can see the market awning stretching along the right-hand wall, with a dark wooden door recessed under its far end. The open sandy lane straight ahead is clear of obstacles, so I will move forward to begin closing that distance.", + "The awning on my right has grown larger and the doorway beneath it is now easier to pick out against the wall. My heading still points down the open lane toward it, so another step forward should keep shrinking the gap.", + "The dark wooden door under the covered stalls sits ahead and slightly right of my current heading, and nothing blocks the paved strip between us. I will continue forward while the alley stays wide enough to travel straight.", + "I can now make out the planked door and its stone frame more clearly on the right side of the courtyard, with a cart standing beside it. Keeping the same heading, I will step forward again to cover more of the remaining distance.", + "Crates and jars are stacked along the left wall, but the center of the courtyard remains open toward the doorway on the far right. Another forward step should bring me level with the covered stall area without needing to turn yet.", + "The doorway and the cart beside it have drifted toward the right edge of my view as I advance, which tells me I am nearly abreast of them. I will push forward once more before committing to a turn.", + "The pottery and crates on the left are close beside me while the wooden door sits well over on my right beneath the awning. One more forward step should place me in front of it so a turn can square me up.", + "I have drawn level with the covered stall area, and the wooden door now lies off to my right rather than ahead, so continuing straight would carry me past it. I will turn right to swing my heading toward that doorway.", + "The planked wooden doorway is now visible ahead on the right, set into the wall under the timber awning with a handcart parked beside it. My heading points down the open paved lane toward it, so I will move forward to close the remaining distance.", + "The doorway and the cart in front of it have grown noticeably larger, confirming my heading is carrying me toward the target rather than past it. I will keep moving forward along the open flagstones to reduce the gap.", + "The awning-covered wall on my right is filling more of my view and the planked door remains slightly right of center, so my current course is still valid. Another forward step should bring me closer without needing a heading change yet.", + "The stone doorframe and its lintel are now clearly resolved, and the cart sits to the side of the opening rather than blocking my approach line. I will continue forward across the paving to keep closing distance.", + "The doorway now occupies a large part of the right side of my view, so only a short remaining stretch separates me from it. Moving forward again should bring me within final approach range before I fine tune my heading.", + "I am close to the wall now, with the planked door tall on my right and the courtyard corner directly ahead. One more forward step should place me beside the opening so that a turn can square me to it.", + "My heading is aimed at the blank corner wall while the target doorway sits off to my right, so continuing straight would carry me past it. I will turn right to bring the planked door toward the center of my view for a straight final approach.", + "The turn has brought the planked doorway with its carved stone frame into the middle of my view, close under the awning timbers. With the approach line now clear, I will step forward to close the last of the distance to the door.", + "The planked wooden door now fills the right side of my view at a steep oblique angle, while the stone wall and crates sit ahead of me on the left. Turning right should swing my heading square onto the door face so I can close the final distance straight on.", + "The planked wooden door is now centered in front of me with its stone frame fully visible on both sides, so my heading is squared onto the target. A short step forward should bring me right up to the doorway threshold.", + "The wooden door's planks fill my view at arm's length with its base sill just below me. The navigation task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t5_a_p/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ccf6313e04012c045241625a8a2dd1856a41bc15 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t5_a_p/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the green bell pepper near the striped blue and white wall.", + "Type": 5, + "Start_Pose": [ + 2202.669, + -2237.753, + 208.148, + 0, + -172.8, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 608.386, + -2535.466, + 163.148, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2202.669, + -2237.753, + 208.148, + 0, + -172.8, + 0 + ], + [ + 2077.802, + -2253.527, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1952.936, + -2269.302, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1828.069, + -2285.076, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1703.203, + -2300.85, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1578.336, + -2316.624, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1453.47, + -2332.399, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1453.47, + -2332.399, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1346.968, + -2399.466, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1240.467, + -2466.533, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1240.467, + -2466.533, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1115.601, + -2482.308, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 990.734, + -2498.082, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 865.868, + -2513.856, + 227.726, + 0.0, + -172.8, + 0.0 + ], + [ + 741.001, + -2529.631, + 217.171, + 0.0, + -172.8, + 0.0 + ], + [ + 741.001, + -2529.631, + 217.171, + 0.0, + -172.8, + 0.0 + ], + [ + 741.001, + -2529.631, + 217.171, + 0.0, + -172.8, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 608.386, + -2535.466, + 163.148, + 0.0, + 0.0, + 0.0 + ], + [ + 744.283, + -2550.74, + 178.254, + -28.202, + -122.655, + 1.862 + ], + [ + 744.283, + -2550.74, + 178.254, + -28.202, + -122.655, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1621.8, + 1496.2, + 1370.6, + 1245.1, + 1119.7, + 994.3, + 869.1, + 869.1, + 751.0, + 635.8, + 635.8, + 510.0, + 384.2, + 258.4, + 132.7, + 21.4, + 21.4 + ], + "Rationale": [ + "From the far end of this stone courtyard I can make out a small green item resting on the ground ahead, close to the tall wall painted with blue and white stripes on my left. Nothing blocks the open paved lane in front of me, so I will walk forward to close that long distance.", + "The green item near the base of the striped wall is a little larger now, which tells me my heading is carrying me toward it. The lane between the left wall and the market stalls on the right stays clear, so I will keep walking forward.", + "The green object is now clearly a rounded produce item sitting on the ground beside the striped wall ahead of me. It is still well out of reach, and the paved ground in front is open, so I will continue walking straight toward it.", + "The striped wall has grown much taller on my left and the green pepper sits on the ground near it, roughly ahead of my current heading. There is still a long stretch of open courtyard between us, so I will step forward again.", + "The green bell pepper is now plainly visible resting on the sand near the striped wall, slightly right of the crates stacked along my left. The gap ahead is still walkable, so I will advance to keep shrinking the distance.", + "The pepper sits ahead of me on the packed sand, with the striped wall rising just behind and left of it. I am still several strides short of grasping range, so I will keep walking forward.", + "My straight line toward the pepper now runs into the wooden crates, the clay pot and the low boxes piled along the left side of the courtyard. Rather than push into that clutter, I will turn right so my heading points onto the open flagstones, which should give me a clean lane to continue closing in.", + "With my heading shifted onto the clear flagstones, the crates and pots now sit off to my left instead of directly in my path, and the green pepper is visible ahead on that left side. I will walk forward along this open ground to gain distance on it.", + "The green bell pepper sits on the packed dirt strip ahead and slightly left, still several paces away beside the striped wall. The open paving between us is clear of crates and carts, so I will keep walking straight to close that gap.", + "The pepper now sits well to the left of my heading, near the wall, while my current facing would carry me past it toward the cart and door on the right. I will turn left to bring the pepper toward the center of my view before advancing further.", + "After the turn the green pepper sits close to the center of my view against the striped blue and white wall. The dirt path in front of me is open apart from crates well off to the left, so I will step forward to shorten the distance.", + "The pepper is noticeably larger and remains squarely ahead on the dirt, still too far to reach. My heading needs no correction, so another straight step should bring me closer to grasping range.", + "The pepper now fills a good part of the lower center of my view, but it still sits beyond arm's length on the dirt. I will keep walking straight rather than adjust heading, since it stays aligned with my path.", + "The green bell pepper is directly in front of me near the base of my view, close to the striped wall, yet likely just short of reach. One more forward step should place it right at my feet for a grasp attempt.", + "The green bell pepper is now immediately in front of me at the bottom of my view, well within arm's length on the dirt beside the striped wall. Nothing blocks my hands, so I will attempt to pick it up.", + "The green bell pepper is held in my hand, no longer resting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t5_b_p/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fcdc6de6bf8b96dd1493ebd1f33f6ea9851cb10e --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002203_y-002238_z000208_t5_b_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the plate beside the stall under the red and white awning.", + "Type": 5, + "Start_Pose": [ + 2202.669, + -2237.753, + 208.148, + 0, + -172.8, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1289.293, + -2798.74, + 158.284, + 90, + 30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2202.669, + -2237.753, + 208.148, + 0, + -172.8, + 0 + ], + [ + 2077.802, + -2253.527, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1952.936, + -2269.302, + 208.148, + 0.0, + -172.8, + 0.0 + ], + [ + 1952.936, + -2269.302, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1846.435, + -2336.369, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1739.934, + -2403.436, + 208.148, + 0.0, + -147.8, + 0.0 + ], + [ + 1633.433, + -2470.503, + 219.082, + 0.0, + -147.8, + 0.0 + ], + [ + 1526.932, + -2537.571, + 212.157, + 0.0, + -147.8, + 0.0 + ], + [ + 1526.932, + -2537.571, + 212.157, + 0.0, + -122.8, + 0.0 + ], + [ + 1458.753, + -2643.364, + 212.466, + 0.0, + -122.8, + 0.0 + ], + [ + 1390.574, + -2749.156, + 208.148, + 0.0, + -122.8, + 0.0 + ], + [ + 1390.574, + -2749.156, + 208.148, + 0.0, + -122.8, + 0.0 + ], + [ + 1390.574, + -2749.156, + 208.148, + 0.0, + -122.8, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1289.293, + -2798.74, + 158.284, + 90.0, + 30.0, + 0.0 + ], + [ + 1408.854, + -2760.211, + 178.254, + -28.202, + -72.655, + 1.862 + ], + [ + 1408.854, + -2760.211, + 178.254, + -28.202, + -72.655, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1071.9, + 958.6, + 849.0, + 849.0, + 724.0, + 599.5, + 475.6, + 353.1, + 353.1, + 229.9, + 112.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The red and white striped awning is far ahead on the right side of this open courtyard, and I can already make out a pale round plate propped near the goods beneath it. Nothing blocks the stone paving in front of me, so I will walk forward to close that long distance.", + "The awning and the round plate beside the stall have grown noticeably larger, confirming I am on the right line of travel. The paved lane ahead is still clear of obstacles, so I will keep walking to shorten the remaining gap.", + "The plate under the striped awning now sits well off to my right, while my heading still carries me along the left wall toward the far end of the courtyard. A modest turn to the right should bring the stall and the plate nearer the center of my view before I continue.", + "With the awning and the pale plate now framed ahead and slightly right, my heading points usefully toward the stall. The open flagstones between us are clear, so I will step forward to keep closing in.", + "The stall's jars, stools and the leaning round plate are resolving more clearly under the striped awning, so my current line is good. I will continue walking forward since nothing obstructs the paving between me and the stall.", + "The plate beside the stall is now clearly a large pale dish resting against the stall front, and it is still several strides away. The route across the flagstones remains open, so I will advance again to bring it within reach.", + "The plate now stands out large in the middle of my view, though it is still slightly beyond a comfortable grasping distance. I will take another step forward to draw close to it before attempting anything.", + "At this close range the plate has drifted low and slightly right of my heading, with the open lane pulling my view leftward. Turning right should square me onto the plate and the stall front so my next steps lead straight to it.", + "After turning, the large pale plate propped beside the stall under the red and white striped awning now sits ahead of me, slightly left of center. It is still several paces away, too far to reach. I will walk forward to close that gap.", + "The plate now looms large in the lower left of my view, resting on the ground at the edge of the stall's carpet. My heading still points straight at it, but it remains a step or two beyond comfortable reach. Another step forward should bring it within grasping range.", + "The plate's pale rim now fills the lower left corner right at my feet, beside the stall's patterned rug under the awning. No stool, pot or crate blocks the approach to it. I will attempt to pick it up from here.", + "The plate is held in my hand, no longer resting beside the stall. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002334_y000341_z000204_t0_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002334_y000341_z000204_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e342981a3e9fc3ce2e4f548efb669ef73eff9328 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002334_y000341_z000204_t0_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the market stall with the blue striped canopy.", + "Type": 0, + "Start_Pose": [ + 2334.262, + 340.561, + 203.844, + 0.0, + -107.52, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2334.262, + 340.561, + 203.844, + 0.0, + -107.52, + 0.0 + ], + [ + 2296.374, + 220.54, + 203.976, + 0.0, + -107.52, + 0.0 + ], + [ + 2296.374, + 220.54, + 203.976, + 0.0, + -82.52, + 0.0 + ], + [ + 2312.758, + 95.752, + 201.843, + 0.0, + -82.52, + 0.0 + ], + [ + 2329.142, + -29.036, + 201.898, + 0.0, + -82.52, + 0.0 + ], + [ + 2345.527, + -153.824, + 201.898, + 0.0, + -82.52, + 0.0 + ], + [ + 2361.911, + -278.612, + 215.685, + 0.0, + -82.52, + 0.0 + ], + [ + 2378.295, + -403.4, + 202.05, + 0.0, + -82.52, + 0.0 + ], + [ + 2394.68, + -528.188, + 202.05, + 0.0, + -82.52, + 0.0 + ], + [ + 2411.064, + -652.976, + 202.05, + 0.0, + -82.52, + 0.0 + ], + [ + 2427.448, + -777.764, + 202.05, + 0.0, + -82.52, + 0.0 + ], + [ + 2443.833, + -902.552, + 202.05, + 0.0, + -82.52, + 0.0 + ], + [ + 2460.217, + -1027.34, + 202.156, + 0.0, + -82.52, + 0.0 + ], + [ + 2446.956, + -1071.161, + 226.423, + 0.0, + -82.52, + 0.0 + ], + [ + 2463.34, + -1195.949, + 224.081, + 0.0, + -82.52, + 0.0 + ], + [ + 2479.724, + -1320.737, + 213.628, + 0.0, + -82.52, + 0.0 + ], + [ + 2496.109, + -1445.525, + 215.576, + 0.0, + -82.52, + 0.0 + ], + [ + 2496.109, + -1445.525, + 215.576, + 0.0, + -82.52, + 0.0 + ] + ], + "Rationale": [ + "Across the open square I can pick out a canopy with pale blue and cream stripes over a goods stall on the right side of my view, distinct from the red awning further left. I will step forward off the paving onto the open ground to begin closing that gap and get a clearer look at the striped canopy.", + "The blue striped canopy sits well to the right of my current heading, so walking straight ahead would carry me past it toward the palms and the far wall. I will turn right to bring the striped stall closer to the center of my view before advancing.", + "The stall with the blue and cream striped canopy now sits near the middle of my view, with stacked wares under it and a stone stairway to its right. With the heading set, I will walk forward across the open ground to close the remaining distance.", + "The striped canopy is growing larger and staying near the center of my view, so my heading is still good. I will keep walking forward, steering along the open sand to the right of the low rubble patch.", + "The posts and the striped cloth roof of the target stall are now clearly resolved, and the pots and platters on its shelves are becoming distinguishable. There is still a good stretch of open ground between us, so I will continue advancing.", + "The blue striped canopy holds steady slightly right of center and the stacked bowls beneath it keep growing, confirming I am closing on the correct stall rather than the red awning on my left. I will take another step forward.", + "The striped canopy and its wooden supports now occupy a good portion of my view, with rows of metal plates and pots on the display table. I am still several paces short of the stall itself, so I will keep moving forward.", + "The blue and cream striped canopy is centered and close enough that individual stacks of dishes are clearly separated. I will advance again to bring myself right up to the stall front.", + "The stall with the blue and cream striped canopy sits centered ahead of me across the open sand, with its stacked plates and bowls clearly visible under the shade. My heading is already lined up on it, so no turn is needed and I will simply step forward to close more of the gap.", + "The striped canopy has grown noticeably larger and stays near the center of my view, confirming that my straight-line approach is working. Loose flagstones on the sand ahead look easy to walk over, so I will keep advancing without adjusting my heading.", + "Individual plate and bowl stacks on the stall's shelves are now distinct, so I am well inside the target's vicinity but still several steps short of it. The path in front remains clear, so another forward step should continue closing the remaining distance.", + "The stall now spans much of my view and its wooden posts and canopy edge rise above my line of sight, showing I am close. I remain squarely aimed at it, so I will step forward again to reach the goods laid out at the front.", + "The patterned rug in front of the stall and the nearest bowl stacks are only a couple of steps away, with the striped canopy stretching overhead. I will advance again to bring myself right up to the stall front.", + "I am nearly at the rug's edge, and the stall's stacked plates and pots are directly in front of me under the striped canopy. A short distance still separates me from the stall itself, so I will continue straight ahead.", + "The striped canopy now covers the top of my view and its posts stand to either side of me, so I am arriving at the stall itself. One more forward step should place me right at the display table.", + "I am standing beneath the striped canopy with bowls and plates crowding both sides of me and the shelf just ahead. A final short step should bring me directly to the display table so I am unmistakably at this stall.", + "The blue striped canopy stall's laden counter of bowls and plates is directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002334_y000341_z000204_t0_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002334_y000341_z000204_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4e9c9999052dc47ad74570aebc4cd1c76012c903 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002334_y000341_z000204_t0_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Head toward the stall covered by the red canopy.", + "Type": 0, + "Start_Pose": [ + 2334.262, + 340.561, + 203.844, + 0.0, + -107.52, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2334.262, + 340.561, + 203.844, + 0.0, + -107.52, + 0.0 + ], + [ + 2296.374, + 220.54, + 203.976, + 0.0, + -107.52, + 0.0 + ], + [ + 2258.485, + 100.52, + 201.892, + 0.0, + -107.52, + 0.0 + ], + [ + 2220.597, + -19.501, + 204.94, + 0.0, + -107.52, + 0.0 + ], + [ + 2182.708, + -139.522, + 201.898, + 0.0, + -107.52, + 0.0 + ], + [ + 2144.82, + -259.542, + 201.898, + 0.0, + -107.52, + 0.0 + ], + [ + 2106.931, + -379.563, + 201.898, + 0.0, + -107.52, + 0.0 + ], + [ + 2069.043, + -499.584, + 210.88, + 0.0, + -107.52, + 0.0 + ], + [ + 2031.155, + -619.604, + 209.781, + 0.0, + -107.52, + 0.0 + ], + [ + 1993.266, + -739.625, + 201.037, + 0.0, + -107.52, + 0.0 + ], + [ + 1955.378, + -859.646, + 201.865, + 0.0, + -107.52, + 0.0 + ], + [ + 1917.489, + -979.666, + 201.865, + 0.0, + -107.52, + 0.0 + ], + [ + 1879.601, + -1099.687, + 205.248, + 0.0, + -107.52, + 0.0 + ], + [ + 1841.712, + -1219.707, + 201.898, + 0.0, + -107.52, + 0.0 + ], + [ + 1803.824, + -1339.728, + 204.621, + 0.0, + -107.52, + 0.0 + ], + [ + 1765.936, + -1459.749, + 207.965, + 0.0, + -107.52, + 0.0 + ], + [ + 1765.936, + -1459.749, + 207.965, + 0.0, + -107.52, + 0.0 + ] + ], + "Rationale": [ + "Scanning the open market square from the paved edge, I can pick out the red canopy stall ahead near the center of my view, between the yellow awning on the left and the blue striped stall on the right. My heading already points into the open sandy ground toward it with no obstruction in the way, so I will move forward to start closing the distance.", + "The red canopy sits slightly left of center and has grown a little larger, confirming I am gaining on it. The ground straight ahead is open sand with only low rubble to the sides, so another forward step should keep the approach on course.", + "The red canopy and the goods beneath it are becoming clearer just left of my view center, so my current heading is still good. I will continue forward across the open square rather than adjust my orientation.", + "The red canopy now reads clearly as a shaded stall with jars and shelves under it, still holding a steady spot left of center as I close in. Dry brush and low stone blocks lie off to the sides but nothing blocks my line, so I keep pushing forward.", + "The red canopy keeps growing in my view and its support posts are now distinguishable, which tells me the distance is shrinking steadily. A large pale block sits low on my left but my forward lane stays clear, so I advance again.", + "I am closer now, with the red canopy filling more of the upper middle of my view and its jars and pottery clearly laid out beneath. The remaining gap is still sizeable, so I continue straight ahead without changing heading.", + "The red canopy is now prominent slightly left of center with the stall tables and vessels plainly visible underneath, so my alignment needs no correction. I will take another forward step to keep reducing the remaining distance.", + "The red canopy stall dominates the left-of-center part of my view and I can make out individual pots on its bench, so I am well within the final stretch. There is still open paving between me and the stall front, so I move forward again to arrive at it.", + "The red canopy stall sits just left of my heading across the open square, with its pottery tables clearly visible beneath it. My path over the flagstones ahead looks clear, so I will keep moving forward to close the remaining distance.", + "The red canopy has grown noticeably larger and its supporting posts and jars are now easy to distinguish, confirming I am closing on the right stall. Nothing obstructs the paved stretch in front of me, so another forward step should bring me nearer.", + "The canopied stall now fills a good part of the left-center of my view, with green and clay jars lined along its front table. My heading still points into the open ground before it, so I continue forward without adjusting direction.", + "The red fabric canopy is close enough that I can see its frayed edges and the crates stacked under it. The ground between me and the stall front is still open sand and flagstone, so I will press forward again.", + "The canopy now spans the upper left of my view and the goods table is only a few paces off. I still have clearance in front, so I keep advancing to reach the stall itself rather than stopping short of it.", + "I am nearly under the red canopy, with jars, bowls and wooden crates crowding my near view. A little more forward motion should place me right at the stall front, so I step ahead again.", + "The canopy fabric and its beams now hang across the top of my view and the crates of bowls are directly beside me. One final short advance should bring me alongside the stall's display table.", + "I am standing under the red canopy at the stall's display table of jars and crates. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002334_y000341_z000204_t5_a_p/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002334_y000341_z000204_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..343868ba640b0a067eb053af96788065d4384908 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002334_y000341_z000204_t5_a_p/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the trash bag at the stall covered by the red canopy.", + "Type": 5, + "Start_Pose": [ + 2334.262, + 340.561, + 203.844, + 0, + -107.52, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1830.652, + -1370.18, + 124.017, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2334.262, + 340.561, + 203.844, + 0, + -107.52, + 0 + ], + [ + 2296.374, + 220.54, + 203.976, + 0.0, + -107.52, + 0.0 + ], + [ + 2258.485, + 100.52, + 201.892, + 0.0, + -107.52, + 0.0 + ], + [ + 2220.597, + -19.501, + 204.94, + 0.0, + -107.52, + 0.0 + ], + [ + 2182.708, + -139.522, + 201.898, + 0.0, + -107.52, + 0.0 + ], + [ + 2144.82, + -259.542, + 201.898, + 0.0, + -107.52, + 0.0 + ], + [ + 2106.931, + -379.563, + 201.898, + 0.0, + -107.52, + 0.0 + ], + [ + 2069.043, + -499.584, + 210.88, + 0.0, + -107.52, + 0.0 + ], + [ + 2031.155, + -619.604, + 209.781, + 0.0, + -107.52, + 0.0 + ], + [ + 1993.266, + -739.625, + 201.037, + 0.0, + -107.52, + 0.0 + ], + [ + 1955.378, + -859.646, + 201.865, + 0.0, + -107.52, + 0.0 + ], + [ + 1917.489, + -979.666, + 201.865, + 0.0, + -107.52, + 0.0 + ], + [ + 1879.601, + -1099.687, + 205.248, + 0.0, + -107.52, + 0.0 + ], + [ + 1841.712, + -1219.707, + 201.898, + 0.0, + -107.52, + 0.0 + ], + [ + 1841.712, + -1219.707, + 201.898, + 0.0, + -107.521, + 0.0 + ], + [ + 1841.712, + -1219.707, + 201.898, + 0.0, + -107.521, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1830.652, + -1370.18, + 124.017, + 0.0, + 0.0, + 0.0 + ], + [ + 1862.259, + -1225.554, + 172.004, + -28.202, + -57.376, + 1.862 + ], + [ + 1862.259, + -1225.554, + 172.004, + -28.202, + -57.376, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1783.3, + 1657.5, + 1531.7, + 1405.8, + 1280.0, + 1154.2, + 1028.4, + 902.6, + 776.9, + 651.2, + 525.5, + 400.1, + 274.9, + 150.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The red canopy stall sits far ahead across the open market square, near the middle of my view and roughly on my current heading. No trash bag is resolvable at this distance, so I will walk straight forward to close the gap and bring that stall's ground area into useful detail.", + "The red canopy is noticeably larger than at the start, confirming my heading points at the correct stall. The paved square ahead remains clear of obstacles, so another step forward continues the approach without needing any turn.", + "The stall under the red canopy keeps growing in my view and its wares are beginning to separate into individual shapes. I am still too far to identify a trash bag on the ground there, so I keep walking straight ahead.", + "The red canopy stall now clearly reads as a pottery stand with jars laid out beneath it, and my heading still lines up with it. Dry scrub and low stones ahead are shallow ground clutter rather than a barrier, so I continue forward.", + "The canopy stall keeps expanding across the upper middle of my view, so my straight line of travel remains correct. A dark rounded object sits on the open ground just right of the stall, and I need to be closer before I can judge whether that is the trash bag.", + "A large boulder and jars now crowd the left edge of my view while my path stays open through the middle of the square. The red canopy and the dark object near it remain ahead of me, so another forward step is the direct way to reach them.", + "The dark bag-shaped object on the pavement in front of the red canopy stall is now clearly separate from the pottery around it, and it lies close to my heading. I still stand well back from it, so I keep advancing to bring it within reach.", + "The red canopy stall with its pots and shelves fills much more of my view, and the dark bag sits on the open pavement just ahead and slightly right of center. That alignment is workable, so I keep walking forward instead of turning.", + "The red canopy stall is clearly ahead and slightly left, with a dark bag-shaped object sitting on the open ground just in front of its counter. My heading already points at that spot, so no turn is needed. I keep walking forward to close the remaining distance.", + "The stall under the red canopy now fills more of my view and the grey sack in front of it is easier to distinguish from the surrounding jars. It still sits well beyond arm's reach in the open courtyard. I continue straight ahead toward it.", + "The grey trash bag is now plainly resting on the stones just right of the canopy's shaded counter, roughly in the middle of my view. Nothing blocks the flat paving between us. Another forward step should bring me nearer to a workable grasping position.", + "The trash bag under and beside the red canopy stall is bigger in front of me and stays centered as I advance. It is still a couple of paces off, too far to reach down and take. I walk forward again.", + "The trash bag now sits low and large in the lower part of my view, right at the edge of the red canopy stall's goods. It is close but not yet within comfortable grasping range. One more step forward should place it directly at my feet.", + "The grey trash bag is now immediately in front of me at the red canopy stall, filling the near foreground within arm's reach. My hands are empty and nothing stands between us. I will reach out and attempt to pick it up.", + "The trash bag from the red canopy stall is now held in my hands instead of resting on the paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t0_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a4cdb57f9456b9772ba7f04c4e6ab57a574d0c8 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t0_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the base of the stone staircase beside the tall palm tree.", + "Type": 0, + "Start_Pose": [ + 2420.881, + 758.657, + 240.875, + 0.0, + 139.2, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2420.881, + 758.657, + 240.875, + 0.0, + 139.2, + -0.0 + ], + [ + 2420.881, + 758.657, + 240.875, + 0.0, + 114.2, + -0.0 + ], + [ + 2369.289, + 873.456, + 216.451, + 0.0, + 114.2, + -0.0 + ], + [ + 2317.696, + 988.254, + 213.241, + 0.0, + 114.2, + -0.0 + ], + [ + 2266.104, + 1103.053, + 215.513, + 0.0, + 114.2, + -0.0 + ], + [ + 2214.511, + 1217.851, + 212.169, + 0.0, + 114.2, + -0.0 + ], + [ + 2162.919, + 1332.65, + 206.535, + 0.0, + 114.2, + -0.0 + ], + [ + 2111.326, + 1447.448, + 207.567, + 0.0, + 114.2, + -0.0 + ], + [ + 2059.734, + 1562.247, + 211.101, + 0.0, + 114.2, + -0.0 + ], + [ + 2008.141, + 1677.045, + 208.208, + 0.0, + 114.2, + -0.0 + ], + [ + 1956.549, + 1791.844, + 210.449, + 0.0, + 114.2, + -0.0 + ], + [ + 1904.956, + 1906.642, + 209.84, + 0.0, + 114.2, + -0.0 + ], + [ + 1904.956, + 1906.642, + 209.84, + 0.0, + 139.2, + -0.0 + ], + [ + 1809.681, + 1988.881, + 208.163, + 0.0, + 139.2, + -0.0 + ], + [ + 1809.681, + 1988.881, + 208.163, + 0.0, + 164.2, + -0.0 + ], + [ + 1688.578, + 2023.15, + 209.093, + 0.0, + 164.2, + -0.0 + ], + [ + 1567.474, + 2057.419, + 216.432, + 0.0, + 164.2, + -0.0 + ], + [ + 1567.474, + 2057.419, + 216.432, + 0.0, + 164.2, + -0.0 + ] + ], + "Rationale": [ + "From the courtyard I can see the tall palm tree ahead on the right, with a stone stair flight climbing the wall just behind it, but a heavy column edge crowds the right of my view and my heading points too far toward that near colonnade. I will turn slightly left to open up the paved courtyard as a clear travel lane toward the palm and its staircase. This should give me a straight approach across the flagstones before I start closing distance.", + "The courtyard now stretches ahead with the domed structure in the middle distance and the tall palm standing to the right against the stepped wall. Nothing blocks the flagstones directly in front of me, so I will move forward to begin closing the distance toward the palm and the staircase beside it.", + "The palm trunk and the flight of stone steps behind it are growing larger on the right, confirming I am tracking the correct target. The paving ahead remains open, so I will continue forward to keep shrinking the gap.", + "I am still some way out in the courtyard, with the palm and the staircase set back along the right wall rather than at my side yet. Since the route straight ahead stays clear of the low planter and the stalls, I will push forward again to gain ground.", + "The staircase on the right wall is now clearly readable step by step, but its base is still ahead of my current position. I will keep moving forward along the open courtyard to bring that base within reach before turning toward it.", + "The palm trunk on the right is thickening in view and the vessels beside the stairs are becoming distinct, so my heading is still carrying me toward the target. I will advance once more rather than turn early, since the stair base has not yet come level with me.", + "The courtyard ahead is still open and the stepped wall with the palm continues to grow on my right side. Moving forward again should carry me deeper along that wall until I am beside the foot of the stairs.", + "I can now see the palm's base and the planter ring at its foot on the right, with the lowest stone steps just beyond them, so I am nearly abeam of the staircase. I will continue forward to close the remaining distance before swinging my heading toward the steps.", + "The tall palm and the stone staircase climbing the right-hand wall are still ahead of me and to my right, with plenty of open flagstone between us. I will keep moving forward along the courtyard to close that gap before committing to a turn toward the stair base.", + "The palm trunk on my right has grown noticeably thicker and the staircase treads beside it are now clearer, so my current heading is carrying me steadily toward the target. Another forward step should bring me nearer to the level of the stair base before I swing right.", + "I am nearly abreast of the palm now, and the lowest steps of the staircase are appearing at the foot of the right-hand wall. One more forward step should place me close enough that a right turn points me straight at the base of those stairs.", + "The staircase and the tall palm beside it are now off to my right rather than in front of me, so continuing straight would carry me past them into the far courtyard. I will turn right to bring the stair base into the center of my view and set up a direct approach.", + "The turn has put the tall palm trunk and the lower flight of the stone staircase squarely in front of me, close to the right-hand wall. I will step forward to close the remaining distance toward the foot of those steps.", + "From here the stairs rise off to the right of the palm trunk, which sits directly in my path and partly blocks the line to the bottom step. A further right turn should clear the trunk from my heading and face me squarely at the stair base.", + "The full flight of stone steps now fills the view ahead with the tall palm just to my left, exactly the pairing the task describes. I will move forward to close the last stretch of paving to the bottom step.", + "The lowest step is only a short stretch of paving away and the stairway now dominates my view beside the palm. One more forward step should bring me right up to the base of the staircase.", + "The stone staircase's lowest step fills my view directly ahead, with the tall palm trunk right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t0_b/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e2826a54f1fe09db43fba77a999d8c96cebf246c --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t0_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Head toward the trunk of the palm tree.", + "Type": 0, + "Start_Pose": [ + 2420.881, + 758.657, + 240.875, + 0.0, + 139.2, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2420.881, + 758.657, + 240.875, + 0.0, + 139.2, + -0.0 + ], + [ + 2325.606, + 840.896, + 212.158, + 0.0, + 139.2, + -0.0 + ], + [ + 2230.332, + 923.135, + 206.968, + 0.0, + 139.2, + -0.0 + ], + [ + 2135.057, + 1005.374, + 206.713, + 0.0, + 139.2, + -0.0 + ], + [ + 2135.057, + 1005.374, + 206.713, + 0.0, + 114.2, + -0.0 + ], + [ + 2083.465, + 1120.172, + 210.015, + 0.0, + 114.2, + -0.0 + ], + [ + 2031.872, + 1234.971, + 209.292, + 0.0, + 114.2, + -0.0 + ], + [ + 1980.28, + 1349.769, + 207.326, + 0.0, + 114.2, + -0.0 + ], + [ + 1928.687, + 1464.568, + 214.004, + 0.0, + 114.2, + -0.0 + ], + [ + 1877.095, + 1579.366, + 213.364, + 0.0, + 114.2, + -0.0 + ], + [ + 1825.502, + 1694.165, + 212.204, + 0.0, + 114.2, + -0.0 + ], + [ + 1773.91, + 1808.963, + 211.164, + 0.0, + 114.2, + -0.0 + ], + [ + 1722.317, + 1923.762, + 212.854, + 0.0, + 114.2, + -0.0 + ], + [ + 1670.725, + 2038.56, + 210.791, + 0.0, + 114.2, + -0.0 + ], + [ + 1619.132, + 2153.359, + 210.174, + 0.0, + 114.2, + -0.0 + ], + [ + 1567.54, + 2268.157, + 211.984, + 0.0, + 114.2, + -0.0 + ], + [ + 1567.54, + 2268.157, + 211.984, + 0.0, + 139.2, + -0.0 + ], + [ + 1472.265, + 2350.396, + 211.915, + 0.0, + 139.2, + -0.0 + ], + [ + 1376.99, + 2432.635, + 208.118, + 0.0, + 139.2, + -0.0 + ], + [ + 1281.716, + 2514.874, + 208.118, + 0.0, + 139.2, + -0.0 + ], + [ + 1281.716, + 2514.874, + 208.118, + 0.0, + 139.2, + -0.0 + ] + ], + "Rationale": [ + "The tall palm stands ahead and slightly left of my heading, its trunk rising out of the courtyard beyond the broken paving. Its base is still far off across the open flagstones, so I will step forward along the clear ground to begin closing that distance.", + "The palm now looms larger and its crown spreads over the upper left of my view, confirming I am closing on it. The paving directly in front of me is open, so I will keep walking forward toward the trunk.", + "The trunk is clearly nearer, standing near the stone stair and wall on the far side of the courtyard, and its lower part is still partly hidden behind the raised ground and market table area. Another forward step should bring me closer and expose more of the trunk's base.", + "Straight ahead my line runs into the raised stall area and its table of jars set against the wall, which is not a walkable lane to the trunk base. I will turn slightly left to pick up the open paved stretch of the courtyard, keeping the palm just off my right as I continue in.", + "With this heading the courtyard opens up, the domed structure sits ahead and the palm trunk stands off to my right with clear ground beside it. I will advance along this open lane to close distance on the tree.", + "The trunk on my right is visibly thicker and the stair along the wall beside it is coming closer, so my heading is carrying me in past the clutter. I will keep stepping forward on this open paving.", + "I am now well inside the courtyard, with the palm trunk rising close on my right and open flagstones still in front of me. Continuing forward should bring me level with the base of the trunk.", + "The trunk's rough base and the dry scrub around it are becoming distinct just to my right, so I am nearly beside the tree. I will take another forward step to draw level with it before turning in.", + "The leaning palm trunk stands to the right of center, its base rooted beside the stone staircase along the right wall, and the paving between us is open and clear. I will keep walking forward to close the remaining distance on this heading.", + "The trunk now reads noticeably thicker and its base sits lower in my view, which tells me my heading is bringing me steadily nearer. Nothing blocks the stone floor ahead, so another step forward should continue shrinking the gap.", + "The palm's rough trunk and the dry brush clumped around its base are clearly resolved to my right, confirming the target rather than one of the smaller palms across the courtyard. I will advance again along the open ground toward it.", + "The trunk keeps growing in my view and its base is only a short stretch of paving away, slightly right of my path. I will step forward once more to keep drawing level with it.", + "The trunk's scaled bark is now large and detailed on my right, with the staircase wall just beyond it. Continuing forward should bring me alongside the base without needing to change heading yet.", + "The trunk fills much of the right portion of my view and the patch of dry brush at its base is close underfoot ahead. A further step forward should place me nearly beside the trunk.", + "I am now very close, with the trunk rising along the right edge of my view and the dry growth at its foot just in front of me. I will take another step forward to finish closing the last of the gap.", + "The trunk has drifted to the right edge of my view as I closed in, so my heading now points past it into the open courtyard. Turning right should swing the trunk back to the center of my view and aim me squarely at it for the last few steps.", + "The palm's scaly trunk now stands slightly right of center in my view with open sand and low dry brush between us. Nothing blocks the short stretch of ground ahead, so I will step forward to close the remaining gap to the trunk.", + "The trunk has grown noticeably larger and its base is clearly visible just ahead of me, confirming I am closing in. I will advance again to bring myself within arm's reach of the trunk.", + "The trunk's textured bark now fills much of the right side of my view and its base is only a step or two away. One more forward step should place me right at the trunk, close enough to consider the approach finished.", + "The palm trunk's bark is directly beside me at arm's reach, filling the near right of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t5_a_p/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..35066f7d58d1c4b7ad59f74a7aaead0450261ded --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the trash bag near the base of the stone staircase.", + "Type": 5, + "Start_Pose": [ + 2420.881, + 758.657, + 240.875, + 0, + 139.2, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1586.66, + 1667.203, + 123.55, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2420.881, + 758.657, + 240.875, + 0, + 139.2, + 0 + ], + [ + 2325.606, + 840.896, + 212.158, + 0.0, + 139.2, + -0.0 + ], + [ + 2230.332, + 923.135, + 206.968, + 0.0, + 139.2, + -0.0 + ], + [ + 2135.057, + 1005.374, + 206.713, + 0.0, + 139.2, + -0.0 + ], + [ + 2039.783, + 1087.612, + 206.713, + 0.0, + 139.2, + -0.0 + ], + [ + 1944.508, + 1169.851, + 212.447, + 0.0, + 139.2, + -0.0 + ], + [ + 1849.233, + 1252.09, + 212.617, + 0.0, + 139.2, + -0.0 + ], + [ + 1753.959, + 1334.329, + 214.416, + 0.0, + 139.2, + -0.0 + ], + [ + 1753.959, + 1334.329, + 214.416, + 0.0, + 114.2, + -0.0 + ], + [ + 1702.366, + 1449.128, + 208.653, + 0.0, + 114.2, + -0.0 + ], + [ + 1650.774, + 1563.926, + 213.514, + 0.0, + 114.2, + -0.0 + ], + [ + 1650.774, + 1563.926, + 213.514, + 0.0, + 114.2, + -0.0 + ], + [ + 1650.774, + 1563.926, + 213.514, + 0.0, + 114.2, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1586.66, + 1667.203, + 123.55, + 0.0, + 0.0, + 0.0 + ], + [ + 1631.546, + 1554.616, + 179.949, + -28.202, + 164.344, + 1.862 + ], + [ + 1631.546, + 1554.616, + 179.949, + -28.202, + 164.344, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1233.4, + 1108.5, + 983.8, + 859.5, + 735.7, + 612.7, + 491.2, + 372.6, + 372.6, + 246.9, + 121.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The task points me to a trash bag at the foot of the stone staircase, and from here I can only make out the stair run climbing the far wall beyond the palm and the market stall. The dark shape resting on the paving near the stair base is still far off across the open courtyard. I will walk straight ahead to close that distance.", + "The staircase and the stall beneath it have grown slightly larger, so my heading is carrying me toward the target area. The dark bag near the stair base is still a small silhouette well ahead. I will keep walking forward along this clear paved line.", + "The courtyard ahead remains open and the stair run against the wall is now clearer, confirming I am headed the right way. The rounded dark object sitting on the pavement short of the steps is the bag I need, still several strides off. Another forward step should bring it closer.", + "The stall with its jars and the staircase behind it now fill more of my view, and the dark bag on the flagstones is taking on a recognizable rounded shape. It sits slightly left of my current heading but is still too far to reach. I will continue advancing before worrying about alignment.", + "The trash bag is now clearly a bulging sack resting on the paving near the base of the stone steps, drifting toward the left of my view as I close in. Nothing blocks the flagstones between us. I will step forward again to shorten the remaining gap.", + "The bag is plainly visible now, low on the stones just short of the staircase and sitting left of my heading. I am still outside comfortable reach for a grasp. Walking forward once more should place me near enough to consider alignment.", + "The bag now looms large on the flagstones ahead and to my left, with the stair run rising just behind it. Since my heading still carries me slightly right of it, closing distance first is the efficient move. I will take another step forward.", + "I am close to the stair base, but the trash bag sits noticeably left of my facing direction, so walking straight would carry me past it toward the pottery stall. Turning left should swing the bag toward the center of my view. I will rotate left to line my heading up with it.", + "After turning, the dark trash bag now sits squarely ahead of me on the paving, with the stone staircase rising just beyond it to the right. The path across the flagstones is open, so I will walk forward to close the remaining distance before any grasp is possible.", + "The bag is much larger in view now, near the foot of the staircase, but it still sits a step or two beyond comfortable reach. I will take another step forward so it comes close enough in front of me for a grasp attempt.", + "The trash bag is now directly in front of me at the base of the stone staircase, filling the bottom of my view at arm's length. My hands are empty, so I will attempt to grab it here rather than move any closer.", + "The trash bag is now held in my hands instead of resting on the paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t5_b_p/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6407055e8547ad578b5a63ca69c58db79e0c080 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002421_y000759_z000241_t5_b_p/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Pick up the jerry can beside the palm tree trunk.", + "Type": 5, + "Start_Pose": [ + 2420.881, + 758.657, + 240.875, + 0, + 139.2, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1492.027, + 2356.86, + 151.795, + 0, + -30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2420.881, + 758.657, + 240.875, + 0, + 139.2, + 0 + ], + [ + 2325.606, + 840.896, + 212.158, + 0.0, + 139.2, + -0.0 + ], + [ + 2230.332, + 923.135, + 206.968, + 0.0, + 139.2, + -0.0 + ], + [ + 2230.332, + 923.135, + 206.968, + 0.0, + 114.2, + -0.0 + ], + [ + 2178.739, + 1037.933, + 206.747, + 0.0, + 114.2, + -0.0 + ], + [ + 2127.147, + 1152.732, + 213.905, + 0.0, + 114.2, + -0.0 + ], + [ + 2075.554, + 1267.53, + 209.86, + 0.0, + 114.2, + -0.0 + ], + [ + 2023.962, + 1382.329, + 207.41, + 0.0, + 114.2, + -0.0 + ], + [ + 1972.369, + 1497.127, + 209.382, + 0.0, + 114.2, + -0.0 + ], + [ + 1920.777, + 1611.926, + 209.828, + 0.0, + 114.2, + -0.0 + ], + [ + 1869.184, + 1726.724, + 211.516, + 0.0, + 114.2, + -0.0 + ], + [ + 1817.592, + 1841.523, + 208.118, + 0.0, + 114.2, + -0.0 + ], + [ + 1765.999, + 1956.322, + 212.402, + 0.0, + 114.2, + -0.0 + ], + [ + 1714.407, + 2071.12, + 208.118, + 0.0, + 114.2, + -0.0 + ], + [ + 1662.814, + 2185.919, + 209.996, + 0.0, + 114.2, + -0.0 + ], + [ + 1662.814, + 2185.919, + 209.996, + 0.0, + 139.2, + -0.0 + ], + [ + 1567.54, + 2268.157, + 211.97, + 0.0, + 139.2, + -0.0 + ], + [ + 1567.54, + 2268.157, + 211.97, + 0.0, + 139.2, + -0.0 + ], + [ + 1567.54, + 2268.157, + 211.97, + 0.0, + 139.2, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1492.027, + 2356.86, + 151.795, + 0.0, + -30.0, + 0.0 + ], + [ + 1554.049, + 2251.594, + 178.622, + -28.202, + -170.655, + 1.862 + ], + [ + 1554.049, + 2251.594, + 178.622, + -28.202, + -170.655, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1848.5, + 1730.0, + 1612.7, + 1612.7, + 1487.0, + 1361.4, + 1235.8, + 1110.3, + 984.8, + 859.5, + 734.4, + 609.6, + 485.3, + 362.1, + 241.6, + 241.6, + 116.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The tall palm rising from the courtyard ahead is the landmark named in my task, but from here its base is hidden behind the market stall and distance. I will walk forward across the open flagstones to close that gap and bring the trunk area into clearer view.", + "The palm and the courtyard behind it have grown slightly larger, confirming my heading is taking me toward the tree. The ground stays clear, so I will keep walking forward before deciding on any turn.", + "The palm trunk now sits high and near the upper left edge of my view, and the wall with the stall crowds my right side. I will turn left to place the courtyard and the tree base more centrally ahead so I can walk straight toward the trunk.", + "After the turn the courtyard opens ahead with the domed building centered and the palm trunk standing to the right of my path. With a clear lane of flagstones in front, I will walk forward to keep closing on the tree base.", + "The palm trunk on my right is thicker in view, so this heading is steadily reducing the distance. Nothing blocks the flagstones ahead, so I continue walking forward rather than adjusting my facing yet.", + "The base of the palm is still farther ahead than an arm's reach, and the small object beside it is not yet distinguishable. I will step forward again along the same clear line to bring the trunk's foot into usable view.", + "The staircase and wall on my right frame the palm, and its trunk keeps growing in my view as I advance. I will continue walking forward, since the target's ground level beside the trunk is still too far to inspect.", + "A small reddish object is beginning to stand out on the ground near the foot of the palm ahead on my right, which fits the jerry can I need. I will keep walking forward to get within reach before making any final alignment.", + "The tall palm on the right side of the courtyard is my landmark, and a small reddish shape sits at its base near the stair block. It is still far off across the flagstones, so I will keep walking straight to close the gap before judging alignment.", + "The reddish container beside the palm trunk is now clearer and slightly larger ahead of me, confirming it as the jerry can. My heading still points along the open pavement toward it, so another step forward is the direct way to shorten the remaining distance.", + "The jerry can and the dry grass tuft at the foot of the palm keep growing in my view, so my line of travel is good. Nothing blocks the stones between me and the tree, and I am still well outside reach, so I continue forward.", + "The palm trunk now dominates the right of my view and the can stands just left of it, low against the weeds. I am closer but not yet near enough to reach it, so I take another step along the same heading.", + "The red jerry can is plainly visible in the grass at the base of the palm, slightly right of my center. The remaining ground is flat and open, so I keep advancing rather than turning while I am still several paces away.", + "The can is close enough now that I can see its handle and ribbed side beside the trunk, but it is still beyond arm's reach. One more forward step should bring me into the working area next to the palm before I fine tune my facing.", + "I am now standing just short of the palm, but the jerry can sits off to the right of my center, with open courtyard filling the left of my view. Turning right should swing my facing onto the can so my final step and grasp are aimed straight at it.", + "The jerry can now sits near the middle of my view at the foot of the palm trunk, with the stair block clear to my right. It is still a short step away, so I advance once more to bring it within grasping range.", + "The red jerry can now fills the lower part of my view right at the base of the palm trunk, close enough that its handle is within arm's reach. Nothing stands between me and it, so this is the moment to close my hands on the can. I will attempt the grasp, which should lift it from the dry grass at the trunk.", + "The jerry can is now held in my hands and no longer resting by the trunk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x002798_y002693_z000244_t1_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x002798_y002693_z000244_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4ca2f36f54a41291ac931c2f85821183458b0bb0 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x002798_y002693_z000244_t1_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Search the corridor for a table laden with ceramic vessels and pottery; once you have located it, navigate over to that table.", + "Type": 1, + "Start_Pose": [ + 2797.58, + 2692.531, + 243.762, + 0.0, + 15.68, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + 15.68, + -0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + 40.68, + -0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + 65.68, + -0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + 90.68, + -0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + 115.68, + -0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + 140.68, + -0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + 165.68, + -0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + -169.32, + 0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + -144.32, + 0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + -119.32, + 0.0 + ], + [ + 2797.58, + 2692.531, + 243.762, + 0.0, + -94.32, + 0.0 + ], + [ + 2788.1, + 2567.03, + 243.762, + 0.0, + -94.32, + 0.0 + ], + [ + 2778.619, + 2441.528, + 243.762, + 0.0, + -94.32, + 0.0 + ], + [ + 2769.138, + 2316.027, + 243.762, + 0.0, + -94.32, + 0.0 + ], + [ + 2769.138, + 2316.027, + 243.762, + 0.0, + -69.32, + 0.0 + ], + [ + 2813.585, + 2198.277, + 243.762, + 0.0, + -69.32, + 0.0 + ], + [ + 2858.032, + 2080.528, + 243.762, + 0.0, + -69.32, + 0.0 + ], + [ + 2858.032, + 2080.528, + 243.762, + 0.0, + -44.32, + 0.0 + ], + [ + 2858.032, + 2080.528, + 243.762, + 0.0, + -19.32, + 0.0 + ], + [ + 2936.003, + 2037.979, + 243.919, + 0.0, + -19.32, + 0.0 + ], + [ + 2936.003, + 2037.979, + 243.919, + 0.0, + -19.32, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, my view is filled with a bare stone wall and heavy timber posts, with no table or ceramic vessels anywhere in front of me. I will turn right to begin a steady scan of the corridor in one consistent direction.", + "The colonnade now stretches away to my right with bare paving between the columns, and I still see no table carrying pots. I will keep rotating right to sweep further along this covered passage.", + "Daylight and palm fronds are appearing on the right side of the colonnade, which suggests the corridor opens toward a brighter area worth checking. Nothing resembling a pottery-laden table is in this stretch, so I will continue the same rightward scan.", + "The passage beside me is still just columns, shadow and empty stone, with the open sunlit space growing on my right. I will turn right again to bring that opening fully into view and look for the table there.", + "I am now looking out over a large open courtyard with domes and rubble, and no ceramic vessels stand anywhere on this side. I will continue turning right to keep the scan consistent and reveal the far side of the courtyard.", + "A thick column stands close in front of me and hides part of the courtyard, and the visible walls show only windows and dry planting. I will turn right again to clear the column and expose the section beyond it.", + "Past the column the courtyard continues toward tall buildings and gilded domes, but I still cannot make out any table of pottery in this arc. I will keep the rotation going right to reach the built-up quarter on that side.", + "Across the courtyard on my right I can now see an awning, an arched shopfront and small containers set out on the ground, which is a promising market-like area for a table of ceramic vessels. I will turn right once more to face that quarter more directly and check it properly.", + "From the shaded colonnade I can see an open courtyard with distant stalls and awnings ahead, but no table of ceramic vessels is clearly resolvable yet. Continuing my steady rightward scan should bring the covered aisle on that side into view, where market goods are more likely to be laid out. I will turn right again to keep the sweep consistent.", + "Turning further right has revealed a long covered hall lined with columns, with market goods and what look like jars near the right wall. That side of the hall is the strongest cue so far for pottery displayed on a table, so one more right turn should center that aisle. I will turn right again to face it squarely.", + "Now facing down the covered hall, I can clearly see a wooden table against the right wall holding several large ceramic jars and vessels. That matches the target, so scanning is no longer needed and I should close the distance along the open floor. I will step forward toward it.", + "The pottery table on the right is noticeably larger now, so my forward motion is closing the gap as intended. The corridor floor ahead is still clear of columns and crates on my path. I will keep walking forward to draw nearer to the table.", + "The table of jars and pots is closer and now sits well to my right, with smaller vessels grouped on the floor beside it. I am still slightly short of it along the hall, so more forward travel is useful before I turn in. I will advance another step.", + "I have drawn roughly level with the pottery table, which now sits off to my right against the wall rather than ahead of me. Walking straight would carry me past it, so I need to swing my heading toward it. I will turn right to bring the table into the center of my view.", + "The turn has brought the table of ceramic jars and bottles into clearer view ahead and to my right, with open floor between us. Nothing blocks the paved stretch in front of me, so I can shorten the remaining distance directly. I will walk forward toward the display.", + "The jars, bottles and the wooden tabletop are considerably larger now, confirming the approach is working. I am still a few paces short of standing at the table edge, and the floor pots are off to the side of my path. I will step forward again to close the last of that gap.", + "The pottery table is now close on my right, but it sits at the edge of my view while I am still facing straight down the corridor. I will turn right to bring the table and its ceramic vessels toward the center of my heading so I can close the last short gap directly.", + "The laden table is much better framed now, yet it still sits right of center with the wall behind it angled away. Another right turn should square me up with the table so my next step goes straight into it.", + "The table covered in ceramic jars and jugs is centered directly ahead of me with clear floor in between. I will step forward to close the remaining distance and stand at the table as the task requires.", + "I am standing right at the table, with its ceramic jars and jugs filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Lv_Bazaar/task_x003421_y001898_z001852_t1_a/infos.json b/dataset/trajectory/Lv_Bazaar/task_x003421_y001898_z001852_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8b222d158ee2edcbff3bc7a9529fa4c44c231d39 --- /dev/null +++ b/dataset/trajectory/Lv_Bazaar/task_x003421_y001898_z001852_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search for the stacked wooden pallets resting on the rooftop area, then navigate toward them.", + "Type": 1, + "Start_Pose": [ + 3420.555, + 1897.735, + 1851.646, + 0.0, + -164.32, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3420.555, + 1897.735, + 1851.646, + 0.0, + -164.32, + 0.0 + ], + [ + 3420.555, + 1897.735, + 1851.646, + 0.0, + -139.32, + 0.0 + ], + [ + 3420.555, + 1897.735, + 1851.646, + 0.0, + -114.32, + 0.0 + ], + [ + 3420.555, + 1897.735, + 1851.646, + 0.0, + -89.32, + 0.0 + ], + [ + 3422.049, + 1771.885, + 1851.646, + 0.0, + -89.32, + 0.0 + ], + [ + 3423.542, + 1646.035, + 1851.646, + 0.0, + -89.32, + 0.0 + ], + [ + 3425.036, + 1520.185, + 1851.646, + 0.0, + -89.32, + 0.0 + ], + [ + 3426.53, + 1394.334, + 1828.867, + 0.0, + -89.32, + 0.0 + ], + [ + 3428.023, + 1268.484, + 1787.091, + 0.0, + -89.32, + 0.0 + ], + [ + 3429.517, + 1142.634, + 1787.091, + 0.0, + -89.32, + 0.0 + ], + [ + 3431.011, + 1016.784, + 1787.091, + 0.0, + -89.32, + 0.0 + ], + [ + 3432.504, + 890.934, + 1787.091, + 0.0, + -89.32, + 0.0 + ], + [ + 3433.972, + 766.109, + 1787.091, + 0.0, + -89.32, + 0.0 + ], + [ + 3433.972, + 766.109, + 1787.091, + 0.0, + -89.32, + 0.0 + ] + ], + "Rationale": [ + "From this rooftop terrace I see only paved stone, a low lattice railing, palms, and the fortress walls beyond, with no stacked wooden pallets anywhere in front of me. I will turn right to begin a steady scan of the rest of the roof in one consistent direction.", + "The rotation has brought stone planters and low block structures into view, but still no stacked timber anywhere along this stretch of the roof. I will keep turning right to sweep further around and expose the part of the terrace still hidden behind me.", + "A stone building facade with arched windows has come into the right side of the view, and the paving seems to continue past it as a walkway. I will turn right once more to face that open stretch, since a working area with stored materials is more likely along it than over the open terrace I have already scanned.", + "I am now aligned down a clear paved corridor that runs beside the stone wall with arched windows, with low platforms and a large palm further along it. Nothing blocks the path, so I will walk forward to inspect that area for the stacked pallets.", + "The corridor is opening up as I advance, and stacked material is starting to show on the low ledges to my left near the palm. The route stays clear, so I will continue walking forward to bring that clutter close enough to identify.", + "Flat slab-like objects are now visible on the raised ledge beside the palm, matching the look of pallets laid on the rooftop. I will keep stepping forward along the open walkway to close the remaining distance.", + "The objects ahead on the left platform now read clearly as flat wooden boards laid in a pile, which fits the pallets I am searching for. They are still some way off, so I will continue advancing straight toward them.", + "The plank structures near the palm are noticeably larger in view and clearly wooden, confirming this is the pallet stack. I will keep walking forward along the clear paving to get right up beside them.", + "Ahead along this rooftop walkway I can make out flat wooden planks lying near the base of the palm, which match the stacked pallets I am looking for. They are still some distance off, so I will keep walking straight down the open paving between the stone wall on my right and the low ledges on my left.", + "The wooden pallets are now clearly resolved in front of me, lying in a loose pile at the foot of the palm. The path between the wall and the ledge remains clear, so I will continue advancing to close the remaining gap.", + "The stack of weathered pallets fills more of my view and now sits slightly left of my heading, still a few steps away. I will step forward again to bring myself right up beside them.", + "The pallets are close now, spread and stacked just ahead and to my left with the palm rising behind them. One more step forward should place me directly at the pile, close enough to count as reaching it.", + "The stacked wooden pallets are directly in front of me at arm's length on the rooftop paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t0_a/infos.json b/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..317921acdbdd5a9837162a5387968f4331c8b8a1 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the two tires leaning against the graffiti wall.", + "Type": 0, + "Start_Pose": [ + -0.981, + 2080.207, + 262.979, + 0.0, + -176.64, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -0.981, + 2080.207, + 262.979, + 0.0, + -176.64, + 0.0 + ], + [ + -126.624, + 2072.831, + 263.73, + 0.0, + -176.64, + 0.0 + ], + [ + -126.624, + 2072.831, + 263.73, + 0.0, + 158.36, + -0.0 + ], + [ + -243.612, + 2119.244, + 262.907, + 0.0, + 158.36, + -0.0 + ], + [ + -360.6, + 2165.657, + 262.907, + 0.0, + 158.36, + -0.0 + ], + [ + -477.589, + 2212.071, + 262.907, + 0.0, + 158.36, + -0.0 + ], + [ + -594.577, + 2258.484, + 277.805, + 0.0, + 158.36, + -0.0 + ], + [ + -711.566, + 2304.898, + 282.866, + 0.0, + 158.36, + -0.0 + ], + [ + -828.554, + 2351.311, + 282.866, + 0.0, + 158.36, + -0.0 + ], + [ + -828.554, + 2351.311, + 282.866, + 0.0, + 133.36, + -0.0 + ], + [ + -914.966, + 2442.818, + 282.866, + 0.0, + 133.36, + -0.0 + ], + [ + -982.683, + 2536.185, + 286.249, + 0.0, + 133.36, + -0.0 + ], + [ + -982.683, + 2536.185, + 286.249, + 0.0, + 133.36, + -0.0 + ] + ], + "Rationale": [ + "From this open yard I can already pick out the pair of tires resting against the graffiti marked brick wall on the left side of the alley. They are still far off, so I will move forward along the open ground to cut down that distance before refining my heading.", + "The tires and their graffiti wall now sit well off to the left edge of my view, while my heading still points down the middle of the yard. I will turn left to bring that wall and the tires closer to the center of my path.", + "After turning, the graffiti wall with the two tires is now in front of me along the raised walkway. The ground between us is clear, so I will move forward to close in on them.", + "The tires and the red graffiti are noticeably larger and sit slightly left of my center of view, confirming my heading is good. I will continue forward to keep shrinking the remaining gap.", + "I am now close enough to see both tire treads and the crates beside them clearly at the base of the graffiti wall. Another step forward should bring me nearer to the tires themselves.", + "The pair of tires leaning on the graffiti brickwork is directly ahead of me and still a couple of steps away. I will keep advancing along the walkway to reduce that remaining distance.", + "The brick wall with the graffiti now fills much of my view and the two tires are plainly resting against it just left of center. I will step forward again to get within close range of them.", + "The tires and the sack and crates beside them are close now, low in my view against the graffiti bricks. I will advance once more to finish closing the small remaining gap to the tires.", + "The two tires leaning on the graffiti wall are now close, but they sit off to the left edge of my view while the stacked boxes and painted brick fill the center. I will turn left to bring the pair of tires into the middle of my heading before closing the last bit of distance.", + "The turn has put the two tires roughly ahead of me, resting against the graffiti wall with clear paving between us. I will move forward to close the remaining gap along this heading.", + "The two tires now fill the lower part of my view and the peeling graffiti wall behind them is close enough to read its texture. One more short step forward should place me right at the tires, so I will advance again.", + "The two tires are directly at my feet, leaning against the graffiti wall right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t0_b/infos.json b/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5011ea73248ebb81b5d764718a79a8fb554eeee3 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t0_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Head toward the table under the blue canopy.", + "Type": 0, + "Start_Pose": [ + -0.981, + 2080.207, + 262.979, + 0.0, + -176.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -0.981, + 2080.207, + 262.979, + 0.0, + -176.64, + 0.0 + ], + [ + -126.624, + 2072.831, + 263.73, + 0.0, + -176.64, + 0.0 + ], + [ + -252.266, + 2065.454, + 262.907, + 0.0, + -176.64, + 0.0 + ], + [ + -252.266, + 2065.454, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -363.02, + 2005.67, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -473.773, + 1945.885, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -584.527, + 1886.101, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -695.28, + 1826.317, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -806.034, + 1766.533, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -916.787, + 1706.748, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -916.787, + 1706.748, + 262.907, + 0.0, + -126.64, + 0.0 + ], + [ + -991.898, + 1605.759, + 262.907, + 0.0, + -126.64, + 0.0 + ], + [ + -1067.009, + 1504.769, + 262.907, + 0.0, + -126.64, + 0.0 + ], + [ + -1067.009, + 1504.769, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -1067.009, + 1504.769, + 262.907, + 0.0, + -151.64, + 0.0 + ] + ], + "Rationale": [ + "From this open yard I can already pick out the blue canopy ahead on the right side of the lane, with wooden tables standing under and beside it. It is still far off, so I will step forward along the open ground to begin closing that distance.", + "The blue canopy with the tables under it has grown slightly larger and stays off to my right, so my general heading down this lane is still useful. I will continue forward to shorten the remaining gap before making any turn.", + "The blue canopy and its tables sit well to the right of where I am facing, so walking straight on would carry me past them down the alley. I will turn right to bring the canopy toward the middle of my view and set a heading that points at it.", + "After the turn the blue canopy and the wooden tables beneath it lie roughly ahead of me across the open yard. The ground between us is clear, so I will step forward along this heading to close in.", + "The blue canopy is noticeably nearer and I can make out the individual table tops standing in front of it. Nothing blocks the path, so I will keep walking forward on this heading.", + "The blue canopy and the neighbouring striped stall now fill a good part of my view, and the tables under the blue one are clearly the target. I will continue forward to reduce the remaining distance.", + "I am close enough now to see the canopy poles and the benches and tables set on the raised platform beneath the blue fabric. Since I am still several paces short of it, I will step forward again.", + "The blue canopy stands directly ahead with its tables and a crate on the ground at its edge, so my heading is good. I will move forward once more to bring myself up to the tables under it.", + "The blue canopy now dominates the middle of my view with its wooden tables clearly visible beneath it, so it is confirmed as my target. I still have a short stretch of open ground between me and the stall, so I will step forward again to close that gap.", + "From here the canopy's closed side and its raised platform edge sit almost straight in front of me, while the open side with the tables lies off to my right. I will turn right so my heading lines up with that open approach rather than the fabric wall.", + "With the blue canopy now off to my left and clear sandy ground opening ahead, my path along the front of the stall is unobstructed. I will step forward to draw level with the tables under the canopy.", + "The canopy is very close now, its blue roof and one bench filling the left of my view, but I am still just short of its open front. One more step forward should bring me right up to the table area under it.", + "I am standing at the edge of the blue canopy, but its panels and the neighbouring striped stall take up most of my view while the tables sit to my left. Turning left should put the sheltered tables squarely in front of me.", + "The wooden tables sit directly in front of me beneath the blue canopy. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t0_c/infos.json b/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..072a6a9ee05a1f1ccf52ebf2ac1e5b7164762680 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t0_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the stacked wooden pallets on the ground.", + "Type": 0, + "Start_Pose": [ + -0.981, + 2080.207, + 262.979, + 0.0, + -176.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -0.981, + 2080.207, + 262.979, + 0.0, + -176.64, + 0.0 + ], + [ + -126.624, + 2072.831, + 263.73, + 0.0, + -176.64, + 0.0 + ], + [ + -252.266, + 2065.454, + 262.907, + 0.0, + -176.64, + 0.0 + ], + [ + -252.266, + 2065.454, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -363.02, + 2005.67, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -473.773, + 1945.885, + 262.907, + 0.0, + -151.64, + 0.0 + ], + [ + -473.773, + 1945.885, + 262.907, + 0.0, + -126.64, + 0.0 + ], + [ + -548.884, + 1844.896, + 262.907, + 0.0, + -126.64, + 0.0 + ], + [ + -623.995, + 1743.907, + 282.687, + 0.0, + -126.64, + 0.0 + ], + [ + -623.995, + 1743.907, + 282.687, + 0.0, + -126.64, + 0.0 + ], + [ + -623.995, + 1743.907, + 282.687, + 0.0, + -126.64, + 0.0 + ] + ], + "Rationale": [ + "I can see a stack of dark wooden pallets with grey blocks on top far ahead on the right side of the open yard, beside the yellow awning. Nothing blocks the paved stretch in front of me, so I will move forward to start closing that distance.", + "The pallet stack on the right has grown slightly larger, confirming I am heading into the yard rather than away from it. The path ahead is still clear pavement, so I will continue straight to shorten the remaining gap.", + "My heading is carrying me down the open lane while the pallet stack sits well off to my right, near the raised curb under the yellow awning. I will turn right to bring the pallets closer to the center of my view before advancing again.", + "The stacked pallets with the grey blocks are now clearly in view ahead on my right, resting on the ground beside the curved curb. With the heading improved and open pavement between us, I will move forward to close in.", + "The pallets and the grey blocks on top are noticeably nearer and larger on the right, so my approach line is working. I will keep moving forward since there is still a gap of open ground before reaching them.", + "The pallet stack sits to my right against the yellow canopy while my heading still points past it toward the blue tents. I will turn right again to place the stack squarely in front of me for a straight final approach.", + "The stacked pallets with their grey crates are now centered ahead of me on the raised paved area. I will move forward along this heading to cut the remaining distance.", + "The pallets fill much of my forward view now, and I can make out individual boards and the crate resting on top. One more step forward should bring me right up against the stack for a close standing position.", + "The crate-topped pallet stack is now directly in front of me, filling the lower right of my view, but its wooden slats and the ground it rests on are cut off at the bottom edge. I will tilt my view downward to bring the stacked pallets and their base fully into sight and confirm I am standing right at them.", + "The stacked wooden pallets on the ground fill my view at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t5_a_p/infos.json b/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..264091b0cdd66dd12d1b0c38ae93e7e51510181d --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000001_y002080_z000263_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the candelabra at the two tires leaning against the graffiti wall.", + "Type": 5, + "Start_Pose": [ + -0.981, + 2080.207, + 262.979, + 0, + -176.64, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + -790.423, + 2401.126, + 207.68, + 0, + 60, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -0.981, + 2080.207, + 262.979, + 0, + -176.64, + 0 + ], + [ + -126.624, + 2072.831, + 263.73, + 0.0, + -176.64, + 0.0 + ], + [ + -252.266, + 2065.454, + 262.907, + 0.0, + -176.64, + 0.0 + ], + [ + -252.266, + 2065.454, + 262.907, + 0.0, + 158.36, + -0.0 + ], + [ + -369.255, + 2111.867, + 262.907, + 0.0, + 158.36, + -0.0 + ], + [ + -486.243, + 2158.281, + 262.907, + 0.0, + 158.36, + -0.0 + ], + [ + -603.231, + 2204.694, + 262.907, + 0.0, + 158.36, + -0.0 + ], + [ + -603.231, + 2204.694, + 262.907, + 0.0, + 133.36, + -0.0 + ], + [ + -689.644, + 2296.201, + 282.818, + 0.0, + 133.36, + -0.0 + ], + [ + -689.644, + 2296.201, + 282.818, + 0.0, + 133.36, + -0.0 + ], + [ + -689.644, + 2296.201, + 282.818, + 0.0, + 133.36, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -790.423, + 2401.126, + 207.68, + 0.0, + 60.0, + -0.0 + ], + [ + -790.423, + 2401.126, + 207.68, + 0.0, + 60.0, + -0.0 + ], + [ + -790.423, + 2401.126, + 207.68, + 0.0, + 60.0, + -0.0 + ], + [ + -790.423, + 2401.126, + 207.68, + 0.0, + 60.0, + -0.0 + ], + [ + -790.423, + 2401.126, + 207.68, + 0.0, + 60.0, + -0.0 + ], + [ + -790.423, + 2401.126, + 207.68, + 0.0, + 60.0, + -0.0 + ], + [ + -790.423, + 2401.126, + 207.68, + 0.0, + 60.0, + -0.0 + ], + [ + -790.423, + 2401.126, + 207.68, + 0.0, + 60.0, + -0.0 + ], + [ + -790.423, + 2401.126, + 207.68, + 0.0, + 60.0, + -0.0 + ], + [ + -704.75, + 2281.096, + 253.014, + -28.202, + -176.495, + 1.862 + ], + [ + -704.75, + 2281.096, + 253.014, + -28.202, + -176.495, + 1.862 + ] + ], + "PD_Dist_2D": [ + 852.2, + 740.5, + 634.3, + 634.3, + 510.9, + 389.2, + 271.3, + 271.3, + 145.5, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the graffiti-marked wall ahead on the left with a pair of tires leaning against it, which matches the landmark named in my task. The candelabra should be sitting near those tires, but at this distance it is too small to resolve. I will walk forward along the open yard to close the gap.", + "The tires against the graffiti wall are noticeably larger now, and a small golden object stands on the raised walkway beside them. That is likely the candelabra I need, so I will continue advancing to bring it within reach.", + "The candelabra now reads clearly as the gold stand next to the tires, but it sits well off to my left while I am heading straight down the open yard. Walking on this heading would carry me past it. I will turn left to put the target ahead of me.", + "The turn has brought the graffiti wall, the two tires, and the candelabra into the forward part of my view. There is clear paved ground between me and them, so I will step forward to shorten the distance.", + "The candelabra beside the tires is bigger and closer, but it is still several paces away on the raised walkway. Nothing blocks the path in front of me, so I will keep walking toward it.", + "The candelabra and the tires now fill much of the left side of my view, yet I am still short of grasping range. I will advance again to get close enough for an interaction.", + "The candelabra sits toward the left edge of my view while my heading runs along the wall rather than at it. I will turn left so the candelabra and the tires behind it are centered before I make my final step.", + "The candelabra is now centered in front of me with the two tires against the graffiti wall just beyond it. It still looks a step too far for a reliable grasp, so I will move forward once more to stand directly over it.", + "The gold candelabra with its three white candles now stands directly in front of me at the very bottom of my view, on the same paving slab, with the two tires against the graffiti wall just beyond it. This is close enough to reach it, so I will attempt the grasp now rather than step nearer and risk bumping it.", + "The candelabra is now held in my hands rather than resting on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000172_y002012_z000263_t3_a/infos.json b/dataset/trajectory/MiddleEast/task_x-000172_y002012_z000263_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..926fe078974ab3188864608225f36afb52ba4da0 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000172_y002012_z000263_t3_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Walk to the stacked tires against the wall, then head toward the blue tarp shelter.", + "Type": 3, + "Start_Pose": [ + -171.841, + 2012.289, + 262.897, + 0.0, + 171.84, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -171.841, + 2012.289, + 262.897, + 0.0, + 171.84, + -0.0 + ], + [ + -171.841, + 2012.289, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -277.203, + 2081.131, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -382.566, + 2149.973, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -487.928, + 2218.816, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -593.291, + 2287.658, + 282.753, + 0.0, + 146.84, + -0.0 + ], + [ + -698.653, + 2356.5, + 282.753, + 0.0, + 146.84, + -0.0 + ], + [ + -804.015, + 2425.342, + 282.753, + 0.0, + 146.84, + -0.0 + ], + [ + -909.378, + 2494.185, + 285.982, + 0.0, + 146.84, + -0.0 + ], + [ + -909.378, + 2494.185, + 285.982, + 0.0, + 146.84, + -0.0 + ], + [ + -832.026, + 2443.644, + 283.018, + 0.0, + 146.84, + -0.0 + ], + [ + -832.026, + 2443.644, + 283.018, + 0.0, + 171.84, + -0.0 + ], + [ + -832.026, + 2443.644, + 283.018, + 0.0, + -163.16, + 0.0 + ], + [ + -832.026, + 2443.644, + 283.018, + 0.0, + -138.16, + 0.0 + ], + [ + -832.026, + 2443.644, + 283.018, + 0.0, + -113.16, + 0.0 + ], + [ + -832.026, + 2443.644, + 283.018, + 0.0, + -88.16, + 0.0 + ], + [ + -827.984, + 2317.85, + 283.018, + 0.0, + -88.16, + 0.0 + ], + [ + -823.943, + 2192.055, + 262.907, + 0.0, + -88.16, + 0.0 + ], + [ + -819.902, + 2066.261, + 262.907, + 0.0, + -88.16, + 0.0 + ], + [ + -815.861, + 1940.467, + 262.907, + 0.0, + -88.16, + 0.0 + ], + [ + -815.861, + 1940.467, + 262.907, + 0.0, + -113.16, + 0.0 + ], + [ + -865.361, + 1824.751, + 262.907, + 0.0, + -113.16, + 0.0 + ], + [ + -865.361, + 1824.751, + 262.907, + 0.0, + -138.16, + 0.0 + ], + [ + -959.128, + 1740.797, + 262.907, + 0.0, + -138.16, + 0.0 + ], + [ + -1052.894, + 1656.842, + 262.907, + 0.0, + -138.16, + 0.0 + ], + [ + -1134.831, + 1573.459, + 264.003, + 0.0, + -138.16, + 0.0 + ], + [ + -1138.019, + 1495.04, + 262.907, + 0.0, + -138.16, + 0.0 + ], + [ + -1138.019, + 1495.04, + 262.907, + 0.0, + -138.16, + 0.0 + ] + ], + "Rationale": [ + "The pair of tires propped at the base of the graffitied brick wall sits off to my left, while my body faces straight down the open yard. Turning left should swing that wall and the tires into the center of my view so I can walk a straight line to them.", + "The tires against the brick wall now sit near the middle of my view with clear paved ground between me and them. Nothing blocks the lane, so I will walk forward to begin closing that distance.", + "The tires and the small block beside them have grown noticeably and my heading is still pointed right at them. I will keep walking forward since the direct line remains open.", + "The brick wall now fills much of the frame and the two tires leaning on it are clearly resolved slightly right of center. Another forward step should carry me further across the raised paving toward them.", + "I can now make out the tread and rims of the stacked tires, along with the pale boxes stacked next to them. The approach is still clean, so I will step forward again to shorten the gap.", + "The tires, the sack and the boxes against the graffiti wall are close enough that they dominate my view, but I am still a few paces short of standing at them. I will walk forward once more.", + "The two tires leaning on the brickwork are almost within arm's reach and the wall corner is directly ahead of me. A further step forward should bring me right up beside them.", + "The tires now sit low and large in front of me with only a little paving left before the wall. One more step forward should place me directly at the tires stacked against it.", + "The pair of worn tires leaning together against the brick wall now fills my view from barely a step away. I have reached the stacked tires by the wall, so I mark arriving here, and my next destination is the blue tarp shelter out in the open courtyard.", + "I am pressed close into this corner, with the tires and the wall taking up almost everything ahead of me. Stepping back should open some distance from the wall so I can swing my heading around toward the courtyard without scraping the corner.", + "With a little clearance from the wall, the tires and the sacks and boxes beside them still block my forward line. Turning right starts swinging my heading away from this corner toward the open side of the yard where the tarp shelter stands.", + "The tires have slid to my left edge and the stacked boxes against the graffiti wall are now centered, so I am still facing masonry. I will keep rotating right to bring the open courtyard into view.", + "The wall corner is falling away on my left and a gap of open yard with the teal building beyond has appeared at my right edge. Another turn right should carry that opening toward the middle of my view.", + "The courtyard is open in front of me now, and I can pick out the pale blue tarp canopy beside the green one across the wet ground. A further turn right will clear the last of the brick pier from my path.", + "The building edge is nearly out of my way and the tarp canopies sit ahead across the yard, but the route toward them runs slightly to my right around the stalls. One more turn right should set me onto that open lane.", + "I am clear of the corner with the open courtyard stretching in front of me and the blue tarp canopy standing off to my left beyond the benches. Walking forward should close the distance across this yard toward the shelters.", + "With the wall of stacked tires behind me, the blue tarp canopy over the wooden benches stands ahead and to my left across the open yard. The gap between the yellow tent on my right and the tables is clear, so I walk forward to close that distance.", + "The blue canopy and the pale green tent beside it have grown noticeably on my left, confirming I am closing on that side of the yard. The lane between the stacked pallets on the right and the benches remains open, so I keep walking forward.", + "I am now level with the yellow tent and the pallet stacks on my right, and the blue tarp shelter still sits further along on the left. Another step forward should bring me past this clutter to where I can face the shelter directly.", + "My heading is carrying me along the front of the yellow tent, while the blue tarp shelter with its benches sits off to my left. I turn left to bring that blue canopy into the center of my view before advancing again.", + "The blue tarp shelter and its wooden tables now sit clearly in the left half of my view with open ground between us. I step forward to close that remaining gap toward it.", + "The blue tarp shelter is close now, but its frame and open side still sit to my left while my heading points at the gap beside the green tent. I turn left again to square up with the blue canopy itself.", + "The blue tarp shelter with its rows of wooden benches now sits squarely ahead of me, its frame centered in view. I walk forward to reach it.", + "The blue tarp and its supporting frame fill most of my view, with the open side and the benches beneath it just a couple of paces off. I keep walking forward to step in under the canopy.", + "The blue tarp canopy now frames my view overhead, with its sheeting hanging close on my left and the wooden benches running beneath it. I am at the mouth of the shelter rather than inside it, so I will step forward to move under the cover itself.", + "I am under the blue tarp now, its ribbed roof directly above and its sheeted sides on both flanks, with benches crowding my left. A short step further should place me squarely within the shelter rather than at its edge.", + "I stand inside the blue tarp shelter, its sheeted walls and roof enclosing me on every side. The task is complete, so there is nothing further to reach." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000172_y002012_z000263_t3_b/infos.json b/dataset/trajectory/MiddleEast/task_x-000172_y002012_z000263_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4b1bc018f76112f9b6ec203d222fc7c3b010bcca --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000172_y002012_z000263_t3_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Head toward the graffiti near the stacked tires, then proceed to the blue wooden door on the left.", + "Type": 3, + "Start_Pose": [ + -171.841, + 2012.289, + 262.897, + 0.0, + 171.84, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -171.841, + 2012.289, + 262.897, + 0.0, + 171.84, + -0.0 + ], + [ + -296.426, + 2030.153, + 262.907, + 0.0, + 171.84, + -0.0 + ], + [ + -421.011, + 2048.017, + 262.907, + 0.0, + 171.84, + -0.0 + ], + [ + -545.595, + 2065.881, + 262.907, + 0.0, + 171.84, + -0.0 + ], + [ + -545.595, + 2065.881, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -650.958, + 2134.724, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -756.32, + 2203.566, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -861.682, + 2272.408, + 282.198, + 0.0, + 146.84, + -0.0 + ], + [ + -967.045, + 2341.25, + 282.799, + 0.0, + 146.84, + -0.0 + ], + [ + -967.045, + 2341.25, + 282.799, + 0.0, + 146.84, + -0.0 + ], + [ + -967.045, + 2341.25, + 282.799, + 0.0, + 121.84, + -0.0 + ], + [ + -967.045, + 2341.25, + 282.799, + 0.0, + 96.84, + -0.0 + ], + [ + -967.045, + 2341.25, + 282.799, + 0.0, + 71.84, + -0.0 + ], + [ + -921.518, + 2455.153, + 282.907, + 0.0, + 71.84, + -0.0 + ], + [ + -882.292, + 2574.743, + 286.291, + 0.0, + 71.84, + -0.0 + ], + [ + -843.065, + 2694.333, + 287.481, + 0.0, + 71.84, + -0.0 + ], + [ + -843.065, + 2694.333, + 287.481, + 0.0, + 71.84, + -0.0 + ] + ], + "Rationale": [ + "Across the open yard I can already pick out the reddish and dark spray marks on the brick wall to my left, with two worn tires propped beneath them. That painted wall is where I need to get first, so I walk straight ahead to cut the distance across the courtyard.", + "The sprayed lettering and the pair of tires beneath it have grown noticeably larger on my left, confirming I am closing on them. The ground ahead is still clear paving, so I keep walking forward to gain more ground before I swing toward the wall.", + "The painted wall with its tires and small crates is now close on my left, but my heading still carries me past its face rather than into it. Another step forward should bring me level with the graffiti before I angle in toward it.", + "I am now abreast of the sprayed brickwork, yet it sits off to my left edge while I face down the open lane. I turn left to put the graffiti and the tires stacked below it squarely in front of me so I can walk straight in.", + "The turn worked: the graffiti, the leaning tires and the crates now sit centered ahead of me, with a blue wooden door further along the same wall on my left. With the path lined up and clear, I walk forward to close on the painted brickwork.", + "The orange script and the dark tag fill more of the wall now, and the tires and crates below them are close enough to make out their markings. I am still a few paces short of standing at the graffiti, so I keep walking straight in.", + "The sprayed wall now dominates my view and the tires with the stacked crates sit just off to my left front. A short further step should place me right at the graffiti rather than a stride away from it.", + "The brick courses behind the tag are individually visible and the crates beside the tires are within arm's reach ahead. One more step forward should bring me right up against the graffiti, close enough to count as standing at it.", + "The sprayed red and brown lettering fills the brick wall right in front of me, with the stacked tires just at my left shoulder. I have reached the graffiti beside those tires. I mark reaching it, then turn my attention to the blue wooden door off to my left.", + "I am pressed close to the painted brickwork, so nothing of the blue door is in front of me. The door sits somewhere off to my left along this yard, so I will pivot left to swing my heading away from the wall and start bringing that side into view.", + "The pivot has opened the view past the tires, and a pale wall with a bluish edge is creeping in on the far left. The blue wooden door is still beyond my field of view, so I will keep turning left to bring it into the center.", + "The blue-framed wooden door is now in sight, set in the pale wall to the left of the tires, but it sits left of my center rather than ahead of me. One more pivot left should square my heading onto it before I walk over.", + "The blue wooden door now sits close to the middle of my view across open paving, with nothing between me and it. I will walk straight ahead to close that gap.", + "The door has grown noticeably and its handle is now readable, so my heading is carrying me straight onto it. A few more paces of open paving remain, so I will keep walking forward.", + "The blue-framed door now fills most of my view and its plank seams and handle are close at hand. One more step forward should bring me right up to the threshold.", + "The blue wooden door's planks and frame fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000172_y002012_z000263_t5_a_pd/infos.json b/dataset/trajectory/MiddleEast/task_x-000172_y002012_z000263_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..474a4af62abdcb3a5abcd6672db127f9a69c34fb --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000172_y002012_z000263_t5_a_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Grab the tomato at the stacked tires against the wall, then set it down near the blue tarp shelter.", + "Type": 5, + "Start_Pose": [ + -171.841, + 2012.289, + 262.897, + 0, + 171.84, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -817.451, + 2421.113, + 247.864, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -171.841, + 2012.289, + 262.897, + 0, + 171.84, + 0 + ], + [ + -296.426, + 2030.153, + 262.907, + 0.0, + 171.84, + -0.0 + ], + [ + -421.011, + 2048.017, + 262.907, + 0.0, + 171.84, + -0.0 + ], + [ + -421.011, + 2048.017, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -526.373, + 2116.86, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -631.735, + 2185.702, + 262.907, + 0.0, + 146.84, + -0.0 + ], + [ + -737.098, + 2254.544, + 275.722, + 0.0, + 146.84, + -0.0 + ], + [ + -737.098, + 2254.544, + 275.722, + 0.0, + 146.84, + -0.0 + ], + [ + -737.098, + 2254.544, + 275.722, + 0.0, + 171.84, + -0.0 + ], + [ + -737.098, + 2254.544, + 275.722, + 0.0, + -163.16, + 0.0 + ], + [ + -737.098, + 2254.544, + 275.722, + 0.0, + -138.16, + 0.0 + ], + [ + -737.098, + 2254.544, + 275.722, + 0.0, + -113.16, + 0.0 + ], + [ + -786.598, + 2138.828, + 262.907, + 0.0, + -113.16, + 0.0 + ], + [ + -836.098, + 2023.112, + 262.907, + 0.0, + -113.16, + 0.0 + ], + [ + -885.599, + 1907.396, + 262.907, + 0.0, + -113.16, + 0.0 + ], + [ + -935.099, + 1791.68, + 262.907, + 0.0, + -113.16, + 0.0 + ], + [ + -984.6, + 1675.964, + 262.907, + 0.0, + -113.16, + 0.0 + ], + [ + -1034.1, + 1560.248, + 262.907, + 0.0, + -113.16, + 0.0 + ], + [ + -1034.1, + 1560.248, + 262.907, + 0.0, + -138.16, + 0.0 + ], + [ + -1127.866, + 1476.293, + 262.907, + 0.0, + -138.16, + 0.0 + ], + [ + -1198.182, + 1390.75, + 270.826, + 0.0, + -138.16, + 0.0 + ], + [ + -1144.541, + 1438.778, + 263.125, + 0.0, + -138.16, + 0.0 + ], + [ + -1144.541, + 1438.778, + 263.125, + 0.0, + -138.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -817.451, + 2421.113, + 247.864, + 0.0, + 0.0, + 0.0 + ], + [ + -817.451, + 2421.113, + 247.864, + 0.0, + 0.0, + 0.0 + ], + [ + -817.451, + 2421.113, + 247.864, + 0.0, + 0.0, + 0.0 + ], + [ + -817.451, + 2421.113, + 247.864, + 0.0, + 0.0, + 0.0 + ], + [ + -817.451, + 2421.113, + 247.864, + 0.0, + 0.0, + 0.0 + ], + [ + -817.451, + 2421.113, + 247.864, + 0.0, + 0.0, + 0.0 + ], + [ + -817.451, + 2421.113, + 247.864, + 0.0, + 0.0, + 0.0 + ], + [ + -748.267, + 2236.334, + 233.014, + -28.202, + -163.015, + 1.862 + ], + [ + -739.654, + 2232.37, + 233.286, + -28.189, + -138.003, + 1.872 + ], + [ + -730.72, + 2232.942, + 232.619, + -28.215, + -113.033, + 1.849 + ], + [ + -723.465, + 2231.122, + 232.673, + -14.092, + -95.816, + 6.87 + ], + [ + -717.19, + 2246.503, + 232.689, + -28.208, + -63.018, + 1.851 + ], + [ + -766.685, + 2131.069, + 233.11, + -28.189, + -63.002, + 1.869 + ], + [ + -816.086, + 2015.61, + 233.493, + -28.205, + -63.025, + 1.859 + ], + [ + -865.561, + 1899.933, + 233.646, + -28.191, + -63.01, + 1.872 + ], + [ + -915.137, + 1784.067, + 233.421, + -28.206, + -63.023, + 1.863 + ], + [ + -964.743, + 1668.083, + 232.913, + -28.203, + -63.02, + 1.855 + ], + [ + -1014.338, + 1552.15, + 232.473, + -28.201, + -63.013, + 1.862 + ], + [ + -1020.0, + 1545.729, + 233.625, + -28.203, + -88.019, + 1.863 + ], + [ + -1112.932, + 1460.994, + 233.554, + -28.183, + -88.0, + 1.88 + ], + [ + -1183.572, + 1375.159, + 232.804, + -28.187, + -88.007, + 1.871 + ], + [ + -1196.692, + 1392.084, + 278.125, + 0.0, + -138.16, + 0.0 + ], + [ + -1196.692, + 1392.084, + 278.125, + 0.0, + -138.16, + 0.0 + ] + ], + "PD_Dist_2D": [ + 764.2, + 651.4, + 544.4, + 544.4, + 421.1, + 299.8, + 184.9, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.2, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato sits on the raised walkway ahead on the left, beside the stacked tires against the brick wall. It is still far off across the open yard, so I will walk forward to close that gap before worrying about fine alignment.", + "The tomato and the tires against the wall have grown noticeably larger, confirming my heading is bringing me nearer. I will keep walking forward since nothing blocks the path across this yard.", + "The tomato now sits well off to my left edge while my heading runs down the yard past it. I will turn left to bring it toward the center of my view so my remaining steps carry me straight to it.", + "After turning, the tomato and the tires stacked against the wall are centered in front of me. With a clear approach line, I will step forward to shorten the distance.", + "The tomato is clearly larger and still framed ahead of me near the tires and the boxes. I will continue walking forward, as I am not yet close enough to reach it.", + "The tomato now fills the lower left of my view, just short of arm's reach beside the tires. One more step forward should place it directly in front of me for a grasp.", + "The tomato is now immediately in front of me at the base of the wall, close enough that it dominates the near foreground. I will attempt to pick it up so I can carry it toward the blue tarp shelter.", + "The grasp worked, since the tomato is now held in my hands rather than resting on the walkway. The blue tarp shelter lies back across the yard behind me, so I will turn right to begin swinging my heading around toward it.", + "The tomato is secure in my hands and the brick wall with the stacked tires still fills most of my view, so nothing here helps me any longer. The open courtyard lies off to my right, so I keep rotating right to swing my heading away from this wall and toward that open ground.", + "Turning has opened the courtyard ahead, with the teal building, wooden tables and a hint of tarp canopy off to the right side of my view. Since the shelter area is not yet centered, I continue turning right to bring it into the middle of my heading.", + "The tarp shelters with their tables now sit in front of me, but they still lean toward the left of center while more of the yard extends to my right. One further right turn should settle my heading onto the lane that runs alongside those canopies before I start walking.", + "My heading is now down the open lane, with the blue tarp shelter and its benches on the left and the yellow canopy on the right. Carrying the tomato, I step forward to close the distance toward that blue shelter.", + "The blue tarp shelter has grown larger ahead-left and the lane between it and the yellow canopy is still unobstructed. I keep walking forward to bring the drop-off area within reach.", + "I can now make out the individual benches and the frame poles under the blue tarp just ahead on my left, so I am closing in on the right area. Nothing blocks the sandy strip in front of me, so I advance again.", + "The blue tarp shelter now dominates the left of my view and its open side is coming level with me. I step forward once more to reach a position beside its entrance before setting the tomato down.", + "I am nearly level with the blue tarp shelter, its canopy and benches spread across my left, but I am still passing along its outer edge. Another step forward should place me at the shelter's open front where I can put the tomato down nearby.", + "The tomato is still secure in my grip, and the blue tarp canopy now fills the left side of the lane while its open bay lies just ahead. I will step forward again to draw level with that shelter before committing to a heading change.", + "I am now beside the blue tarp shelter, whose frame and benches sit to my left while my heading still points down the lane past it. Turning left should aim me into the shelter's open side so the tomato can be set down within it.", + "The turn has put the blue tarp canopy and its benches directly in front of me, with open floor under the frame. I will walk forward to get inside the shelter's footprint so the drop lands near it rather than out in the lane.", + "I am under the tarp now, with the blue panels wrapping the view and paved floor immediately ahead. One more step forward should place me well within the shelter, close enough that releasing the tomato leaves it clearly at this spot.", + "The tarp panel is right in front of me, confirming I am inside the blue shelter with the tomato still in hand. This is the intended destination, so I will release it here and expect it to come to rest within the shelter.", + "The tomato now rests on the ground inside the blue tarp shelter and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000347_y001833_z000270_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x-000347_y001833_z000270_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10033be98d3ed2a7d3d82e4192786f9eadbc1fbc --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000347_y001833_z000270_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Discover the two tires lined up side by side against the brick wall, then reach that location.", + "Type": 1, + "Start_Pose": [ + -347.353, + 1833.02, + 269.659, + 0.0, + -138.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -347.353, + 1833.02, + 269.659, + 0.0, + -138.4, + 0.0 + ], + [ + -347.353, + 1833.02, + 269.659, + 0.0, + -163.4, + 0.0 + ], + [ + -347.353, + 1833.02, + 269.659, + 0.0, + 171.6, + -0.0 + ], + [ + -347.353, + 1833.02, + 269.659, + 0.0, + 146.6, + -0.0 + ], + [ + -452.426, + 1902.303, + 262.907, + 0.0, + 146.6, + -0.0 + ], + [ + -557.499, + 1971.586, + 262.907, + 0.0, + 146.6, + -0.0 + ], + [ + -662.572, + 2040.869, + 262.907, + 0.0, + 146.6, + -0.0 + ], + [ + -662.572, + 2040.869, + 262.907, + 0.0, + 121.6, + -0.0 + ], + [ + -728.521, + 2148.066, + 262.907, + 0.0, + 121.6, + -0.0 + ], + [ + -794.469, + 2255.264, + 276.164, + 0.0, + 121.6, + -0.0 + ], + [ + -860.417, + 2362.461, + 282.752, + 0.0, + 121.6, + -0.0 + ], + [ + -926.366, + 2469.659, + 285.595, + 0.0, + 121.6, + -0.0 + ], + [ + -992.314, + 2576.856, + 286.252, + 0.0, + 121.6, + -0.0 + ], + [ + -992.314, + 2576.856, + 286.252, + 0.0, + 121.6, + -0.0 + ], + [ + -992.314, + 2576.856, + 286.252, + 0.0, + 121.6, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, my view is dominated by stacked pallets, a yellow tarp and a concrete wall to my right, with no tires against any brick wall in sight. The open courtyard continues off to my left, so I will turn left to begin a scan in that direction for the pair of tires.", + "Turning has opened up a wider courtyard with a shuttered shopfront and buildings on the left, but I still cannot make out two tires resting against a brick wall. Continuing the same leftward scan should reveal more of that building frontage where such objects would likely sit.", + "Along the brick-faced building on the left I can now see round dark shapes low against the wall that look like tires beside a concrete block. I will keep turning left to bring that spot toward the center of my view before moving on it.", + "The building with the graffiti and the shuttered front is now ahead of me, and the tires stacked at its base sit just left of the shutter. The ground between me and that wall looks clear, so I will walk forward to close the distance.", + "The tires leaning against the wall beside the concrete blocks are larger in my view, confirming I am heading the right way. I will step forward again to keep closing on them.", + "I can now clearly see the pair of tires side by side at the foot of the brick wall, just past the concrete blocks. Another step forward should bring me closer to that spot along the raised walkway.", + "The tires are now off to my left along the wall while my heading is carrying me past them down the alley. I will turn left to face the wall section where they rest so I can approach them directly.", + "The two tires against the brick wall are now roughly centered ahead of me, beside the stacked blocks and the doorway to the left. The paved walkway in front is unobstructed, so I will walk forward toward them.", + "The pair of tires leaning side by side against the brick wall is clearly ahead of me, just right of the recessed doorway. My heading already lines up with them, so I will keep walking forward to close the remaining distance.", + "The two tires now appear larger against the brick wall, confirming the last step brought me nearer without drifting off line. Nothing blocks the open pavement in front of me, so another forward step should continue shrinking the gap.", + "Both tires are now plainly visible side by side at the base of the brick wall, near the corner with the plaster wall and door. I am still a few paces short of standing at that spot, so I will step forward again.", + "The tires now fill much of the lower right of my view, so I am nearly on top of the target location. One more forward step should place me right at the wall beside them.", + "I am standing right against the wall now, and only the top of one tire remains at the bottom edge of my view while the rest is below my line of sight. Tilting my head down should bring both tires fully into view to confirm I have reached them.", + "Both tires sit side by side against the brick wall directly at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000347_y001833_z000270_t1_b/infos.json b/dataset/trajectory/MiddleEast/task_x-000347_y001833_z000270_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f78f6a6b4ab80f4378ab0e00dda69460442fbcf --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000347_y001833_z000270_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Once you locate the small wooden door near the pair of tires leaning against the wall, rather than the rolling shutter, approach it.", + "Type": 1, + "Start_Pose": [ + -347.353, + 1833.02, + 269.659, + 0.0, + -138.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -347.353, + 1833.02, + 269.659, + 0.0, + -138.4, + 0.0 + ], + [ + -347.353, + 1833.02, + 269.659, + 0.0, + -163.4, + 0.0 + ], + [ + -347.353, + 1833.02, + 269.659, + 0.0, + 171.6, + -0.0 + ], + [ + -347.353, + 1833.02, + 269.659, + 0.0, + 146.6, + -0.0 + ], + [ + -452.426, + 1902.303, + 262.907, + 0.0, + 146.6, + -0.0 + ], + [ + -557.499, + 1971.586, + 262.907, + 0.0, + 146.6, + -0.0 + ], + [ + -557.499, + 1971.586, + 262.907, + 0.0, + 121.6, + -0.0 + ], + [ + -623.448, + 2078.783, + 262.907, + 0.0, + 121.6, + -0.0 + ], + [ + -689.396, + 2185.981, + 262.907, + 0.0, + 121.6, + -0.0 + ], + [ + -755.344, + 2293.178, + 282.905, + 0.0, + 121.6, + -0.0 + ], + [ + -821.293, + 2400.376, + 282.905, + 0.0, + 121.6, + -0.0 + ], + [ + -821.293, + 2400.376, + 282.905, + 0.0, + 96.6, + -0.0 + ], + [ + -835.759, + 2525.401, + 286.059, + 0.0, + 96.6, + -0.0 + ], + [ + -850.224, + 2650.426, + 287.021, + 0.0, + 96.6, + -0.0 + ], + [ + -850.224, + 2650.426, + 287.021, + 0.0, + 96.6, + -0.0 + ] + ], + "Rationale": [ + "From here I only see stacked pallets, a yellow tarp, and a wall pressing in on my right, with no small wooden door or leaning tires anywhere in view. The open yard continues off to my left, so I will turn left to begin a consistent scan of that side of the courtyard.", + "Turning has opened up a flooded courtyard with buildings along the far side, and I can make out a shuttered storefront on the left, but the task tells me the rolling shutter is not my target. I will keep turning left in the same direction to bring the rest of that facade, where a small door and tires might sit, into view.", + "I now see the brick building with its rolling shutter, and just left of it there are two tires leaning against the base of the wall, which matches the cue in my task. I will continue turning left to bring that wall section and any small door beside the tires fully in front of me.", + "The wall with the leaning tires is now centered ahead, and to their left I can see a small pale door set into the plaster, clearly separate from the rolling shutter. I will walk forward across the open ground to close distance on that door.", + "The facade is larger in view now, with the tires and the small door on the left still clearly distinct from the shuttered bay on the right. I will keep walking straight ahead since the path across the paving is clear and the door is still some distance away.", + "The small door and the pair of tires sit toward the left side of my view while the rolling shutter dominates the center, so my heading is biased toward the wrong feature. I will turn left to place the wooden door and the tires nearer the middle of my path before continuing.", + "The turn has brought the small wooden door and the two tires against the wall into a much better position ahead of me, with the shutter pushed off to the right. I will walk forward along the paved strip to continue closing on that door.", + "The door is clearly ahead of me with the tires and stacked blocks resting along the wall to its right, and the ground between us is flat and clear. I will step forward again to shorten the remaining distance to the door.", + "The small pale wooden door sits ahead on the left of the brick wall, with the pair of tires leaning against that wall just to its right, which matches the target described in the task rather than the metal rolling shutter behind me. I will keep walking forward along the paved strip to close the remaining distance to that doorway.", + "The wooden door and the leaning tires now fill much more of my view, so I am clearly closing in on the correct entrance. Another step forward should bring me near enough that only a small heading adjustment remains.", + "I am now close to the wall, but the wooden door has drifted to the far left edge of my view while the tires and bricks dominate the center. Turning left should swing the doorway back into the middle of my view so I can walk straight at it.", + "The wooden plank door is now centered ahead of me with its frame and handle plainly in view, and the tires sit at the right edge as expected. I will step forward to close the last of the gap to the door.", + "The door now fills most of my view and its handle and hinges are clearly readable, so I am only a step from standing directly at it. One more forward step should place me right in front of the doorway.", + "The wooden plank door and its handle are directly in front of me at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000477_y000898_z000291_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x-000477_y000898_z000291_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cba58b5ad5db0710580f2e01c5e1cd34c1684b4b --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000477_y000898_z000291_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Locate the staircase tucked behind the large freestanding concrete partition, then approach its base.", + "Type": 1, + "Start_Pose": [ + -476.778, + 898.388, + 291.422, + 0.0, + 101.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -476.778, + 898.388, + 291.422, + 0.0, + 101.6, + -0.0 + ], + [ + -476.778, + 898.388, + 291.422, + 0.0, + 76.6, + -0.0 + ], + [ + -476.778, + 898.388, + 291.422, + 0.0, + 51.6, + -0.0 + ], + [ + -476.778, + 898.388, + 291.422, + 0.0, + 26.6, + -0.0 + ], + [ + -476.778, + 898.388, + 291.422, + 0.0, + 1.6, + -0.0 + ], + [ + -476.778, + 898.388, + 291.422, + 0.0, + -23.4, + 0.0 + ], + [ + -361.27, + 848.403, + 291.422, + 0.0, + -23.4, + 0.0 + ], + [ + -245.763, + 798.419, + 291.422, + 0.0, + -23.4, + 0.0 + ], + [ + -130.255, + 748.434, + 291.422, + 0.0, + -23.4, + 0.0 + ], + [ + -130.255, + 748.434, + 291.422, + 0.0, + -48.4, + 0.0 + ], + [ + -46.694, + 654.317, + 291.422, + 0.0, + -48.4, + 0.0 + ], + [ + 36.867, + 560.2, + 291.422, + 0.0, + -48.4, + 0.0 + ], + [ + 89.506, + 467.37, + 291.422, + 0.0, + -48.4, + 0.0 + ], + [ + 173.067, + 373.253, + 291.422, + 0.0, + -48.4, + 0.0 + ], + [ + 257.634, + 280.494, + 304.77, + 0.0, + -48.4, + 0.0 + ], + [ + 257.634, + 280.494, + 304.77, + 0.0, + -48.4, + 0.0 + ] + ], + "Rationale": [ + "A tall corrugated panel fills the right side of my view and blocks most of the courtyard, so I cannot see any staircase from here. I will turn left to sweep my view across the open floor and the walls beyond that panel.", + "The rotation has exposed more of the curved room with a rolling shutter and windows, but still no stairway. I will keep turning left in the same direction to continue the scan toward the unseen part of this space.", + "Now I can see a blue framed doorway and paneled walls, yet the target staircase is still not in sight. I will continue the left sweep to reveal the remaining side of the room where a partition may be hiding it.", + "The doorway and the concrete blocks along the paneled wall are centered, but no stairway appears in this heading. I will turn left again to bring the darker area at the far edge of my view into focus.", + "At the left edge I can now make out a shadowed recess with what looks like the lower steps of a stair set behind a heavy concrete mass. I will turn left once more to bring that opening toward the center of my view before advancing.", + "The staircase is now visible in the shadowed gap beside the large freestanding concrete partition on my left, so the search is settled. I will walk forward across the open floor to close distance toward that recess.", + "The stair treads inside the recess look slightly larger, confirming that my heading is carrying me toward the partition and the stairwell behind it. I will keep walking forward along the open ground to close more of the gap.", + "The staircase behind the concrete partition is clearly nearer and slipping toward the left side of my view as I advance, and the paneled wall with its blocks stays clear on my right. I will continue walking forward before I need to correct my heading.", + "The stair flight sits in the shadowed recess on my left, while the ribbed panel wall fills most of my forward view and pushes my heading past it. I will turn left to bring the staircase and its opening toward the center of my view so my next steps run straight at it.", + "The staircase is now framed between the freestanding concrete block on the left and the paneled wall on the right, roughly ahead of me. The open floor between us is clear, so I will walk forward to close the distance toward its base.", + "The steps have grown larger and the partition's edge is passing to my left, confirming I am tracking the right opening. I will keep walking forward since the base of the flight is still several strides away.", + "I am now inside the passage beside the tall concrete slab, with the full flight of steps clearly ahead and slightly left. Nothing blocks the floor between me and the bottom tread, so I will advance again.", + "The bottom step is close and fills the lower part of my view, but I am still standing a short distance out from it. I will step forward once more to bring myself right up to the foot of the flight.", + "The treads now dominate my view and the side walls of the stairwell are tight around me, so I am nearly at the base. I will take one more short step forward to stand directly at the bottom of the staircase.", + "I am standing at the foot of the staircase with its lowest treads directly beneath me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000477_y000898_z000291_t1_b/infos.json b/dataset/trajectory/MiddleEast/task_x-000477_y000898_z000291_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a8d65ed55632d1a1407f6a911dc3ceb27a631889 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000477_y000898_z000291_t1_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Identify the stack of three crates resting against the wooden-paneled wall, then head over to it.", + "Type": 1, + "Start_Pose": [ + -476.778, + 898.388, + 291.422, + 0.0, + 101.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -476.778, + 898.388, + 291.422, + 0.0, + 101.6, + -0.0 + ], + [ + -476.778, + 898.388, + 291.422, + 0.0, + 76.6, + -0.0 + ], + [ + -476.778, + 898.388, + 291.422, + 0.0, + 51.6, + -0.0 + ], + [ + -476.778, + 898.388, + 291.422, + 0.0, + 26.6, + -0.0 + ], + [ + -476.778, + 898.388, + 291.422, + 0.0, + 1.6, + -0.0 + ], + [ + -350.968, + 901.902, + 291.422, + 0.0, + 1.6, + -0.0 + ], + [ + -225.158, + 905.416, + 291.422, + 0.0, + 1.6, + -0.0 + ], + [ + -99.348, + 908.931, + 291.422, + 0.0, + 1.6, + -0.0 + ], + [ + -99.348, + 908.931, + 291.422, + 0.0, + 1.6, + -0.0 + ] + ], + "Rationale": [ + "My view is almost entirely blocked by a corrugated metal shutter close on the right, so I cannot see any crates from here. I will turn left to swing my heading toward the open floor and the wood-paneled walls on that side.", + "Turning has opened up a wider view of the room, with wood paneling running along the base of the walls, but no stack of crates is in sight yet. I will keep rotating left in the same direction to sweep the remaining unseen portion of this wall.", + "The paneled wall now stretches across most of my view with a doorway on the left, yet no crates have appeared along it. I will continue the leftward scan to bring the rest of that wall into view.", + "I can now see a small cluster of pale crates sitting against the wood-paneled wall on the left side of my view, near the floor. I will turn left once more to bring that stack toward the center of my heading before advancing.", + "The stack of three crates against the wood-paneled wall is now roughly ahead of me, with clear open floor between us. I will walk forward to close the distance toward it.", + "The crate stack is larger in view now, confirming I am closing on the right target against the paneled wall. I will keep walking forward since it is still several paces away.", + "The three crates and the wooden panels behind them fill much more of my view, but I am not yet standing beside them. One more step forward should bring me right up to the stack.", + "The stack of three crates against the wood-paneled wall is directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t0_a/infos.json b/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ea5a4c47d7512f3e207230ab403e587308679f2 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the Car Repair shutter door.", + "Type": 0, + "Start_Pose": [ + -838.252, + 1634.763, + 262.907, + 0.0, + 123.84, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -838.252, + 1634.763, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -908.34, + 1739.301, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -978.428, + 1843.839, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -1048.515, + 1948.377, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -1118.603, + 2052.915, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -1188.691, + 2157.453, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -1258.779, + 2261.991, + 279.328, + 0.0, + 123.84, + -0.0 + ], + [ + -1258.779, + 2261.991, + 279.328, + 0.0, + 123.84, + -0.0 + ] + ], + "Rationale": [ + "The shuttered garage front with the red \"Car Repair\" lettering is visible ahead under the concrete overhang, slightly left of center but well within my forward path. Nothing blocks the open courtyard between me and it, so I will move forward to begin closing the distance.", + "The shutter and its lettering now fill more of my view, confirming my heading is carrying me straight toward the target. The ground ahead remains clear, so I will continue forward.", + "I am closer now, with the shutter's frame and the raised curb in front of it clearly resolved slightly left of center. My heading still points at the door, so another forward step should keep reducing the gap.", + "The shutter now dominates the left half of my view and I can read the lettering in detail, so I am within a few steps of the door. I will keep moving forward to close the remaining gap.", + "The corrugated shutter panel and its curb ledge are very close on my left, but I am not yet directly at the door face. I will advance once more to bring myself right up to the shutter.", + "The metal slats and the painted letters are now at arm's-length scale, so only a small step remains to stand at the shutter door. I will move forward once more to finish the approach.", + "The Car Repair shutter fills my view at contact range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t0_b/infos.json b/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..614be46a24e254e8b0c1a91ec1955e0ec505fa86 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the blue wooden door on the wall.", + "Type": 0, + "Start_Pose": [ + -838.252, + 1634.763, + 262.907, + 0.0, + 123.84, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -838.252, + 1634.763, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -838.252, + 1634.763, + 262.907, + 0.0, + 98.84, + -0.0 + ], + [ + -857.593, + 1759.127, + 262.907, + 0.0, + 98.84, + -0.0 + ], + [ + -876.935, + 1883.491, + 262.907, + 0.0, + 98.84, + -0.0 + ], + [ + -896.276, + 2007.855, + 262.907, + 0.0, + 98.84, + -0.0 + ], + [ + -915.618, + 2132.219, + 262.907, + 0.0, + 98.84, + -0.0 + ], + [ + -934.959, + 2256.583, + 276.923, + 0.0, + 98.84, + -0.0 + ], + [ + -949.429, + 2378.347, + 282.907, + 0.0, + 98.84, + -0.0 + ], + [ + -949.429, + 2378.347, + 282.907, + 0.0, + 73.84, + -0.0 + ], + [ + -914.4, + 2499.233, + 286.058, + 0.0, + 73.84, + -0.0 + ], + [ + -879.371, + 2620.12, + 286.113, + 0.0, + 73.84, + -0.0 + ], + [ + -879.371, + 2620.12, + 286.113, + 0.0, + 73.84, + -0.0 + ] + ], + "Rationale": [ + "From here the wall with the pale wooden door and its blue frame sits well off to my left, while my heading points across the open yard toward the shuttered Car Repair front. I will turn left so that door and the alley leading to it come into the center of my view before I commit to moving. This should give me a clean straight approach line.", + "The blue-framed wooden door now sits ahead in the recessed alley, roughly centered between the brick building on my right and the fenced structure on my left. The ground between us is open paving, so I will move forward to start closing that fairly long distance.", + "The door has grown slightly larger and stays near the middle of my view, confirming my heading is still tracking it. Nothing blocks the paving ahead, so I will keep pushing forward rather than adjusting my heading.", + "The target door and its frame are clearly resolved now, with the graffiti-marked brick wall passing on my right and stacked crates set back beside it. My path down the middle of the alley is still clear, so another forward step should meaningfully cut the remaining gap.", + "The door is drifting a little toward the left of my view as I advance along the brick wall, but it is still well within reach of a straight approach. I will continue forward to close distance before worrying about the final heading correction.", + "The wooden door with its weathered blue frame is now noticeably closer on the left-hand wall, and the tires and stacked boxes stay clear of my lane on the right. Moving forward again should bring me into the small paved area directly in front of it.", + "I am close enough that the door fills a good part of my left view while the tires sit off to my right. One more forward step should place me in the open square directly before the doorway.", + "The blue-framed wooden door has slid to the left edge of my view now that I am nearly beside it, and my heading still points along the brick wall past it. I will turn left to face the door squarely so my remaining steps carry me straight up to it.", + "The blue framed wooden door now sits near the center of my view with its full frame and handle visible, so my heading is lined up with it. I will move forward along the open paving to close the remaining gap to the wall.", + "The door has grown noticeably larger and still holds the middle of my view, confirming I am closing on it on a good line. One more step forward should bring me right up to the doorway.", + "The blue wooden door fills my view directly ahead, its handle within arm's reach. The task is complete, so I stop here rather than push into the wall." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t0_c/infos.json b/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c33db939a991fb3ce1b11199b688e8c08c73e4 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t0_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the black tire leaning against the wall.", + "Type": 0, + "Start_Pose": [ + -838.252, + 1634.763, + 262.907, + 0.0, + 123.84, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -838.252, + 1634.763, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -908.34, + 1739.301, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -978.428, + 1843.839, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -978.428, + 1843.839, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1086.128, + 1908.962, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1193.829, + 1974.085, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1301.53, + 2039.208, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1409.231, + 2104.332, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1516.932, + 2169.455, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1615.028, + 2233.83, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1615.028, + 2233.83, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1615.028, + 2233.83, + 262.907, + 0.0, + 148.84, + -0.0 + ] + ], + "Rationale": [ + "Across the open yard I can see dark tires resting at the base of the wall to the right of the shuttered Car Repair storefront, which matches the target described in my task. They are still far off, so I will step forward along the open ground to begin closing that gap.", + "The storefront and the tires leaning at the wall beside it now appear noticeably larger, confirming my forward steps are reducing the distance. Since the ground ahead is clear, I will continue straight to keep closing on the tires.", + "The tires sit low against the wall off to the right of my current heading, while straight ahead I face mostly the shutter and the building corner. I will turn slightly right so my path points more directly at the leaning tire before continuing.", + "After the small turn, the stacked tires and the one leaning against the wall now sit ahead of me along the shutter line. With this heading looking good, I will step forward to keep shortening the distance.", + "The tires against the wall are growing steadily in my view, so my heading is carrying me toward them. I will take another step forward since no obstacle blocks the paved stretch ahead.", + "The leaning tire and the flat stack beside it are now clearly resolved at the foot of the wall a few steps ahead. I will keep moving forward to bring myself within arriving distance of them.", + "The tires now fill much of the lower right of my view, so I am close but not yet beside them. Another forward step should place me right at the tire leaning on the wall.", + "The tire treads are very near now, just off to my right at the base of the wall, and the storefront wall passes close on my left. I will advance one more short step to stand directly at the tires.", + "The stacked tires and the tire leaning against the wall now fill the lower right of my view, so only a short gap remains. I will step forward once more to close that final distance and stand directly beside the leaning tire.", + "I am now right at the wall corner and the tires have dropped below my line of sight, with only a sliver of rubber at the bottom of my view. I will tilt my gaze down to bring the leaning tire at my feet fully into view and confirm I have reached it.", + "The black tire leaning against the wall lies directly at my feet, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t5_a_p/infos.json b/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..57983579a715462018b6b47db3bb91468c0d142d --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000838_y001635_z000263_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the tomato near the Car Repair shutter door.", + "Type": 5, + "Start_Pose": [ + -838.252, + 1634.763, + 262.907, + 0, + 123.84, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1271.267, + 2141.438, + 227.907, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -838.252, + 1634.763, + 262.907, + 0, + 123.84, + 0 + ], + [ + -908.34, + 1739.301, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -978.428, + 1843.839, + 262.907, + 0.0, + 123.84, + -0.0 + ], + [ + -978.428, + 1843.839, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1086.128, + 1908.962, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1193.829, + 1974.085, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1193.829, + 1974.085, + 262.907, + 0.0, + 148.84, + -0.0 + ], + [ + -1193.829, + 1974.085, + 262.907, + 0.0, + 148.84, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1271.267, + 2141.438, + 227.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1271.267, + 2141.438, + 227.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1271.267, + 2141.438, + 227.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1271.267, + 2141.438, + 227.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1271.267, + 2141.438, + 227.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1271.267, + 2141.438, + 227.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1204.356, + 1955.496, + 233.014, + -28.202, + -161.015, + 1.862 + ], + [ + -1204.356, + 1955.496, + 233.014, + -28.202, + -161.015, + 1.862 + ] + ], + "PD_Dist_2D": [ + 666.5, + 541.7, + 417.5, + 417.5, + 297.2, + 184.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The red tomato sits on the ground in front of the shuttered Car Repair storefront, still well across the open yard. Nothing blocks the stretch of pavement ahead, so I will walk forward to close that distance.", + "The tomato in front of the Car Repair shutter is noticeably larger now, but it remains several paces beyond reach. The path over the damp pavement stays clear, so I will keep walking straight toward it.", + "The tomato now sits slightly right of my heading, and continuing straight would carry me past its right side toward the shutter's left edge. A small turn to the right should put it directly on my line of travel before I close the last distance.", + "With the turn done, the tomato sits ahead of me near the base of the Car Repair shutter and roughly on my line of travel. The ground between us is open, so I will step forward to shorten the gap for a grasp.", + "The tomato is now large and low in my view, close to the shutter, but still a step or two beyond arm's reach. I will advance once more to bring it right in front of me before reaching for it.", + "The tomato is right at the bottom edge of my view, beside the Car Repair shutter and within arm's reach. My hands are empty, so I will attempt to grasp it now.", + "The tomato from beside the Car Repair shutter is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_a/infos.json b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f344ffbdce222f5bbd549bc72899ba1abfec991 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Walk to the wooden table under the blue awning, then head toward the blue doorway on the blue building.", + "Type": 3, + "Start_Pose": [ + -838.98, + 2076.092, + 262.907, + 0.0, + -158.4, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -838.98, + 2076.092, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -838.98, + 2076.092, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -925.456, + 1984.646, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1011.932, + 1893.2, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1011.932, + 1893.2, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1051.66, + 1773.775, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1091.387, + 1654.351, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1131.114, + 1534.926, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1131.114, + 1534.926, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1131.114, + 1534.926, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1067.627, + 1602.062, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1004.14, + 1669.197, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1004.14, + 1669.197, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1004.14, + 1669.197, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1004.14, + 1669.197, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1004.14, + 1669.197, + 262.907, + 0.0, + 126.6, + -0.0 + ], + [ + -1079.181, + 1770.239, + 262.907, + 0.0, + 126.6, + -0.0 + ], + [ + -1154.221, + 1871.281, + 262.907, + 0.0, + 126.6, + -0.0 + ], + [ + -1154.221, + 1871.281, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1261.5, + 1934.14, + 277.14, + 0.0, + 151.6, + -0.0 + ], + [ + -1261.5, + 1934.14, + 277.14, + 0.0, + 176.6, + -0.0 + ], + [ + -1261.5, + 1934.14, + 277.14, + 0.0, + -158.4, + 0.0 + ], + [ + -1378.52, + 1887.808, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1495.541, + 1841.476, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1495.541, + 1841.476, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1582.017, + 1750.03, + 282.756, + 0.0, + -133.4, + 0.0 + ], + [ + -1582.017, + 1750.03, + 282.756, + 0.0, + -108.4, + 0.0 + ], + [ + -1582.017, + 1750.03, + 282.756, + 0.0, + -108.4, + 0.0 + ] + ], + "Rationale": [ + "The cluster of wooden tables sheltered by the blue awning sits well off to my right, while my heading points across the empty wet yard. I will turn right to bring those tables and the teal building into the middle of my view before walking.", + "The wooden tables and the blue canopy behind them now sit squarely ahead of me across open ground. Nothing blocks the stretch of yard between us, so I will walk forward to close the distance.", + "The tables have grown noticeably larger and the blue awning frame is now clearly visible above them, so my heading is still good. I will keep walking forward to reach them.", + "I am close enough that the nearest tables crowd the left of my view and the raised curb sits directly in front of me. Turning right should line me up with the open lane running alongside the stalls, giving me a clear way in under the awning.", + "The lane between the tables on my left and the yellow stalls on my right is now open ahead of me. I will walk forward along it to draw level with the tables sitting under the blue awning.", + "The blue canopy is now overhead on my left and its tables run alongside me, but I am still short of them. The lane stays clear, so I will step forward again.", + "I am now under the edge of the blue canopy with the long wooden tables running along my left shoulder. A short step forward should place me level with them rather than at their near end.", + "The wooden tables are beside me at the lower left while my gaze runs down the lane past the striped stall. I will turn left so I am facing the tables squarely beneath the blue awning.", + "The brown wooden tables are right against me, sheltered beneath the blue canvas awning that fills my view. I have reached the wooden tables under the blue awning. I mark reaching them, and now I turn my attention to the blue doorway set in the blue building.", + "I am wedged deep inside the awning with the tarp wall right in front of me and the tables crowding my left, so there is no room here to swing around toward the blue building. Backing straight out along the way I came should pull me clear of this canopy. That clearance is what I need before reorienting.", + "The canopy frame and its far corner are now visible, so I have started to come out of the stall, but tables still flank me and the shelter still encloses my heading. Another step back should put me on the open ground beyond the awning where I can turn freely toward the blue building.", + "I am out from under the canopy now, seeing its whole blue frame and the tables from the outside, with open yard opening to the left. The blue building with the doorway lies well around behind this shelter, so I begin swinging my heading to the left to bring that side of the courtyard into view.", + "The rotation has already brought the open courtyard and the pale buildings into the left half of my view, while the awning and tables slide to my right. Still no blue doorway in front of me, so I keep turning left to sweep further around the yard.", + "More of the open yard is coming into view, with the tall stone corner and the tables now off to my right and a clear stretch of pavement ahead-left. I continue rotating left to face the open route across the courtyard rather than the stalls.", + "The shuttered car repair front and the wide empty yard are now in front of me, which is the open side I need to cross to get around toward the blue building. One more turn to the left should square my heading with that clear stretch of ground.", + "I am now facing the open courtyard in front of the car repair front, with nothing but flat pavement and a low crate between me and the far side. Walking forward here should carry me across this open ground and around toward the blue building's doorway.", + "The wooden tables under the awning are behind me now and my route to the blue building runs across this open yard past the shuttered car repair front. The ground ahead of me is flat and clear of clutter. I step forward to keep closing on the far side of the yard.", + "The shop facade with its metal shutter now fills most of my view, and continuing straight would only carry me into that wall. The open part of the yard, with the stacked tires and the passage beyond, lies off to my right. I turn right to swing my heading onto that open route.", + "My heading now runs down the open yard, with the tires and the far walls clear ahead and a teal wall showing at the right edge of my view. Nothing blocks this stretch of paving. I walk forward to gain ground toward that blue building.", + "Straight ahead of me are the pale yellow buildings and the far wall, not the blue one I want. The teal masonry and the scaffolding stand off to my right. I turn right to bring that blue building around into the front of my view.", + "The teal wall has come into view along my right, and I can see the pale blue plank door set into it near the right edge. My heading still points too far across the yard for a straight approach. I turn right again to put that doorway ahead of me.", + "The blue plank doorway in the teal wall now sits ahead and slightly to my right, with the raised walkway and the wooden tables beside it. The paving between us is open. I walk forward to close the remaining distance to that door.", + "The blue plank door has grown noticeably larger along the wall to my right, so I am still short of it. The walkway beside the teal building stays clear ahead. I take another step forward to draw level with the doorway.", + "I am now alongside the teal wall, and the blue plank door has slipped to the far right edge of my view while my heading runs down the alley. To face the doorway squarely I need to rotate toward the wall. I turn right to bring the door back in front of me.", + "The blue plank door on the pale blue wall now fills the right half of my view, but I am still a stride or two short of standing at it. I will walk forward along the paving to close that last gap so the doorway sits directly beside me.", + "I am now level with the blue door, but it lies off to my right edge while my gaze runs along the wall. Turning right should square me up so the doorway sits centered in front of me.", + "The blue plank doorway with its rope handle fills my view directly ahead, at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_b/infos.json b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..943c6fc5cfe2963291ee50d501e0c7b08e930c9c --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the crate in the middle of the alley, then move to the stacked tires.", + "Type": 3, + "Start_Pose": [ + -838.98, + 2076.092, + 262.907, + 0, + -158.4, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -838.98, + 2076.092, + 262.907, + 0, + -158.4, + 0 + ], + [ + -956.001, + 2029.76, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1073.021, + 1983.428, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1190.042, + 1937.097, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1190.042, + 1937.097, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1190.042, + 1937.097, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1190.042, + 1937.097, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1190.042, + 1937.097, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1300.754, + 1996.958, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1411.466, + 2056.82, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1522.177, + 2116.681, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1631.531, + 2175.561, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1631.531, + 2175.561, + 262.907, + 0.0, + 151.6, + -0.0 + ] + ], + "Rationale": [ + "The pale crate sits out in the open middle of the alley ahead of me, slightly right of my heading and still some distance off. Nothing blocks the sandy ground between us, so I will walk straight forward to close that gap.", + "The crate has grown noticeably larger and lower in my view, confirming my heading is carrying me toward it. It is still several paces off, so I will keep walking forward.", + "The crate now fills a good part of the lower view and its edges are clearly resolved, but I am not yet standing beside it. One more step forward should bring me right up to it.", + "The crate has slipped out of the bottom of my view because I am nearly on top of it, and my gaze is aimed too high to confirm it. I will look down to bring the crate at my feet back into sight.", + "The pale crate is directly below me, close enough to touch at my feet in the middle of the alley. I have reached it, so I mark arriving at the crate before setting off for the stack of tires along the shuttered repair shop.", + "With the crate reached, my heading still points down the alley past the benches and blue wall, away from the tires. The stacked tires lie back to my left near the shuttered shopfront, so I will turn left to swing my view toward them.", + "The turn has brought the tires into view, but they sit well off to the left side of my frame with the alley opening ahead. Another left turn should place the tire stack near the center of my heading before I walk.", + "The stacked tires now sit ahead of me against the base of the shuttered repair shop wall, roughly centered in my path. With clear ground between us, I will step forward to close the distance.", + "The stack of tires leaning against the shuttered repair front is now clearly ahead and slightly left of my path, but still several paces off. My route along the wall is open sand with nothing blocking it, so I will keep walking forward to close the gap.", + "The tire stack has grown noticeably larger and now sits low in front of me, just left of centre. I am close but not yet beside it, so another step forward should bring me right up to the pile.", + "The stacked tires now fill the bottom of my view with the leaning tire close beside them, so I am nearly on top of the pile. One more short step forward should place me directly at it.", + "The stacked tires are right at my feet, filling the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_c/infos.json b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b417a8c14b44ef3ffba3e9a67ac3dafb83c85374 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_c/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Head toward the stacked tires, then navigate to the wall-mounted AC unit on the far end.", + "Type": 3, + "Start_Pose": [ + -838.98, + 2076.092, + 262.907, + 0.0, + -158.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -838.98, + 2076.092, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -956.001, + 2029.76, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1073.021, + 1983.428, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1073.021, + 1983.428, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1198.659, + 1990.893, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1324.296, + 1998.357, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1449.934, + 2005.821, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1449.934, + 2005.821, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1560.646, + 2065.683, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1671.357, + 2125.544, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1671.357, + 2125.544, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1590.078, + 2081.597, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -1590.078, + 2081.597, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1715.715, + 2089.061, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1841.353, + 2096.525, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1966.99, + 2103.989, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2092.628, + 2111.454, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2218.265, + 2118.918, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2343.903, + 2126.382, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2469.54, + 2133.846, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2595.178, + 2141.31, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2595.178, + 2141.31, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + -2595.178, + 2141.31, + 262.907, + 0.0, + 126.6, + -0.0 + ], + [ + -2595.178, + 2141.31, + 262.907, + 0.0, + 126.6, + -0.0 + ] + ], + "Rationale": [ + "From the courtyard entrance I can already pick out the tires stacked against the wall by the shuttered shopfront on my left, with open sandy ground between us. Nothing blocks a straight advance, so I will step forward to cut down that distance before angling toward them.", + "The tire stack against the left wall has grown slightly larger and the wooden tables on my right are sliding past, confirming my heading is carrying me deeper into the yard. The ground ahead is still clear, so I will keep walking forward to gain more ground before turning toward the tires.", + "The tires now sit well off to my left edge while my body still points down the alley between the buildings, so walking straight would carry me past them. I will turn left to swing that stack toward the centre of my view and set up a direct line to it.", + "The turn has brought the tires into the left-centre of my view with clear open sand between us. With the heading now pointing across the yard toward them, I will walk forward to close on the stack.", + "The stacked tires and the leaning one beside them are noticeably bigger and lower in my view, so my line toward them is holding. I will continue walking forward to shorten the remaining gap.", + "The tires are now close on my left, resting under the overhang beside the wall, but I am still a few paces short of standing at them. Nothing obstructs the sandy stretch ahead, so I will step forward again.", + "The tires have slipped toward the lower left corner of my view as I advanced, so my heading is drifting past them rather than into them. I will turn left to bring the stack back in front of me for a clean final approach.", + "The turn has squared me up with the stacked tires and the one leaning against them, now filling the lower part of my view just ahead. I will walk forward the last short stretch to stand right at the stack.", + "The stack of tires leaning against the shop wall now fills the lower left of my view, only a stride or two away. I will walk forward once more to draw level with it rather than stopping short.", + "The stacked tires are right beside my feet, filling the bottom of my view against the graffitied wall. I have reached them, so I mark arriving here before setting off across the courtyard toward the wall-mounted AC unit at the far end.", + "Standing this tight against the tires and the wall leaves me almost no room to swing my heading toward the open courtyard. Backing up a short way should give me clearance to reorient toward the far end of the yard.", + "With the tires now behind and to my left, the open courtyard runs off to my right toward the distant buildings. I will turn right to put that open stretch and the far wall ahead of me.", + "My heading now looks straight down the open courtyard, with the far pale wall and its shuttered window unit visible past the sandbags. The ground ahead is clear, so I will walk forward toward that far end.", + "The far wall with the green shuttered unit is growing larger straight ahead and nothing blocks the paving between us. I will keep walking forward to close the remaining distance.", + "The window and its projecting unit on the far building are clearly resolved now, with the sacks and box below it still some way off. Another step forward should bring me closer to that wall.", + "The pale wall with the mounted unit above the sacks now dominates the view ahead and is nearly centered. I continue walking forward to reach it.", + "The louvered air conditioner mounted in the wall opening ahead is now clearly the dominant feature in front of me, sitting above the sacks against the pale brick wall. The open courtyard between us is flat and clear, so I will keep walking straight to cut down the remaining distance.", + "The AC unit and its window frame have grown larger and are still close to the center of my view, confirming my heading is good. Nothing blocks the paving between me and that wall, so another step forward should bring me nearer.", + "The green-framed unit set into the wall now fills a good part of my view, with its drain pipe and the sacks below it plainly visible. I am still several paces short of the wall, so I keep advancing toward it.", + "I am nearly at the wall now, with the projecting air conditioner filling the left side of my view just above the sacks. One more step should put me right beneath it, close enough to be standing at it.", + "I am right up against the brick wall, and the air conditioner has slipped to the very edge of my view on the left while blank masonry occupies most of it. Turning left should swing the unit back in front of me.", + "The louvered face and its frame have come further into view, but they still sit off to my left with wall on the right side. Another turn in the same direction should put the unit squarely in front of me.", + "The wall-mounted air conditioner fills my view at arm's length, its louvers and frame directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_d/infos.json b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..71fc3e5bdf45c6877ef2b298906aa04592fabce0 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t3_d/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Proceed to the stacked tires, then walk to the wooden table under the blue awning.", + "Type": 3, + "Start_Pose": [ + -838.98, + 2076.092, + 262.907, + 0.0, + -158.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -838.98, + 2076.092, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -838.98, + 2076.092, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -964.617, + 2083.556, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1090.255, + 2091.02, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1215.892, + 2098.485, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1341.53, + 2105.949, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1467.167, + 2113.413, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1592.805, + 2120.877, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1592.805, + 2120.877, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1592.805, + 2120.877, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1592.805, + 2120.877, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1592.805, + 2120.877, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1592.805, + 2120.877, + 262.907, + 0.0, + -83.4, + 0.0 + ], + [ + -1592.805, + 2120.877, + 262.907, + 0.0, + -58.4, + 0.0 + ], + [ + -1592.805, + 2120.877, + 262.907, + 0.0, + -33.4, + 0.0 + ], + [ + -1487.732, + 2051.594, + 262.907, + 0.0, + -33.4, + 0.0 + ], + [ + -1382.659, + 1982.312, + 262.907, + 0.0, + -33.4, + 0.0 + ], + [ + -1282.095, + 1918.558, + 299.03, + 0.0, + -33.4, + 0.0 + ], + [ + -1177.022, + 1849.275, + 262.907, + 0.0, + -33.4, + 0.0 + ], + [ + -1177.022, + 1849.275, + 262.907, + 0.0, + -58.4, + 0.0 + ], + [ + -1111.074, + 1742.078, + 262.937, + 0.0, + -58.4, + 0.0 + ], + [ + -1111.074, + 1742.078, + 262.937, + 0.0, + -83.4, + 0.0 + ], + [ + -1111.074, + 1742.078, + 262.937, + 0.0, + -108.4, + 0.0 + ], + [ + -1123.321, + 1634.628, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1137.287, + 1514.646, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1137.287, + 1514.646, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1137.287, + 1514.646, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1137.287, + 1514.646, + 262.907, + 0.0, + -158.4, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the yard I can see the stacked tires lying against the wall of the shuttered shop off to my left, while the wooden tables under the blue awning sit to my right. Since the tires are the place I want first, I will turn left to bring that open lane in front of me.", + "The alley between the shuttered shop and the blue wall now runs straight ahead of me, with the pale stacked tires resting far down it on the left. The paved ground looks clear, so I will walk forward to close the distance toward them.", + "The tires stacked by the shop wall are noticeably larger and lower in my view than before, confirming my heading is good. Nothing blocks the damp pavement ahead, so I will keep walking toward them.", + "The stack of tires and the loose one leaning against it are now clearly picked out ahead on my left, still several paces off. My path along the shopfront stays open, so I will continue advancing.", + "The tires now sit close to the lower left of my view, near the base of the shop wall, and the courtyard beyond has opened up. I still have a few paces to cover, so I will step forward again.", + "The stacked tires have grown large in the lower left of my view, so I am nearly beside them. A short further step should bring me level with the stack rather than leaving it ahead of me.", + "The tires now fill the near left foreground, close enough that I am almost at the stack. One more step forward should place me right at them.", + "The stacked tires are right beside my feet at the foot of the graffitied wall, close enough to touch. I have reached the stacked tires. I mark arriving here before setting off for the wooden table under the blue awning back across the courtyard.", + "The stacked tires are right at my feet, so that part of the errand is settled and I need the covered wooden tables instead. Those tables sit back across the yard behind my right shoulder, not in front of me. I turn right to start swinging my heading around toward them.", + "My view has swung onto the teal building wall and the utility pole, with still no sign of the awning or its tables. The turn is not yet far enough around. I keep rotating right to continue sweeping toward that side of the yard.", + "The blue-painted wall and its plank door now fill most of my view, and the raised walkway runs off to the right past it. The tables I want lie further around that way. Another right turn should carry my heading past this wall.", + "Wooden benches and a stretch of blue sheeting have just come into the right edge of my view, past the plank door. That is the direction I want to face and travel. I turn right again to bring that corner of the yard properly ahead of me.", + "The wooden tables and the blue sheeting are in view now, but a raised step and the tables themselves block a straight walk from here. The open sand lane continues to their right, past the yellow tent. I turn right once more to face that clear lane.", + "The tables under the blue cover have shifted to my left and the open lane beside the curved building is opening ahead to the right. I want my heading down that unobstructed ground rather than into the curb. One more right turn should line me up with it.", + "I am now facing straight down the open lane, with the wooden tables and their blue cover running along my left and the curved building ahead. The ground in front is clear of the curb and crates. I step forward to close distance along that side.", + "The last step brought the yellow tent and the curved facade noticeably nearer, and the covered tables on my left have slid closer as well. Nothing blocks the lane in front of me. I keep walking forward to draw level with that awning area.", + "The open lane ahead runs past the yellow market canopies toward the rounded building, and no wooden table under a blue awning is close enough on my left yet. I will keep walking forward along this clear stretch to bring the stall row nearer.", + "The canopied stalls on my left have grown larger and I can now see pallets and frames beneath them, but I am still alongside the yellow covers rather than a blue one. Another step forward should carry me further into the stall row.", + "Straight ahead the ground curves into the building's glass frontage, while the line of covered stalls runs off to my left. I will turn left so my heading follows that row, where tables stand under the canopies.", + "Facing along the stall lane now, I can see yellow, blue and pale green covers stretching away with benches and pallets under them. Walking forward should bring me level with the blue-covered stall I need.", + "The big yellow canopy now fills the right side of my view, while the blue and pale covers sit to my left. I will turn left to swing my heading off the yellow stall and toward the blue-topped ones.", + "The blue awning frame is now at my left edge with dark wooden benches under it, still too far off-center to walk straight in. One more left turn should bring that blue-covered table area squarely in front of me.", + "The wooden tables under the blue sheeting are now on my left front, close enough to make out their slatted tops and metal legs. I will step forward to close the last of the gap into that stall.", + "I am at the edge of the blue canopy with its frame overhead and the long wooden tables running along my left. One more step forward should put me properly inside the stall beside those tables.", + "I am now standing right beside the blue awning, but its stretched fabric fills most of my view and the wooden tables sit off to my left, only their dark frames edging into sight. Turning left should swing the sheltered table area in front of me so I can settle at it squarely.", + "The wooden tables under the blue canopy have come into view, but they still sit along the left side of my field of view rather than in front of me. One more turn to the left should bring them fully centered where I stand beneath the awning.", + "The wooden tables stand directly before me, right under the blue awning that encloses this spot. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t5_a_pd/infos.json b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf9b5b2e6e877a6df94eef18411ae52a13814294 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000839_y002076_z000263_t5_a_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Pick up the green bell pepper from the wooden table under the blue awning, then place it near the blue doorway on the blue building.", + "Type": 5, + "Start_Pose": [ + -838.98, + 2076.092, + 262.907, + 0, + -158.4, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1143.222, + 1626.198, + 207.907, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "MoveBackward", + "TurnLeft", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -838.98, + 2076.092, + 262.907, + 0, + -158.4, + 0 + ], + [ + -838.98, + 2076.092, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -925.456, + 1984.646, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1011.932, + 1893.2, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1011.932, + 1893.2, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1051.66, + 1773.775, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1051.66, + 1773.775, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1022.493, + 1861.451, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1022.493, + 1861.451, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -959.006, + 1928.587, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -959.006, + 1928.587, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -959.006, + 1928.587, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1084.643, + 1936.052, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1210.281, + 1943.517, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1210.281, + 1943.517, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1315.679, + 1914.196, + 287.788, + 0.0, + -158.4, + 0.0 + ], + [ + -1432.7, + 1867.865, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1432.7, + 1867.865, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -1519.177, + 1776.42, + 282.718, + 0.0, + -133.4, + 0.0 + ], + [ + -1519.177, + 1776.42, + 282.718, + 0.0, + -108.4, + 0.0 + ], + [ + -1572.573, + 1709.012, + 282.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1549.846, + 1777.331, + 282.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1549.846, + 1777.331, + 282.907, + 0.0, + -108.4, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1143.222, + 1626.198, + 207.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1143.222, + 1626.198, + 207.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1143.222, + 1626.198, + 207.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1143.222, + 1626.198, + 207.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1143.222, + 1626.198, + 207.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1143.222, + 1626.198, + 207.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1031.205, + 1767.614, + 233.014, + -28.202, + -58.256, + 1.862 + ], + [ + -1001.919, + 1855.644, + 233.613, + -28.191, + -58.253, + 1.872 + ], + [ + -1007.28, + 1847.411, + 232.658, + -28.2, + -83.262, + 1.859 + ], + [ + -943.263, + 1914.155, + 232.478, + -28.202, + -83.256, + 1.861 + ], + [ + -950.798, + 1910.087, + 233.622, + -28.205, + -108.259, + 1.862 + ], + [ + -960.485, + 1908.301, + 232.456, + -28.19, + -133.249, + 1.869 + ], + [ + -1085.428, + 1914.709, + 232.756, + -28.208, + -133.264, + 1.854 + ], + [ + -1210.767, + 1922.158, + 233.184, + -28.214, + -133.266, + 1.851 + ], + [ + -1201.89, + 1923.111, + 232.736, + -28.19, + -108.24, + 1.871 + ], + [ + -1307.521, + 1894.452, + 232.532, + -28.189, + -108.244, + 1.87 + ], + [ + -1424.311, + 1848.221, + 232.896, + -28.202, + -108.258, + 1.86 + ], + [ + -1416.234, + 1852.926, + 233.096, + -28.194, + -83.253, + 1.869 + ], + [ + -1503.389, + 1762.04, + 252.579, + -28.21, + -83.267, + 1.853 + ], + [ + -1497.624, + 1770.067, + 253.567, + -28.189, + -58.248, + 1.876 + ], + [ + -1552.105, + 1702.887, + 253.107, + -28.193, + -58.252, + 1.871 + ], + [ + -1571.941, + 1710.91, + 272.907, + 0.0, + -108.4, + 0.0 + ], + [ + -1571.941, + 1710.91, + 272.907, + 0.0, + -108.4, + 0.0 + ] + ], + "PD_Dist_2D": [ + 543.1, + 543.1, + 419.4, + 297.5, + 297.5, + 173.7, + 21.4, + 21.4, + 20.7, + 21.4, + 20.2, + 20.3, + 21.4, + 21.4, + 22.1, + 21.4, + 21.4, + 22.2, + 21.4, + 22.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the sand beside the wooden tables under the blue awning, off to my right and near the edge of my view. I will turn right to bring it and the awning area toward the center of my heading before walking over. That should give me a clean straight approach across the open yard.", + "The pepper and the cluster of wooden tables under the blue awning now sit ahead and slightly right of my heading, with clear open ground between us. I will walk forward to close the sizable gap across the yard. The path looks unobstructed, so a straight advance should be efficient.", + "The tables and the pepper have grown noticeably larger, so my heading is carrying me toward the awning as intended. I am still too far to reach the pepper, which sits low near the crate of small fruit. I will keep walking forward to close more of that distance.", + "I am now close to the awning, but the pepper has drifted to the right side of my view while the tables fill the center. I will turn right to put the pepper directly in front of me. A short straight step after that should bring it within reach.", + "The pepper is now aligned near the middle of my view, resting on the ground at the edge of the wooden tables under the blue awning. It is still a couple of paces away, too far to grasp. I will step forward to close that last gap.", + "The green pepper now fills the lower center of my view, close enough that its stem is clearly detailed. Nothing stands between me and it, so this is the moment to reach for it. I will attempt the pick and expect the pepper to come into my hands.", + "The grasp worked: the green pepper is held in my hands rather than resting on the sand. Carrying it, I am wedged in tight beside the tables and the awning fabric with little room ahead. I will step back to open space before turning toward the blue building's doorway.", + "I am still carrying the pepper and now have clearance from the tables and awning. The blue doorway I need belongs to the stone-trimmed building whose wall lies off to my left, behind this row of stalls. I will turn left to swing my heading back toward that side of the yard.", + "The pepper is in my hands, so the remaining job is carrying it to the blue doorway set in the pale blue building ahead of me. Benches, the crate and the awning frame crowd the ground right in front, so I will step back first to gain room before swinging onto a clear route.", + "With the pepper carried and some clearance behind me, the bench cluster still blocks a straight line to the doorway on the building's face. I will turn left toward the open courtyard so I can travel on unobstructed ground instead of squeezing between the tables.", + "The wide sandy yard is opening up on my left while the tables and the blue building sit to my right. I will turn left once more to line my heading up with that clear lane, which should let me walk parallel to the building before closing on its doorway.", + "I am now facing straight down the open lane, with the shuttered repair front on my left and the blue building with its doorway along my right. Nothing blocks the sand ahead, so I will walk forward to carry the pepper along this clear stretch.", + "The lane still runs clear ahead and the blue wall with its doorway continues on my right, though I am not yet level with the door. I will keep walking forward to draw alongside that entrance while still holding the pepper.", + "I have come far enough along the lane that the blue door now sits at the right edge of my view, nearly beside me. I will turn right to bring that doorway in front of me so my next steps head straight at it.", + "The weathered blue door on the stone and blue wall is now ahead of me, with clear paving and a low kerb between us. I will walk forward to close that gap so the pepper can be set down near the entrance.", + "The doorway has grown noticeably larger and now sits slightly to my right, but I am still out on the paving rather than at its threshold. I will step forward again to get close enough that releasing the pepper would leave it right by the entrance.", + "The blue door on the blue building is now close on my right, its frame filling the near wall while my heading still runs along the facade. I will turn right to face the doorway directly so the pepper I am carrying can be set down in front of it.", + "The blue door is now squarely ahead with the stone corner beside it, but I am still a few paces out on the paving. I will walk forward to close that gap so the doorway sits within placing range.", + "I am right at the wall now, and the door has slid to the right side of my view with the flat blue facade taking the center. A further right turn should square my body onto the door panel so the drop lands beside the entrance rather than along the plain wall.", + "The door panel with its rope handle is directly in front of me, with the stone wall to its right. One more short step forward should place me tight against the threshold so the pepper can be released right at the doorway.", + "I am pressed right up to the blue door panel, so close that its planks fill my view, which means the doorway is within arm's reach. I will release the pepper here so it comes to rest near the blue doorway as the task requires.", + "The green pepper now rests on the ground directly in front of the blue doorway, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000866_y001005_z000288_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x-000866_y001005_z000288_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..13322bc5e7a3c0b77f13afab01fbebe4e5a2b07e --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000866_y001005_z000288_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the wooden pallet leaning against the wall near the trash bags, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -865.632, + 1004.705, + 288.286, + 0.0, + 11.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -865.632, + 1004.705, + 288.286, + 0.0, + 11.36, + -0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -13.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -38.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -63.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -88.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -113.64, + 0.0 + ], + [ + -918.461, + 890.988, + 276.808, + 0.0, + -113.64, + 0.0 + ], + [ + -968.929, + 775.691, + 262.999, + 0.0, + -113.64, + 0.0 + ], + [ + -1019.397, + 660.394, + 262.999, + 0.0, + -113.64, + 0.0 + ], + [ + -1019.397, + 660.394, + 262.999, + 0.0, + -138.64, + 0.0 + ], + [ + -1113.864, + 577.227, + 262.999, + 0.0, + -138.64, + 0.0 + ], + [ + -1208.33, + 494.061, + 277.604, + 0.0, + -138.64, + 0.0 + ], + [ + -1208.33, + 494.061, + 277.604, + 0.0, + -138.64, + 0.0 + ] + ], + "Rationale": [ + "I am inside a market stall facing crates of apples and fabric walls, with no wooden pallet or trash bags anywhere in view. I will turn left to begin a steady scan of the stall interior and find an opening toward the street where such items would be left.", + "The view now shows only draped stall fabric and a bare floor, so the target still is not here. I will keep turning left in the same direction to continue the scan toward the stall edge.", + "I am facing a close corner of the stall canvas, which blocks any useful view of the surroundings. Continuing to turn left should sweep past this wall toward a more open direction.", + "Past the edge of the stall canvas on the left I can now see an outdoor alley with buildings and wooden planks lying near the ground. I will turn left again to bring that alley fully into view, since discarded pallets and bags are likely along that street.", + "The alley is now mostly in front of me, and along the left building wall I can see pale wooden boards standing beside a cluster of dark sacks. One more left turn should center that alley and the wall with those items before I walk out.", + "The alley is now open ahead of me, with a wooden pallet leaning on the left wall next to a row of dark trash sacks. I will walk forward out of the stall to close the distance toward that wall.", + "I have stepped into the alley and the leaning pallet with the sacks beside it is clearly larger on my left. The path ahead is open past the concrete block, so I will keep walking forward to draw level with it.", + "The pallet against the wall and the adjacent trash bags are now close on my left, but I am still slightly short of them along the alley. Another step forward should bring me alongside the pallet before I turn to face it.", + "The wooden pallet leaning against the stone wall next to the pile of trash bags sits at the far left edge of my view, so walking straight ahead would carry me past it down the alley. I will turn left to bring the pallet and the adjacent bags toward the center of my heading. That should give me a clean straight approach along the raised walkway.", + "The leaning wooden pallet and the cluster of trash bags are now centered in front of me against the wall, matching the target described in the task. I will walk forward to close the remaining distance along the alley. The pallet should grow noticeably larger as I advance.", + "The pallet now fills much of the left side of my view and the trash bags are close beside it, but I am still a short step away from standing right at them. I will move forward once more to finish closing on the pallet. That should place me directly in front of it.", + "The wooden pallet leans against the wall directly beside me with the trash bags at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000866_y001005_z000288_t1_b/infos.json b/dataset/trajectory/MiddleEast/task_x-000866_y001005_z000288_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7fcbb90018f591ee207cd6e4fc3d33b1e020acd5 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000866_y001005_z000288_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Determine where the utility pole stands and make your way over to it.", + "Type": 1, + "Start_Pose": [ + -865.632, + 1004.705, + 288.286, + 0.0, + 11.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "LookUp", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -865.632, + 1004.705, + 288.286, + 0.0, + 11.36, + -0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -13.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -38.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -63.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -88.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -113.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -138.64, + 0.0 + ], + [ + -865.632, + 1004.705, + 288.286, + 0.0, + -138.64, + 0.0 + ], + [ + -960.098, + 921.539, + 276.667, + 0.0, + -138.64, + 0.0 + ], + [ + -1054.565, + 838.373, + 262.907, + 0.0, + -138.64, + 0.0 + ], + [ + -1054.565, + 838.373, + 262.907, + 0.0, + -163.64, + 0.0 + ], + [ + -1175.328, + 802.922, + 262.907, + 0.0, + -163.64, + 0.0 + ], + [ + -1175.328, + 802.922, + 262.907, + 0.0, + -163.64, + 0.0 + ] + ], + "Rationale": [ + "I am standing inside a market stall with fruit crates filling the right side and fabric walls closing off the view ahead, so no utility pole is visible from here. I will turn left to sweep past the stall's canopy toward the open side and begin looking for the street where a pole would stand.", + "The rotation only brought more of the stall's fabric interior and its corner seam into view, with the wooden bench edge at the right, so the target is still hidden. I will keep turning left in the same direction to reach an opening where the outside street may become visible.", + "I am now facing a corner where two cloth panels meet, which gives me no view of anything beyond the stall. Continuing the same leftward scan should carry my heading past this fabric and toward the stall's open edge where a pole might be seen.", + "A gap has opened along the left edge of the cloth panel, showing a paved alley and building facades outside the stall, which is exactly the kind of area where a utility pole would stand. I will continue turning left to bring that outdoor lane fully into view.", + "The alley is now clearly open on my left with buildings, awnings, and overhead wires strung above the lane, a strong sign that a supporting pole stands nearby. I will turn left again to swing the remaining fabric out of view and look along the wires for their pole.", + "Ahead in the alley I can see a tall grey vertical post rising by the building wall near the rubbish bags, which matches a utility pole. I will turn left once more to center that post in front of me before moving toward it.", + "The tall post is now roughly ahead of me beside the wall, but my view is pitched low so I can only see its lower shaft. I will look up to follow the post upward and confirm it carries the overhead lines of a utility pole.", + "Raising my view confirms the post carries a bracketed crossarm with several wires fanning out overhead, so this is the utility pole I need to reach. It is still some distance down the alley, so I will walk forward toward it.", + "The tall grey utility pole is clearly visible ahead on the raised pavement beside the corner building, and it has grown noticeably larger in my view. Nothing blocks the open street lane between me and it, so I will walk forward again to close more of the remaining gap.", + "I am now close to the corner building, but the utility pole has drifted toward the left edge of my view while the wall and stacked boards dominate straight ahead. I will turn left to bring the pole back into the center of my heading before advancing further.", + "The utility pole now stands squarely in the middle of my view, rising from the raised paved walkway just a short distance ahead. The path over the low kerb looks clear, so I will step forward to reach the base of the pole.", + "The utility pole fills the center of my view directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_a/infos.json b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f0fcf368b0d904f155c768fc7ccd0a528065c7c --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the dark wooden door beside the brick wall.", + "Type": 0, + "Start_Pose": [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -955.022, + -411.347, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1033.612, + -509.653, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1112.202, + -607.96, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1190.791, + -706.266, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1269.381, + -804.573, + 282.776, + 0.0, + -128.64, + 0.0 + ], + [ + -1347.97, + -902.879, + 284.66, + 0.0, + -128.64, + 0.0 + ], + [ + -1426.56, + -1001.186, + 288.349, + 0.0, + -128.64, + 0.0 + ], + [ + -1426.56, + -1001.186, + 288.349, + 0.0, + -153.64, + 0.0 + ], + [ + -1539.332, + -1057.068, + 288.468, + 0.0, + -153.64, + 0.0 + ], + [ + -1539.332, + -1057.068, + 288.468, + 0.0, + -153.64, + 0.0 + ] + ], + "Rationale": [ + "From the open sandy street I can see the recessed porch ahead on the left, where a dark wooden door sits next to a patch of exposed brick wall. That door matches my target, so I will step forward along the street to begin closing the sizeable gap.", + "The porch and the dark wooden door now sit slightly larger in front of me, confirming my heading is bringing me toward them. The ground ahead is clear paving and sand, so I will keep walking forward.", + "The door with its pale wooden posts is clearly ahead of me under the overhang, with the brick wall panel just left of it. There is still a good stretch of paving between us, so another step forward is the direct way to shorten it.", + "I am close enough now that the door's planks and the small wooden pallet on the ground beside it are distinct. Continuing straight ahead should bring me onto the paved porch right in front of the target.", + "The dark wooden door now fills a large part of the shaded recess just ahead and slightly to my left, with rough brick and stone framing the alcove. I will take another step forward to close the last of the distance to it.", + "I am nearly at the alcove, with the door's iron handle and its wooden posts plainly visible on my left and the brick side wall on my right. A further step forward should place me right at the threshold.", + "The door is now very close, filling the left portion of my view while the rough brick wall stands to my right. I will step forward once more to finish closing on the doorway before squaring up to it.", + "Standing at the alcove, the dark wooden door and its handle are pushed to my left while my heading points at the brick side wall ahead. I will turn left so I face the door squarely instead of the adjoining wall.", + "The dark wooden door with its metal handle now sits squarely ahead of me, with its timber posts on both sides and the brick wall to my right. I am still an arm's length or more away, so I will step forward to close the last of that gap and stand directly at the door.", + "The dark wooden door's planks and its metal handle fill my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_b/infos.json b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fb696b95e0fb1d4e458062ff52649d8a3aebf60f --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the closed metal roller shutter.", + "Type": 0, + "Start_Pose": [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -955.022, + -411.347, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -955.022, + -411.347, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -984.703, + -533.656, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1014.383, + -655.965, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1044.063, + -778.275, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1073.743, + -900.584, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1103.423, + -1022.893, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1133.103, + -1145.203, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1162.784, + -1267.512, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1162.784, + -1267.512, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1162.784, + -1267.512, + 262.907, + 0.0, + -153.64, + 0.0 + ], + [ + -1275.556, + -1323.395, + 282.728, + 0.0, + -153.64, + 0.0 + ], + [ + -1275.556, + -1323.395, + 282.728, + 0.0, + -153.64, + 0.0 + ] + ], + "Rationale": [ + "I can see the closed white metal roller shutter set into the building facade ahead and slightly to my right, past the covered arcade and dark wooden door. The open sandy ground in front of me is clear, so I will step forward to begin closing the gap toward that shutter.", + "After advancing, the roller shutter sits off to the right of my heading while my view is still dominated by the arcade and the wall straight ahead. I will turn right to bring the shutter and the lane running alongside the building into the center of my view before pressing forward.", + "The turn opened up the narrow street, and the closed shutter is now visible along the left building wall with the lane running straight ahead of me. The path down the middle of the street looks unobstructed, so I will move forward to close distance along it.", + "The shutter on the left wall is noticeably larger than before, confirming my heading down this lane is bringing me nearer. Nothing blocks the sandy road in front of me, so I will continue advancing.", + "I am still some distance from the shutter, which continues to expand along the left side of the street as I travel. The lane remains open, so another forward step should keep reducing the remaining gap.", + "The closed shutter is now clearly close on my left, with its frame and the raised paved walkway in front of it plainly visible. The road ahead is still clear, so I will keep moving forward to draw level with it.", + "The metal shutter fills a large part of my left view, so I am nearly abreast of it but not yet positioned in front of it. I will advance again along the lane to bring myself alongside the shutter's center.", + "The corrugated shutter is very close on my left and I can see its full width along the raised walkway, though my heading still runs parallel to it. One more forward step should place me squarely beside the shutter before I face it.", + "The closed metal shutter now dominates the left side of my view, so I am travelling along the shop front rather than at it. I will step forward once more along the lane to draw level with the shutter panel before turning toward it, keeping clear of the pallets and scrap on the right.", + "I am now beside the shutter, with its ribbed metal face running along my left edge and only lane and clutter ahead. Turning left should swing my heading off the lane and start bringing the shutter into the centre of my view.", + "The shutter has swung further into view but still sits at a steep angle across the left half, so my heading is not yet square to it. A second left turn should finish squaring me up to the closed metal panel for a straight final approach.", + "The closed metal roller shutter is now centred ahead of me, framed by its metal surround, with clear paving between us. I will move forward to close that last short gap and stand directly at the shutter.", + "The closed metal roller shutter's ribbed surface fills my entire view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_c/infos.json b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..746fad0287c28b1ba5edbe2f1bbe2ea8003c0c23 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the square concrete pillar supporting the balcony near the pipe.", + "Type": 0, + "Start_Pose": [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -876.433, + -313.04, + 262.907, + 0.0, + -153.64, + 0.0 + ], + [ + -989.205, + -368.923, + 262.907, + 0.0, + -153.64, + 0.0 + ], + [ + -1101.978, + -424.805, + 265.816, + 0.0, + -153.64, + 0.0 + ], + [ + -1214.75, + -480.688, + 280.282, + 0.0, + -153.64, + 0.0 + ], + [ + -1327.523, + -536.571, + 282.849, + 0.0, + -153.64, + 0.0 + ], + [ + -1440.295, + -592.453, + 288.443, + 0.0, + -153.64, + 0.0 + ], + [ + -1440.295, + -592.453, + 288.443, + 0.0, + -153.64, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the covered ground floor of the building ahead, with a square concrete post and its vertical drainpipe standing at the left edge of that recess under the balcony. My heading is aimed too far right, toward the shutter and the parked cart, so I will turn left to place that pillar and pipe nearer the center of my view before advancing.", + "The pillar carrying the balcony, with the pipe running down its face, now sits ahead of me across the open sand and the raised paving strip. The path in front looks clear of the scattered stones, so I will move forward to start closing the distance.", + "The paved curb edge is now close in front of me and the target pillar with its pipe stands just beyond it, still slightly left of center. Nothing blocks the way, so I will continue forward to reach the paving in front of the pillar.", + "I am on the paved walkway now, and the square pillar with the drainpipe on its side is clearly ahead of me with the dark recess and brickwork behind it. The heading still lines up on it, so I will keep moving forward to shorten the gap.", + "The pillar and its vertical pipe are now large in front of me, with the balcony soffit visible above and the grass patch to the left. I am still a couple of paces short of it, so I will advance again.", + "The square concrete post and the pipe attached to it fill the middle of my view at close range, but there is still a short stretch of paving before I am right at its base. I will take one more step forward to stand immediately beside it.", + "The square concrete pillar and its drainpipe stand directly in front of me at arm's length, spanning my view under the balcony. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_d/infos.json b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cab5090d766c5687d5f78b1d368d71152e17aca8 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Move to the narrow window covered by a rust-colored metal grille beside the wooden door.", + "Type": 0, + "Start_Pose": [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -955.022, + -411.347, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1033.612, + -509.653, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1112.202, + -607.96, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1112.202, + -607.96, + 262.907, + 0.0, + -153.64, + 0.0 + ], + [ + -1224.974, + -663.842, + 282.517, + 0.0, + -153.64, + 0.0 + ], + [ + -1337.746, + -719.725, + 282.824, + 0.0, + -153.64, + 0.0 + ], + [ + -1450.519, + -775.608, + 286.106, + 0.0, + -153.64, + 0.0 + ], + [ + -1563.291, + -831.49, + 294.801, + 0.0, + -153.64, + 0.0 + ], + [ + -1645.566, + -853.382, + 298.222, + 0.0, + -153.64, + 0.0 + ], + [ + -1645.566, + -853.382, + 298.222, + 0.0, + -153.64, + 0.0 + ] + ], + "Rationale": [ + "From the open sandy street I can see the shaded porch ahead, with a pale wooden door and, on the wall to its left, a narrow opening closed off by a rust-colored grille. That grille is the window I am sent to, though the porch shadow still softens its detail from here. I will step forward along the paved walkway to close the gap.", + "The porch and its wooden door are noticeably larger now, and a reddish rectangular fitting is becoming visible on the brick wall to the left of the door. I will keep walking straight to bring that narrow grilled opening into clearer view.", + "I am close to the raised walkway now, and the rust-colored grille beside the wooden door reads clearly on the dark wall to my left. Continuing straight should carry me up alongside the porch before I turn in toward it.", + "The grilled opening sits on the recessed wall to the left of the wooden door, off to the left side of my current heading, so walking straight would take me past it along the street. I will turn left to point into the porch recess and put that narrow grille closer to the center of my view.", + "After turning, the porch recess is open in front of me with the wooden door on the right and the rust-colored grille on the wall beyond it. The way in over the flat paving is clear, so I will step forward into the covered area.", + "I am under the overhang now and the grille on the brick wall is clearly ahead and slightly left of the wooden door. I will keep advancing to shorten the remaining gap to that wall.", + "The rust-colored louvered grille is now large in my view on the wall just left of the wooden door, but I am still a couple of paces short of standing beside it. I will move forward again to finish closing that distance.", + "The grille fills much of the shaded wall directly in front of me and its metal slats and sill are clearly resolved. One more step forward should bring me right up beside the window, close enough to stop.", + "The rust-colored louvered grille over the narrow window now fills much of my view on the shaded wall just ahead to my right, with the wooden door past it. A short step forward should close the last of the gap and place me directly beside the window.", + "The narrow window's rust-colored metal grille and its sill are right in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_e/infos.json b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..150faa47b1b844915b60e9ba8f854b6f1f71c321 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t0_e/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Navigate to the tire on the street.", + "Type": 0, + "Start_Pose": [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -876.433, + -313.04, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -955.022, + -411.347, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -955.022, + -411.347, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -984.703, + -533.656, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1014.383, + -655.965, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1044.063, + -778.275, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1073.743, + -900.584, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1073.743, + -900.584, + 262.907, + 0.0, + -78.64, + 0.0 + ], + [ + -1048.952, + -1023.977, + 262.907, + 0.0, + -78.64, + 0.0 + ], + [ + -1024.161, + -1147.371, + 262.907, + 0.0, + -78.64, + 0.0 + ], + [ + -999.371, + -1270.764, + 262.907, + 0.0, + -78.64, + 0.0 + ], + [ + -999.371, + -1270.764, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1029.051, + -1393.073, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1058.731, + -1515.383, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1088.411, + -1637.692, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1088.411, + -1637.692, + 262.907, + 0.0, + -103.64, + 0.0 + ] + ], + "Rationale": [ + "I am standing on open sand in front of a shuttered building, and off to my right the street continues past a cluster of scrap and a cart where a tire seems to rest. I will step forward to reach the open street surface so I can get a clearer look down that side before committing to a heading.", + "From this spot the building wall fills the left of my view while the usable street opens off to my right, where the cart and scrap pile stand. I will turn right so my heading follows that street toward the pile where the tire appears to be.", + "The street now runs straight ahead between the buildings, with the cart and a dark round tire leaning against the clutter at the far end. I will walk forward along this open lane to close distance on that pile.", + "The scrap cluster and the tire beside it are growing larger and staying near the middle of my view, which tells me my heading is still good. I will keep walking forward down the middle of the street.", + "The dark tire propped by the cart is clearly resolved now ahead of me, though still several paces off across the wet street. Another forward step should cut that remaining distance without needing any turn yet.", + "The tire and the metal rack behind it are noticeably closer and sit just right of straight ahead. I will advance again along the open lane to keep shrinking the gap before making any heading correction.", + "The tire and the scrap it leans against have drifted to the right of straight ahead as I approached, while the shutters on my left crowd my current line. I will turn right to bring the tire back onto my line of travel.", + "With the heading corrected, the tire resting against the scrap pile now sits ahead of me across a short stretch of open street. I will step forward to close that remaining distance toward it.", + "The tire is resting against the scrap and metal racks ahead on the left side of the street, still some distance off. My heading down the open lane points close enough to it that I can keep closing the gap without turning. I will step forward to shorten the distance.", + "The tire now reads clearly as a wheel with a hub, larger in my view than before, so I am gaining ground on it. The street between me and the pile of scrap is still clear and walkable. Another step forward should bring me appreciably nearer.", + "The tire has grown large but it sits off to my left, while my heading is drifting toward the wall and window on the right side of the lane. Turning left should place the tire nearer the middle of my view so my remaining steps go straight at it.", + "After the turn the tire sits close to the middle of my view, leaning against the rusted frames with a coil of wire on the ground nearby. The path in front of me is open sand, so I can advance directly. I will step forward to close in on it.", + "The tire is now clearly ahead of me among the crates and metal frames, filling a good part of my view. I am not yet close enough to call this reached, so I will continue straight while watching the low barbed wire near my feet.", + "The tire is now large and directly in front of me, leaning near the crates just beyond arm's reach. One more forward step should put me right at it and complete the approach.", + "The tire lies directly in front of me on the street, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t5_a_p/infos.json b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aa17237236b72bdb8240a4620b4460337ff70246 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the metal bucket near the dark wooden door beside the brick wall.", + "Type": 5, + "Start_Pose": [ + -876.433, + -313.04, + 262.907, + 0, + -128.64, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1459.285, + -1146.202, + 222.907, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -876.433, + -313.04, + 262.907, + 0, + -128.64, + 0 + ], + [ + -955.022, + -411.347, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1033.612, + -509.653, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1112.202, + -607.96, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1190.791, + -706.266, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -1269.381, + -804.573, + 282.776, + 0.0, + -128.64, + 0.0 + ], + [ + -1347.97, + -902.879, + 284.66, + 0.0, + -128.64, + 0.0 + ], + [ + -1347.97, + -902.879, + 284.66, + 0.0, + -103.64, + 0.0 + ], + [ + -1377.65, + -1025.189, + 288.024, + 0.0, + -103.64, + 0.0 + ], + [ + -1377.65, + -1025.189, + 288.024, + 0.0, + -103.64, + 0.0 + ], + [ + -1377.65, + -1025.189, + 288.024, + 0.0, + -103.64, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1459.285, + -1146.202, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1459.285, + -1146.202, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1459.285, + -1146.202, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1459.285, + -1146.202, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1459.285, + -1146.202, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1459.285, + -1146.202, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1459.285, + -1146.202, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1459.285, + -1146.202, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1459.285, + -1146.202, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1356.755, + -1029.631, + 253.014, + -28.202, + -53.495, + 1.862 + ], + [ + -1356.755, + -1029.631, + 253.014, + -28.202, + -53.495, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1016.8, + 891.2, + 765.8, + 640.4, + 515.4, + 390.9, + 267.6, + 267.6, + 146.0, + 21.4, + 21.4 + ], + "Rationale": [ + "From here I can already pick out the dark wooden door under the covered porch, with a pale bucket standing beside it against the brick and plaster wall. It is far across the open paved yard, so I will walk straight ahead to close that gap.", + "The doorway and the bucket beside it now sit noticeably larger in front of me, confirming my heading is correct. The ground ahead is still flat and clear, so I will keep walking forward.", + "The bucket beside the wooden door is clearer now, resting low against the wall to my front left. I am still several strides away from any grasping range, so I continue advancing along the same line.", + "I can now see the bucket sitting on a wooden pallet right next to the dark door frame. Nothing blocks the paved strip between me and that corner, so another step forward keeps shrinking the distance.", + "The porch recess fills much more of my view and the bucket is plainly the pale container on the pallet by the door. It remains beyond arm's reach, so I keep walking toward it.", + "I am close to the doorway now, with the bucket standing on its pallet just to the right of the dark door. One more forward step should bring me into the sheltered corner where the bucket sits.", + "The door and its wall now block my heading almost directly, so walking straight would press me into the facade rather than to the bucket. Turning to my right swings me onto the open walkway that runs past the bucket's pallet, giving me a usable line of approach.", + "With my heading now along the open passage, the bucket on its pallet sits ahead and slightly to my left with clear ground in front of me. I will step forward to bring it within reach for a grasp.", + "The metal bucket on its wooden pallet now fills the lower left of my view, close beside the dark wooden door and the brick wall named in the task. Nothing stands between me and its rim, so this is the moment to reach out. I will attempt the grasp, which should lift the bucket into my hands.", + "The metal bucket is now held in my hands and no longer rests on its pallet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t5_b_p/infos.json b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20226e33f40cc84cce6a2d4464d6d5ed7b8a2bfd --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000876_y-000313_z000263_t5_b_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Grab the trash bag at the closed metal roller shutter.", + "Type": 5, + "Start_Pose": [ + -876.433, + -313.04, + 262.907, + 0, + -128.64, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1194.496, + -1356.297, + 172.907, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -876.433, + -313.04, + 262.907, + 0, + -128.64, + 0 + ], + [ + -955.022, + -411.347, + 262.907, + 0.0, + -128.64, + 0.0 + ], + [ + -955.022, + -411.347, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -984.703, + -533.656, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1014.383, + -655.965, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1044.063, + -778.275, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1073.743, + -900.584, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1103.423, + -1022.893, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1133.103, + -1145.203, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1133.103, + -1145.203, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1162.784, + -1267.512, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1162.784, + -1267.512, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1162.784, + -1267.512, + 262.907, + 0.0, + -103.64, + 0.0 + ], + [ + -1162.784, + -1267.512, + 262.907, + 0.0, + -103.64, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1194.496, + -1356.297, + 172.907, + 0.0, + 0.0, + 0.0 + ], + [ + -1141.888, + -1271.955, + 233.014, + -28.202, + -53.496, + 1.862 + ], + [ + -1141.888, + -1271.955, + 233.014, + -28.202, + -53.496, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1090.7, + 974.8, + 974.8, + 849.0, + 723.1, + 597.3, + 471.4, + 345.6, + 219.8, + 219.8, + 94.3, + 94.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The closed white roller shutter is ahead on the right side of the building, with a dark sack sitting on the ground near its corner. I am still far back across the open sand, so I will walk forward to close that distance before judging my heading.", + "The shutter and the bag beside it sit off to my right, while my current heading points along the building facade and past them. I will turn right to put the alley beside the shutter in front of me so my next steps carry me straight toward the bag.", + "After turning, the lane between the buildings now runs straight ahead, with the closed shutter on my left and the dark bag resting on the sand just in front of it. The route looks clear of obstacles, so I will walk forward along it.", + "The bag near the shutter is growing larger ahead of me but is still several strides away, well beyond reach. The open sand between us is unobstructed, so I will keep walking forward.", + "The shutter now fills more of my left side and the bag sits low against the raised paved edge in front of it, yet it remains too far to grasp. Nothing blocks the lane, so I will advance again to bring it within reach.", + "The dark trash bag is clearly visible ahead on the paved strip in front of the closed metal roller shutter to my left. It is still several strides away and too small in view to reach. I will keep walking straight down the lane to close the gap.", + "The bag now sits noticeably larger just off my left front, right at the base of the shuttered doorway. The lane ahead stays open and dry enough to keep a straight line toward it. I continue advancing to bring it within arm's reach.", + "The trash bag is close now, sitting on the tiled edge beside the shuttered opening slightly left of my heading. I am still a stride or two short of a comfortable grasp distance. One more step forward should place me right beside it.", + "The trash bag is directly in front of me at the foot of the closed roller shutter, filling the lower part of my view. Nothing stands between me and it, so this seems close enough to take hold of it. I will attempt the grasp now.", + "My hands are still empty, so that grab did not take hold. The most likely reason is that I stopped slightly short of true reaching range. I will step forward once more to stand right over the bag.", + "My earlier grab attempt from further back left my hands empty, and now the trash bag beside the closed roller shutter is cut off at the very bottom edge of my view. I will look down to bring it fully into my near field and within grasping range.", + "The trash bag now sits large and centered just ahead of me on the pavement beside the shuttered garage, well inside arm's reach, and my hands are still empty after the earlier attempt from too far away. I will attempt the grasp from this closer, downward-facing position.", + "The trash bag is now held in my hands, lifted off the pavement. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000906_y-001038_z000263_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x-000906_y-001038_z000263_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a5105a24b00d145535763905ed2de34c65b0680e --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000906_y-001038_z000263_t1_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Locate the tires resting among the debris in the alleyway, then navigate to where they are situated.", + "Type": 1, + "Start_Pose": [ + -905.954, + -1037.583, + 262.907, + 0.0, + -8.64, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -905.954, + -1037.583, + 262.907, + 0.0, + -8.64, + 0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + 16.36, + -0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + 41.36, + -0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + 66.36, + -0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + 91.36, + -0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + 116.36, + -0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + 141.36, + -0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + 166.36, + -0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + -168.64, + 0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + -143.64, + 0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + -118.64, + 0.0 + ], + [ + -966.279, + -1148.043, + 262.907, + 0.0, + -118.64, + 0.0 + ], + [ + -1026.604, + -1258.503, + 262.907, + 0.0, + -118.64, + 0.0 + ], + [ + -1026.604, + -1258.503, + 262.907, + 0.0, + -93.64, + 0.0 + ], + [ + -1034.594, + -1384.108, + 262.907, + 0.0, + -93.64, + 0.0 + ], + [ + -1042.585, + -1509.713, + 262.907, + 0.0, + -93.64, + 0.0 + ], + [ + -1050.575, + -1635.318, + 262.907, + 0.0, + -93.64, + 0.0 + ], + [ + -1050.575, + -1635.318, + 262.907, + 0.0, + -93.64, + 0.0 + ] + ], + "Rationale": [ + "I am facing a blank plastered wall with shuttered windows and a raised sidewalk, so there is no debris pile or tires anywhere in this narrow field of view. I will turn right to begin a consistent scan for the alleyway that should hold the cluttered debris.", + "The view still shows the same building facade with shuttered windows and a stone sidewalk, and no tires or scattered debris have appeared. I will keep rotating right in the same direction to bring more of the surroundings into view.", + "An opening is emerging on the right where a yellow tarp covered load and taller buildings mark the start of a passage, which looks more promising than this blank wall. I will continue turning right to bring that open corridor fully into view.", + "The narrow street now opens ahead with the tarp covered bundle and some clutter along the far side, but I still see no tires among it. I will turn right again to keep sweeping across the alley and its side spaces.", + "Looking down the lane I see puddles, sacks and a green container, yet nothing that reads clearly as a stack of tires. I will keep the scan going to the right toward the shaded arcade and buildings on that side.", + "This angle shows a covered arcade and brick pillars with a clean paved forecourt, so there is still no debris pile with tires here. I will continue the same rightward rotation to check the remaining unseen portion of the street.", + "In front of me are a wooden door, a bare pallet and an empty covered walkway, none of which is the target debris. I will turn right once more to keep sweeping steadily around toward the unchecked side of the street.", + "The frame is dominated by a closed metal roller shutter and the same doorway, so this stretch of facade holds nothing resembling tires. I will keep rotating right, since the alley continues past the shutter and may open onto a cluttered yard.", + "In front of me is a closed metal shutter and a wooden door with only a pallet on the ground, so no tires are visible here. I will keep turning right in the same consistent direction to sweep the rest of the alley for the debris pile.", + "At the right edge of my view, past the shutter, I can now make out cluttered metal frames and what looks like a dark tire lying against the debris. I will turn right once more to bring that cluttered corner of the alley toward the center of my view.", + "The open alley ahead leads directly to the pile of scrap metal, frames and wheels stacked along the far right side. With the debris now roughly in front of me, I will walk forward to close the distance instead of turning further.", + "The junk pile has grown larger in my view and a tire is now clearly resting among the frames on the right. I will continue walking forward along the alley to get nearer to that debris.", + "The tire and the surrounding scrap sit off to my right while my heading still runs along the building wall on the left. I will turn right to face the debris pile squarely before advancing further.", + "Now the debris field is centered ahead of me, with a large tire lying among the frames and crates. I will walk forward toward it to reduce the remaining gap.", + "The tire resting against the scrap and crates is directly ahead and clearly larger than a moment ago, so my heading is good. I will step forward again to come close to the debris where it lies.", + "The tire now fills a large part of my view, leaning among the barbed wire, crates and metal frames just a short distance ahead. I will take one more step forward to reach the debris where the tires are situated.", + "The tire is directly in front of me among the debris, filling the near foreground within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-000906_y-001038_z000263_t1_b/infos.json b/dataset/trajectory/MiddleEast/task_x-000906_y-001038_z000263_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..54e47b2611746bdb97e869d0f76f05a073152812 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-000906_y-001038_z000263_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search the cluttered area for the wooden pallet leaning against the tall gray structure on the raised walkway, then approach it.", + "Type": 1, + "Start_Pose": [ + -905.954, + -1037.583, + 262.907, + 0.0, + -8.64, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -905.954, + -1037.583, + 262.907, + 0.0, + -8.64, + 0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + -33.64, + 0.0 + ], + [ + -905.954, + -1037.583, + 262.907, + 0.0, + -58.64, + 0.0 + ], + [ + -840.455, + -1145.056, + 262.907, + 0.0, + -58.64, + 0.0 + ], + [ + -774.956, + -1252.529, + 276.03, + 0.0, + -58.64, + 0.0 + ], + [ + -774.956, + -1252.529, + 276.03, + 0.0, + -83.64, + 0.0 + ], + [ + -761.014, + -1377.613, + 281.463, + 0.0, + -83.64, + 0.0 + ], + [ + -747.072, + -1502.697, + 282.852, + 0.0, + -83.64, + 0.0 + ], + [ + -747.072, + -1502.697, + 282.852, + 0.0, + -58.64, + 0.0 + ], + [ + -681.574, + -1610.17, + 282.852, + 0.0, + -58.64, + 0.0 + ], + [ + -610.033, + -1696.971, + 282.852, + 0.0, + -58.64, + 0.0 + ], + [ + -610.033, + -1696.971, + 282.852, + 0.0, + -83.64, + 0.0 + ], + [ + -610.033, + -1696.971, + 282.852, + 0.0, + -83.64, + 0.0 + ] + ], + "Rationale": [ + "From here I only face a blank plastered wall with a shuttered window and a raised walkway ledge, with no wooden pallet anywhere in view. I will turn left to begin a consistent scan along the walkway and open up the cluttered side of the area.", + "Turning has revealed an open yard to my left with scattered debris and what looks like a pale slanted panel near the far corner. I will continue turning left in the same direction to bring that cluttered zone and its possible pallet fully into view.", + "The cluttered yard is now clearly in front of me, and beside a tall pale slab I can make out slatted wooden boards resting against it. That matches the pallet described in the task, so I will walk forward along the walkway to close the distance.", + "The leaning wooden pallet and the tall gray slab behind it are more distinct now, though still some way down the walkway on my left. I will keep stepping forward since the paved path ahead stays clear.", + "Advancing has pushed the pallet and the tall gray slab toward the left edge of my view while a building corner dominates the center. I will turn left to bring the target back into the middle of my heading before continuing.", + "The wooden pallet leaning against the tall gray panel is now centered ahead of me beside the raised walkway, past the wire and scattered debris. I will walk forward along the open pavement to close in on it.", + "The pallet and the tall gray slab are noticeably closer, sitting just off the raised walkway on my left with clutter and wire in front of them. I will continue forward along the clear paved strip to reduce the remaining distance.", + "Coiled wire and debris now crowd the left of my view while the pallet and gray slab have drifted toward the center right along the wall. I will turn right to face the target more directly and keep to the clearer pavement beside the building.", + "The wooden pallet is now clearly in view ahead and slightly left, propped against the tall gray structure beside the raised walkway. With the target identified, I stop scanning and walk straight forward along the open paved strip to close the remaining distance.", + "The pallet and the gray structure it leans on have grown noticeably larger on my left, so my heading is carrying me toward them. I am still a few paces short of a close standing position, so I step forward again to shorten the gap.", + "I am now right beside the building, and the barred window fills most of my view while the pallet has slipped to the lower left edge. I turn left to swing my heading back onto the pallet and the gray structure so the target sits centered in front of me.", + "The wooden pallet leaning against the tall gray structure is centered directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t2_a/infos.json b/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e103b34162bdc2aa47ec31d2165e8c24c1e233a7 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the entrance of the leftmost orange tent.", + "Type": 2, + "Start_Pose": [ + -1324.114, + 15.771, + 282.907, + 0.0, + 17.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1324.114, + 15.771, + 282.907, + 0.0, + 17.28, + -0.0 + ], + [ + -1324.114, + 15.771, + 282.907, + 0.0, + -7.72, + 0.0 + ], + [ + -1199.396, + -1.136, + 276.934, + 0.0, + -7.72, + 0.0 + ], + [ + -1074.677, + -18.043, + 262.907, + 0.0, + -7.72, + 0.0 + ], + [ + -949.959, + -34.95, + 262.907, + 0.0, + -7.72, + 0.0 + ], + [ + -825.241, + -51.857, + 262.907, + 0.0, + -7.72, + 0.0 + ], + [ + -825.241, + -51.857, + 262.907, + 0.0, + -7.72, + 0.0 + ] + ], + "Rationale": [ + "Two orange tents stand across this courtyard: the far left one is plain orange with its open front turned toward me, while the other is striped and stands beside a work table. The plain one sits well to the left of my current heading, so I turn left to bring its open front into the center of my view.", + "The plain orange tent now sits centered ahead of me with its open front facing my direction, and the ground between us is flat and clear. I will walk forward to close that distance toward its entrance.", + "The orange tent has grown larger and its dark interior and raised platform floor are now readable straight ahead. I am still several paces short of the opening, so I keep walking forward.", + "The orange canopy and its two side walls now spread across almost my whole view, with the dark floor of the tent just ahead at my feet level. Another step forward should bring me right up to the open front.", + "The orange fabric walls and roof now enclose my view and the dark floor lies immediately below me, so I am at the mouth of the opening. One more step should settle me squarely in the tent's entrance.", + "The plain orange tent's back and side panels enclose me with its floor directly beneath. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t2_b/infos.json b/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..89849f4f4d7fd8793702720ac298ac86d3b2e9f3 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t2_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Proceed to the rightmost orange tent.", + "Type": 2, + "Start_Pose": [ + -1324.114, + 15.771, + 282.907, + 0.0, + 17.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1324.114, + 15.771, + 282.907, + 0.0, + 17.28, + -0.0 + ], + [ + -1324.114, + 15.771, + 282.907, + 0.0, + 42.28, + -0.0 + ], + [ + -1230.995, + 100.443, + 282.907, + 0.0, + 42.28, + -0.0 + ], + [ + -1137.876, + 185.115, + 265.312, + 0.0, + 42.28, + -0.0 + ], + [ + -1137.876, + 185.115, + 265.312, + 0.0, + 67.28, + -0.0 + ], + [ + -1089.266, + 301.208, + 262.907, + 0.0, + 67.28, + -0.0 + ], + [ + -1040.656, + 417.301, + 262.907, + 0.0, + 67.28, + -0.0 + ], + [ + -992.046, + 533.394, + 262.907, + 0.0, + 67.28, + -0.0 + ], + [ + -943.435, + 649.486, + 274.444, + 0.0, + 67.28, + -0.0 + ], + [ + -926.86, + 757.594, + 276.609, + 0.0, + 67.28, + -0.0 + ], + [ + -926.86, + 757.594, + 276.609, + 0.0, + 42.28, + -0.0 + ], + [ + -926.86, + 757.594, + 276.609, + 0.0, + 17.28, + -0.0 + ], + [ + -852.733, + 811.036, + 276.677, + 0.0, + 17.28, + -0.0 + ], + [ + -852.733, + 811.036, + 276.677, + 0.0, + 17.28, + -0.0 + ] + ], + "Rationale": [ + "Two orange tents frame my opening view, one close on my left and one at the right edge, but the courtyard clearly continues past that edge, so I cannot yet settle which orange tent truly stands farthest right. I will turn right to bring that unseen stretch of the yard into view before committing to a target.", + "The turn has uncovered more orange striped tents deeper in the yard, so the rightmost one is the far tent pitched beside the blue umbrella, not the pair that framed my first view. The ground ahead past the low pallets is open, so I will walk forward toward that tent.", + "The orange tent beside the blue umbrella is still far off across the yard, with only the flat wooden pallets and the awning frame between us. I will step forward again to close that distance while the tent stays near the centre of my view.", + "The near striped stall has swung across the front of my path, and the tent I am heading for lies off to my right, down the lane that runs between the stalls and the green tent. I will turn right so that lane opens straight ahead of me.", + "The lane now runs straight ahead, striped stalls to my left and the green tent to my right, with the blue umbrella and my orange tent at its far end. I will walk forward along this clear corridor.", + "I am drawing level with the first striped stall, and the orange tent under the blue umbrella still sits well ahead beyond the wooden benches. The paving between the pallets remains clear, so I will keep walking forward.", + "The tables and stalls on my left are sliding past while the orange tent by the blue umbrella grows larger ahead of me. Nothing blocks the lane, so another forward step should bring me closer to it.", + "Up close the stalls crowd my left and no longer read as a countable row, so I simply hold to the orange tent standing under the blue umbrella just ahead. The pallet floor in front of me is clear, so I will keep advancing toward its opening.", + "The striped orange wall of the tent I chose now fills my left side, so I am nearly alongside it rather than in front of it. The pallet floor to my left front is still open, so I will step forward once more to draw level with its opening.", + "I have come far enough along the tent's flank that its far edge and the gap beside it sit at my left, while my heading points past it into the open yard. Turning left should swing my view onto the tent itself instead of the ground beyond it.", + "The turn has brought the tent's corner and its shaded interior with the patterned floor into the left of my view, but my heading still cuts across the fabric rather than into the opening. Another left turn should square me with that entrance.", + "The tent's shaded interior now lies straight in front of me, its benches and patterned floor clear of the entrance line. One step forward should carry me inside the orange tent I have been heading for.", + "The orange striped walls and patterned floor of the tent now surround me on every side. I have arrived at my destination, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t5_a_p/infos.json b/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3bedbaed7c97a41fb57bb1b4f17f0d9d7f517106 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Lift the jerry can at the entrance of the leftmost orange tent.", + "Type": 5, + "Start_Pose": [ + -1324.114, + 15.771, + 282.907, + 0, + 17.28, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -805.814, + -58.48, + 175.907, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1324.114, + 15.771, + 282.907, + 0, + 17.28, + 0 + ], + [ + -1324.114, + 15.771, + 282.907, + 0.0, + -7.72, + 0.0 + ], + [ + -1199.396, + -1.136, + 276.934, + 0.0, + -7.72, + 0.0 + ], + [ + -1074.677, + -18.043, + 262.907, + 0.0, + -7.72, + 0.0 + ], + [ + -949.959, + -34.95, + 262.907, + 0.0, + -7.72, + 0.0 + ], + [ + -949.959, + -34.95, + 262.907, + 0.0, + -7.72, + 0.0 + ], + [ + -949.959, + -34.95, + 262.907, + 0.0, + -7.72, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -805.814, + -58.48, + 175.907, + 0.0, + 0.0, + 0.0 + ], + [ + -805.814, + -58.48, + 175.907, + 0.0, + 0.0, + 0.0 + ], + [ + -805.814, + -58.48, + 175.907, + 0.0, + 0.0, + 0.0 + ], + [ + -805.814, + -58.48, + 175.907, + 0.0, + 0.0, + 0.0 + ], + [ + -805.814, + -58.48, + 175.907, + 0.0, + 0.0, + 0.0 + ], + [ + -947.695, + -13.707, + 233.014, + -28.202, + 42.424, + 1.862 + ], + [ + -947.695, + -13.707, + 233.014, + -28.202, + 42.424, + 1.862 + ] + ], + "PD_Dist_2D": [ + 523.6, + 523.6, + 397.7, + 271.9, + 146.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The leftmost orange tent sits well off to my left, and the pink jerry can rests at its open entrance. My current heading points across the yard instead of at that tent, so I will turn left to bring the can near the center of my view before walking toward it.", + "The orange tent is now framed ahead of me with the pink jerry can standing at its entrance. It is still far across the open ground, so I will walk forward to close the distance toward a position where the can is reachable.", + "The tent has grown noticeably larger and the jerry can is clearly visible under its canopy, slightly right of center in my view. The gap is still too wide for a grasp, so I will keep stepping forward along this straight line.", + "The tent interior now spans most of my view and the jerry can sits just inside the entrance, low and near my center line. It remains a step or two beyond arm's length, so I will advance once more to stand directly over it.", + "I am standing at the tent entrance and the pink jerry can is directly in front of me, large in the lower part of my view with its handle clearly exposed. Nothing blocks the approach, so I will attempt to grasp and lift it now.", + "The pink jerry can is held in my hands, no longer resting at the tent entrance. The lift is done, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t5_b_p/infos.json b/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88bcf1aa31c6b6856f15b08f8419b82f73efc2c3 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001324_y000016_z000283_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the plate from the rightmost orange tent.", + "Type": 5, + "Start_Pose": [ + -1324.114, + 15.771, + 282.907, + 0, + 17.28, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -956.454, + 575.459, + 212.907, + 90, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1324.114, + 15.771, + 282.907, + 0, + 17.28, + 0 + ], + [ + -1324.114, + 15.771, + 282.907, + 0.0, + 42.28, + -0.0 + ], + [ + -1230.995, + 100.443, + 282.907, + 0.0, + 42.28, + -0.0 + ], + [ + -1137.876, + 185.115, + 265.312, + 0.0, + 42.28, + -0.0 + ], + [ + -1137.876, + 185.115, + 265.312, + 0.0, + 67.28, + -0.0 + ], + [ + -1089.266, + 301.208, + 262.907, + 0.0, + 67.28, + -0.0 + ], + [ + -1040.656, + 417.301, + 262.907, + 0.0, + 67.28, + -0.0 + ], + [ + -1040.656, + 417.301, + 262.907, + 0.0, + 67.28, + -0.0 + ], + [ + -1040.656, + 417.301, + 262.907, + 0.0, + 67.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -956.454, + 575.459, + 212.907, + 90.0, + 0.0, + 0.0 + ], + [ + -956.454, + 575.459, + 212.907, + 90.0, + 0.0, + 0.0 + ], + [ + -956.454, + 575.459, + 212.907, + 90.0, + 0.0, + 0.0 + ], + [ + -956.454, + 575.459, + 212.907, + 90.0, + 0.0, + 0.0 + ], + [ + -956.454, + 575.459, + 212.907, + 90.0, + 0.0, + 0.0 + ], + [ + -956.454, + 575.459, + 212.907, + 90.0, + 0.0, + 0.0 + ], + [ + -956.454, + 575.459, + 212.907, + 90.0, + 0.0, + 0.0 + ], + [ + -1060.589, + 424.985, + 233.014, + -28.202, + 117.425, + 1.862 + ], + [ + -1060.589, + 424.985, + 233.014, + -28.202, + 117.425, + 1.862 + ] + ], + "PD_Dist_2D": [ + 669.6, + 669.6, + 548.6, + 430.4, + 430.4, + 304.7, + 179.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The white plate sits at the edge of the striped orange tents on the right side of my view, while the near tent on my left is not the target. I will turn right so the rightmost orange tent and its plate come toward the center of my heading before I start walking.", + "The striped orange tents and the white plate leaning near them are now ahead of me, but still far across the open yard. I will walk forward along this clear stretch of ground to close that distance.", + "The orange striped tent and the plate beside it have grown larger ahead of me, so my heading is good but I am not yet within reach. The wooden pallets stay to my left and the path in front remains clear, so I will keep walking forward.", + "I am close to the tents now, but the plate sits right of my straight-ahead line while the pallet frame and posts crowd the center of my view. Turning right should place the plate squarely in front of me for a direct approach.", + "The plate now stands almost directly ahead against the rightmost orange striped tent, with open ground between us. I will step forward to close the remaining gap toward it.", + "The plate is large and close in front of me at the edge of the orange tent, but likely still just outside grasping range. One more step forward should bring it near enough for my hands.", + "The plate from the rightmost orange tent is right at my front, filling the lower part of my view at arm's length. My hands are empty and nothing blocks it, so I will attempt to pick it up now.", + "The plate is now held in my hands rather than resting by the tent. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_a/infos.json b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5466e4e31f1fc63809a989f76b24a2934a363e43 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the stacked tires, then head toward the blue doorway.", + "Type": 3, + "Start_Pose": [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 119.96, + -0.0 + ], + [ + -1617.667, + 1818.754, + 279.206, + 0.0, + 119.96, + -0.0 + ], + [ + -1680.521, + 1927.795, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -1743.374, + 2036.836, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -1743.374, + 2036.836, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -1743.374, + 2036.836, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1743.374, + 2036.836, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -1743.374, + 2036.836, + 262.907, + 0.0, + -165.04, + 0.0 + ], + [ + -1864.967, + 2004.346, + 262.907, + 0.0, + -165.04, + 0.0 + ], + [ + -1986.561, + 1971.856, + 262.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2108.154, + 1939.366, + 262.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2229.747, + 1906.877, + 262.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2351.34, + 1874.387, + 262.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2351.34, + 1874.387, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2475.272, + 1896.328, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2599.203, + 1918.27, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2723.135, + 1940.212, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2723.135, + 1940.212, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -2819.582, + 1972.052, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -2819.582, + 1972.052, + 262.907, + 0.0, + 144.96, + -0.0 + ] + ], + "Rationale": [ + "The stack of tires lies low against the wall well off to my left, while my heading points across the open yard. I will turn left so the tires sit ahead of me and I can walk straight at them.", + "The tire stack now sits ahead of me, leaning against the base of the wall with clear paved ground between us. I will walk forward to close that gap.", + "The tires have grown noticeably larger and stay in the left half of my view, so my heading still carries me toward them. I will keep walking forward since the ground ahead remains open.", + "The stacked tires now fill the lower left of my view, close enough to make out the individual wheel rims. One more step forward should bring me right up beside them.", + "The topmost tire fills the bottom corner of my view, its rim right beside me at the foot of the concrete barrier. I have reached the stacked tires, and I mark arriving here before setting off for the blue doorway.", + "Standing at the tires, my view is filled by the blank concrete barrier, with no blue doorway anywhere in sight. I will turn right to sweep my gaze across the open yard and find that door.", + "Turning has opened up the yard on my right, showing a shuttered window and sacks along the far wall, but still no blue door. I will continue turning right to bring more of the courtyard into view.", + "A wider stretch of the courtyard is open now, with the utility poles and a blue painted wall appearing at the right edge. I will turn right once more to bring that blue side of the yard fully in front of me.", + "My heading now looks down the open yard past the utility poles, with painted walls and doorways on the far side rather than the tires behind me. The pavement ahead is clear of obstacles, so I will walk forward to close distance toward the blue-painted doorway.", + "The step gained ground and the blue-trimmed buildings across the yard now sit larger in front of me. Nothing blocks the flat pavement between me and them, so I keep walking forward.", + "The concrete barriers and the bench along the far side keep growing, confirming I am still closing on the far end of the yard. The route stays open along the curb line, so another step forward is the direct way to reach the painted doorway.", + "A pale blue door has come into view in the wall of the building on my left, and it is still some distance off. I will keep moving forward along the open pavement to draw level with it.", + "The doorway set in the left-hand wall is nearer but still ahead of my shoulder, so I have not yet reached the point where turning toward it makes sense. Another forward step should bring me alongside that entrance.", + "I am now level with the recessed doorway in the wall to my left, while straight ahead only leads farther along the barriers. Turning left should put that door squarely in front of me for a direct approach.", + "The turn has brought the pale doorway into view ahead, though sacks and a crate sit off to its left side. The ground straight in front of me is clear, so I walk forward toward the door.", + "The blue-washed door panels are noticeably closer and its frame stands just to my right of centre. I will step forward again to finish closing the remaining gap to the entrance.", + "The pale blue plank door is now close on my left, with the concrete slabs narrowing the gap on my right. Walking one more step forward should bring me level with the doorway before I swing toward it.", + "I am right beside the blue plank door, but it sits off to my left while my body still faces along the narrow passage. Turning left should square me onto the doorway so I can step straight up to it.", + "The blue door is now centered ahead of me with its handle and frame clearly in view. A short step forward should close the last of the gap and put me at the doorway.", + "The blue door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_b/infos.json b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0492227c20264fea60665a08d697acd42c1af7ad --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Approach the utility pole base, then move to the white AC unit on the wall.", + "Type": 3, + "Start_Pose": [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -1678.746, + 1731.655, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -1802.677, + 1753.596, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -1926.609, + 1775.538, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -1926.609, + 1775.538, + 282.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2048.202, + 1743.048, + 282.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2169.795, + 1710.558, + 282.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2169.795, + 1710.558, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2293.727, + 1732.5, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2417.659, + 1754.442, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2417.659, + 1754.442, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2417.659, + 1754.442, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -2417.659, + 1754.442, + 282.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2480.512, + 1863.483, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2480.512, + 1863.483, + 262.907, + 0.0, + 94.96, + -0.0 + ], + [ + -2491.394, + 1988.871, + 262.907, + 0.0, + 94.96, + -0.0 + ], + [ + -2491.394, + 1988.871, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2554.247, + 2097.912, + 263.159, + 0.0, + 119.96, + -0.0 + ], + [ + -2599.682, + 2149.988, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2599.682, + 2149.988, + 262.907, + 0.0, + 119.96, + -0.0 + ] + ], + "Rationale": [ + "The wooden utility pole with its crossarms stands off to my right, past the edge of the teal building, and my current heading points across the open lot instead. I will turn right to put the paved walkway leading toward that pole in front of me.", + "The alley between the teal wall on my right and the yellow building on my left now runs straight ahead, with the tall wooden pole rising along it. The ground is clear, so I will walk forward to close distance on the pole.", + "The pole and its crossarms are noticeably larger and higher in my view than a moment ago, confirming I am closing on it. The lane stays open, so I will keep walking forward.", + "The pole's timber crossarms now fill the upper right of my view, but its base is still some distance up the alley. I will step forward again to bring the foot of the pole within reach.", + "The pole has drifted toward the right side of my view as I advanced, so walking straight would carry me past it along the left wall. I will turn right to bring the pole and the open courtyard beyond it back into the center of my path.", + "The pole with its stacked crossarms now stands ahead of me at the mouth of the courtyard, framed between the teal brick wall on my right and the pale building on my left. The patterned paving between us is unobstructed, so I will walk forward toward it.", + "The courtyard is opening up and the pole's shaft is close enough that I can see it planted on the paving to my left of center. I will step forward again to reach the ground at its base.", + "The nearest pole shaft sits toward the left of my view while my heading is drifting toward the crates and bench on the right side of the courtyard. I will turn left so the pole and the ground at its foot line up ahead of me.", + "The tall wooden utility pole now stands just ahead of me, its base planted on the open paving of the courtyard. The stretch of ground between us is clear, so I will walk straight forward to close that gap toward its base.", + "The pole trunk fills the middle of my view now, but its base still sits a couple of paces beyond my feet. Another step forward should bring me right up against the foot of the pole.", + "The weathered wooden trunk fills my view from top to bottom and its base is at my feet on the paving. I have arrived at the utility pole base. I mark reaching it and set off for the white air conditioner mounted on the building wall.", + "Standing at the pole base, the trunk blocks most of my forward view, while the pale air conditioner sits high on the building wall off to my left. I will turn left to bring that wall and its unit into open view before advancing.", + "The building corner is in front of me, and the boxy louvered air conditioner sits in the window on its left face, still near the edge of my view. A further left turn should swing that unit toward the middle of my heading.", + "The louvered unit in the window is now ahead of me on the pale brick wall, but still well back across the open paving. I will step forward to shorten that distance to it.", + "The unit and its window are close now, but sacks and stacked boxes are piled directly beneath them on my current line of travel. I will turn left toward the clear pavement beside that clutter so I can keep closing on the wall face.", + "The turn has opened a clear strip of pavement ahead, with the louvered wall unit now to my right above the sacks. I will walk forward along this open ground to draw level with the unit on the wall.", + "The boxy air conditioner set into the window sits off at the right edge of my view, while the graffitied concrete slab fills the space straight ahead of me. Turning right should swing that wall-mounted unit toward the center of my heading so I can walk straight at it.", + "The pale air conditioner projecting from the window frame is now roughly ahead of me on the brick wall, with clear open ground between us apart from the sacks slumped at the base. I will step forward to close that remaining distance toward the unit.", + "The air conditioner now dominates my view, its louvered grille and support bracket close enough to read in detail, though I am still a stride short of standing at the wall. One more short step forward should bring me right up against the unit.", + "The wall-mounted air conditioner fills my view at arm's length, its grille and frame directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_c/infos.json b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba20d4a882c162d69104a7cc122816e3814d0a84 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_c/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Head toward the white AC unit on the wall, then reach the tires.", + "Type": 3, + "Start_Pose": [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1657.861, + 1781.975, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1760.908, + 1854.236, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1863.956, + 1926.498, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1967.003, + 1998.76, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -2070.05, + 2071.022, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -2173.097, + 2143.283, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -2173.097, + 2143.283, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2297.029, + 2165.225, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2420.961, + 2187.167, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2523.276, + 2214.645, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2523.276, + 2214.645, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2432.291, + 2198.536, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2432.291, + 2198.536, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -2432.291, + 2198.536, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2432.291, + 2198.536, + 262.907, + 0.0, + 94.96, + -0.0 + ], + [ + -2432.291, + 2198.536, + 262.907, + 0.0, + 69.96, + -0.0 + ], + [ + -2432.291, + 2198.536, + 262.907, + 0.0, + 44.96, + -0.0 + ], + [ + -2432.291, + 2198.536, + 262.907, + 0.0, + 19.96, + -0.0 + ], + [ + -2432.291, + 2198.536, + 262.907, + 0.0, + -5.04, + 0.0 + ], + [ + -2306.919, + 2187.48, + 262.907, + 0.0, + -5.04, + 0.0 + ], + [ + -2181.546, + 2176.423, + 262.907, + 0.0, + -5.04, + 0.0 + ], + [ + -2056.174, + 2165.366, + 262.907, + 0.0, + -5.04, + 0.0 + ], + [ + -1930.802, + 2154.309, + 262.907, + 0.0, + -5.04, + 0.0 + ], + [ + -1930.802, + 2154.309, + 262.907, + 0.0, + 19.96, + -0.0 + ], + [ + -1845.452, + 2191.912, + 262.907, + 0.0, + 19.96, + -0.0 + ], + [ + -1845.452, + 2191.912, + 262.907, + 0.0, + 19.96, + -0.0 + ] + ], + "Rationale": [ + "Across the open yard I can see white air conditioners fixed to the wall of the tall building ahead of me. The paved ground between us is clear of obstacles, so I will walk straight ahead to close that distance.", + "The building carrying the white wall units now fills more of my view, so my heading is good. The concrete barriers stay off to my left and the ground in front stays open, so I keep walking forward.", + "The lower window with its pale white unit set into it is becoming distinct at the base of the wall ahead. Nothing stands between me and that stretch of wall, so another step forward keeps shrinking the gap.", + "The white air conditioner in the ground floor window is now clearly readable, with sacks piled below it, but it is still well out of reach. My lane past the barriers remains open, so I keep advancing toward it.", + "The wall holding the white unit is close enough now that I can pick out the shutter slats and the bags beneath it. There is still several paces of open ground, so I continue walking straight in.", + "The barrier slab crowds my left while the white wall unit sits over to the right of my heading, still a short distance off. The pavement directly ahead is clear, so I take another step forward before correcting my facing.", + "The tall concrete slab now takes up the left half of my view while the white air conditioner and the sacks under it sit off to my right. Walking on straight would carry me into the barrier, so I will turn right to put that unit in front of me.", + "The turn worked, and the white wall-mounted air conditioner with its shutters now sits near the middle of my view with clear floor leading up to it. I will walk forward to bring myself right up beneath it.", + "The pale louvered air conditioner mounted on the stone wall is now directly ahead, above the row of sacks, but still a couple of paces away. The ground between me and that wall is clear, so I will keep walking straight at it to close the remaining gap.", + "The wall unit now dominates my view, its frame and shutters clearly visible just above the sacks leaning against the wall. I am close but not yet standing at it, so one more step forward should bring me right beneath it.", + "The louvered air conditioner on the wall fills my whole view, its casing an arm's length in front of me above the sacks. I have arrived at the white AC unit. I mark reaching it and then head for the tires lying out in the open yard.", + "I am pressed right up under the wall unit, with its casing and the sacks blocking almost everything I can see and no space to swing around comfortably. Backing up a step should open enough distance from this wall for me to reorient toward the tires.", + "With a bit of ground now between me and the wall, the air conditioner and sacks sit squarely ahead and there is nothing more for me here. The tires lie back out across the open yard behind my left shoulder, so I will begin turning left away from this wall.", + "The rotation has pushed the wall unit to the right edge and brought the corner masonry and raised kerb into my view, so my heading is still short of the open yard. I will turn left again to keep swinging toward the open ground.", + "Now only the graffitied barrier slab and the rough wall behind it fill my view, with no line of sight down the yard toward the tires. Another left turn should carry my heading further around toward the open space.", + "I am still facing the flat face of the concrete barrier at close range, with only paving visible at its base. My heading has not yet come round to the open yard, so I will continue turning left.", + "My view is still filled with the blank graffiti barrier slabs right in front of me, so there is no path to read from here. I will keep swinging left to sweep my heading away from this wall and toward the open ground of the yard.", + "The barrier now slides toward the right of my view and a sliver of open lane and a building edge appears at the far left. I will turn left again to bring that opening closer to the center of my heading, since the stacked tires lie out that way.", + "The open lane is now visible on my left with a tire lying on the ground beside the curb, but it still sits well off to the side of my heading. One more left turn should put that lane and the rubber straight ahead of me before I start walking.", + "The alley now runs straight ahead of me with the tire resting on the pavement partway down on the right side of the lane. My heading is clear of the barrier, so I will step forward along the open ground to close the distance to the rubber.", + "The tire ahead has grown larger and I can now make out a second one stacked behind it against the shopfront wall. The lane stays open underfoot, so I will keep walking to close on them.", + "The pair of tires sits clearly ahead beside the shuttered storefront, still several paces off. Nothing blocks the pavement between us, so I will advance again to shorten that gap.", + "The tires now fill a good part of the lower view, leaning against the base of the wall just a couple of paces away. I will step forward once more to bring myself right up beside them.", + "The tires have drifted into the lower right corner of my view as I closed in, with the open alley stretching off to my left instead. I will turn right so the rubber sits square in front of me rather than off my shoulder.", + "The stack of tires now lies just ahead of me at the base of the shuttered shopfront, low in my view and slightly to my left. A short step forward should close the last bit of distance and bring me right up beside them.", + "The tires lie directly at my feet along the shopfront wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_d/infos.json b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7c0c2fa22c278cd5ce09c785afe14fa034466649 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_d/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Move to the black graffiti on the wall, then approach the utility pole.", + "Type": 3, + "Start_Pose": [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1657.861, + 1781.975, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1760.908, + 1854.236, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1760.908, + 1854.236, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -1823.762, + 1963.277, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -1886.615, + 2072.318, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -1949.469, + 2181.359, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2012.322, + 2290.4, + 282.761, + 0.0, + 119.96, + -0.0 + ], + [ + -2012.322, + 2290.4, + 282.761, + 0.0, + 119.96, + -0.0 + ], + [ + -2012.322, + 2290.4, + 282.761, + 0.0, + 144.96, + -0.0 + ], + [ + -2012.322, + 2290.4, + 282.761, + 0.0, + 169.96, + -0.0 + ], + [ + -2012.322, + 2290.4, + 282.761, + 0.0, + -165.04, + 0.0 + ], + [ + -2012.322, + 2290.4, + 282.761, + 0.0, + -140.04, + 0.0 + ], + [ + -2012.322, + 2290.4, + 282.761, + 0.0, + -115.04, + 0.0 + ], + [ + -2065.592, + 2176.371, + 262.907, + 0.0, + -115.04, + 0.0 + ], + [ + -2118.862, + 2062.341, + 262.907, + 0.0, + -115.04, + 0.0 + ], + [ + -2118.862, + 2062.341, + 262.907, + 0.0, + -140.04, + 0.0 + ], + [ + -2215.332, + 1981.507, + 262.907, + 0.0, + -140.04, + 0.0 + ], + [ + -2311.802, + 1900.674, + 262.907, + 0.0, + -140.04, + 0.0 + ], + [ + -2408.272, + 1819.841, + 278.555, + 0.0, + -140.04, + 0.0 + ], + [ + -2408.272, + 1819.841, + 278.555, + 0.0, + -140.04, + 0.0 + ] + ], + "Rationale": [ + "The black lettering sprayed across the concrete barrier wall sits ahead on my left, still well across the open yard. I will walk forward over the open ground to cut down that distance before worrying about my heading.", + "The black tag on the barrier wall has grown larger and clearer off to my left, so my last step closed real distance. The yard in front of me is still clear, so I will keep walking forward.", + "The black graffiti is now well off to my left while my heading points straight at the far building, so continuing forward would carry me past it. I will turn left to bring the marked wall panel into the center of my view.", + "The turn worked, and the black lettering now sits near the middle of my view on the concrete barrier. With the wall squarely ahead and clear ground between us, I will walk forward toward it.", + "The graffiti fills more of my view and the barrier slabs are noticeably nearer, so my heading is good. I will step forward again to close on the marked panel.", + "The sprayed letters now span much of my view and the curb at the base of the barrier is close. I will take another step forward to come right up to the marked wall.", + "The black tag is directly in front of me and the barrier's rough surface is already legible in detail. One more step forward should bring me right against the marked wall.", + "The black sprayed letters fill my whole view at arm's length on the rough concrete barrier. I have arrived at the graffiti on the wall. I mark reaching it and now set off for the utility pole standing out in the open street.", + "The black lettering fills my whole view, so I am standing right at the painted concrete and there is nothing more to gain facing it. My other destination, the wooden utility pole, lies somewhere back out in the open yard behind me. I will turn right to swing my heading off this wall and begin bringing that open ground into sight.", + "The barrier is sliding off to my left and the tiled walkway with the far building and its shuttered window is opening on the right. The pole I want is still outside this narrow slice of yard. I will keep turning right to widen my view across the open courtyard.", + "Now I see the sandbags and jars stacked by the wall and the yard widening to the right, but no timber post yet. Continuing the same rightward sweep should carry my heading toward the open lane where the pole stands. I will turn right again.", + "The tall wooden pole with its crossarms and lamp has come into view on the right, standing out in the open street. It is still at the edge of my heading, with the sandbag pile and kerb between me and it. I will turn right once more to bring it and the clear ground toward it more squarely ahead.", + "The pole rises just ahead of me, but my line runs straight into the raised kerb and the wall corner beside it. Turning right once more should put the flat open pavement under my heading so I can walk in freely. I will make that last right turn before advancing.", + "The paved lane ahead is clear, with the poles and their crossarms standing off to my left along the kerb. Nothing blocks a straight advance from here. I will step forward to close the remaining distance to them.", + "The timber poles and their crossarms have grown noticeably larger on my left, so the last step gained real ground. The way in front of me is still open pavement. I will keep walking forward to draw alongside them.", + "The pair of wooden poles now stands close on my left while my heading runs past them down the lane. To finish closing on the pole I need it in front of me rather than off to the side. I will turn left to face it directly.", + "The wooden utility pole with its crossarms now stands ahead of me, slightly right of center, with open pavement between us. I will walk forward to close the remaining distance toward its base.", + "The pole has grown noticeably taller in my view, so my heading is carrying me straight at it. I am still several paces short of its base, so I will keep walking forward.", + "The pole now rises through my view as a thick trunk just left of center, and its crossarms fill the top of my sight. One more step forward should bring me right up beside it.", + "The utility pole stands directly in front of me, close enough to touch its trunk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_e/infos.json b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0666c9f14e7ad50bd24b736f013431c37c69c2c8 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t3_e/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Navigate to the black graffiti on the wall, then proceed to the blue doorway.", + "Type": 3, + "Start_Pose": [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1657.861, + 1781.975, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1760.908, + 1854.236, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1863.956, + 1926.498, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -1863.956, + 1926.498, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -1926.809, + 2035.539, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -1989.663, + 2144.58, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2052.516, + 2253.621, + 275.123, + 0.0, + 119.96, + -0.0 + ], + [ + -2052.516, + 2253.621, + 275.123, + 0.0, + 119.96, + -0.0 + ], + [ + -2052.516, + 2253.621, + 275.123, + 0.0, + 144.96, + -0.0 + ], + [ + -2052.516, + 2253.621, + 275.123, + 0.0, + 169.96, + -0.0 + ], + [ + -2052.516, + 2253.621, + 275.123, + 0.0, + -165.04, + 0.0 + ], + [ + -2052.516, + 2253.621, + 275.123, + 0.0, + -140.04, + 0.0 + ], + [ + -2148.986, + 2172.788, + 262.907, + 0.0, + -140.04, + 0.0 + ], + [ + -2245.456, + 2091.955, + 262.907, + 0.0, + -140.04, + 0.0 + ], + [ + -2341.926, + 2011.121, + 262.907, + 0.0, + -140.04, + 0.0 + ], + [ + -2438.396, + 1930.288, + 262.907, + 0.0, + -140.04, + 0.0 + ], + [ + -2438.396, + 1930.288, + 262.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2559.989, + 1897.798, + 262.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2559.989, + 1897.798, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2683.921, + 1919.74, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2807.853, + 1941.682, + 262.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2807.853, + 1941.682, + 262.907, + 0.0, + 144.96, + -0.0 + ], + [ + -2807.853, + 1941.682, + 262.907, + 0.0, + 144.96, + -0.0 + ] + ], + "Rationale": [ + "The black sprayed lettering is clearly visible on the pale concrete barrier ahead and slightly to my left across the open yard. Nothing blocks the flat ground between me and it, so I will walk straight ahead to close the gap.", + "The dark lettering on the barrier has grown larger, confirming my heading is bringing me toward it. The yard ahead remains clear of obstacles, so I will keep walking forward to shorten the distance further.", + "The black tag now reads plainly on the barrier slab off to my left, but I am still several paces short of it. Continuing straight keeps me on the open pavement and brings me nearer before I swing toward the wall.", + "The graffiti has drifted to the left edge of my view while my heading points down the yard past it. I will turn left so the marked slab sits in front of me and I can walk straight at it.", + "The barrier with the black lettering now spans the view directly ahead of me. With my heading squared onto it, I will step forward to close the remaining gap.", + "The black tag has swelled to fill much of my view and the tiled strip at the barrier's base is now visible. I am close but not yet at the wall, so I will keep advancing.", + "The sprayed letters are only a stride or two away, with the barrier's sloped footing right in front of me. One more step forward should put me directly at the marked wall.", + "The black sprayed letters are right against my face on the concrete slab, with its footing at my feet. I have reached the black graffiti on the wall. I mark reaching it and now turn my attention toward the blue doorway.", + "The tagged concrete slab fills my whole view at arm's length, so nothing useful lies ahead of me here. Having marked the graffiti, I need to swing away from this barrier toward the open yard where a blue doorway might be found, so I will turn right.", + "The barrier still occupies most of my view, though its edge and a tiled walkway with a shuttered window now show at the right. Rotating further right should clear the wall from my path and reveal more of the yard where a blue doorway may stand.", + "More of the courtyard is opening up, with sandbags, a crate and a bench on the far side, but the concrete slabs still block my left half. I will keep turning right to bring the open ground and any blue-painted door fully in front of me.", + "The yard now stretches ahead with timber posts and a raised paved terrace, and a bluish door shows on the far building at the right edge. One more turn right should put that open route and the doorway squarely ahead before I start walking.", + "I am now facing straight down the open courtyard, with clear paving between me and the far buildings and a blue door visible across the yard. Nothing blocks the way, so I will walk forward to close the distance.", + "The far side of the yard has grown noticeably closer and the blue-painted door on the building opposite is clearer beyond the timber posts. The ground stays open, so I keep walking forward toward it.", + "The bench and the concrete boundary wall ahead keep enlarging as I close on the far end of the yard, and the blue door sits off to my right past the posts. The route stays clear, so I advance again.", + "I am well into the yard now, with the tall concrete boundary and the bench close ahead and the paving still unobstructed. Another step forward should bring me near the far corner where the doorway I want should come into reach.", + "The courtyard ahead of me closes into a blank concrete barrier with a bench against it, and the wooden posts to my right lead only back into the open yard. No blue doorway is visible on this heading, so I will swing left to scan the built wall along that side for it.", + "Turning has brought a tall pale blue door into view on the left, set into the stone building at the end of the lane. The strip of clear ground between me and it is open, so I will walk forward to close that distance.", + "The blue door is now much nearer but still sits off at the left edge of my view while my heading runs past it down the yard. Turning left should bring the doorway toward the middle of my view so my next steps carry me straight at it.", + "The blue plank door now stands ahead and slightly left, framed by the stone wall, with bare paving between us. Nothing blocks that stretch, so I will step forward to draw up to it.", + "The weathered blue door now fills much of the left side of my view, its handle clearly visible, but I am still standing off from it in the open lane. One more step forward should bring me right up against the doorway.", + "I am right at the doorway now, with only the blue planks and their frame at my left and the concrete barrier crowding my right. Turning left should put the door squarely in front of me at arrival distance.", + "The blue plank door and its frame stand directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t5_a_pd/infos.json b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8425d146eb9a6fdf4e29679cb6898f5dc30e9ac6 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001555_y001710_z000283_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the green bell pepper at the utility pole base, then set it down near the white wall-mounted AC unit.", + "Type": 5, + "Start_Pose": [ + -1554.814, + 1709.713, + 282.907, + 0, + 144.96, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2432.149, + 1725.167, + 230.907, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1554.814, + 1709.713, + 282.907, + 0, + 144.96, + 0 + ], + [ + -1554.814, + 1709.713, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -1678.746, + 1731.655, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -1802.677, + 1753.596, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -1926.609, + 1775.538, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -1926.609, + 1775.538, + 282.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2048.202, + 1743.048, + 282.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2169.795, + 1710.558, + 282.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2291.441, + 1678.374, + 282.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2291.441, + 1678.374, + 282.907, + 0.0, + -165.04, + 0.0 + ], + [ + -2291.441, + 1678.374, + 282.907, + 0.0, + 169.96, + -0.0 + ], + [ + -2291.441, + 1678.374, + 282.907, + 0.0, + 144.96, + -0.0 + ], + [ + -2291.441, + 1678.374, + 282.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2354.294, + 1787.415, + 282.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2417.148, + 1896.456, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2480.001, + 2005.497, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2542.854, + 2114.538, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2597.645, + 2150.657, + 262.907, + 0.0, + 119.96, + -0.0 + ], + [ + -2558.376, + 2091.681, + 266.823, + 0.0, + 119.96, + -0.0 + ], + [ + -2558.376, + 2091.681, + 266.823, + 0.0, + 119.96, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2432.149, + 1725.167, + 230.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2432.149, + 1725.167, + 230.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2432.149, + 1725.167, + 230.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2432.149, + 1725.167, + 230.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2432.149, + 1725.167, + 230.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2432.149, + 1725.167, + 230.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2432.149, + 1725.167, + 230.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2432.149, + 1725.167, + 230.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2432.149, + 1725.167, + 230.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2285.339, + 1657.901, + 253.014, + -28.202, + -114.895, + 1.862 + ], + [ + -2294.392, + 1658.178, + 253.286, + -28.189, + -139.883, + 1.872 + ], + [ + -2303.152, + 1661.947, + 252.619, + -28.215, + -164.913, + 1.849 + ], + [ + -2317.518, + 1669.606, + 252.8, + -14.175, + 162.152, + 6.959 + ], + [ + -2372.432, + 1776.119, + 253.239, + -28.198, + 170.105, + 1.865 + ], + [ + -2435.435, + 1885.415, + 232.702, + -28.191, + 170.119, + 1.871 + ], + [ + -2498.343, + 1994.57, + 232.421, + -28.214, + 170.09, + 1.852 + ], + [ + -2561.157, + 2103.53, + 232.631, + -28.203, + 170.101, + 1.856 + ], + [ + -2615.65, + 2139.126, + 233.625, + -28.193, + 170.106, + 1.868 + ], + [ + -2593.334, + 2152.327, + 256.823, + 0.0, + 119.96, + -0.0 + ], + [ + -2593.334, + 2152.327, + 256.823, + 0.0, + 119.96, + -0.0 + ] + ], + "PD_Dist_2D": [ + 877.5, + 877.5, + 753.4, + 630.1, + 508.0, + 508.0, + 384.4, + 262.8, + 148.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits far ahead on the paved strip to my right, near the utility pole line, while my heading points across the open yard. I will turn right to bring the pepper and the walkway leading to it into the center of my view before advancing.", + "The pepper now sits near the middle of my view, along the paved lane running between the teal wall on my right and the buildings ahead. The path is clear, so I will walk forward to close the long gap toward it.", + "The pepper has grown noticeably larger and stays ahead beside the paved strip, so my heading is still useful. I will keep walking forward since the lane remains unobstructed.", + "The pepper is clearly closer, resting on the pavement under the wooden pole frame slightly right of center. Another step forward should continue shrinking the remaining distance before I need any fine alignment.", + "From here the pepper sits a little right of my heading, so walking straight would carry me past its left side. I will turn right to line my body up with it before covering the last stretch.", + "The pepper now sits close to the center of my view on the patterned paving, with the lane between the wall and the pole clear. I will step forward to shorten the remaining distance toward a graspable range.", + "The pepper is large and low in front of me now, still slightly ahead rather than within reach. I will advance again to bring it close enough for a grasp attempt.", + "The pepper fills much of the lower center of my view, meaning only a short gap remains. I will take one more step so it sits directly at my feet and within grasping range.", + "The green bell pepper is now directly at my feet at the base of the wooden utility pole, filling the lower left of my view at arm's reach. No further stepping is needed, so I will reach down and attempt to grasp it. If the grasp registers, the pepper should leave the pavement and be held in my hands.", + "The grasp worked and the pepper is now held in my hands rather than resting on the paving. The white wall-mounted AC unit that I need to reach lies back toward the yellow building on my left, well off my current heading. I will turn left to begin swinging my facing toward that side.", + "The pepper is secure in my hands and the yellow building with its wall-mounted AC units has come into view on the left of my heading. My facing is still angled too far toward the open courtyard and the pole. I will turn left again to bring that wall closer to the center of my view.", + "The building corner with its window and the white AC unit above now sits ahead and slightly right, but the pole and the open right-hand paving still take up much of my view. One more left turn should place the wall with the graffiti and the AC-bearing facade squarely in front of me. I will turn left again before walking.", + "My heading is now clear of the pole and points along the wall toward the corner where the window and its mounted unit sit. The pepper is still in my hands, so I only need to close the distance. I will walk forward across the open paving toward that facade.", + "The corner building has grown larger and the window with its wall unit and the sacks beneath it are now clearly ahead of me. I am still too far away to set the pepper down beside that unit. I will keep walking forward along the same line.", + "The pale AC unit projecting from the window frame is now plainly ahead with the sacks stacked under it. A few more paces should bring the base of that wall within reach for setting the pepper down. I will continue walking forward.", + "The mounted unit and the sacks beneath it now dominate the right of my view, so I am nearly at the wall. I want to stand close under the unit before releasing the pepper so it lands near it. I will step forward once more.", + "I am still carrying the green bell pepper, and the white wall-mounted AC unit now fills most of my view just ahead on the right, with sandbags below it. One more short step should bring me right under the unit, close enough that releasing the pepper leaves it beside the wall.", + "The louvered grille of the white AC unit now fills my view at arm's length, so I am standing directly at its base with the pepper still in hand. This is the placement spot the task asks for, so I will release the pepper here and expect it to settle beside the wall under the unit.", + "The green bell pepper now rests on the ground directly beneath the white wall-mounted AC unit, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001865_y002086_z000263_t3_a/infos.json b/dataset/trajectory/MiddleEast/task_x-001865_y002086_z000263_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0543543b3a7ece07782af27d723f8566e23ca21 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001865_y002086_z000263_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the garbage bags, then head toward the standing bench near the wall.", + "Type": 3, + "Start_Pose": [ + -1864.711, + 2086.18, + 262.907, + 0, + -158.4, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1864.711, + 2086.18, + 262.907, + 0, + -158.4, + 0 + ], + [ + -1864.711, + 2086.18, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -1990.349, + 2093.644, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2115.986, + 2101.108, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2241.623, + 2108.573, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2367.261, + 2116.037, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2492.898, + 2123.501, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2492.898, + 2123.501, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2400.661, + 2118.021, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + -2400.661, + 2118.021, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -2400.661, + 2118.021, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -2487.137, + 2026.575, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -2573.613, + 1935.129, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -2660.089, + 1843.683, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + -2660.089, + 1843.683, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -2777.11, + 1797.351, + 282.907, + 0.0, + -158.4, + 0.0 + ], + [ + -2894.131, + 1751.02, + 282.907, + 0.0, + -158.4, + 0.0 + ], + [ + -2894.131, + 1751.02, + 282.907, + 0.0, + -158.4, + 0.0 + ] + ], + "Rationale": [ + "The sacks piled under the shuttered window sit off to my left, while my current heading points across the open courtyard past them. I will turn left so that pile lies straight ahead and I can walk directly at it.", + "The heap of sacks beside the pale wall now sits near the middle of my view, so my heading is good. I will walk forward to close the long gap of open ground between me and them.", + "The sacks and the white block beside them have grown larger and stay centered ahead of me. Nothing blocks the flat courtyard between us, so I keep walking straight toward them.", + "The pile of sacks is clearly resolved now against the brick wall under the window, but still several strides off. I continue forward on the same line to shorten that distance.", + "The sacks fill a good part of my view and the window above them is close overhead. I take another step forward to bring myself right up beside the pile.", + "The sacks sit just ahead at the base of the wall, with only a short stretch of paving left. One more step forward should put me level with them.", + "The bulging sacks are right at my feet, filling the lower view beside the white block under the shuttered window. I have arrived at the garbage bags. I mark reaching them, and now I turn my attention to the wooden bench standing against the far wall across the courtyard.", + "Standing this close, the sacks and the brick wall crowd almost my whole view, leaving me no sightline across the courtyard. I will step back to open space around me so I can swing my heading toward the wooden bench by the far wall.", + "The bags and crate sit close in front of me, so this corner is done and I need my other destination. Far to the right, past the courtyard, a slatted wooden bench stands against the stone wall. I will turn right to bring that side of the yard into view.", + "The bench by the far stone wall is now in view, but it still sits off to my right with the bag pile and building corner crowding my left. Another turn right should swing the open courtyard floor ahead of me and give a clean line toward that bench.", + "The courtyard now opens ahead with the wooden bench standing against the stone wall across the paved ground. Nothing blocks the flat stretch between us, so I will walk forward to close that distance.", + "The bench against the stone wall has grown larger and the low curb ahead is easy to cross. I still have several strides of empty pavement before reaching it, so I will keep walking forward.", + "The bench beside the tall stone wall is clearly closer, its slats and legs now distinct. There is still open ground between us, so another step forward should bring me up to it.", + "The bench has drifted to the left side of my view as I closed in, while the bags and cans by the far wall fill the center. I will turn left to put the bench squarely in front of me before continuing.", + "The bench is now centered ahead of me, standing right against the tall stone wall. A short stretch of paving still separates us, so I will walk forward to close on it.", + "The bench fills much of my view now, its seat and legs close enough to make out the grain, with the wall directly behind it. One more step forward should put me right at it.", + "The wooden bench fills the lower view right against the wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-001865_y002086_z000263_t3_b/infos.json b/dataset/trajectory/MiddleEast/task_x-001865_y002086_z000263_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28aa06c2f3d998cf8086b26abaa32df21d860df7 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-001865_y002086_z000263_t3_b/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Head toward the standing bench near the wall, then proceed to wall-mounted AC unit.", + "Type": 3, + "Start_Pose": [ + -1864.711, + 2086.18, + 262.907, + 0.0, + -158.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1864.711, + 2086.18, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -1981.732, + 2039.848, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -2098.753, + 1993.516, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -2215.773, + 1947.185, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -2332.794, + 1900.853, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -2449.815, + 1854.521, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + -2566.835, + 1808.189, + 282.146, + 0.0, + -158.4, + 0.0 + ], + [ + -2683.856, + 1761.857, + 282.727, + 0.0, + -158.4, + 0.0 + ], + [ + -2800.877, + 1715.526, + 282.727, + 0.0, + -158.4, + 0.0 + ], + [ + -2896.707, + 1669.83, + 282.727, + 0.0, + -158.4, + 0.0 + ], + [ + -2896.707, + 1669.83, + 282.727, + 0.0, + -158.4, + 0.0 + ], + [ + -2810.795, + 1703.845, + 282.727, + 0.0, + -158.4, + 0.0 + ], + [ + -2810.795, + 1703.845, + 282.727, + 0.0, + 176.6, + -0.0 + ], + [ + -2810.795, + 1703.845, + 282.727, + 0.0, + 151.6, + -0.0 + ], + [ + -2810.795, + 1703.845, + 282.727, + 0.0, + 126.6, + -0.0 + ], + [ + -2810.795, + 1703.845, + 282.727, + 0.0, + 101.6, + -0.0 + ], + [ + -2810.795, + 1703.845, + 282.727, + 0.0, + 76.6, + -0.0 + ], + [ + -2810.795, + 1703.845, + 282.727, + 0.0, + 51.6, + -0.0 + ], + [ + -2732.618, + 1802.48, + 282.727, + 0.0, + 51.6, + -0.0 + ], + [ + -2654.441, + 1901.115, + 262.907, + 0.0, + 51.6, + -0.0 + ], + [ + -2573.603, + 1995.169, + 262.907, + 0.0, + 51.6, + -0.0 + ], + [ + -2573.603, + 1995.169, + 262.907, + 0.0, + 76.6, + -0.0 + ], + [ + -2573.603, + 1995.169, + 262.907, + 0.0, + 101.6, + -0.0 + ], + [ + -2564.546, + 2110.273, + 263.014, + 0.0, + 101.6, + -0.0 + ], + [ + -2564.546, + 2110.273, + 263.014, + 0.0, + 126.6, + -0.0 + ], + [ + -2599.685, + 2149.976, + 262.907, + 0.0, + 126.6, + -0.0 + ], + [ + -2599.685, + 2149.976, + 262.907, + 0.0, + 126.6, + -0.0 + ] + ], + "Rationale": [ + "From this corner of the courtyard I can pick out a low wooden bench standing against the pale concrete barrier straight ahead across the open paving. Nothing blocks the direct line, so I will walk forward to begin closing that distance.", + "The bench against the far concrete wall now reads slightly larger and remains close to the center of my view, confirming my heading is good. The paving ahead is clear, so I keep walking straight toward it.", + "The bench and the tall barrier panels behind it are steadily filling more of my view as I close in. My current bearing still points at the bench, so another step forward is the simplest way to keep gaining ground.", + "The bench sits at mid range now, plainly resting on the paving in front of the concrete barrier. The wooden post on my right stays clear of my path, so I continue advancing without adjusting my heading.", + "The bench is clearly resolved ahead, its slatted seat and legs distinct against the wall panels. There is still a good stretch of open paving between us, so I take another step forward to shorten it.", + "The bench standing against the wall is close enough now to dominate the left of center of my view, and the sacks and crates beyond it stay off to the right. I keep walking forward to draw right up beside it.", + "Only a short span of paving separates me from the bench set against the concrete wall, and its frame now fills much of the lower view. Another forward step should bring me right up to it.", + "The bench is now within arm's reach at my lower left, with the wall rising immediately behind it. I take one more short step forward to stand properly at it rather than stopping slightly short.", + "The wooden bench standing against the concrete barrier now fills the lower left of my view, so only a short gap remains. I will step forward once more to close that last bit of distance and stand directly at it.", + "The slatted wooden bench is right at my feet against the concrete barrier, close enough to touch. I have reached the standing bench by the wall, and I mark reaching it before setting off toward the wall-mounted AC unit.", + "I am pressed so close against the bench and barrier that almost nothing but concrete is in view, which leaves me no room to swing around toward the air conditioner. I will step back to open up space and regain a wider view before reorienting.", + "With a little clearance restored, the bench and the barrier still occupy everything ahead, and the wall-mounted AC unit is nowhere in this narrow corner. I will turn left to sweep my view off the barrier and toward the open side of the yard.", + "The rotation so far has only brought more of the blank barrier and the bench top into view, with no route out of this corner yet. I will keep turning left to bring the open part of the yard into view.", + "Turning has now revealed a whitewashed wall with a blue doorway opening past the left edge of the barrier, which suggests the way out of this corner lies further left. I will continue turning left to face that open side.", + "The blue wooden door and the light brick facade are now clearly in view on the left, with the barrier sliding off to the right. I will turn left again to line my heading up with that open frontage rather than the concrete slabs.", + "I am now squared onto the blue door and the brick wall, which is not something I need, and the street beyond it still lies further to my left. I will turn left once more to bring that open stretch into view and find the AC unit mounted on a wall.", + "The closed blue door and its brick wall still fill the right of my view, while the open ground with the concrete barriers lies off to my left. One more swing left should put that open lane squarely ahead so I can start out toward the wall-mounted AC unit.", + "The lane now runs open ahead of me, with the barrier slabs and a low crate lining the pale wall on my right. Walking forward down this lane should bring me alongside the building faces where an AC unit would be mounted.", + "A boxy louvered unit is now visible jutting from the pale wall on my right, just past the crate. I will keep walking forward to close the remaining gap to it.", + "The mounted grille has slid to the right edge of my view as I draw level with the graffitied barriers, so it is still slightly ahead of me. Another step forward should carry me the last stretch toward the wall it hangs on.", + "Straight ahead I only see the line of barrier slabs and kerb, since my heading runs parallel to the building that carries the unit. Turning right should swing my view back onto that wall to my side.", + "The green-framed AC unit has come back into view but sits at the right edge, half cut off beside the window and the sacks. A further turn right should bring it near the centre of my view for a clean approach.", + "The wall-mounted AC unit is now clearly ahead of me, projecting from the wall above the sacks piled on the pavement. Walking forward should bring me right up beneath it.", + "Standing close now, the unit's louvered casing fills the upper right of my view while the graffitied slab takes the left. A short turn right should square me up directly with the unit.", + "The window-mounted air conditioner in its pale green frame now fills the middle of my view, squarely ahead of me and jutting from the wall. Only a short gap of pavement separates me from it, with the sacks sitting off to the right of my path. I will step forward to close that last bit of distance and stand right at the unit.", + "The wall-mounted air conditioner's louvered grille is directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_a/infos.json b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f1af94657d13aa807766c4070596b3d2ee92e42 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the blue door, then head toward the small bench.", + "Type": 3, + "Start_Pose": [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + [ + -2325.899, + 1701.91, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2425.186, + 1779.258, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2524.472, + 1856.606, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2623.758, + 1933.954, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2714.13, + 1972.026, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2804.067, + 1969.629, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2804.067, + 1969.629, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2804.067, + 1969.629, + 262.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2804.067, + 1969.629, + 262.907, + 0.0, + -167.92, + 0.0 + ], + [ + -2804.067, + 1969.629, + 262.907, + 0.0, + -142.92, + 0.0 + ], + [ + -2804.067, + 1969.629, + 262.907, + 0.0, + -117.92, + 0.0 + ], + [ + -2862.999, + 1858.419, + 262.907, + 0.0, + -117.92, + 0.0 + ], + [ + -2902.39, + 1762.97, + 282.862, + 0.0, + -117.92, + 0.0 + ], + [ + -2902.39, + 1762.97, + 282.862, + 0.0, + -117.92, + 0.0 + ] + ], + "Rationale": [ + "The pale blue door sits in the wall of the building ahead of me, slightly right of my heading, with open paving between us. The wooden bench waits farther right along the courtyard wall, so the door is what I close on first. I will walk forward to shorten that distance.", + "The blue door has grown larger and the utility pole has slid past my right side, confirming I am closing on it. Nothing blocks the paving between me and the doorway. I will keep walking forward.", + "The blue door and the brick corner beside it now dominate my view, so I still have several paces to cover. The stacked crates and sacks stay well to my left of the line I am walking. I will advance again toward the door.", + "The doorway is close enough that its frame and planks read clearly, though I am still short of standing at it. My path along the building face remains clear of the crates on the left. I will step forward once more.", + "The wall corner now cuts across most of my view and only a slice of the blue door shows to its right, meaning I am nearly alongside the doorway. A short step should bring me level with the door itself. I will move forward.", + "The blue planks of the door fill the right side of my view at arm's reach, with the plastered wall pressing in on the left. One more short step should place me squarely at the door. I will advance.", + "The pale blue planks and their frame fill my view from this close, so I am standing right at the blue door. I have reached it. I mark arriving here before turning away toward the small wooden bench across the courtyard.", + "The blue door still fills my view, and the small bench sits back out in the courtyard to my right, well off my current heading. Turning right should swing the door out of view and bring the open paving toward the bench into sight. I will turn right.", + "The blue door panel has slid to my left edge and only blank concrete slabs fill the rest of my view, so nothing of the seating area is in sight yet. I will keep turning right to swing my heading out of this doorway corner and sweep the open courtyard for the small bench.", + "The wall slabs dominate my view, but a dark wooden leg and a paved step have just appeared at the right edge, which looks like the bench I want. I will turn right again to bring that shape fully into the middle of my view.", + "The small wooden bench now stands clearly on the paved step, but it sits right of my heading with the concrete slabs still filling most of my view. One more turn to the right should put it in front of me so I can walk straight at it.", + "The bench is now squarely ahead of me on the raised paved step, with clear ground between us and no obstacle in the way. I will walk forward to close that distance.", + "The bench has grown much larger and its slatted seat is close in front of me, though I am still a short stretch of paving short of standing beside it. Another step forward should bring me right up to it.", + "The small bench is directly beside me, its seat within arm's reach at the edge of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_b/infos.json b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28790ca8f9afe4759798d1969bfe242ad733f559 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the wooden utility pole, then move to the white crate.", + "Type": 3, + "Start_Pose": [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + [ + -2325.899, + 1701.91, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2325.899, + 1701.91, + 282.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2448.572, + 1730.051, + 282.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2448.572, + 1730.051, + 282.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2448.572, + 1730.051, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2448.572, + 1730.051, + 282.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2505.867, + 1842.112, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2563.163, + 1954.173, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2563.163, + 1954.173, + 262.907, + 0.0, + 117.08, + -0.0 + ] + ], + "Rationale": [ + "The tall wooden utility pole stands ahead of me on the right side of the courtyard, still several paces away. I will walk forward across the open paving to close that gap before worrying about the white crate near the building corner.", + "The utility pole now rises close in front of me but sits off to the right of my heading, so walking straight would carry me past it. I will turn right to put the pole squarely ahead before advancing again.", + "The pole is now centered in my view with clear paving leading up to its base. I will step forward to bring myself right up beside the wooden shaft.", + "The weathered wooden pole fills the middle of my view, its base within arm's reach on the paving in front of me. I have reached the utility pole. I mark reaching it, then set off toward the white crate resting by the building corner behind me to the left.", + "Standing at the pole, my view is filled by its shaft and the far wall, with no sign of the white crate that sat back near the building corner to my left. I will turn left to swing my heading back toward that corner of the yard.", + "The turn brought the whitewashed corner and the pale crate beside the sacks into the left half of my view, but they are not yet centered. I will turn left once more to face the crate directly before walking.", + "The white crate now sits ahead of me at the base of the corner wall, beside the sacks, with clear ground between us. I will walk forward to close the remaining distance.", + "The crate has grown large in front of me, though I am still a stride or two short of standing at it. One more step forward should bring me right up against the white crate.", + "The white crate fills the lower view directly in front of me, within arm's reach. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_c/infos.json b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eec027b2361ddb72223b3adc32e5d79b24b7f9ba --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the wall-mounted AC unit, then proceed to the bench.", + "Type": 3, + "Start_Pose": [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + [ + -2325.899, + 1701.91, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2425.186, + 1779.258, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2425.186, + 1779.258, + 282.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2482.481, + 1891.319, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2539.776, + 2003.381, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2567.009, + 2107.691, + 264.403, + 0.0, + 117.08, + -0.0 + ], + [ + -2567.009, + 2107.691, + 264.403, + 0.0, + 117.08, + -0.0 + ], + [ + -2524.945, + 2025.421, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2524.945, + 2025.421, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2524.945, + 2025.421, + 262.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2524.945, + 2025.421, + 262.907, + 0.0, + -167.92, + 0.0 + ], + [ + -2524.945, + 2025.421, + 262.907, + 0.0, + -142.92, + 0.0 + ], + [ + -2625.355, + 1949.537, + 262.907, + 0.0, + -142.92, + 0.0 + ], + [ + -2725.764, + 1873.653, + 262.907, + 0.0, + -142.92, + 0.0 + ], + [ + -2826.174, + 1797.769, + 282.707, + 0.0, + -142.92, + 0.0 + ], + [ + -2896.845, + 1725.222, + 282.707, + 0.0, + -142.92, + 0.0 + ], + [ + -2896.845, + 1725.222, + 282.707, + 0.0, + -142.92, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the yard I can see the pale building ahead with an air conditioner sitting in the wall window on its left face, and a wooden bench against the wall to the right. The wall unit is my first stop, so I will walk forward across the open ground toward the building.", + "The building corner is noticeably closer and the boxed unit set into the wall window on the left side is clearer now. The paved yard in front of me is still clear, so I will keep walking forward to shorten the distance.", + "The air conditioner in the wall window sits off to my left, behind the sacks and boxes near the base of the building, while my heading points at the blue door and the corner. I will turn left so the wall unit comes to the center of my view before I close in.", + "The wall unit in the window now sits in the right half of my view with the graffitied wall to my left, so my heading leads into the alcove where it hangs. The ground between me and it is open, so I will step forward to close in.", + "The louvred unit protruding from the window is much larger now and the sacks beneath it are close on my right. I am still a few paces short of standing at it, so I will keep walking forward.", + "The air conditioner and its casing now dominate my view, but there is still a short gap of paving before I am right beneath it. I will take one more step forward to stand at the wall unit.", + "The louvred air conditioner bolted into the wall window fills my view at arm's reach, its frame and support bar right in front of me. I have reached the wall-mounted unit. I mark reaching it, then set off for the wooden bench across the yard.", + "I am pressed right up against the wall unit, with the sacks and the wall filling my view and no room to swing around toward the bench. I will step back from the wall to open up space, which should let me turn and see the yard again.", + "The window unit and the sacks still fill the view straight ahead, so this corner of the yard has nothing more for me. The wooden bench sits far around to my right, out past this wall, so I will begin swinging my heading that way.", + "The window unit has slid to my left edge and the stone wall and crate now block most of what I see. I still have no line onto the open yard, so I will keep rotating rightward.", + "The rough stone wall still covers the left half of my view, but open paving and a far boundary wall are opening up on the right. Another turn that way should bring the yard where the bench stands into full view.", + "The slatted wooden bench is now visible against the far wall, but it sits off to the right while the corner masonry still crowds my left. One more turn to the right should put it near the center of my path so I can walk straight to it.", + "The bench now sits ahead of me against the far boundary wall with clear paving between us. Nothing stands in the way, so I will walk forward to close that distance.", + "The bench has grown larger and holds its place ahead of me, so my heading is good. There is still a stretch of open courtyard to cover, and I will keep walking toward it.", + "The bench and its slatted seat are clearly detailed now, only a short stretch of paving away. I will continue forward to bring myself right up beside it.", + "The bench now fills the lower part of my view, so I am nearly touching it. A last short step forward should place me directly at it.", + "The wooden bench slats are directly below me, filling the near edge of my view. I am at the bench, so the task is done and stopping here is right." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_d/infos.json b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c611dcff779baa51cd7253618b43cbbf785e333 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_d/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Navigate to the white crate, then walk to the wooden pole.", + "Type": 3, + "Start_Pose": [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + [ + -2325.899, + 1701.91, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2425.186, + 1779.258, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2524.472, + 1856.606, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2524.472, + 1856.606, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2581.767, + 1968.667, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2581.767, + 1968.667, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2581.767, + 1968.667, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2581.767, + 1968.667, + 262.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2581.767, + 1968.667, + 262.907, + 0.0, + -167.92, + 0.0 + ], + [ + -2581.767, + 1968.667, + 262.907, + 0.0, + -142.92, + 0.0 + ], + [ + -2581.767, + 1968.667, + 262.907, + 0.0, + -117.92, + 0.0 + ], + [ + -2581.767, + 1968.667, + 262.907, + 0.0, + -92.92, + 0.0 + ], + [ + -2588.179, + 1842.972, + 262.907, + 0.0, + -92.92, + 0.0 + ], + [ + -2588.179, + 1842.972, + 262.907, + 0.0, + -92.92, + 0.0 + ] + ], + "Rationale": [ + "The pale white crate sits against the building corner ahead and slightly to my left, well across the open yard. Nothing blocks the paving between us, so I will walk straight ahead to cut down that distance.", + "The crate beside the sacks has grown noticeably larger and the corner of the building now fills more of my view, so my heading is good. I will keep walking forward to close the remaining gap.", + "The white crate and the tan box under it are now clearly resolved at the foot of the stone corner, a little left of my path. There is still open ground between us, so another step forward should bring me almost alongside them.", + "The white crate has drifted into the lower left of my view while my body still points at the blue door and the bare wall. Turning left should put the crate squarely in front of me before I take the last step toward it.", + "The white crate now sits centered ahead of me against the stone wall, with the sacks just beyond it. One more step forward should bring me right up beside it.", + "The white crate fills the bottom of my view right at my feet, its top edge close enough to touch beside the sacks and the shuttered window. I have arrived at the white crate. I mark reaching it and now set off for the tall wooden pole standing out in the open courtyard.", + "Standing at the crate I face only the stone wall and the shuttered window, and the wooden pole is nowhere in this narrow view. The open courtyard where that pole stands lies back around to my right, so I will begin turning that way to bring it into sight.", + "The rotation has swung the brick corner and the grey door edge into view, but the courtyard with the wooden pole is still further round. I will turn right again to keep sweeping toward the open space.", + "Having arrived at the white crate, my view is still boxed in by the building's brick corner and the tall slab panels, with no wooden pole anywhere in it. I will keep rotating right to sweep the open courtyard side into view and pick out the pole.", + "The rotation has opened up a paved strip with a wooden bench and more slab panels, yet the wooden pole still has not appeared. I will turn right again to bring more of the open yard beyond the bench into my field of view.", + "More of the courtyard is exposed now, with the bench, bins and the far building fronts, but no upright wooden pole yet. Another step of rightward rotation should carry my gaze further across the open square where such a pole would stand.", + "A tall wooden pole with a crossarm has just entered the right edge of my view above the paved court. I will turn right once more so that it sits centered ahead of me before I close the distance.", + "The wooden pole now stands squarely in the middle of my view, planted on the paving a short way ahead with clear ground between us. I will walk straight forward to close that gap and stand at its base.", + "The wooden pole rises directly in front of me, close enough to touch at the edge of the paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_e/infos.json b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10323f88708f7b6b93006aa214bbf89390536c33 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t3_e/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Move to the red Arabic graffiti wall, then approach the blue door.", + "Type": 3, + "Start_Pose": [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 142.08, + -0.0 + ], + [ + -2226.613, + 1624.562, + 298.081, + 0.0, + 117.08, + -0.0 + ], + [ + -2283.908, + 1736.623, + 282.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2341.204, + 1848.685, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2398.499, + 1960.746, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2455.794, + 2072.807, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2455.794, + 2072.807, + 262.907, + 0.0, + 92.08, + -0.0 + ], + [ + -2460.362, + 2198.583, + 262.907, + 0.0, + 92.08, + -0.0 + ], + [ + -2464.93, + 2324.359, + 282.708, + 0.0, + 92.08, + -0.0 + ], + [ + -2464.93, + 2324.359, + 282.708, + 0.0, + 92.08, + -0.0 + ], + [ + -2461.577, + 2232.02, + 262.907, + 0.0, + 92.08, + -0.0 + ], + [ + -2461.577, + 2232.02, + 262.907, + 0.0, + 117.08, + -0.0 + ], + [ + -2461.577, + 2232.02, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2461.577, + 2232.02, + 262.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2461.577, + 2232.02, + 262.907, + 0.0, + -167.92, + 0.0 + ], + [ + -2461.577, + 2232.02, + 262.907, + 0.0, + -142.92, + 0.0 + ], + [ + -2461.577, + 2232.02, + 262.907, + 0.0, + -117.92, + 0.0 + ], + [ + -2520.509, + 2120.811, + 262.907, + 0.0, + -117.92, + 0.0 + ], + [ + -2570.538, + 2009.576, + 271.722, + 0.0, + -117.92, + 0.0 + ], + [ + -2570.538, + 2009.576, + 271.722, + 0.0, + -142.92, + 0.0 + ], + [ + -2658.479, + 1930.761, + 262.907, + 0.0, + -142.92, + 0.0 + ], + [ + -2658.479, + 1930.761, + 262.907, + 0.0, + -167.92, + 0.0 + ], + [ + -2658.479, + 1930.761, + 262.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2781.152, + 1958.902, + 262.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2781.152, + 1958.902, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2781.152, + 1958.902, + 262.907, + 0.0, + 142.08, + -0.0 + ] + ], + "Rationale": [ + "The concrete barrier slab carrying the red Arabic script sits well off to my left, while the blue door on the building faces me ahead. Since the graffiti wall is my first destination, I will turn left to bring that slab into the center of my path.", + "The slab with the red Arabic writing now sits ahead of me across the open paving, with clear ground between us. I will walk forward to close that distance.", + "The red lettering has grown larger and the barrier wall is clearly nearer, but I am still out on the open paving. Nothing blocks my line, so I keep walking straight toward it.", + "The graffiti slab and the low step at its base now fill much of the left side of my view, so I am closing well. The sacks and boxes stay off to my right and do not sit in my path, so I continue forward.", + "The red script is close enough that its strokes are sharp, and the paved strip in front of the wall is just a short walk away. I will step forward again to reach the base of the graffiti wall.", + "The painted slab has drifted to the left edge of my view while the window and sacks crowd the right, so I am no longer pointed squarely at the writing. I will turn left to put the red script back in front of me before closing the last stretch.", + "The red Arabic lettering now sits squarely in the middle of my view with the tiled step running just ahead of it. I will walk forward to stand right at that wall.", + "The painted slab now fills my view from the plinth upward and the red script is directly in front of my face. One more step should put me right up against the graffiti wall.", + "The red Arabic lettering sprayed on the concrete barrier fills my whole view at arm's length, so I am standing right at the red graffiti wall. I have arrived at it. I mark reaching it and now set off for the blue door.", + "Standing this close, the painted concrete fills my view completely and I can see neither the courtyard nor any route away from here. Stepping back should restore enough clearance to make out the surroundings before I set a heading toward the blue door.", + "With a little distance regained I can see the whole painted slab and its neighbours, but my heading still points straight into the barrier. The blue door lies back across the open courtyard behind me, so I turn right to start swinging away from this wall.", + "The rotation has brought the edge of the painted slab and the rough building wall beside it into view, yet I am still facing enclosing stonework. I turn right again to keep carrying my heading around toward the open part of the yard.", + "Now the recessed corner with the pale brick wall and the window unit fills my view, so I am still boxed in against the buildings. Another right turn should bring more of the courtyard side into view.", + "The window and the sacks piled beneath it sit squarely ahead of me, which means I am still aimed at the building face rather than the yard. I continue turning right to keep bringing my heading around toward open ground.", + "The sacks and crate still dominate my view, but at the right edge the yard is beginning to appear with a bench and rooftops beyond. I turn right once more to bring that open side properly in front of me.", + "The courtyard is now open on my right and I can pick out a blue door set in the far wall across it. I turn right again to bring that door in front of me so I can walk straight toward it.", + "The graffiti slab is behind me now and the open courtyard lies ahead, with a blue door showing on the far building past the poles and barriers. I walk forward to start closing that distance across the open paving.", + "The yard has opened up further and the blue door across it now sits clearly ahead of me above the low benches and bins. Nothing blocks the paving between us, so I keep walking forward to shorten the gap.", + "Straight ahead the ground drops to the raised paving and the tall concrete slabs cut across my line, so pressing on this heading would only take me into that barrier. I turn left to swing my heading toward the open side of the yard by the building faces.", + "With my heading swung toward the left side of the yard, the ground in front of me is clear as far as the bench and the barrier slabs. I step forward along this lane to get nearer the building wall where a doorway should be reachable.", + "Forward from here I only face the blank concrete slabs and the bench, so there is nothing to approach on this heading. I turn left to bring the building face beside me into view, where a door should stand.", + "A tall pale blue door panel has come into the very edge of my view on the left, against the white building wall. I turn left again to bring it properly in front of me before walking up to it.", + "The blue door now stands clearly ahead and slightly to my left, with open ground between me and its frame. I walk forward to close the last of that distance and stand at the doorway.", + "I am right at the blue door, but its panels sit off to my left while the concrete slab fills the right of my view. I turn left to square up with the door face so I am properly facing it.", + "The blue door fills my view at arm's length, its handle right in front of me. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t5_a_pd/infos.json b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e34ba06963f06d9803487a22b0380bf18bfcce78 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002227_y001625_z000298_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the tomato at the blue door, then set it down near the small bench.", + "Type": 5, + "Start_Pose": [ + -2226.613, + 1624.562, + 298.081, + 0, + 142.08, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2678.288, + 1976.437, + 232.907, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2226.613, + 1624.562, + 298.081, + 0, + 142.08, + 0 + ], + [ + -2325.899, + 1701.91, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2425.186, + 1779.258, + 282.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2524.472, + 1856.606, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2524.472, + 1856.606, + 262.907, + 0.0, + 142.08, + -0.0 + ], + [ + -2524.472, + 1856.606, + 262.907, + 0.0, + 167.08, + -0.0 + ], + [ + -2524.472, + 1856.606, + 262.907, + 0.0, + -167.92, + 0.0 + ], + [ + -2647.544, + 1830.267, + 272.023, + 0.0, + -167.92, + 0.0 + ], + [ + -2770.616, + 1803.927, + 282.666, + 0.0, + -167.92, + 0.0 + ], + [ + -2770.616, + 1803.927, + 282.666, + 0.0, + -142.92, + 0.0 + ], + [ + -2871.026, + 1728.043, + 282.666, + 0.0, + -142.92, + 0.0 + ], + [ + -2813.585, + 1771.454, + 282.666, + 0.0, + -142.92, + 0.0 + ], + [ + -2813.585, + 1771.454, + 282.666, + 0.0, + -142.92, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2678.288, + 1976.437, + 232.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2678.288, + 1976.437, + 232.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2678.288, + 1976.437, + 232.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2678.288, + 1976.437, + 232.907, + 0.0, + 0.0, + 0.0 + ], + [ + -2537.114, + 1839.385, + 233.013, + -28.202, + -167.775, + 1.862 + ], + [ + -2528.859, + 1834.721, + 233.286, + -28.189, + -142.763, + 1.872 + ], + [ + -2519.908, + 1834.549, + 232.619, + -28.215, + -117.793, + 1.849 + ], + [ + -2642.79, + 1809.445, + 232.433, + -28.202, + -117.779, + 1.858 + ], + [ + -2765.713, + 1783.139, + 232.695, + -28.208, + -117.778, + 1.852 + ], + [ + -2756.664, + 1786.452, + 233.35, + -28.2, + -92.775, + 1.865 + ], + [ + -2857.748, + 1711.306, + 252.819, + -28.194, + -92.772, + 1.865 + ], + [ + -2869.431, + 1729.249, + 297.666, + 0.0, + -142.92, + 0.0 + ], + [ + -2869.431, + 1729.249, + 297.666, + 0.0, + -142.92, + 0.0 + ] + ], + "PD_Dist_2D": [ + 572.6, + 446.7, + 320.8, + 195.0, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 22.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato sits on the ground beside the pale blue door across the courtyard, well ahead of me. Nothing blocks the open paving between us, so I will walk straight forward to close that distance.", + "The tomato and the blue door now fill more of my view, so my heading is still correct. I remain too far to reach the fruit, so I will step forward again.", + "The tomato is clearly close now, resting on the pavement beside the white boxes in front of the blue door. It is still slightly beyond arm's reach, so one more step forward should place me at grasping distance.", + "The tomato now dominates the lower part of my view, right at the foot of the blue door and within reach. This is the grasp position the task calls for, so I will attempt to pick it up.", + "The grasp worked, and the tomato is now held in my hands rather than resting on the pavement. The small bench lies off to my right side along the far wall, so I will turn right to bring it into view.", + "The wooden bench has come into the right edge of my view against the far courtyard wall, while the blue door still occupies the left. Another turn to the right should place the bench closer to the center of my heading.", + "The bench is now ahead of me against the concrete panels, with clear open ground in between. Carrying the tomato, I will walk forward to close the distance toward it.", + "The bench has grown larger and sits slightly right of my heading, so I am closing correctly on it. I am still too far to set the tomato down beside it, so I will take another step forward.", + "I am carrying the tomato and the small bench now fills the view just ahead, but my heading runs into the wall panels behind it. Turning right should swing my facing along the paved strip beside the bench, giving me a clear line for a final short approach to its side.", + "The bench now sits ahead and slightly to my left with open paving in front of me and no obstruction in the way. I will step forward to close the last of the gap so the tomato can be released right beside it.", + "I am now standing right alongside the small bench, its slats filling the lower left of my view within easy reach. This is close enough to satisfy setting the tomato down near the bench, so I will release it here.", + "The tomato is out of my hands and resting on the ground right beside the small bench. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002394_y001537_z000298_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x-002394_y001537_z000298_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f70087d8aa4b207eb62c3e1691e8a6e52dba7ef6 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002394_y001537_z000298_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Search for a tire resting on the ground; after locating it, head over to where it sits.", + "Type": 1, + "Start_Pose": [ + -2394.262, + 1536.678, + 298.271, + 0.0, + -38.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2394.262, + 1536.678, + 298.271, + 0.0, + -38.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -63.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -88.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -113.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -138.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -163.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + 171.6, + -0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + 146.6, + -0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + 121.6, + -0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + 96.6, + -0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + 71.6, + -0.0 + ], + [ + -2354.535, + 1656.103, + 282.907, + 0.0, + 71.6, + -0.0 + ], + [ + -2354.535, + 1656.103, + 282.907, + 0.0, + 46.6, + -0.0 + ], + [ + -2268.059, + 1747.549, + 282.907, + 0.0, + 46.6, + -0.0 + ], + [ + -2181.582, + 1838.995, + 262.907, + 0.0, + 46.6, + -0.0 + ], + [ + -2095.106, + 1930.44, + 262.907, + 0.0, + 46.6, + -0.0 + ], + [ + -2008.63, + 2021.886, + 262.907, + 0.0, + 46.6, + -0.0 + ], + [ + -1922.154, + 2113.332, + 262.907, + 0.0, + 46.6, + -0.0 + ], + [ + -1922.154, + 2113.332, + 262.907, + 0.0, + 46.6, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, my view is filled by a teal brick facade with a barred window and a closed blue door, so no tire is visible here. The open paving continues off to my left, so I will turn left to begin a steady scan of the surroundings for a tire lying on the ground.", + "The turn has opened up a paved yard with a large concrete block on the left and a passage past the blue door, but there is still no tire on the ground. I will keep rotating left in the same direction to sweep the rest of this yard.", + "Now I see a low concrete barrier, a wooden frame near my feet, and a lighter building behind, none of which is the tire I am looking for. Continuing the same leftward sweep should bring the still unseen part of this yard into view.", + "This heading shows the long concrete barrier, a wooden crate frame, and some bags and boxes piled at the wall, but nothing round or tire like on the ground. I will hold the same leftward rotation to keep the scan consistent and cover more of the enclosure.", + "The yard corner with sandbags, a small bench, and the crate is now in front of me, and there is still no tire on the paving. I will continue turning left, since the remaining unscanned directions lie further around that way.", + "A wooden post crosses my view and the yard ahead holds only walls, sandbags, and a small bench, so the tire is not here either. Keeping the same leftward turn should carry my gaze past this post toward the ground I have not checked yet.", + "Two support posts now frame a courtyard with a pale blue door, an air conditioner, and a white block, but no tire rests on this ground. I will maintain the leftward sweep to reach the sector that is still hidden behind the near post.", + "This heading gives a clear look at the yard with the graffitied wall, the bench on the right, and a white block near the door, and there is still no tire on the ground. I will continue the same leftward rotation, since the gap between the concrete slabs suggests more open street beyond that I have not inspected.", + "This part of the courtyard shows only concrete slabs, a wooden post, a pale blue door and a bench, with no tire resting on the ground anywhere in view. I will keep rotating left in the same consistent direction so the sweep stays systematic and no sector is skipped. The opening toward the left edge may reveal more of the yard and a possible route out of it.", + "The heading now faces a line of graffiti-marked concrete barriers with sandbags and a small block, still with no tire on the ground. Since the target has not appeared, I will continue the same leftward rotation rather than reverse direction. The gap beyond the barriers on the left looks like it opens onto a street, which is a plausible place for a tire to be lying.", + "The rotation has brought a dark tire into view lying flat on the ground near the shuttered car repair front, just left of the concrete barriers. That is the target, so I will stop scanning and step forward along the open paving toward it. The distance is still considerable, so this advance should mainly close the gap.", + "After stepping forward the tire sits well to the left of my heading, near the base of the wall by the shuttered shop, while my facing is aimed at the barrier blocks. I will turn left to bring the tire closer to the center of my view. That should give a straighter line for the remaining approach.", + "The turn has placed the tire ahead and slightly left, resting on the ground in front of the car repair shutter with clear street between us. I will walk forward along this open lane to close the distance. No obstacle stands in the path, so the tire should grow larger in view.", + "The tire is noticeably nearer now, still lying on the ground by the shuttered storefront and holding a steady position slightly left of my heading. I will keep walking forward since the alignment is good enough and the ground is open. Another step should bring me closer without needing to reorient.", + "The tire now clearly shows its wheel rim where it leans on the ground at the corner of the repair shop, only a short stretch of street away. I will continue advancing straight toward it. Nothing blocks the lane, so this step should further reduce the remaining gap.", + "The tire fills a good portion of the lower left view, resting against the base of the wall just beside the shuttered shop front. I am close but not yet standing at it, so I will take another step forward. That should place me right beside the tire's location.", + "The tire lying against the shop front is now large and close on my left, resting on the ground beside the curb of the concrete barriers. There is still a short gap of open pavement between me and it, so I will step forward once more to close that remaining distance. This should bring me right alongside the tire.", + "The tire rests on the ground directly beside me, filling the near left of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002394_y001537_z000298_t1_b/infos.json b/dataset/trajectory/MiddleEast/task_x-002394_y001537_z000298_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e7f50ac01617941573e990fae60a1a2bc772956 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002394_y001537_z000298_t1_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Identify the air conditioning unit mounted on the exterior wall of the building's ground floor, then proceed to its location.", + "Type": 1, + "Start_Pose": [ + -2394.262, + 1536.678, + 298.271, + 0.0, + -38.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2394.262, + 1536.678, + 298.271, + 0.0, + -38.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -63.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -88.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -113.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -138.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + -163.4, + 0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + 171.6, + -0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + 146.6, + -0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + 121.6, + -0.0 + ], + [ + -2394.262, + 1536.678, + 298.252, + 0.0, + 96.6, + -0.0 + ], + [ + -2408.728, + 1661.703, + 282.907, + 0.0, + 96.6, + -0.0 + ], + [ + -2423.194, + 1786.728, + 282.907, + 0.0, + 96.6, + -0.0 + ], + [ + -2437.66, + 1911.753, + 262.767, + 0.0, + 96.6, + -0.0 + ], + [ + -2452.125, + 2036.778, + 262.767, + 0.0, + 96.6, + -0.0 + ], + [ + -2452.125, + 2036.778, + 262.767, + 0.0, + 121.6, + -0.0 + ], + [ + -2518.074, + 2143.975, + 262.767, + 0.0, + 121.6, + -0.0 + ], + [ + -2518.074, + 2143.975, + 262.767, + 0.0, + 146.6, + -0.0 + ], + [ + -2599.64, + 2149.94, + 262.907, + 0.0, + 146.6, + -0.0 + ], + [ + -2599.64, + 2149.94, + 262.907, + 0.0, + 146.6, + -0.0 + ] + ], + "Rationale": [ + "I am facing a teal brick wall with a barred window and a closed blue door, and I see no ground floor air conditioning unit on this surface. I will turn left to open up the courtyard beside me and begin a consistent scan for a wall mounted unit.", + "Turning has revealed an alley and a low stone block ahead, but the ground floor walls in sight still show only a door and plain brickwork. I will keep rotating left in the same direction to bring more of the surrounding facades into view.", + "I can now see a pale building across the yard with a grille covered window near ground level, which hints that mechanical fittings sit on that side. I will continue turning left in the same direction to bring that facade fully in front of me before deciding where to head.", + "A boxy air conditioning unit is now visible on the yellow building, but it sits at an upper floor window rather than on the ground floor wall I need. I will keep turning left to check the lower walls further around the courtyard for a unit at ground level.", + "The yard opens further to the left with stacked stone slabs and sacks along the base of the walls, and the only air conditioner in sight is still high on the building to my right. I will continue the leftward scan to inspect the ground floor walls that are still hidden from me.", + "A wooden post now splits my view and the walls ahead are mostly blank stone slabs, so this direction gives me no ground level unit to approach. I will keep turning left in the same consistent direction to bring the remaining facade with the awning and doorway into view.", + "The yellow facade with its awning and upper air conditioner is now in front of me, and low on the wall to my left I can make out a pale green grille that looks like a unit set at ground floor height. I will turn left again to bring that low mounted grille closer to the center of my view and confirm it.", + "The low pale green louvered unit on the ground floor wall is clearer now, sitting beside the sacks to the left of the light blue door. I will turn left once more so that unit and the open paving leading to it line up ahead of me for a direct approach.", + "From here I can see the yellow building's upper floors carrying several wall units, but the ground floor unit I need is still hidden behind the wooden post and the pale wall on my left. I will keep rotating left in the same consistent direction to sweep the remaining part of this courtyard and bring the low section of the far wall into view.", + "Now I can make out a boxy, louvered unit set low in the wall of the stone building on the right, just past the concrete barriers and beside the crates. That matches the ground floor air conditioner I am looking for, so I will walk forward across the open courtyard to close the distance.", + "The pale green louvered box in the ground floor wall on my right has grown noticeably larger, confirming I am heading toward it. The paved ground in front of me is still clear, so I will continue walking forward.", + "The window mounted air conditioning unit on the ground floor wall to my right is now clearly resolved, with its grille and frame visible above the sacks and crates. I am still several paces short of it, so I will keep advancing along the open courtyard.", + "The air conditioner projecting from the ground floor window is close on my right, sitting just above the sacks piled against the wall. One more step forward should bring me level with it before I turn to face it directly.", + "I am now beside the graffitied barrier with the air conditioning unit off to my right rather than in front of me, since my heading is aimed at the blank concrete slabs. I will turn right to swing my view onto the ground floor wall and put the unit squarely ahead.", + "The turn worked, and the window mounted air conditioner on the ground floor wall is now in my view to the right of center, above the row of sacks. I will step forward to close the last of the gap to that wall.", + "I am very close to the wall now, and the air conditioning unit fills the right side of my view while the corner masonry occupies the center. I will turn right once more to center the unit and finish squaring up with it.", + "The wall-mounted air conditioning unit in its pale green housing now fills the center of my view, projecting from the ground floor window just ahead of me. I am still a short distance from it with clear paved ground between me and the wall, the sacks sitting off to the lower right. I will step forward to close that last gap and stand directly at the unit.", + "The ground floor air conditioning unit's louvered grille and frame fill my view at arm's length. The task target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002744_y-000250_z000242_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x-002744_y-000250_z000242_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a9dc32f90730fc8321822115a6daadbc94081863 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002744_y-000250_z000242_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search for the wooden door with a light blue frame set into the weathered building wall; once you have located it, walk over to it.", + "Type": 1, + "Start_Pose": [ + -2744.476, + -249.655, + 241.517, + 0.0, + -148.64, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2744.476, + -249.655, + 241.517, + 0.0, + -148.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -123.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -98.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -73.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -48.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -23.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + 1.36, + -0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + 26.36, + -0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + 51.36, + -0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + 76.36, + -0.0 + ], + [ + -2714.796, + -127.346, + 237.25, + 0.0, + 76.36, + -0.0 + ], + [ + -2685.116, + -5.036, + 232.911, + 0.0, + 76.36, + -0.0 + ], + [ + -2655.436, + 117.273, + 232.911, + 0.0, + 76.36, + -0.0 + ], + [ + -2625.755, + 239.582, + 232.911, + 0.0, + 76.36, + -0.0 + ], + [ + -2625.755, + 239.582, + 232.911, + 0.0, + 76.36, + -0.0 + ] + ], + "Rationale": [ + "From where I stand in the tall dry grass, I only see blank concrete panels and a corner of a wall ahead, with no door or light blue frame anywhere in view. I will turn right to begin a steady scan of the surroundings for the weathered building wall that should hold the target door.", + "The new heading still shows the same pale concrete panels meeting at an inside corner, with nothing resembling a wooden door. I will keep turning right to hold one consistent scan direction and bring fresh sections of the surroundings into view.", + "I am now facing a flat run of concrete slabs directly in front of me, and I can see no doorway or light blue frame along it. I will continue turning right in the same direction so my scan keeps sweeping toward unseen parts of the area.", + "A brick-faced building has just appeared past the right edge of the concrete panels, which looks more like the weathered structure that could hold the door. I will turn right again to bring that building fully into view and check its wall for the light blue frame.", + "The brick building and an open gap between structures are now ahead of me, but I still see no wooden door with a light blue frame on the exposed faces. I will keep turning right to sweep along this promising built-up area and expose more wall surface.", + "To the right of the alley gap a large pale plastered wall with a low ledge has come into view, another candidate weathered facade, yet no door is visible on it. I will continue the rightward scan to follow this wall further and look for the framed doorway.", + "The whitewashed wall in front of me runs on behind its low ledge, but its visible surface is unbroken and shows no doorway. I will turn right once more to reveal the section of building beyond its right corner.", + "Past the right corner of the plastered wall I can now see a yellow building face, which suggests more facade is about to open up on that side. I will turn right again to bring that adjacent wall into the center of my view and check it for the light blue framed door.", + "The pale wooden door with its light blue frame has just come into view on the yellow-washed wall, but it sits off to the right of my heading rather than in front of me. I will turn right once more to bring the door toward the center of my view before moving. This should give me a clean straight line to walk in on.", + "The light blue framed wooden door is now near the middle of my view, set into the weathered wall ahead of me. With the heading settled, I will walk forward through the dry grass to close the distance to it. The open ground between me and the wall looks clear enough to cross.", + "The door has grown noticeably larger and stays centered, so my heading is still good. I am not yet close enough to stand at it, so I will keep walking straight toward the wall. Each step should bring the frame further into reach.", + "The blue frame and its handle are clearly resolved now, and the door fills a good portion of my view. There is still some ground between me and the threshold, so I will step forward again. That should place me close in front of the door.", + "The door and its weathered blue frame now dominate my view, with the paving at its base just ahead of me. One more step forward should bring me right up to it. I will advance to close that last bit of distance.", + "The light blue framed wooden door fills my view at arm's length, with its handle directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x-002744_y-000250_z000242_t1_b/infos.json b/dataset/trajectory/MiddleEast/task_x-002744_y-000250_z000242_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f75c610b2203f374ef5018c75edeb62dff05a207 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x-002744_y-000250_z000242_t1_b/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Look around to discover the outdoor air conditioning unit mounted at ground level beside the shuttered window, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + -2744.476, + -249.655, + 241.517, + 0.0, + -148.64, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2744.476, + -249.655, + 241.517, + 0.0, + -148.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -123.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -98.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -73.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -48.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + -23.64, + 0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + 1.36, + -0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + 26.36, + -0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + 51.36, + -0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + 76.36, + -0.0 + ], + [ + -2744.476, + -249.655, + 241.523, + 0.0, + 101.36, + -0.0 + ], + [ + -2769.267, + -126.262, + 246.373, + 0.0, + 101.36, + -0.0 + ], + [ + -2794.058, + -2.868, + 238.081, + 0.0, + 101.36, + -0.0 + ], + [ + -2794.058, + -2.868, + 238.081, + 0.0, + 126.36, + -0.0 + ], + [ + -2868.674, + 98.487, + 243.329, + 0.0, + 126.36, + -0.0 + ], + [ + -2943.29, + 199.842, + 276.649, + 0.0, + 126.36, + -0.0 + ], + [ + -2943.29, + 199.842, + 276.649, + 0.0, + 101.36, + -0.0 + ], + [ + -2943.29, + 199.842, + 276.649, + 0.0, + 101.36, + -0.0 + ] + ], + "Rationale": [ + "From here I only see blank concrete wall panels and tall dry grass, with no shuttered window or air conditioning unit anywhere in view. I will turn right to begin a steady scan in one consistent direction and open up the parts of this yard hidden outside my current field of view.", + "The view still shows the same style of concrete fencing meeting at a corner, and there is no shuttered window or ground-level unit along it. I will keep rotating right in the same direction to continue the sweep rather than reverse and recheck ground I have already faced.", + "I am now facing a flat run of concrete slabs at close range, which offers no window opening and no mounted equipment. Continuing the rightward rotation should carry my view past this blank barrier toward whatever structures stand beyond it.", + "A brick building wall has just entered the right edge of my view beyond the concrete panels, which is a much more promising surface for a window and a mounted unit than the bare fencing. I will turn right again to bring that building fully into view and look for the shuttered window described in the task.", + "I can see a boxy air conditioning unit on the brick facade, but it sits high on the upper wall rather than at ground level beside a shuttered window, so it is not the one I am looking for. It does confirm that inhabited building frontages lie in this direction, so I will keep turning right to reveal more of these facades.", + "The unit visible on the brick wall to my left remains well above head height and has no shutters or ground-level placement beside it. Since the built-up frontages continue around to my right, I will keep rotating that way to inspect the walls I have not yet faced.", + "Ahead of me is a plain rendered wall above a low stone curb, with the grass strip running along its base and no window opening in it. I will continue the rightward sweep to follow this wall line toward the sunlit area beyond it where another facade may carry the ground-level unit.", + "The wall directly in front of me is still featureless, but the right side of my view is opening onto brighter facades past the curb line. I will keep turning right in the same consistent direction, since that is where a window and its adjacent equipment are most likely to appear.", + "The scan has now brought a yellow building facade with a shuttered wooden door and a low boundary wall into view, but no ground level air conditioning unit is visible along this stretch of wall yet. Since the built facade continues off to the right and that is where window openings would likely sit, I will keep rotating right in the same consistent direction. This should reveal the next section of the wall where the unit may be mounted.", + "A pale green louvered box now appears at the right side of the wall, set into a low window opening just above the grass, which matches the outdoor unit I am looking for. It is still near the edge of my view, so I will continue turning right to bring it closer to the center before advancing. That should give me a clean heading straight at it.", + "The green louvered air conditioning unit is now roughly ahead of me, mounted in the low shuttered window opening in the plastered wall. With the target committed and only tall grass between us, I will walk forward to close the distance. The unit should grow larger and more centered as I advance.", + "My forward step worked and the louvered unit and its drain pipe are noticeably larger in the wall opening ahead. There is still a clear stretch of grass between me and the building, so I will take another step forward. That should bring me within a few paces of the unit.", + "I am now close to the facade and the air conditioning unit sits to the right of my center of view, with the shuttered door drifting into the left of the frame. Turning right should square my heading onto the unit before I close the last of the distance. That keeps my remaining forward steps aimed at the target rather than the blank wall.", + "The turn placed the louvered unit in the middle of my view, mounted in the low window just above the wall base. With the heading now aimed at it, I will step forward to shorten the remaining gap. The unit should fill more of my view as I get nearer.", + "The unit is now large and clearly detailed, its grille and drain pipe visible just above the low wall a short distance ahead. One more step forward should put me right beside it at inspection range. The path in front of me is still just grass, so nothing blocks the advance.", + "I am now right up against the wall and the air conditioning unit has slid to the far left edge of my view, partially cut off, while the corner wall fills the right side. Turning left should swing the unit back into the center of my view at this close range. That gives me a clean, framed look at the target.", + "The mint-green air conditioning unit fills my view at arm's length, centered below its window. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x000071_y003547_z000261_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x000071_y003547_z000261_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5a833bb9bed71a3efee1b264b1b25013ae3ce97a --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x000071_y003547_z000261_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Identify the open doorway of the tan stucco building; once found, head toward that entrance.", + "Type": 1, + "Start_Pose": [ + 71.468, + 3547.24, + 261.186, + 0.0, + -38.4, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 71.468, + 3547.24, + 261.186, + 0.0, + -38.4, + 0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + -13.4, + 0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + 11.6, + -0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + 36.6, + -0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + 61.6, + -0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + 86.6, + -0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + 111.6, + -0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + 136.6, + -0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + 161.6, + -0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + -173.4, + 0.0 + ], + [ + 71.468, + 3547.24, + 261.176, + 0.0, + -148.4, + 0.0 + ], + [ + -35.73, + 3481.292, + 264.018, + 0.0, + -148.4, + 0.0 + ], + [ + -142.927, + 3415.343, + 266.283, + 0.0, + -148.4, + 0.0 + ], + [ + -250.125, + 3349.395, + 269.149, + 0.0, + -148.4, + 0.0 + ], + [ + -250.125, + 3349.395, + 269.149, + 0.0, + -123.4, + 0.0 + ], + [ + -319.407, + 3244.322, + 283.066, + 0.0, + -123.4, + 0.0 + ], + [ + -319.407, + 3244.322, + 283.066, + 0.0, + -98.4, + 0.0 + ], + [ + -348.707, + 3169.781, + 285.547, + 0.0, + -98.4, + 0.0 + ], + [ + -348.707, + 3169.781, + 285.547, + 0.0, + -98.4, + 0.0 + ] + ], + "Rationale": [ + "I am standing right up against a stone wall with a post and dry grass directly in front of me, so no doorway is reachable from this heading. I will turn right to begin a steady scan for the tan stucco building and its open entrance.", + "The heading has shifted but I am still facing flat brickwork with no opening or edge that suggests a way around. I will keep rotating right in the same direction so the scan stays consistent and may bring the building corner into sight.", + "A lighter plaster surface is now appearing along the right side of the brick, hinting that the wall line ends somewhere further around. I will continue turning right to follow that change and look for the stucco facade the task describes.", + "A rounded pale stucco column now stands to my right where the brick wall ends, which matches the tan stucco material I am searching for. I will turn right again to bring more of that stucco structure into sight and look for its entrance.", + "The stucco surface now fills most of what is ahead, but I am too close to see any door or gap along it. I will keep turning right to work along this facade toward an edge or an opening.", + "I am facing blank stucco at very close range with only grass below, so nothing here identifies the entrance. I will continue the rightward rotation, since the doorway should lie somewhere further along this wall.", + "A vertical seam and a hint of taller grass at the right edge suggest the wall surface is about to break toward more open ground. I will turn right once more to reach that break and look for the entrance beyond it.", + "Sky and a lower boundary wall are now open to my right past the corner of this tall stucco facade, which means the yard beyond is where the entrance is likely to face. I will turn right again to swing my heading into that open area and look for the doorway.", + "The blank stucco surface that filled my view has finally given way to open sky, dry grass and a low compound wall, with tan buildings appearing off to the right. No entrance is centered yet, so I will keep rotating right in the same consistent direction to sweep that promising built-up side into view.", + "A tan stucco structure with a patterned facade now occupies the right portion of my view, and there appears to be a dark recess along its near face. I will continue turning right by one more step to bring that suspected opening toward the center of my view before committing to an approach.", + "The dark rectangular gap in the tan stucco wall is now roughly ahead of me and reads clearly as an unobstructed doorway rather than a shadow. The ground between me and it is open grass, so I will walk forward to close the distance toward that entrance.", + "The doorway has grown larger and its recessed interior is now plainly visible, confirming it is the open entrance of the tan stucco building. The path stays clear, so I will keep walking forward toward it.", + "Paved slabs now run ahead of me right up to the recessed doorway, which sits slightly to my right and dominates the view. I will step forward again to reach the paving directly in front of the entrance.", + "I am now on the paving beside the building, but the open doorway has shifted to the right side of my view and my heading points past it along the wall. I will turn right to square myself with the entrance before moving again.", + "The dark entrance is now centered ahead of me with its threshold and floor slabs continuing straight inside. I will walk forward to reach and enter that opening.", + "I have stepped into the shaded entry and the lattice-patterned passage now runs off to my right toward a lit grille at its far end, while a pillar blocks the way straight ahead. I will turn right to line up with that passage through the entrance.", + "I am now inside the open doorway of the tan stucco building, with the shaded passage and its paved floor running straight ahead of me toward the lit grille at the far end. Since the path is clear and my heading is centered on it, I will step forward to close the last of the distance into the entrance. This short advance should place me properly at the entryway.", + "I stand within the open doorway of the tan stucco building, its walls and floor immediately around me. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x000695_y001471_z000291_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x000695_y001471_z000291_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f393b02b8f3931826842df27d3479f27e31e140 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x000695_y001471_z000291_t1_a/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Search outside the room for the base of the staircase enclosed within a concrete structure and approach it.", + "Type": 1, + "Start_Pose": [ + 695.122, + 1471.064, + 291.422, + 0.0, + -178.4, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 695.122, + 1471.064, + 291.422, + 0.0, + -178.4, + 0.0 + ], + [ + 695.122, + 1471.064, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 695.122, + 1471.064, + 291.422, + 0.0, + -128.4, + 0.0 + ], + [ + 695.122, + 1471.064, + 291.422, + 0.0, + -103.4, + 0.0 + ], + [ + 695.122, + 1471.064, + 291.422, + 0.0, + -128.4, + 0.0 + ], + [ + 616.945, + 1372.429, + 291.422, + 0.0, + -128.4, + 0.0 + ], + [ + 538.768, + 1273.794, + 291.422, + 0.0, + -128.4, + 0.0 + ], + [ + 460.591, + 1175.159, + 291.422, + 0.0, + -128.4, + 0.0 + ], + [ + 460.591, + 1175.159, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 348.054, + 1118.805, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 348.054, + 1118.805, + 291.422, + 0.0, + -178.4, + 0.0 + ], + [ + 222.244, + 1115.291, + 291.422, + 0.0, + -178.4, + 0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + -178.4, + 0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + 156.6, + -0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + 131.6, + -0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + 106.6, + -0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + 131.6, + -0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + 156.6, + -0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + -178.4, + 0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + -128.4, + 0.0 + ], + [ + 96.434, + 1111.776, + 291.422, + 0.0, + -103.4, + 0.0 + ], + [ + 54.175, + 1015.583, + 291.422, + 0.0, + -103.4, + 0.0 + ], + [ + 24.385, + 899.196, + 321.719, + 0.0, + -103.4, + 0.0 + ], + [ + -4.782, + 776.763, + 291.422, + 0.0, + -103.4, + 0.0 + ], + [ + -33.95, + 654.331, + 291.422, + 0.0, + -103.4, + 0.0 + ], + [ + -33.95, + 654.331, + 291.422, + 0.0, + -78.4, + 0.0 + ], + [ + -33.95, + 654.331, + 291.422, + 0.0, + -53.4, + 0.0 + ], + [ + 41.091, + 553.289, + 291.422, + 0.0, + -53.4, + 0.0 + ], + [ + 100.198, + 451.661, + 291.422, + 0.0, + -53.4, + 0.0 + ], + [ + 100.198, + 451.661, + 291.422, + 0.0, + -28.4, + 0.0 + ], + [ + 210.91, + 391.799, + 291.422, + 0.0, + -28.4, + 0.0 + ], + [ + 210.91, + 391.799, + 291.422, + 0.0, + -53.4, + 0.0 + ], + [ + 285.95, + 290.758, + 294.237, + 0.0, + -53.4, + 0.0 + ], + [ + 285.95, + 290.758, + 294.237, + 0.0, + -53.4, + 0.0 + ] + ], + "Rationale": [ + "I am standing inside a room whose left side is only glazing and whose plain paneled wall runs ahead, so the concrete stair base I need must lie beyond this space. The one opening I can see is the framed doorway to the right of center, showing daylight and another wall past it. I will turn right to bring that exit toward the middle of my view and check what else lies along that side.", + "The doorway now sits near the middle of my view, but before committing to it I want to know whether this room offers a closer or wider exit on the right side. Nothing about the visible corridor beyond the door yet shows a staircase or concrete enclosure. I will keep rotating right to sweep the remaining wall and corner.", + "The doorway has shifted to the left part of my view and the wall to my right is still unexamined paneling meeting a corner. I want to confirm there is no second opening on that side before I settle on the door I have already seen. I will continue the rightward scan in the same direction.", + "The rightward sweep has only revealed blank paneled walls meeting a corner, with the doorway now pushed to the very edge of my view, so I have turned past the only useful exit. There is no second opening on this side and nothing resembling a concrete stair enclosure here. I will turn back left to bring that doorway into a heading I can walk through.", + "The doorway is back in view ahead and slightly to my left, with open floor and no obstacles between me and it. Since this room contains no staircase, reaching that exit is the way to get outside where the concrete stair structure should be. I will walk forward to close the distance toward the opening.", + "The room I am in has no staircase along any of its plain panelled walls, so the concrete opening on my left, which shows bright outdoor ground and a metal shutter beyond it, is my only route out. I will keep walking forward to close the remaining distance to that opening. Getting outside should give me the open exterior area where an enclosed stair base is more likely to stand.", + "I am now close to the concrete door frame, and the opening has slid to the far left of my view because my heading runs parallel to the wall rather than into the gap. I will take one more step forward to reach the level of the opening before committing to it. This should put me beside the threshold where I can judge the exterior space through it.", + "My forward steps have carried me almost past the doorway, which now clings to the very left edge of my view with only a sliver of the outdoor shutter showing. Continuing straight would only take me into the blank panelled wall ahead, so I will turn left to swing the opening back into the center of my view. That should restore a heading I can actually walk through.", + "The turn has brought the concrete door frame back into view, and through it I can see the outdoor courtyard with windows and a roller shutter. I will step forward toward that threshold to move out of this room. The exterior area beyond is where I expect to search for a staircase enclosed in concrete.", + "After stepping forward, the thick door jamb sits directly ahead of me and the actual gap has shifted to my left, where the exterior yard and shutter are visible. Walking straight now would put me into the post rather than through the passage. I will turn left to square myself with the opening before advancing.", + "The doorway is now squarely centered ahead of me, and through it I can see open outdoor ground with windows, a yellow panelled structure and a metal shutter. Since the enclosed stair base must be searched for outside this room, I will step forward through the opening to leave the interior. Passing the threshold should give me a much wider view of the exterior area.", + "I am inside the thick doorway now, with the jambs pressing in on both sides and limiting my view to a narrow slot of the exterior. No concrete stair enclosure is visible in that slot, only glazed shopfronts and a rolling shutter. I will keep walking forward to clear the opening so the outdoor space opens up around me.", + "I have cleared the doorway and stand in an open curved outdoor area, but straight ahead there is only a run of windows and a closed rolling shutter, with no concrete-walled staircase anywhere in sight. I will turn left to begin sweeping this exterior space in one consistent direction. Rotating should reveal the parts of the curved facade currently outside my field of view.", + "The wider view now shows shutters at both edges and more glazed openings along the curve, still with no concrete enclosure or step visible. I will continue turning left in the same direction to keep the scan systematic. Each further rotation may bring an unseen section of this courtyard into view.", + "This heading shows a large closed shutter on the left and a further stretch of windows, but nothing resembling a stair enclosed by concrete walls. I will turn left once more to finish checking this side of the courtyard before judging the direction unproductive. If only the wall I came out of appears, this side likely holds nothing useful.", + "Sweeping to the left has only carried my view onto close paneled wall and a closed metal shutter, with no sign of a concrete stair enclosure in that direction. I will reverse the scan and turn right so I stop wasting rotation on the side I have already checked and begin covering the frontage the other way.", + "The shutter has moved to my left edge and I now face a run of glazed shop windows with tarps behind them, which is sealed frontage rather than an open stairwell. I will keep turning right in the same direction to bring more of this curved facade and the space beyond it into view.", + "Centered on the curved wall I see only windows flanked by shutters on both sides, so this stretch offers no passage or enclosed stair. I will continue the rightward sweep rather than stop here, since the unchecked area lies further around to my right.", + "The large shutter is now roughly ahead of me and the glazing continues to either side, still with no concrete structure or steps anywhere in this arc. I keep the scan turning consistently right to reach the part of this open area I have not yet faced.", + "The facade is now sliding off to my left and open floor with a receding wall line is opening on the right side of my view, which looks like the part of this outdoor area I have not inspected. I will turn right again to face that opening, hoping it leads toward a stair enclosure rather than more sealed shopfront.", + "My continued rightward sweep across this covered outdoor area has so far shown only shop windows and rolling shutters, with no sign of a staircase. At the right edge of my view a pale concrete block and a taller concrete surface stand out from the wooden paneling, which looks like a different kind of built structure. I will turn right again to bring that concrete form fully into view before committing to it.", + "The concrete block and the plain concrete pillar behind it are now centered on my right, clearly separate from the paneled shopfront walls. That massive concrete form is the most promising lead for a staircase enclosed in concrete, so I will walk forward along the open floor to close distance and see what lies behind it.", + "Stepping closer has enlarged the concrete parapet on my right and revealed a taller concrete wall standing free of the paneled facade behind it. The floor ahead remains unobstructed, so I will keep walking forward to reach the far side of that concrete mass where an opening may be.", + "The concrete slab wall now reads as a distinct enclosure ahead and to my right, with a narrow gap between its panels that I cannot see into yet. I will continue walking forward so the angle opens up and any steps inside that enclosure may become visible.", + "From this position I can now see steps rising inside the gap of the concrete enclosure on my right, which matches the staircase wrapped in a concrete structure I was told to find. I will keep walking forward to close the remaining distance toward the base of those stairs.", + "A tall concrete block stands just ahead on my right, and its edge suggests an opening on the far side that my current heading keeps hidden behind the wall. I will turn right to swing my view around that concrete mass and check whether the enclosed stair sits within it.", + "The turn revealed a flight of steps rising inside the concrete enclosure, now sitting toward the right of my view rather than in front of me. I will turn right again to bring the stair opening closer to my heading before walking toward it.", + "The concrete enclosure and the steps inside it are now clearly ahead, with open floor between me and the base of the stair. I will walk forward to close that gap and reach the enclosed staircase.", + "The lowest steps are much nearer now and the concrete side walls frame them directly ahead of me. I will keep walking forward to bring myself up to the foot of the staircase.", + "I am now close beside the concrete enclosure, with the stair base slightly to my right and the flight running up along the wall. I will turn right to face the foot of the steps more squarely rather than drifting past its edge.", + "The concrete-walled staircase now sits close on my left with its lower steps clearly exposed, and the open yard with the metal gate lies ahead. I am still slightly short of the point where the flight opens directly beside me, so I will walk forward another step to draw level with its lower run.", + "I am now level with the concrete enclosure, and the stair treads run across the left edge of my view while I am still facing the open gate area. Turning left should square me up with the bottom of the flight so I can close the last distance head on.", + "The staircase is now centered in front of me, with the lowest tread and the concrete side wall filling most of my view. A short step forward should bring me right up to the base of the enclosed flight as the task requires.", + "I am standing directly at the lowest treads of the concrete-enclosed staircase, its wall right beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x000695_y001471_z000291_t1_b/infos.json b/dataset/trajectory/MiddleEast/task_x000695_y001471_z000291_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..44d19e48ecc09ccba6253483336ec8b5849c8b14 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x000695_y001471_z000291_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search outside the room for the stack of three crates against a wooden-paneled wall and approach it.", + "Type": 1, + "Start_Pose": [ + 695.122, + 1471.064, + 291.422, + 0.0, + -178.4, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 695.122, + 1471.064, + 291.422, + 0.0, + -178.4, + 0.0 + ], + [ + 695.122, + 1471.064, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 582.585, + 1414.709, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 470.047, + 1358.355, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 357.51, + 1302.0, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 244.973, + 1245.646, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 186.861, + 1198.015, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 137.205, + 1136.922, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 24.668, + 1080.568, + 291.422, + 0.0, + -153.4, + 0.0 + ], + [ + 24.668, + 1080.568, + 291.422, + 0.0, + -128.4, + 0.0 + ], + [ + 24.668, + 1080.568, + 291.422, + 0.0, + -103.4, + 0.0 + ], + [ + 24.668, + 1080.568, + 291.422, + 0.0, + -78.4, + 0.0 + ], + [ + 49.622, + 960.328, + 291.422, + 0.0, + -78.4, + 0.0 + ], + [ + 49.622, + 960.328, + 291.422, + 0.0, + -78.4, + 0.0 + ] + ], + "Rationale": [ + "No stack of crates is visible in this room, only paneled walls and a window bay on my left, so I need to leave through the doorway I can see off to the right. I will turn right to bring that opening toward the center of my view before walking to it.", + "The doorway now sits close to the middle of my view with clear floor between me and it, and beyond it I can glimpse another area with paneling. I will walk forward to close that distance since the crates are not in this room.", + "The opening is growing larger ahead and I can now make out a light door and window framing in the space beyond it. I will keep stepping forward along this heading to reach the threshold.", + "The doorframe now fills much of the view and the outside area behind it is clearly visible, so I am nearly at the threshold. I will continue walking forward to pass through and reach the space beyond.", + "I am right at the doorway with its posts on either side of me and open floor beyond. I will step forward to move through the opening into the outside area where the crates may be found.", + "I am passing between the doorposts and a broad covered area opens ahead, with a shutter and window bays along a paneled wall. I will keep walking forward to clear the frame and get a full view of this space.", + "I am now out into the open area, with a rolling shutter and glass fronts on a wooden-paneled wall to my left and empty floor stretching to the right. No crate stack is in front of me yet, so I will keep advancing into this space to see more of it.", + "The shutter and window frontage stay on my left while the area to the right opens out further, and the crates are still not in view. I will step forward again to reach a position where I can scan the remaining stretch of this covered area.", + "I have come out into the covered outdoor area and I am facing a shuttered door and a run of shop windows, with no stack of crates anywhere in this frontage. The open floor continues off to my right past the end of the window bank, so I will turn right to sweep that unseen stretch of wooden paneling.", + "The turn has opened up more of the courtyard to my right, but I still only see glazing, the shutter and a bare corner pillar, with no crates in sight. I will keep rotating in the same direction to bring the remaining paneled wall on that side into view.", + "A pale boxy stack against the wooden-paneled wall has just appeared at the right edge of my view, which matches the crates I am looking for. I will continue turning right to bring that stack fully into the center of my view before closing in.", + "The stack of crates is now clearly in front of me, set against the wooden-paneled wall with the lighter boxes beneath the grey one on top. The floor between us is clear, so I will step forward to close the remaining gap and stand next to it.", + "The stacked crates against the wooden-paneled wall are directly in front of me, filling the near view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001244_y001864_z000263_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x001244_y001864_z000263_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d62fdb18cce4e649fe065cce79360991c8a3f8a --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001244_y001864_z000263_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the red door situated beside the metal roller shutter on the building facade, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 1243.823, + 1864.199, + 262.907, + 0.0, + 101.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1243.823, + 1864.199, + 262.907, + 0.0, + 101.6, + -0.0 + ], + [ + 1243.823, + 1864.199, + 262.907, + 0.0, + 126.6, + -0.0 + ], + [ + 1243.823, + 1864.199, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + 1133.111, + 1924.061, + 280.53, + 0.0, + 151.6, + -0.0 + ], + [ + 1022.4, + 1983.922, + 276.569, + 0.0, + 151.6, + -0.0 + ], + [ + 911.688, + 2043.784, + 265.743, + 0.0, + 151.6, + -0.0 + ], + [ + 800.976, + 2103.645, + 286.943, + 0.0, + 151.6, + -0.0 + ], + [ + 690.265, + 2163.507, + 292.241, + 0.0, + 151.6, + -0.0 + ], + [ + 579.553, + 2223.369, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + 478.236, + 2260.61, + 278.798, + 0.0, + 151.6, + -0.0 + ], + [ + 367.524, + 2320.471, + 282.907, + 0.0, + 151.6, + -0.0 + ], + [ + 367.524, + 2320.471, + 282.907, + 0.0, + 151.6, + -0.0 + ] + ], + "Rationale": [ + "From here I mostly face a raised platform with large stone slabs, and the only roller shutter I can see is partly cut off at the right edge of my view. Since the red door should sit beside such a shutter, I will turn right to bring that facade and the street beside it fully into view.", + "Turning has opened up the facade, and I can now see the closed metal roller shutter with a pink-red door immediately to its right, further along the wall. I will turn right once more so that the alley running past that door lies straight ahead of me before I start walking.", + "The alley now runs straight ahead of me with the roller shutter and the red door beside it along the left-hand wall. The target is confirmed, so I will walk forward down this open lane to close the distance toward that door.", + "The red door beside the shutter is still well ahead on my left and the ground between us is clear apart from crates stacked off to the right. I will keep walking forward along the lane to shorten the remaining distance.", + "The shutter now fills much of my left side and the red door beside it has grown noticeably larger, so I am on the correct line. I will continue stepping forward along the open strip of pavement toward it.", + "The red door beside the roller shutter is clearly ahead on my left and the lane in front stays free of obstacles. I will keep advancing to bring myself alongside the door.", + "I am close enough now that the door's red panel and frame are distinct next to the shutter, but I am still short of standing beside it. I will take another step forward along the wall to close the last part of the gap.", + "The red door beside the shutter is now large in my left view and almost level with me, confirming I have reached the right stretch of the facade. I will move forward once more to bring myself directly in front of it.", + "The red plank door beside the metal roller shutter now fills much of the left side of my view, confirming it is the target described in the task. I am still slightly short of standing level with it, so I will keep walking straight along the paved strip. This step should bring me close alongside the doorway.", + "The red door is now immediately to my left, its handle and painted planks visible at arm's length, with the roller shutter just behind me. A short final step forward should place me squarely at the doorway rather than at its trailing edge. The path ahead remains clear stone paving.", + "The red door beside the roller shutter stands directly at my left within arm's reach. The task is complete, so I stop here rather than moving past it." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001649_y001276_z000248_t0_a/infos.json b/dataset/trajectory/MiddleEast/task_x001649_y001276_z000248_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a622551e82225b67897f01ba342ea116af8adb3 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001649_y001276_z000248_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the blue-shuttered ground-floor door.", + "Type": 0, + "Start_Pose": [ + 1649.115, + 1275.817, + 247.813, + 0.0, + -98.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1649.115, + 1275.817, + 247.813, + 0.0, + -98.88, + 0.0 + ], + [ + 1629.687, + 1151.467, + 245.027, + 0.0, + -98.88, + 0.0 + ], + [ + 1610.258, + 1027.116, + 241.624, + 0.0, + -98.88, + 0.0 + ], + [ + 1590.83, + 902.766, + 238.09, + 0.0, + -98.88, + 0.0 + ], + [ + 1571.402, + 778.415, + 235.484, + 0.0, + -98.88, + 0.0 + ], + [ + 1571.402, + 778.415, + 235.484, + 0.0, + -123.88, + 0.0 + ], + [ + 1501.241, + 673.926, + 231.321, + 0.0, + -123.88, + 0.0 + ], + [ + 1431.08, + 569.437, + 228.908, + 0.0, + -123.88, + 0.0 + ], + [ + 1360.92, + 464.948, + 227.189, + 0.0, + -123.88, + 0.0 + ], + [ + 1360.92, + 464.948, + 227.189, + 0.0, + -98.88, + 0.0 + ], + [ + 1337.544, + 359.717, + 227.683, + 0.0, + -98.88, + 0.0 + ], + [ + 1337.544, + 359.717, + 227.683, + 0.0, + -98.88, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the overgrown yard I can see the ground-floor door with blue shutters set in the pale wall ahead, just left of my current heading, with a barred window to its right. Nothing but tall dry grass lies between us, so I will move forward to begin closing the distance.", + "The blue door and the neighbouring barred window have grown larger, confirming my heading is carrying me toward the target wall. The grass ahead still looks passable, so I will keep moving forward.", + "The ground floor now fills much more of my view and the blue-shuttered door sits clearly left of center with the barred window beside it. I am still several steps away, so another forward step should continue shrinking that gap.", + "The wall is close enough now that I can see the door frame and the upper-floor window above it in detail, but the door has drifted toward the left side of my view as I advance straight. I will take one more forward step before correcting my heading.", + "Straight ahead of me is now the blank stretch of wall with the barred window, while the blue-shuttered door has slid off to the left of my view. Turning left should bring the door back toward the center of my heading so I can walk directly at it.", + "After the turn the blue-shuttered door sits near the middle of my view, so my heading is lined up with it again. I will move forward through the grass to close the remaining distance.", + "Tall stalks are brushing across my view, but through them I can still make out the blue door panel straight ahead in the wall. Since the grass is only vegetation and not a solid barrier, I will push forward toward the door.", + "The blue-shuttered door now dominates my view at close range, with its planks and frame clearly visible past the last of the grass. I am not yet right up against it, so one more forward step should bring me to the doorway.", + "The blue plank door with its horseshoe handle now fills the right half of my view, but I am seeing it at a steep oblique angle with the pale brick wall running away on my left. I will turn right to swing my heading onto the door face so it sits centered ahead of me. That should give me a straight, square approach line for the final steps.", + "The blue door is now squarely in front of me, its frame and horseshoe handle clearly readable, with only a short strip of ground left between us. I will step forward to close that remaining gap and stand directly at the door. This should bring me within arm's reach of the target.", + "The blue door panel now fills my entire view at arm's length. The task is complete, so I stop here rather than press further into the door." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001649_y001276_z000248_t0_b/infos.json b/dataset/trajectory/MiddleEast/task_x001649_y001276_z000248_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a8a139a4d34e601fa1af9f6dc3002b3d36954bc7 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001649_y001276_z000248_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the small barred basement window.", + "Type": 0, + "Start_Pose": [ + 1649.115, + 1275.817, + 247.813, + 0.0, + -98.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1649.115, + 1275.817, + 247.813, + 0.0, + -98.88, + 0.0 + ], + [ + 1629.687, + 1151.467, + 245.027, + 0.0, + -98.88, + 0.0 + ], + [ + 1610.258, + 1027.116, + 241.624, + 0.0, + -98.88, + 0.0 + ], + [ + 1590.83, + 902.766, + 238.09, + 0.0, + -98.88, + 0.0 + ], + [ + 1571.402, + 778.415, + 235.484, + 0.0, + -98.88, + 0.0 + ], + [ + 1551.974, + 654.065, + 233.169, + 0.0, + -98.88, + 0.0 + ], + [ + 1551.974, + 654.065, + 233.169, + 0.0, + -73.88, + 0.0 + ], + [ + 1586.918, + 533.154, + 233.843, + 0.0, + -73.88, + 0.0 + ], + [ + 1621.863, + 412.244, + 240.318, + 0.0, + -73.88, + 0.0 + ], + [ + 1621.863, + 412.244, + 240.318, + 0.0, + -73.88, + 0.0 + ] + ], + "Rationale": [ + "Across the overgrown lot I can see a small window with horizontal metal bars set low in the pale wall ahead, slightly right of my center view. It is still far away and partly hidden by tall dry grass, so I will move forward to close distance along my current heading.", + "The barred window now sits larger in view, confirming that my heading is carrying me toward it. Nothing blocks the grassy path between me and the wall, so I will continue straight forward.", + "The grated window and the blue door beside it are clearly resolved on the ground floor wall ahead and a bit to my right. I am still several steps out, so I will keep advancing to shorten the gap.", + "The bars of the small window are now distinct and the wall fills much more of my view, so I am getting close. I will press forward again to reduce the remaining distance.", + "The barred window is close on the right side of my view and the ground ahead through the grass is still open. I will take another step forward to bring myself nearly to the wall.", + "From this close position the barred window sits off to the right of my view while my heading points at the blank wall and door. I will turn right to place the window centered ahead before closing the last distance.", + "After the turn the barred window sits near the middle of my view with the wall squarely in front of me. I will move forward to close the short remaining gap to it.", + "The grated window now dominates my view and I can read the individual bars and wooden slats, so I am nearly at the wall. One more forward step should bring me directly in front of the window at inspection range.", + "The barred window's metal grille and frame fill my view at arm's length. The approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001714_y002451_z000283_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x001714_y002451_z000283_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6e024c3dbc64dc587c0cbe83529343764f810271 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001714_y002451_z000283_t1_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Search for the blue wooden door beside the door with the \"STOP\" graffiti, then head over to it.", + "Type": 1, + "Start_Pose": [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 81.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 81.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 106.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 131.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 156.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -178.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -153.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -128.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -103.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -78.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -53.4, + 0.0 + ], + [ + 1746.053, + 2362.096, + 282.907, + 0.0, + -53.4, + 0.0 + ], + [ + 1821.093, + 2261.054, + 279.15, + 0.0, + -53.4, + 0.0 + ], + [ + 1821.093, + 2261.054, + 279.15, + 0.0, + -28.4, + 0.0 + ], + [ + 1931.805, + 2201.193, + 262.907, + 0.0, + -28.4, + 0.0 + ], + [ + 2042.517, + 2141.331, + 262.907, + 0.0, + -28.4, + 0.0 + ], + [ + 2153.229, + 2081.47, + 262.907, + 0.0, + -28.4, + 0.0 + ], + [ + 2263.94, + 2021.608, + 262.907, + 0.0, + -28.4, + 0.0 + ], + [ + 2263.94, + 2021.608, + 262.907, + 0.0, + -53.4, + 0.0 + ], + [ + 2263.94, + 2021.608, + 262.907, + 0.0, + -78.4, + 0.0 + ], + [ + 2289.248, + 1898.32, + 262.907, + 0.0, + -78.4, + 0.0 + ], + [ + 2314.555, + 1775.031, + 282.899, + 0.0, + -78.4, + 0.0 + ], + [ + 2339.863, + 1651.743, + 282.899, + 0.0, + -78.4, + 0.0 + ], + [ + 2339.863, + 1651.743, + 282.899, + 0.0, + -78.4, + 0.0 + ] + ], + "Rationale": [ + "I am standing in an enclosed courtyard facing a blue wooden door, but there is no shutter with \"STOP\" graffiti anywhere beside it, so this is not the door the task describes. I will turn right to begin a steady scan of the surroundings and look for an exit toward a street where the graffitied shutter might be.", + "From this angle the courtyard door is off to my left and a large rolling shutter has come into view on the right, but it carries no graffiti. I will keep turning right in the same direction to bring more of that side of the yard, and any opening leading out, into view.", + "The shutter in front of me is bare metal with no lettering, so it is not the marked door I need. Continuing my rightward scan should reveal whatever lies past the edge of this covered bay.", + "Past the pillar on the right I can now see daylight and an open street with buildings beyond the courtyard. I will keep rotating right to open up that street view, since a graffitied shutter is far more likely along a public street than inside this yard.", + "The wooden post still splits my view, but I can make out a street with a parked truck and apartment facades to the right. I will turn right again to clear the post and get an unobstructed look along that street front.", + "The post now only clips the left of my view and the open street is spreading out ahead, though I still cannot see any \"STOP\" lettering on the visible walls. Turning right once more should sweep further along the street frontage where shuttered shopfronts are likely.", + "I now have a clear view of the street with buildings on both sides, but the facades in front of me show no marked shutter. I will continue the same rightward sweep to inspect the buildings on the right side of the road.", + "On the right I can now see a rolling shutter painted with red \"STOP\" graffiti, which is the landmark named in the task. I will turn right once more to bring that shutter and the wall beside it fully into the center of my view so I can find the blue wooden door next to it.", + "The shutter with the orange \"STOP\" graffiti is now clearly in front of me, and a narrow blue wooden door sits immediately to its right in the same facade, so my target is identified. I will keep rotating right by one more step to bring that doorway closer to the center of my heading before committing to an approach. This should give me a straight line of travel across the open ground toward the building.", + "The graffitied shutter and the blue wooden door beside it are both in my forward field, with the wet paved street clear between us. Since the target is confirmed, I will stop scanning and step forward to begin closing the distance toward that facade. The route ahead looks unobstructed apart from the shallow puddle.", + "The facade with the graffiti shutter and the blue door has grown noticeably larger, confirming my previous step carried me toward it. I will walk forward again to keep shrinking the gap while the pavement in front of me stays open. The doorway remains slightly to my left, which I can correct once I am nearer.", + "I am close to the building now, but its corner and the raised curb sit almost straight ahead of me, so pushing directly forward would just crowd the wall. I will turn right to pick up the open roadway that runs along this facade, keeping the blue wooden door on my left side. Traveling along that lane should let me draw level with the doorway on a clear surface.", + "My heading now follows the open street, with the blue wooden door and the graffiti shutter along the wall to my left. I will step forward along this lane to advance past the puddled section while staying beside the target facade. This keeps me on firm, unobstructed ground as I close in.", + "The blue wooden door is holding steady on my left as I travel along the street, and the way ahead is still clear. I will take another step forward to bring my position closer to the doorway's side of the building. Once I am roughly level with it, turning toward it should be straightforward.", + "The blue door has drifted toward the left edge of what I can see, which tells me I am nearly abreast of it. I will walk forward once more along the open lane to finish closing the remaining lateral gap. The pavement ahead is still clear of obstacles.", + "The blue wooden door is now at the far left of my periphery against the stone-framed wall, so I am essentially alongside it. I will take one more forward step to settle into a comfortable standing position before reorienting toward the doorway. The ground in front of me remains open and flat.", + "The blue wooden door is now far to my left at the very edge of my view, and my heading is pointed down the open street past it. I will turn left to swing that door back toward the center of my view so I can approach it directly.", + "The blue wooden door and the shutter beside it are clearly in view now, but they still sit left of center with the street occupying the right half. Another left turn should square me up with the door so a straight walk brings me to it.", + "I am now facing the blue wooden door directly, with the STOP graffiti on the roller shutter immediately to its left confirming it is the door described in the task. I will walk forward to close the remaining distance across the pavement toward it.", + "The blue wooden door now fills much more of my view and its handle and hinges are clearly resolved, so my heading is good. I will keep walking forward to reduce the remaining gap to the doorway.", + "The blue planks and the U-shaped handle now dominate my view, so I am only a short step from the door. One more forward step should place me right at it, close enough to count as having reached the target.", + "The blue wooden planks of the target door fill my entire view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001714_y002451_z000283_t1_b/infos.json b/dataset/trajectory/MiddleEast/task_x001714_y002451_z000283_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ef6f12aea01311d3feb11180e532b90fcaafd776 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001714_y002451_z000283_t1_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Identify the trash bags sitting near the door marked with \"STOP\" graffiti; after locating them, proceed to that spot.", + "Type": 1, + "Start_Pose": [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 81.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 81.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 56.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 31.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 6.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -18.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -43.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -68.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -93.4, + 0.0 + ], + [ + 1702.024, + 2326.843, + 282.907, + 0.0, + -93.4, + 0.0 + ], + [ + 1694.56, + 2201.205, + 262.907, + 0.0, + -93.4, + 0.0 + ], + [ + 1687.096, + 2075.568, + 262.907, + 0.0, + -93.4, + 0.0 + ], + [ + 1679.631, + 1949.93, + 262.907, + 0.0, + -93.4, + 0.0 + ], + [ + 1672.167, + 1824.293, + 276.428, + 0.0, + -93.4, + 0.0 + ], + [ + 1672.167, + 1824.293, + 276.428, + 0.0, + -68.4, + 0.0 + ], + [ + 1718.499, + 1707.272, + 282.669, + 0.0, + -68.4, + 0.0 + ], + [ + 1718.499, + 1707.272, + 282.669, + 0.0, + -68.4, + 0.0 + ] + ], + "Rationale": [ + "From this narrow courtyard I only see a plain blue door at the end of the paving, with no STOP graffiti and no trash bags anywhere in view. Since the target cue is absent straight ahead, I will begin a steady leftward scan to sweep the surrounding walls and any opening out of this yard.", + "The view now shows mostly a blank sunlit wall with the same doorway drifting to the right, so nothing here matches the STOP marking or the bags. I will keep rotating left in the same direction to bring more of the yard's edge into view.", + "A gap has opened at the far left of my view, showing an outdoor street with buildings, poles and clutter on the ground. That open area is far more likely to hold a shuttered door with graffiti than this closed yard, so I will continue turning left toward it.", + "The opening onto the street is wider now, with a covered walkway, a pole and some containers on the pavement, but I still cannot read any graffiti from this angle. I will turn left again to swing the near wall out of my line of sight and expose more of the street facades.", + "A thick wooden post sits right in the middle of my view and hides much of the street, though I can make out a shuttered opening and a doorway to the left. I will keep turning left so the post moves aside and the facades on that side become fully visible.", + "I can now clearly read the orange STOP graffiti sprayed across the metal shutter on the building to my left, with the small door beside it. Since the task points me to the bags near that marked door, I will turn left again to bring that facade toward the center of my view.", + "The STOP shutter and its side door are centered ahead, and I can see two dark sacks resting on the raised pavement to the left of that facade. I will turn left once more to line myself up with those bags rather than the shutter itself.", + "The two trash bags sit ahead of me on the raised walkway, just left of the shutter carrying the STOP graffiti, so the target spot is confirmed. My heading points straight down the open street toward them, so I will walk forward to close the distance.", + "The two sagging trash bags are clearly visible ahead against the low planter wall, just left of the shuttered door carrying the orange \"Stop\" graffiti. They are still across the open street, so I will keep walking straight toward them to close the distance.", + "The bags and the \"Stop\" shutter now fill more of my view, confirming I am on the correct line toward the target. I will continue forward since the raised curb and sidewalk where the bags sit are still several paces away.", + "I am nearing the curb, with the pair of trash bags plainly resting on the paved strip beside the planter. Another step forward should bring me up onto the walkway right beside them.", + "The bags are now close and low in my view, sitting on the tiled walkway with the shutter's graffiti at the right edge. I will step forward again to stand right at their spot rather than stopping short in the street.", + "I am right beside the trash bags, but my heading has drifted so that they sit at the right of my view and the graffiti door has slipped out of sight. Turning right should square me onto the bags and bring the marked door back into view to confirm the spot.", + "With the turn done, both trash bags sit directly in front of me and the \"Stop\" graffiti on the shutter is clearly beside them, confirming this is the described spot. I will take one more short step forward to stand right at the bags.", + "The trash bags are right at my feet beside the wall by the graffiti-marked door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001714_y002451_z000283_t1_c/infos.json b/dataset/trajectory/MiddleEast/task_x001714_y002451_z000283_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..535a34a9c08cd673d972ba30f0c61f81359b175d --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001714_y002451_z000283_t1_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Look for the base of the utility pole standing close to the \"STOP\" graffiti door; once found, head to it.", + "Type": 1, + "Start_Pose": [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 81.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 81.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 106.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 131.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + 156.6, + -0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -178.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -153.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -128.4, + 0.0 + ], + [ + 1713.847, + 2451.001, + 282.907, + 0.0, + -103.4, + 0.0 + ], + [ + 1683.961, + 2328.853, + 282.907, + 0.0, + -103.4, + 0.0 + ], + [ + 1654.793, + 2206.421, + 262.907, + 0.0, + -103.4, + 0.0 + ], + [ + 1625.626, + 2083.988, + 262.907, + 0.0, + -103.4, + 0.0 + ], + [ + 1596.458, + 1961.556, + 262.907, + 0.0, + -103.4, + 0.0 + ], + [ + 1567.291, + 1839.123, + 262.907, + 0.0, + -103.4, + 0.0 + ], + [ + 1538.123, + 1716.69, + 282.758, + 0.0, + -103.4, + 0.0 + ], + [ + 1538.123, + 1716.69, + 282.758, + 0.0, + -103.4, + 0.0 + ] + ], + "Rationale": [ + "I am boxed into a narrow courtyard facing a plain blue door with no graffiti on it and no utility pole in sight. Since the target and the \"STOP\" door are not visible from this heading, I will turn right to begin a consistent scan for an opening out of this alcove.", + "Turning has brought a rolling metal shutter and a brick corner into view, but the shutter is bare and there is still no pole base anywhere. I will keep rotating right in the same direction to check whether the courtyard opens toward a street.", + "The view is dominated by the closed shutter and a shaded overhang, which is a dead end for my search. Continuing the same rightward scan should reveal whatever lies past the covered walkway.", + "A wooden post and a bright open street are now appearing at the right edge beyond the covered walkway, suggesting the pole and graffiti area lie out there. I will turn right again to bring that open street fully into view.", + "The street is opening up on the right with buildings, a parked truck, and overhead cables, but a near wooden post blocks much of my sightline. Another right turn should clear that obstruction and let me scan the street for the graffiti door and the pole standing near it.", + "I can now see the open street with power lines running across it, which is a strong cue that a utility pole stands nearby. I will continue turning right to sweep the remaining street frontage and locate the graffiti door.", + "Looking down the street I see cables converging toward the right side, so the pole they hang from should be just beyond my current field of view. One more right turn should center that area and the door beneath it.", + "The red \"STOP\" graffiti is clearly painted on the shuttered door ahead on my right, and the utility pole with its cable crossarm stands just left of it against the far building. With the target identified and roughly centered, I will walk forward across the open street toward the base of that pole.", + "The utility pole rises just left of the shuttered door carrying the red \"STOP\" graffiti, and its base sits behind the low planter wall ahead of me. I will keep walking straight since the pole stays centered in my view and no obstacle blocks the open pavement. Continuing forward should shrink the remaining gap to its base.", + "The pole is noticeably larger and the sandbags beside it are now clearly resolved, so my heading toward the target remains good. I will step forward again to close more of the distance to the pole's base at the planter wall. The route across the open pavement still looks unobstructed.", + "The pole now dominates the middle of my view and I can see where it meets the ground behind the low curb wall. I will keep advancing since I am still a few steps short of standing at its base. The paved strip in front of me remains clear for walking.", + "The pole's shaft fills much of my view and the planter wall in front of it is close, but I am not yet standing at its foot. I will take another step forward to bring myself right up to the base. The remaining ground is short and open.", + "I am nearly at the planter wall with the pole rising directly in front of me, though a small gap still separates me from its base. I will move forward one more step to finish closing that gap. This should place me immediately at the foot of the pole.", + "The utility pole's base stands directly in front of me, filling my view at arm's reach beyond the low wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t0_a/infos.json b/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5d3a237c5908c193ed8862288fc6d222443603 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the wooden crate beside the building.", + "Type": 0, + "Start_Pose": [ + 1857.276, + 1806.528, + 282.523, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1857.276, + 1806.528, + 282.523, + 0.0, + 79.68, + -0.0 + ], + [ + 1879.823, + 1930.351, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1879.823, + 1930.351, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 1952.588, + 2033.044, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2025.352, + 2135.737, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2098.116, + 2238.43, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2098.116, + 2238.43, + 262.907, + 0.0, + 29.68, + -0.0 + ], + [ + 2207.463, + 2300.749, + 282.892, + 0.0, + 29.68, + -0.0 + ], + [ + 2316.81, + 2363.069, + 282.892, + 0.0, + 29.68, + -0.0 + ], + [ + 2316.81, + 2363.069, + 282.892, + 0.0, + 29.68, + -0.0 + ], + [ + 2316.81, + 2363.069, + 282.892, + 0.0, + 29.68, + -0.0 + ] + ], + "Rationale": [ + "I can see a small wooden crate sitting against the base of the building on the far left, near the shuttered door and a pile of sacks. It is still well across the open sandy area, so I will move forward to close some of that distance and get a clearer read on its position.", + "After moving up, the crate against the wall sits far to my left edge while my heading points down the alley between the buildings. I will turn left to bring the crate more toward the center of my view before continuing.", + "The crate with the sacks beside it now sits ahead and slightly left, in front of the shuttered opening along the building's base. With the heading pointed usefully toward it, I will move forward to cut the remaining distance.", + "The crate is noticeably larger now and holds its place left of the big metal shutter, so my line of travel is still good. I will keep moving forward along the front of the building to shorten the gap.", + "The crate and the sacks stacked on it are clearly resolved just a short way ahead on the left, tight against the building wall. Another forward step should bring me near enough to stand beside it.", + "From here the crate has slid to my left while the plain shutter panel dominates the view straight ahead, so my heading is drifting past the target. I will turn left to put the crate back in front of me before closing the last distance.", + "The wooden crate now sits close to the center of my view, resting against the building beside the sacks with the walkway open in front of me. I will move forward along that walkway to reach it.", + "The crate is only a step or two away, its wooden slats plainly visible against the wall next to the bagged sacks. I will take one more forward step to stand right beside it.", + "The wooden crate and the sacks beside the building wall are now right at the bottom edge of my view, so I am close enough that the crate itself is nearly cut off. I will tilt my view downward to bring the crate fully into sight and confirm I am standing directly beside it.", + "The wooden crate against the building wall is directly below me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t0_b/infos.json b/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ab41f85db4c263fa3851199e7b62d365ef51a2a4 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t0_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Head toward the blue door across the alley.", + "Type": 0, + "Start_Pose": [ + 1857.276, + 1806.528, + 282.523, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1857.276, + 1806.528, + 282.523, + 0.0, + 79.68, + -0.0 + ], + [ + 1879.823, + 1930.351, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1902.37, + 2054.174, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1902.37, + 2054.174, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1870.475, + 2175.924, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1838.58, + 2297.675, + 282.809, + 0.0, + 104.68, + -0.0 + ], + [ + 1810.77, + 2417.837, + 282.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1787.272, + 2537.897, + 283.163, + 0.0, + 104.68, + -0.0 + ], + [ + 1755.377, + 2659.647, + 283.893, + 0.0, + 104.68, + -0.0 + ], + [ + 1755.377, + 2659.647, + 283.893, + 0.0, + 79.68, + -0.0 + ], + [ + 1777.924, + 2783.47, + 283.382, + 0.0, + 79.68, + -0.0 + ], + [ + 1800.471, + 2907.293, + 297.984, + 0.0, + 79.68, + -0.0 + ], + [ + 1823.018, + 3031.116, + 298.551, + 0.0, + 79.68, + -0.0 + ], + [ + 1845.566, + 3154.939, + 297.212, + 0.0, + 79.68, + -0.0 + ], + [ + 1845.566, + 3154.939, + 297.212, + 0.0, + 79.68, + -0.0 + ] + ], + "Rationale": [ + "From the open sandy ground I can see a narrow gap between the buildings ahead, and a small blue door standing at the far end of that passage, slightly right of my heading. Nothing blocks the flat ground in front of me, so I will step forward to close the large distance toward the alley mouth.", + "The blue door at the far end of the alley now appears a bit larger, confirming my heading is bringing me nearer to it. The paved strip and curb ahead are clear, so I will continue walking forward toward the alley entrance.", + "I am close to the corner of the building on my left, and the blue door sits noticeably right of my current heading, partly hidden behind the nearby post. A small turn to the right should place the door and the alley opening more directly in front of me before I keep advancing.", + "After the turn the blue door is clearly ahead of me, with the open alley floor leading straight to it between the plastered wall on my left and the covered stalls on my right. The route looks passable, so I will walk forward into the alley.", + "I am now inside the alley with the tall wall close on my left and a shuttered opening to my right, and the blue door remains ahead within reach of a straight walk. I will keep moving forward to shorten the remaining distance.", + "The blue door has grown larger and its panels and surround are now easy to make out at the end of the passage. The stone paving in front of me is unobstructed, so another step forward should continue closing the gap.", + "The brick wall on my right and the plaster wall on my left are narrowing around me, and the blue door sits just ahead and a little to my left. I will step forward again to keep reducing the distance before making any heading correction.", + "The blue door is now large in front of me, with its metal handle becoming visible, and only a short stretch of paving separates us. The way remains clear, so I will advance once more toward it.", + "The blue plank door sits well left of my straight-ahead direction, with the rough brick wall filling the right side of my view. I will turn left to bring the door onto my heading so the remaining approach can be a straight walk.", + "The blue door now sits near the center of my view at the end of this narrow paved recess, so my heading is good. I will step forward along the flagstones to close the remaining distance.", + "The door has grown larger and stays close to the middle of my view, confirming I am tracking straight toward it. I will keep walking forward since the paving ahead is open.", + "The door's planks, hinges, and iron handle are now clearly readable, so only a short gap remains. Another step forward should bring me within arm's reach of it.", + "The blue door and its wooden surround now fill much of my view and its base sits just past the paving edge in front of me. I will take one more step forward to stand directly at the door.", + "The weathered blue door fills my view at arm's length, with its handle beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t0_c/infos.json b/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9714a039ae3226931cdc44d7679c5a60bde5415d --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the blue wooden post supporting the balcony near the wooden crate.", + "Type": 0, + "Start_Pose": [ + 1857.276, + 1806.528, + 282.523, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1857.276, + 1806.528, + 282.523, + 0.0, + 79.68, + -0.0 + ], + [ + 1857.276, + 1806.528, + 282.523, + 0.0, + 54.68, + -0.0 + ], + [ + 1930.04, + 1909.221, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2002.805, + 2011.914, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2075.569, + 2114.607, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2075.569, + 2114.607, + 262.907, + 0.0, + 29.68, + -0.0 + ], + [ + 2184.916, + 2176.926, + 262.907, + 0.0, + 29.68, + -0.0 + ], + [ + 2294.263, + 2239.246, + 262.907, + 0.0, + 29.68, + -0.0 + ], + [ + 2294.263, + 2239.246, + 262.907, + 0.0, + 29.68, + -0.0 + ] + ], + "Rationale": [ + "From the street I can see the balcony overhang ahead, and the blue wooden post standing next to the small wooden crate sits well off to my left near the shuttered storefront. My current heading points too far right, mostly at the barred window and the alley beyond it. I will turn left to bring that post and crate closer to the center of my view before advancing.", + "The blue post supporting the balcony and the wooden crate at its base are now roughly ahead of me on the raised walkway, but still a long way off. The open sandy ground in front of me looks clear of obstacles. I will move forward to start closing that distance.", + "The post and the crate beside it have grown noticeably larger, confirming that my heading is carrying me toward them. There is still several strides of open ground before I reach the walkway edge. I will continue forward to keep closing in.", + "The balcony support and the wooden crate at its foot are clearly resolved now, with the crate sitting just left of the shuttered door. The gap is shrinking but I am not yet beside the post. Another forward step should bring me nearly level with it.", + "I am close to the building now, but the blue post with the crate has drifted to the left side of my view while the wall and window fill the right. Continuing straight would carry me past the post along the facade. I will turn left to face the post directly.", + "The blue post is now centered in front of me with the wooden crate tucked at its base beside the sacks. Only a short stretch of paved walkway separates us. I will step forward to close that remaining gap.", + "The post fills much of the center of my view and the crate beside it is clearly within a stride or two. One more forward step should place me right at the base of the balcony support. I will advance again.", + "The blue wooden balcony post stands directly in front of me with the wooden crate right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t5_a_p/infos.json b/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b624c8bbc23d5c0f6a84ede32139ccc54ed0301e --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001857_y001807_z000283_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Lift the ceramic pot beside the wooden crate near the building.", + "Type": 5, + "Start_Pose": [ + 1857.276, + 1806.528, + 282.523, + 0, + 79.68, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2349.898, + 2415.926, + 197.878, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1857.276, + 1806.528, + 282.523, + 0, + 79.68, + 0 + ], + [ + 1879.823, + 1930.351, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1902.37, + 2054.174, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1902.37, + 2054.174, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 1975.135, + 2156.867, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2047.899, + 2259.56, + 278.218, + 0.0, + 54.68, + -0.0 + ], + [ + 2047.899, + 2259.56, + 278.218, + 0.0, + 29.68, + -0.0 + ], + [ + 2157.246, + 2321.879, + 282.864, + 0.0, + 29.68, + -0.0 + ], + [ + 2157.246, + 2321.879, + 282.864, + 0.0, + 29.68, + -0.0 + ], + [ + 2266.593, + 2384.199, + 282.864, + 0.0, + 29.68, + -0.0 + ], + [ + 2266.593, + 2384.199, + 282.864, + 0.0, + 29.68, + -0.0 + ], + [ + 2266.593, + 2384.199, + 282.864, + 0.0, + 29.68, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2349.898, + 2415.926, + 197.878, + 0.0, + 0.0, + 0.0 + ], + [ + 2255.489, + 2402.449, + 253.014, + -28.202, + 79.825, + 1.862 + ], + [ + 2255.489, + 2402.449, + 253.014, + -28.202, + 79.825, + 1.862 + ] + ], + "PD_Dist_2D": [ + 783.6, + 675.8, + 575.5, + 575.5, + 455.6, + 340.1, + 340.1, + 214.4, + 214.4, + 89.1, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the small pink ceramic pot sitting on the raised walkway beside the wooden crate against the building ahead on the left. It is far too distant to reach from here, so I will walk forward along the open sand to close the gap. Advancing straight keeps it in view while I shorten the distance.", + "The pot beside the crate is now clearer at the left, resting on the raised walkway under the barred window, but it is still well out of arm's reach. The path in front of me remains clear, so I will keep walking forward to shorten the remaining distance before adjusting my heading.", + "My heading now carries me past the pot, which has slipped to the far left edge and is nearly hidden behind the blue post and the building corner. Continuing straight would only take me farther along the street instead of toward it. I will turn left to bring the pot and its crate back in front of me.", + "The pink pot and the wooden crate are now clearly in view on the walkway left of center, framed by the building's barred door. With my heading pointing toward them, I will walk forward to cut the remaining distance along the sand before stepping up to the walkway.", + "The pot beside the crate is noticeably larger now, sitting low on the raised walkway to my left, yet still several paces off. Nothing blocks the ground between us, so I will keep walking forward to get within reaching range of it.", + "The pink ceramic pot and the wooden crate sit at the far left edge of my view, while my heading is aimed straight into the shuttered facade. Turning left should swing that corner of the walkway into the center of my view so I can walk directly at the pot.", + "The ceramic pot and the wooden crate are now clearly framed ahead along the paved walkway beside the building, but they are still several paces off. I will walk forward along the wall to close that gap and bring the pot into reach.", + "The pot stands just beside the crate a short way ahead of me, and my hands are empty. I will try to grasp it now from this position, hoping it is already within reach.", + "That grasp did not take hold, since my hands remain empty. I was evidently still too far back by the crate for the reach to connect. I will step forward to stand right at the crate before trying again.", + "I am now right up against the wooden crate and the sacks beside the building wall, with the pot at the near edge just below my view. My earlier attempt from farther back left my hands empty, so this closer stance should give the reach it needs. I will try the grasp again.", + "The ceramic pot is now held in my hands, lifted clear of the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_a/infos.json b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85fe10f8c23251e27b22e8a397bc268453e8e9aa --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the leftmost teal support pillar under the balcony.", + "Type": 2, + "Start_Pose": [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + [ + 1908.368, + 1742.692, + 282.907, + 0.0, + 54.68, + -0.0 + ], + [ + 1981.132, + 1845.385, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2053.897, + 1948.078, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2126.661, + 2050.771, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2199.426, + 2153.464, + 262.907, + 0.0, + 54.68, + -0.0 + ], + [ + 2199.426, + 2153.464, + 262.907, + 0.0, + 29.68, + -0.0 + ], + [ + 2308.773, + 2215.783, + 262.907, + 0.0, + 29.68, + -0.0 + ], + [ + 2308.773, + 2215.783, + 262.907, + 0.0, + 29.68, + -0.0 + ] + ], + "Rationale": [ + "Counting the teal posts holding up the balcony from here, the leftmost one stands at the far end of the arcade, just past the shuttered roll door and the crate and sacks piled beside it. It sits near the edge of my view, so I will turn left to bring that post and the walkway toward it in front of me.", + "The teal post beside the shuttered door and the crate now lies ahead along the raised walkway, with open ground between us. I will walk forward to close that distance.", + "The post by the shuttered roll door and the crate has grown noticeably larger, so my heading is carrying me straight at it. Nothing blocks the open ground in front, so I keep walking forward.", + "The post I am heading for now dominates the middle of my view, with the crate and the metal shutter just behind it. I am still several strides short of standing under the balcony, so I advance again.", + "The post's peeling teal paint and its base on the raised kerb are clearly visible now, and my own shadow falls just short of it. One more step forward should bring me right up to the balcony edge.", + "I am close to the post, but it now sits toward the left side of my view while the shop front fills the frame ahead. Turning left should put the post squarely in front of me for the final step along the walkway.", + "The teal post now stands centered ahead with the crate and sacks at its side, and the walkway runs clear up to it. A short step forward should place me right at its base under the balcony.", + "The weathered teal post fills my view at arm's length, its base on the paving directly before me under the balcony. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_b/infos.json b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0625bda7207dc08716a36b37946e0492d7182a5 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the second teal pillar from the left, near the entrance.", + "Type": 2, + "Start_Pose": [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + [ + 1930.915, + 1866.515, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1953.462, + 1990.338, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1953.462, + 1990.338, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1921.567, + 2112.088, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1921.567, + 2112.088, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1944.114, + 2235.911, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1944.114, + 2235.911, + 262.907, + 0.0, + 79.68, + -0.0 + ] + ], + "Rationale": [ + "From here I can count the teal posts fronting the arcaded building, and the second one from the left is the tall shaft standing just right of the barred double doors, near the recessed entrance. They all share the same weathered paint, so I hold it by that doorway it flanks. I walk forward to close the gap.", + "The teal shaft beside the barred double doors is larger now and slightly right of my heading, with open paving between us. Nothing blocks the way, so I keep walking straight to shorten the remaining distance.", + "I am close to the building front, but the teal post I am after sits off to the right of my current heading, near the entrance passage. I turn right so my path lines up with it rather than with the door panels ahead.", + "The teal post now stands on the left side of my view with the entrance passage opening beyond it, and the paving ahead is clear. I step forward to draw level with it.", + "The teal post I am heading for has slid to the far left edge of my view, close to leaving it entirely. I turn left to bring it back in front of me before covering the last stretch.", + "The teal post is centered ahead of me with the entrance passage visible just past it. Only a short stretch of paving remains, so I walk forward to reach it.", + "The teal post beside the entrance fills my view an arm's length ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_c/infos.json b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce994086bea11112bf8e88d81dcb17a73beaccf3 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the rightmost wooden post on the far right.", + "Type": 2, + "Start_Pose": [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + [ + 1908.368, + 1742.692, + 282.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1876.473, + 1864.443, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1844.578, + 1986.193, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1812.682, + 2107.944, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1780.787, + 2229.694, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1780.787, + 2229.694, + 262.907, + 0.0, + 129.68, + -0.0 + ], + [ + 1700.426, + 2326.558, + 282.842, + 0.0, + 129.68, + -0.0 + ], + [ + 1700.426, + 2326.558, + 282.842, + 0.0, + 129.68, + -0.0 + ] + ], + "Rationale": [ + "Along the right side of the street a row of wooden posts carries a crossbeam frame, and the last one in that run stands hard against the pale plaster wall corner. It sits well off my right shoulder, so a right turn should swing that post into the middle of my path.", + "The post frame beside the pale plaster wall now sits ahead of me rather than off to the side, with open paving between us. I will walk forward to close that distance.", + "The posts and their crossbeams are noticeably larger now, and the plaster wall panel behind my target post is filling more of the right side. The way ahead over the stone paving is still unobstructed, so I keep walking.", + "I have reached the patterned paving at the edge of the raised walkway and the two nearest posts now tower ahead of me. The wooden post standing against the pale plaster panel is still further in, so I continue forward.", + "I am under the beam frame now, with one post close on my left and my target post further to the right beside the plaster panel. Another forward step should bring me level with it.", + "From here the post I want lies off to my right, near the corner where the pale plaster panel meets the shuttered shopfront, while a closer post blocks my straight-ahead line. Turning right should put it squarely in front of me.", + "The wooden post beside the pale plaster panel now stands directly ahead in my path, with clear paving up to its base. One more step forward should bring me right up to it.", + "The wooden post beside the pale plaster panel now stands immediately in front of me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_d/infos.json b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e8ef251201104d53fbcd35eefecc30e05aa34b4f --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_d/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the tall wooden pillar left of the blue door.", + "Type": 2, + "Start_Pose": [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + [ + 1930.915, + 1866.515, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1953.462, + 1990.338, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1976.009, + 2114.161, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1976.009, + 2114.161, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1944.114, + 2235.911, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1944.114, + 2235.911, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1944.114, + 2235.911, + 262.907, + 0.0, + 79.68, + -0.0 + ] + ], + "Rationale": [ + "The small blue door sits at the end of the alley ahead, and the tall painted post at the right edge of the shaded arcade stands to its left, so that post is my target. Nothing blocks the open ground between us, so I will walk forward to close the distance.", + "The blue door and the tall post beside it have both grown larger, confirming I am closing on the right part of the street. The pavement in front of me remains clear, so I will keep walking straight toward that post.", + "The tall post now rises clearly near the middle of my view with the blue door still visible past it on the right, so my heading is good. I am still several strides short of its base, so I will advance again.", + "Up close the post is drifting toward my right edge and its base sits slightly off my line of travel. I will turn right to bring the paved strip beside it in front of me so my next steps carry me up to it rather than past its far side.", + "The post now stands just left of center with the blue door beyond it, and the paving ahead is clear up to the step. I will walk forward to close the last stretch to its base.", + "I am now level with the post, and its painted surface has slid to my far left edge while the blue door sits ahead on the right. I will turn left to face the post squarely and confirm I have arrived beside it.", + "The tall painted post fills my view at arm's length, with the blue door standing just to its right. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_e/infos.json b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..82325ea842f8f659e1abf4cdf2de1c8fb2d553d1 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x001908_y001743_z000283_t2_e/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Proceed to the third pillar from the right.", + "Type": 2, + "Start_Pose": [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1908.368, + 1742.692, + 282.774, + 0.0, + 79.68, + -0.0 + ], + [ + 1930.915, + 1866.515, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1953.462, + 1990.338, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1976.009, + 2114.161, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1998.556, + 2237.984, + 262.907, + 0.0, + 79.68, + -0.0 + ], + [ + 1998.556, + 2237.984, + 262.907, + 0.0, + 104.68, + -0.0 + ], + [ + 1998.556, + 2237.984, + 262.907, + 0.0, + 104.68, + -0.0 + ] + ], + "Rationale": [ + "Counting inward from the right side of the street, two bare wooden posts stand nearest, so my target is the teal painted column at the right corner of the shaded porch beside the barred gate. It is far across the open ground ahead, so I walk forward toward it.", + "The teal column beside the barred gate now reads larger and slightly right of my heading, confirming I am closing on it. Nothing blocks the paved ground between us, so I keep walking forward.", + "The teal column beside the barred gate now stands tall near the middle of my view, so my heading is still good. I am not yet close enough to be at it, so I take another step forward.", + "The teal column now dominates the right of my view with its base on the patterned paving just ahead, so only a short distance remains. I step forward once more to come right up beside it.", + "Standing this close, the gate wall fills most of my view and the teal column has slipped to the right edge. I turn right to bring it squarely in front of me and confirm I am at it.", + "The teal column stands directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x002633_y001843_z000263_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x002633_y001843_z000263_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0ace76a42580e7659148e845444c7e79b757315e --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x002633_y001843_z000263_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Locate a tire discarded among the rubble and debris scattered across this ruined area, then navigate your way to it.", + "Type": 1, + "Start_Pose": [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 101.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 101.6, + -0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 126.6, + -0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 151.6, + -0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 176.6, + -0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + -158.4, + 0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + -133.4, + 0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + -108.4, + 0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + -83.4, + 0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + -58.4, + 0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + -33.4, + 0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + -8.4, + 0.0 + ], + [ + 2757.303, + 1824.919, + 275.876, + 0.0, + -8.4, + 0.0 + ], + [ + 2881.812, + 1806.533, + 282.522, + 0.0, + -8.4, + 0.0 + ], + [ + 3006.32, + 1788.147, + 284.697, + 0.0, + -8.4, + 0.0 + ], + [ + 3006.32, + 1788.147, + 284.697, + 0.0, + 16.6, + -0.0 + ], + [ + 3126.934, + 1824.104, + 276.537, + 0.0, + 16.6, + -0.0 + ], + [ + 3247.547, + 1860.06, + 262.907, + 0.0, + 16.6, + -0.0 + ], + [ + 3368.161, + 1896.017, + 284.094, + 0.0, + 16.6, + -0.0 + ], + [ + 3368.161, + 1896.017, + 284.094, + 0.0, + 16.6, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, my view is filled by a shuttered storefront, a low concrete barrier, and a couple of refuse sacks, with no tire anywhere among them. Since the target is not in sight, I will turn to the right to begin a steady scan of the surrounding street.", + "The rotation has brought more of the building frontage and a stretch of wet road into view, but the debris here is still only bagged rubbish beside the kerb. No tire is visible yet, so I will keep rotating right to continue the sweep in the same direction.", + "A long alley with puddles now stretches ahead, and I can make out scattered clutter far down it, but nothing resembling a tire at this distance. Continuing the same rightward turn should uncover the section of street still hidden behind me.", + "Facing this way I mostly see a bare pavement and a graffitied metal shutter on the right, which offers no sign of the discarded tire. I will keep turning right to move my gaze past this blank facade toward ground I have not inspected.", + "The wooden door and stone corner now dominate my view, blocking sight of whatever lies beyond the building edge. Another right turn should bring that concealed area into view rather than leaving me staring at a wall.", + "Past the stone corner I can now see a low plaster wall and, beyond it, an open yard with what look like heavy dark round objects near a parked vehicle. That cluttered lot is a promising place for a discarded tire, so I will keep turning right to bring it fully into view.", + "The debris-filled lot behind the low wall is now more open in front of me, with stacked dark round shapes beside a wrecked truck body. I will continue turning right to square up with that yard and see the rest of the scattered rubble along it.", + "The wall in front of me still hides the near ground of the rubble yard, though the vehicle hulk and round shapes beyond it remain the strongest cue for a discarded tire. One more turn to the right should reveal the paved stretch that leads along that lot so I can pick an approach.", + "The low pink wall no longer blocks my whole view, and to the right I can see a debris-strewn paved yard with scattered stones and a wooden railing. No tire is clearly identifiable yet, so I will keep rotating right in the same direction to bring more of that cluttered area into view.", + "The open yard ahead is littered with rubble, sacks and stacked junk, which is exactly the kind of place a discarded tire would sit, but I still cannot resolve one clearly. I will continue the same rightward scan to bring the deeper part of that debris pile toward the center of my view.", + "The scan has brought the cluttered yard squarely in front of me, with pallets, sacks and heaped junk beyond the railing along the stone walkway. This debris area is the most promising place to find a discarded tire, so I will walk forward along the open paving to get close enough to pick it out.", + "The junk heap ahead has grown larger and I can now make out sacks, crates and a metal frame beyond the railing. The path along the stone walkway is still clear, so I will keep walking forward to close the distance and resolve the objects in that pile.", + "Among the crates and sacks slightly right of center I can now see a round dark shape that looks like a wheel with a tire lying in the debris. I will continue walking forward to close in on it.", + "The tire and rim are sitting in the junk pile off to my right, while my heading still points down the walkway past it. I will turn right to put the tire nearer the center of my view before continuing toward it.", + "The turn has brought the tire and its bright rim into the middle of my view, resting among crates, sacks and the blue metal frame. I will walk forward to close the remaining distance to it.", + "The tire is clearly ahead of me now, its wheel face and tread plainly visible beside the stacked pallets and sacks. I will step forward again to come right up to it.", + "The discarded tire with its bright metal rim now fills the left-center of my view among the crates, sacks, and scrap piled in this rubble yard. It is still a short distance beyond the pallets in front of me, so I will step forward once more to close the last gap and stand right beside it.", + "The discarded tire lies directly at my feet in the lower left of my view, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x002633_y001843_z000263_t1_b/infos.json b/dataset/trajectory/MiddleEast/task_x002633_y001843_z000263_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03afdd273ac7ff582e9dcc496dafe3d705b5a51e --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x002633_y001843_z000263_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Determine where a green garbage bag has been left within the surrounding ruins and wreckage; once found, make your way over to it.", + "Type": 1, + "Start_Pose": [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 101.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 101.6, + -0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 76.6, + -0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 51.6, + -0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 26.6, + -0.0 + ], + [ + 2632.794, + 1843.305, + 262.907, + 0.0, + 1.6, + -0.0 + ], + [ + 2758.604, + 1846.819, + 263.043, + 0.0, + 1.6, + -0.0 + ], + [ + 2884.414, + 1850.333, + 262.907, + 0.0, + 1.6, + -0.0 + ], + [ + 3010.224, + 1853.848, + 262.907, + 0.0, + 1.6, + -0.0 + ], + [ + 3136.034, + 1857.362, + 262.907, + 0.0, + 1.6, + -0.0 + ], + [ + 3261.844, + 1860.876, + 262.907, + 0.0, + 1.6, + -0.0 + ], + [ + 3261.844, + 1860.876, + 262.907, + 0.0, + -23.4, + 0.0 + ], + [ + 3369.993, + 1811.076, + 280.549, + 0.0, + -23.4, + 0.0 + ], + [ + 3410.949, + 1750.322, + 282.903, + 0.0, + -23.4, + 0.0 + ], + [ + 3410.949, + 1750.322, + 282.903, + 0.0, + -23.4, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, I can see a cluster of sacks against the low wall by the shuttered storefront, but I cannot confirm a clearly green garbage bag among them from this angle and distance. I will turn left to sweep the open rubble ground and widen my view of the surrounding wreckage before committing to any direction.", + "Turning has brought a greenish sack near the wall clutter into better view on my right, yet I still want to know what lies across the open flooded yard before I choose a route. I will continue turning left in the same direction to keep the scan consistent and reveal the wreckage further around.", + "My view now faces the shallow flooded yard and a fenced barrier, with scattered stones and no clearly green bag in the near field. I will keep turning left in the same direction to bring the debris piles along the far side of the yard into view.", + "Along the left edge of my view I can now make out a heap of junk and what looks like a green sack among crates and sandbags across the yard. I will turn left once more to place that cluttered pile closer to the center of my heading so I can judge whether it holds the green garbage bag.", + "The heap of wreckage with crates, sandbags and a green sack now sits ahead of me, reachable along the paved strip beside the water. I will walk forward toward that pile, since it is the most likely place for the green garbage bag to have been left.", + "The debris pile ahead has grown noticeably larger, and I can still track a green bag sitting among the drums and crates near the wheel. I will keep walking forward along this dry strip to close the remaining distance.", + "The green bag near the crates and stacked pallets is now clearly resolved in front of me, so my heading is good. I will step forward again to keep closing on it.", + "The green garbage bag is plainly visible ahead, resting against the sandbags near the wooden crate and the old wheel. I will continue walking forward to bring myself right up to it.", + "The green garbage bag is clearly visible ahead among the sandbags and wooden pallets, sitting to the left of the brown stool near the tire. It is still several paces off behind the scattered crates, so I will keep walking straight along the paved strip to close the remaining distance.", + "I am now close to the debris pile, but the green bag sits off to my left beside the sandbag and the stool while my heading points at the tire and pallets. I will turn left to place the bag near the center of my view so my next steps carry me straight to it.", + "The turn has brought the green bag into the middle of my view, resting against the sandbags just left of the stool. With the heading now lined up, I will step forward to shorten the last stretch of open ground to it.", + "The green bag now fills a large part of the lower view, so only a short gap remains between me and it. I will take one more step forward to finish closing that gap and stand right at the bag.", + "The green garbage bag is directly in front of me at my feet, filling the near view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x002752_y001793_z000283_t1_a/infos.json b/dataset/trajectory/MiddleEast/task_x002752_y001793_z000283_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9850c561cb06e685b9ea1947249da18eeb0ccf90 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x002752_y001793_z000283_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Locate the green trash bag sitting near the structural column that supports the building, then navigate your way to it.", + "Type": 1, + "Start_Pose": [ + 2752.276, + 1793.179, + 282.907, + 0.0, + 1.6, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2752.276, + 1793.179, + 282.907, + 0.0, + 1.6, + -0.0 + ], + [ + 2752.276, + 1793.179, + 282.907, + 0.0, + 26.6, + -0.0 + ], + [ + 2752.276, + 1793.179, + 282.907, + 0.0, + 51.6, + -0.0 + ], + [ + 2752.276, + 1793.179, + 282.907, + 0.0, + 76.6, + -0.0 + ], + [ + 2752.276, + 1793.179, + 282.907, + 0.0, + 101.6, + -0.0 + ], + [ + 2726.968, + 1916.467, + 265.568, + 0.0, + 101.6, + -0.0 + ], + [ + 2701.661, + 2039.756, + 262.907, + 0.0, + 101.6, + -0.0 + ], + [ + 2676.353, + 2163.044, + 262.907, + 0.0, + 101.6, + -0.0 + ], + [ + 2676.353, + 2163.044, + 262.907, + 0.0, + 126.6, + -0.0 + ], + [ + 2601.313, + 2264.086, + 280.15, + 0.0, + 126.6, + -0.0 + ], + [ + 2526.273, + 2365.128, + 282.703, + 0.0, + 126.6, + -0.0 + ], + [ + 2526.273, + 2365.128, + 282.703, + 0.0, + 126.6, + -0.0 + ] + ], + "Rationale": [ + "From this spot on the paved walkway I can see a muddy lot, fences and distant buildings, but no green trash bag and no clear supporting column nearby. I will turn right to begin a steady scan of the surrounding street for the column and the bag beside it.", + "The view now covers the water-filled lot and a low fence line, still without any green bag or a pillar supporting a building. I will keep rotating in the same rightward direction to extend the scan into the unseen part of the street.", + "A closer building with a shuttered front has come into view on the right, which is the kind of frontage where refuse is usually piled, though I still cannot make out a green bag. I will continue the same rightward turn to bring that building's base and its supports fully into view.", + "I can now see a small pile of refuse at the right, including what looks like a green sack resting against the wall near the building frontage. I will turn right once more to bring that pile toward the center of my view before walking to it.", + "The green bag and its neighboring dark sacks sit ahead near the base of the building, close to the tall vertical support that carries the upper structure. The path across the open ground looks clear, so I will step forward to close the distance.", + "The green sack is clearly larger in view now, tucked against the low wall next to the column at the building's edge. I will keep walking straight ahead since the target stays framed and nothing blocks the way.", + "The green trash bag and the supporting column are close ahead, with the raised paved step just in front of me. I will advance again to reach the bag's immediate area.", + "The bag pile now sits to the right of my heading, with the shuttered wall taking up the center of my view. I will turn right so the green bag and the adjacent column line up in front of me for a straight final approach.", + "The green trash bag is now clearly in view ahead, resting against the low wall beside the darker bags and the wooden crate, close to the tall support column on my right. I am still several steps back from it, so I will walk forward along the paved walkway to close that gap. The path in front of me looks open, so this step should bring me noticeably nearer to the bag.", + "The green bag now fills a large part of my view just ahead and slightly left, with the pile of other bags and the crate beside it. I am close but not yet standing right at it, so I will take one more step forward. That should place me directly next to the green trash bag near the column.", + "The green trash bag is directly at my feet beside the column and wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t3_a/infos.json b/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dc7942312581bf024c668f606622ac81915c8457 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Head toward the blue garage door, then walk to the green trash bags.", + "Type": 3, + "Start_Pose": [ + 3128.433, + 2140.27, + 270.61, + 0.0, + -169.92, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3128.433, + 2140.27, + 270.61, + 0.0, + -169.92, + 0.0 + ], + [ + 3004.517, + 2118.242, + 262.907, + 0.0, + -169.92, + 0.0 + ], + [ + 2880.601, + 2096.214, + 262.858, + 0.0, + -169.92, + 0.0 + ], + [ + 2880.601, + 2096.214, + 262.858, + 0.0, + -144.92, + 0.0 + ], + [ + 2777.604, + 2023.88, + 262.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2674.607, + 1951.546, + 262.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2571.61, + 1879.213, + 262.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2468.613, + 1806.879, + 282.317, + 0.0, + -144.92, + 0.0 + ], + [ + 2365.617, + 1734.545, + 282.854, + 0.0, + -144.92, + 0.0 + ], + [ + 2262.62, + 1662.212, + 282.854, + 0.0, + -144.92, + 0.0 + ], + [ + 2262.62, + 1662.212, + 282.854, + 0.0, + -144.92, + 0.0 + ], + [ + 2262.62, + 1662.212, + 282.854, + 0.0, + -169.92, + 0.0 + ], + [ + 2262.62, + 1662.212, + 282.854, + 0.0, + 165.08, + -0.0 + ], + [ + 2262.62, + 1662.212, + 282.854, + 0.0, + 140.08, + -0.0 + ], + [ + 2262.62, + 1662.212, + 282.854, + 0.0, + 115.08, + -0.0 + ], + [ + 2262.62, + 1662.212, + 282.854, + 0.0, + 90.08, + -0.0 + ], + [ + 2262.444, + 1788.071, + 282.854, + 0.0, + 90.08, + -0.0 + ], + [ + 2262.444, + 1788.071, + 282.854, + 0.0, + 65.08, + -0.0 + ], + [ + 2315.475, + 1902.212, + 262.907, + 0.0, + 65.08, + -0.0 + ], + [ + 2368.506, + 2016.353, + 262.907, + 0.0, + 65.08, + -0.0 + ], + [ + 2421.537, + 2130.494, + 262.907, + 0.0, + 65.08, + -0.0 + ], + [ + 2474.568, + 2244.635, + 267.077, + 0.0, + 65.08, + -0.0 + ], + [ + 2474.568, + 2244.635, + 267.077, + 0.0, + 90.08, + -0.0 + ], + [ + 2474.392, + 2370.494, + 282.907, + 0.0, + 90.08, + -0.0 + ], + [ + 2474.392, + 2370.494, + 282.907, + 0.0, + 90.08, + -0.0 + ], + [ + 2474.392, + 2370.494, + 282.907, + 0.0, + 90.08, + -0.0 + ] + ], + "Rationale": [ + "Down the street on my right I can pick out a blue door set in the wall beside a shuttered garage front. It is still well ahead of me, so I will walk forward along the open lane to close the gap.", + "The blue door and the shutter with the red lettering beside it now sit larger on my right, confirming I am closing on them. The lane ahead is still clear, so another step forward keeps shrinking the distance.", + "The blue door has drifted well off to my right while my heading still points straight down the street. I will turn right to bring that doorway and the garage front into the center of my path.", + "The turn has put the blue door and the neighboring shutter squarely in front of me across the road. With clear ground between us, I will step forward toward them.", + "The blue door is noticeably nearer, its planks and handle now distinct against the stone frame. I will keep walking straight to bring myself right up beside it.", + "The blue door fills much of the right side now and the curb runs alongside my line of travel. Another step forward should place me close against that garage frontage.", + "I am nearly level with the blue door, its hinges and latch clearly readable at short range. I will advance once more to stand right at this garage frontage.", + "The blue door has slid to the near edge of my view and the graffitied shutter now dominates the wall beside me, so I am right up against this frontage. One more step forward should settle me fully at it.", + "The graffitied garage shutter now fills the right half of my view and I am nearly level with its frame. One more step along this sidewalk should bring me fully abreast of the door instead of stopping short of it.", + "The corrugated garage door and its red scrawl are right beside me at arm's length, filling my view. I have arrived at the garage door. I mark reaching it before setting off toward the green trash bags along the street.", + "Standing this close, I see almost nothing but corrugated metal, which tells me nothing about where the trash bags sit. Turning left should swing the open street and its sidewalks back into view so I can start looking for the green sacks.", + "The alley and the far side of the street have opened up on my left, but the only bundles near this wall are dark ones. I will keep turning left to sweep more of the block for the green bags.", + "More of the wet street and the buildings along it are now in front of me, yet nothing green stands out on this stretch of pavement. Another left turn should carry my view further around toward the sidewalk beyond the puddles.", + "The far side of the street with its arcaded building is coming into view, but the pavement I can see so far holds only pots and dark clutter. Continuing to turn left should bring the rest of that frontage into view.", + "Across the water-stained street I can make out a bundle sitting at the foot of the wall beneath the arcade, off toward my left. One more left turn should bring that stretch of sidewalk to the center of my view so I can judge whether the green bags are there.", + "Sacks are now clearly piled at the base of the wall under the arcade ahead, one of them showing green. Walking forward should carry me across the street and close the distance to that pile.", + "From here the arched porch and its barred gate fill the middle of my view, while the cluster of sacks propped against the low wall sits off to the left of my heading. A small turn to the left should swing that pile toward the center so I can walk straight at it.", + "The bags leaning against the low wall now sit near the middle of my view, just past the painted column. With the way along the paved strip open and free of clutter, I will step forward to close the gap.", + "The pile is bigger in my view now, with a greenish sack showing beside the darker ones at the base of the wall. Nothing blocks the walkway ahead, so another step forward should bring me noticeably closer.", + "I can now make out the green sack clearly against the pale wall, with a wooden crate beside it. Still several paces short of it, so I keep walking forward.", + "The green bag and its darker neighbours are close enough that I can see the creases in the plastic, though they sit past the pole on my right. One more step forward should put me right up against that stretch of wall.", + "Closing in has pushed the green sacks toward the right edge of my view, where they are partly cut off. A turn to the right should bring the pile back to the center before I take my last step in.", + "The green sack now sits squarely in front of me, flanked by dark bags and a wooden crate against the low wall. A final step forward should place me right beside the pile.", + "I am so close to the wall that my forward gaze catches mostly the shutter and the concrete slab, with only the top of a green sack showing at the bottom edge. Looking down should put the bags themselves fully in view and confirm I am standing at them.", + "The green trash bags fill my view directly at my feet. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t3_b/infos.json b/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..533a41d42b497dc1967194beda7ee41724107145 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Approach the green trash bags, then move to the red \"stop\" graffiti shutter.", + "Type": 3, + "Start_Pose": [ + 3128.433, + 2140.27, + 270.61, + 0.0, + -169.92, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3128.433, + 2140.27, + 270.61, + 0.0, + -169.92, + 0.0 + ], + [ + 3004.517, + 2118.242, + 262.907, + 0.0, + -169.92, + 0.0 + ], + [ + 3004.517, + 2118.242, + 262.907, + 0.0, + 165.08, + -0.0 + ], + [ + 2882.901, + 2150.647, + 272.056, + 0.0, + 165.08, + -0.0 + ], + [ + 2761.285, + 2183.052, + 262.907, + 0.0, + 165.08, + -0.0 + ], + [ + 2639.669, + 2215.457, + 262.907, + 0.0, + 165.08, + -0.0 + ], + [ + 2639.669, + 2215.457, + 262.907, + 0.0, + 140.08, + -0.0 + ], + [ + 2543.143, + 2296.222, + 282.905, + 0.0, + 140.08, + -0.0 + ], + [ + 2543.143, + 2296.222, + 282.905, + 0.0, + 140.08, + -0.0 + ], + [ + 2543.143, + 2296.222, + 282.905, + 0.0, + 165.08, + -0.0 + ], + [ + 2543.143, + 2296.222, + 282.905, + 0.0, + -169.92, + 0.0 + ], + [ + 2543.143, + 2296.222, + 282.905, + 0.0, + -144.92, + 0.0 + ], + [ + 2440.146, + 2223.889, + 262.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2440.146, + 2223.889, + 262.907, + 0.0, + -119.92, + 0.0 + ], + [ + 2377.369, + 2114.804, + 262.907, + 0.0, + -119.92, + 0.0 + ], + [ + 2314.592, + 2005.719, + 262.907, + 0.0, + -119.92, + 0.0 + ], + [ + 2251.814, + 1896.634, + 262.907, + 0.0, + -119.92, + 0.0 + ], + [ + 2189.037, + 1787.549, + 282.882, + 0.0, + -119.92, + 0.0 + ], + [ + 2126.26, + 1678.465, + 282.882, + 0.0, + -119.92, + 0.0 + ], + [ + 2126.26, + 1678.465, + 282.882, + 0.0, + -119.92, + 0.0 + ] + ], + "Rationale": [ + "From the mouth of this alley I can pick out the green sacks piled against the left-hand wall partway down, and the red painted shutter further along on the right. The sacks are the nearer of my two stops, so I will walk straight ahead to cut the distance.", + "The green sacks now sit well out at the left edge of my view, close to the building wall, while my heading still points down the middle of the alley. Turning left should swing them toward the centre so I can walk straight at them.", + "The green sacks and the dark bundle beside them now lie ahead on the raised walkway to my left front, with clear ground between us. I will step forward along this line to close on them.", + "The pile of sacks has grown noticeably larger and lower in my view, so my heading is carrying me right onto it. I will keep walking forward to shorten the remaining gap.", + "The green and dark sacks are now close on my left, resting against the low wall beside the shuttered frontage. A further step forward should bring me level with them rather than leaving them behind me.", + "The heap of sacks has slid to the far left of my view as I advanced, and I am now nearly abreast of it. Turning left should put the green bags squarely in front of me for the final approach.", + "The green sacks now sit ahead of me at the base of the wall, just a short walk across the paved strip. I will step forward to stand right at them.", + "The green sacks fill the lower part of my view, right at my feet against the wall. I have reached the green trash bags. I mark arriving here before setting off for the shutter across the street with the red \"stop\" painted on it.", + "The green sacks sit right beside me at the left of my view, so this corner of the sidewalk is done. The shuttered wall fills the rest of my view and the open street lies off to my right, past the post. I will turn right to swing my heading off this facade and out toward the street where the red painted shutter stands.", + "The turn has opened the alley on my right, with the wet roadway and a parked cart now in view, but the wooden post still splits my sight line and the far row of shop fronts is only at the edge. I will keep turning right to bring the opposite side of the street into the center of my view.", + "Across the street on my right I can just catch red lettering starting on a rolling shutter, but the post and the near building still cover most of that side. I will turn right once more so the painted shutter sits squarely ahead of me before I start across.", + "The shutter with the red \"stop\" tag is now clearly in view ahead and slightly to my right, on the far side of the wet roadway. Nothing blocks the crossing, so I will walk forward to close that gap.", + "I am nearer the far curb now, but the painted shutter has drifted to the right half of my view while the alley stretches away on my left. I will turn right to put the graffiti directly in front of me so my next steps run straight at it.", + "The shutter with the red lettering is now centered in front of me, its doorway and stone frame plainly visible beyond the curb. Still a few paces of open pavement separate us, so I will step forward toward it.", + "The tagged shutter has grown larger and stays centered, and the curb in front of it is close. There is still open ground before the wall, so I will keep walking forward to draw right up to the graffiti.", + "The red \"stop\" now dominates my view and the corrugated shutter fills most of the wall in front of me, though a stretch of sidewalk still lies between us. I will advance again to stand close against the painted shutter.", + "The red \"stop\" lettering on the metal shutter now dominates my view, but a short stretch of sidewalk still lies between me and the storefront. My heading is square on the painted panel, so I will walk forward again to close that remaining gap.", + "The painted shutter fills nearly the whole view and its lower rail and threshold are close below me, yet a little pavement still separates us. One more step forward should bring me right up against the graffiti.", + "The red \"stop\" graffiti on the metal shutter fills my view at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t3_c/infos.json b/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1f214c39a8df629d0b68f33a11bfa2053fc16cfe --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Move to the wooden pillar near the green trash bags, then walk to the blue garage door.", + "Type": 3, + "Start_Pose": [ + 3128.433, + 2140.27, + 270.61, + 0, + -169.92, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3128.433, + 2140.27, + 270.61, + 0, + -169.92, + 0 + ], + [ + 3004.517, + 2118.242, + 262.907, + 0.0, + -169.92, + 0.0 + ], + [ + 3004.517, + 2118.242, + 262.907, + 0.0, + 165.08, + -0.0 + ], + [ + 2882.901, + 2150.647, + 272.056, + 0.0, + 165.08, + -0.0 + ], + [ + 2761.285, + 2183.052, + 262.907, + 0.0, + 165.08, + -0.0 + ], + [ + 2639.669, + 2215.457, + 262.907, + 0.0, + 165.08, + -0.0 + ], + [ + 2518.053, + 2247.861, + 270.524, + 0.0, + 165.08, + -0.0 + ], + [ + 2518.053, + 2247.861, + 270.524, + 0.0, + 165.08, + -0.0 + ], + [ + 2518.053, + 2247.861, + 270.524, + 0.0, + -169.92, + 0.0 + ], + [ + 2518.053, + 2247.861, + 270.524, + 0.0, + -144.92, + 0.0 + ], + [ + 2415.057, + 2175.528, + 262.912, + 0.0, + -144.92, + 0.0 + ], + [ + 2312.06, + 2103.194, + 262.912, + 0.0, + -144.92, + 0.0 + ], + [ + 2312.06, + 2103.194, + 262.912, + 0.0, + -119.92, + 0.0 + ], + [ + 2249.283, + 1994.109, + 262.912, + 0.0, + -119.92, + 0.0 + ], + [ + 2186.505, + 1885.024, + 262.912, + 0.0, + -119.92, + 0.0 + ], + [ + 2123.728, + 1775.94, + 282.792, + 0.0, + -119.92, + 0.0 + ], + [ + 2060.951, + 1666.855, + 282.792, + 0.0, + -119.92, + 0.0 + ], + [ + 2060.951, + 1666.855, + 282.792, + 0.0, + -119.92, + 0.0 + ] + ], + "Rationale": [ + "Down the left side of this alley I can see the row of wooden posts with dark and green sacks piled at their base, still some distance off. Nothing blocks the open roadway ahead, so I walk forward to close that gap before worrying about the shuttered garage on the right.", + "The wooden posts and the green bag heaped against them sit off to my left, while my heading points straight down the middle of the wet street. A small turn to the left should put that pillar and its rubbish squarely ahead so I can walk directly onto it.", + "The wooden pillar and the green sack slumped beside it now sit ahead and slightly left, with clear pavement between us. I step forward along the raised walkway to shorten the distance to them.", + "The green sack and the dark bags beside it have grown noticeably larger against the wall, and the nearest wooden post rises just ahead of me. The route stays open, so I keep walking toward that pillar.", + "The bags are close enough now that I can pick out the individual sacks against the wall, but the post beside them is still a couple of paces off to my front. I advance again to draw level with it.", + "The green sacks now fill the lower left of my view and the tall wooden post stands right in front of me. One more step should bring me alongside that pillar rather than short of it.", + "The weathered wooden pillar is right at my shoulder, close enough to touch, with the green rubbish sacks heaped against the wall just behind it. I am standing at the pillar by the trash bags. I mark reaching it, and now I set off for the blue garage door across the street.", + "Standing at the pillar, my view is largely taken up by the shopfront and the post itself, with only the open roadway visible to my right. The blue garage door lies back across that street, so I swing right to bring the roadway and the far wall into my heading.", + "My heading now runs down the alley, and the shuttered garage front with the orange Stop lettering is still clipped at the right edge of my view. I will turn right once more so that shutter sits ahead of me instead of off to the side.", + "The metal garage shutter with the orange Stop lettering, and the darker blue door panel beside it, now stand clearly ahead across the wet street. Nothing blocks the open roadway between us, so I will walk forward to close that distance.", + "The shutter and its graffiti have grown noticeably larger, confirming my heading is carrying me toward that garage front. The path across the street stays open, so another step forward should bring me nearer to it.", + "I am now level with the garage front, but the shutter lies off to my right rather than in front of me, so walking straight would carry me past it. I will turn right to put the garage door squarely ahead before stepping in.", + "The garage shutter with the orange Stop lettering now fills the centre of my view, with the raised kerb and sidewalk directly between me and it. I will step forward to cross that short gap toward the door.", + "The shutter's ribbed panels and painted lettering are larger and the kerb line has dropped lower in my view, so I am gaining on the garage front. I will keep walking straight toward it.", + "The garage door now spans nearly the whole width of my view and the paving in front of it is right under me. A further step forward should bring me up close against the door face.", + "Only the ribbed shutter and its orange lettering remain in view, with the door frame edge at my left, so I am within a stride of the garage. I will take one more step to stand directly at it.", + "The graffitied garage shutter fills my view at arm's length. I have arrived at it, so the task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t5_a_pd/infos.json b/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4cdea59f3fea83e58c615afdda6e397466abc56f --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x003128_y002140_z000271_t5_a_pd/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Lift the jerry can at the blue garage door, then drop it near the green trash bags.", + "Type": 5, + "Start_Pose": [ + 3128.433, + 2140.27, + 270.61, + 0, + -169.92, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2207.198, + 1681.148, + 197.907, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3128.433, + 2140.27, + 270.61, + 0, + -169.92, + 0 + ], + [ + 3004.517, + 2118.242, + 262.907, + 0.0, + -169.92, + 0.0 + ], + [ + 3004.517, + 2118.242, + 262.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2901.52, + 2045.908, + 262.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2798.523, + 1973.574, + 267.781, + 0.0, + -144.92, + 0.0 + ], + [ + 2695.527, + 1901.241, + 266.984, + 0.0, + -144.92, + 0.0 + ], + [ + 2592.53, + 1828.907, + 273.308, + 0.0, + -144.92, + 0.0 + ], + [ + 2489.533, + 1756.574, + 282.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2489.533, + 1756.574, + 282.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2386.536, + 1684.24, + 282.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2386.536, + 1684.24, + 282.907, + 0.0, + -144.92, + 0.0 + ], + [ + 2386.536, + 1684.24, + 282.907, + 0.0, + -169.92, + 0.0 + ], + [ + 2386.536, + 1684.24, + 282.907, + 0.0, + 165.08, + -0.0 + ], + [ + 2386.536, + 1684.24, + 282.907, + 0.0, + 140.08, + -0.0 + ], + [ + 2386.536, + 1684.24, + 282.907, + 0.0, + 115.08, + -0.0 + ], + [ + 2386.536, + 1684.24, + 282.907, + 0.0, + 90.08, + -0.0 + ], + [ + 2386.361, + 1810.099, + 281.877, + 0.0, + 90.08, + -0.0 + ], + [ + 2386.185, + 1935.958, + 262.907, + 0.0, + 90.08, + -0.0 + ], + [ + 2386.185, + 1935.958, + 262.907, + 0.0, + 65.08, + -0.0 + ], + [ + 2439.217, + 2050.099, + 262.907, + 0.0, + 65.08, + -0.0 + ], + [ + 2492.248, + 2164.24, + 262.907, + 0.0, + 65.08, + -0.0 + ], + [ + 2492.248, + 2164.24, + 262.907, + 0.0, + 90.08, + -0.0 + ], + [ + 2492.073, + 2290.099, + 282.896, + 0.0, + 90.08, + -0.0 + ], + [ + 2492.173, + 2218.099, + 262.907, + 0.0, + 90.08, + -0.0 + ], + [ + 2492.173, + 2218.099, + 262.907, + 0.0, + 90.08, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2207.198, + 1681.148, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2399.308, + 1667.116, + 253.014, + -28.202, + -94.776, + 1.862 + ], + [ + 2390.713, + 1664.261, + 253.286, + -28.189, + -119.763, + 1.872 + ], + [ + 2381.191, + 1664.786, + 252.619, + -28.215, + -144.793, + 1.849 + ], + [ + 2365.066, + 1667.037, + 252.8, + -14.175, + -177.728, + 6.959 + ], + [ + 2367.693, + 1674.986, + 252.689, + -28.208, + 165.222, + 1.851 + ], + [ + 2366.66, + 1683.886, + 253.357, + -28.198, + 140.226, + 1.867 + ], + [ + 2365.005, + 1809.557, + 232.827, + -28.198, + 140.226, + 1.862 + ], + [ + 2364.832, + 1935.619, + 232.44, + -28.202, + 140.221, + 1.86 + ], + [ + 2367.51, + 1943.739, + 233.641, + -28.197, + 115.223, + 1.87 + ], + [ + 2419.464, + 2058.256, + 233.505, + -28.211, + 115.218, + 1.853 + ], + [ + 2472.616, + 2172.67, + 233.049, + -28.199, + 115.225, + 1.863 + ], + [ + 2469.948, + 2163.602, + 233.26, + -28.192, + 140.235, + 1.866 + ], + [ + 2470.716, + 2289.052, + 253.585, + -28.197, + 140.228, + 1.866 + ], + [ + 2492.075, + 2288.099, + 212.907, + 0.0, + 90.08, + -0.0 + ], + [ + 2492.075, + 2288.099, + 212.907, + 0.0, + 90.08, + -0.0 + ] + ], + "PD_Dist_2D": [ + 1029.3, + 909.3, + 909.3, + 784.3, + 659.7, + 535.6, + 412.7, + 292.2, + 292.2, + 179.4, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 20.2, + 21.4, + 21.4, + 22.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "Far down the street on the right I can make out the shuttered garage with the blue door, and a small pale can sitting on the pavement beside it. It is much too distant to reach or grasp from here. I will walk forward along the street to close that gap.", + "The garage with the blue door and the jerry can beside it sits off to my right, while my heading still points straight down the middle of the street. Continuing forward on this bearing would carry me past the target rather than toward it. I will turn right to bring the doorway into the center of my view.", + "The turn has put the grey shutter, the blue door and the pale jerry can roughly ahead of me across the road. They remain far away, well outside grasping range. I will step forward on this heading to keep closing the distance.", + "The garage front is growing in view and the jerry can now reads clearly beside the shutter, but the raised kerb and several strides of open road still separate us. Nothing blocks this line of travel. I will keep walking straight toward it.", + "The blue door and the pink jerry can beside the shutter now fill much of my view, yet the can is still a few paces off to my front left and not close enough to lift. The route along the pavement stays clear. I will advance again to get within reach.", + "The pink jerry can is clearly visible on the walkway in front of the shuttered garage with the red graffiti, still several paces ahead of me. I will keep walking straight along the curb to close that gap before attempting any grasp.", + "The jerry can now sits close in front of me at the foot of the blue garage door, but it is still a step or two beyond comfortable reach. I will advance once more so the can lands directly at my feet.", + "The jerry can is right beside the shuttered garage in the lower left of my view, and I am standing on the walkway alongside it. I judge it close enough to grasp, so I will try to pick it up now.", + "My hands are still empty and the can was not taken, so that grasp attempt did not take hold. The likely reason is that I was reaching from too far back, so I will step forward to stand right next to it.", + "After the earlier grasp failed to lift anything, I have moved in and the jerry can now fills the lower left corner of my view, right at my side by the shutter. From this much closer stance I will attempt the pick again.", + "The grasp took hold, and the jerry can is now in my hands rather than resting by the garage door. I am still squared up against the shutter and doorway, which is not a direction I can carry it in. I will turn left to swing my heading off the building and back toward the open street.", + "The shuttered garage front still fills the right half of my view while the alley only opens at the far left edge. Carrying the can, I need a heading that points along the street rather than across its face. Another left turn should bring more of the open roadway in front of me.", + "The street is now open ahead of me, but the wall I collected the can from still crowds my right side and the sacks I want are not yet in sight. Turning left again should sweep my view across the opposite side of the alley where refuse is usually piled against the walls.", + "Facing across the flooded street I see arcaded buildings and shuttered fronts, but no green sacks yet in this sector. The can is secure in my hands, so I can keep scanning without losing it. I will turn left once more to continue sweeping the far side of the alley.", + "Dark refuse sacks with a green one among them sit against the low wall at the left of my view, near the barred gate. They are still well off my current heading, so walking straight would carry the can past them. I will turn left to bring that pile toward the center of my view.", + "The jerry can is in my hands, so the remaining job is to carry it to the green trash bags. From this heading I can see the dark sacks and the green bag piled against the low wall by the shuttered window across the street. I will walk forward to close that distance.", + "The bag cluster by the wall has grown noticeably larger ahead, confirming my heading is carrying me toward it with the can still in hand. I am still out on the open roadway, well short of the raised walkway where the bags sit. I will keep walking forward.", + "The bags now sit slightly left of the direction I am facing, and the painted column stands almost directly in my forward line. Turning left should swing my heading onto them and off the post, giving a cleaner walking lane to the drop spot.", + "After the turn the sack pile and the green bag sit ahead in my path rather than behind the column, so the lane toward them looks open. I am still a few paces out on the road with the can in hand. I will step forward to approach them.", + "The green bag and the dark sacks are clearly resolved just beyond the raised paving ahead, and I am still carrying the jerry can. This distance is still too great for placing the can beside them. I will advance again to get within reach of the pile.", + "I am still carrying the jerry can, and the cluster of green and dark trash bags sits off toward the right edge of my view against the low wall. Turning right should bring that heap centered ahead of me so I can close in on a clean release spot.", + "The green sack and the dark bags beside the crate are now framed ahead of me, but they are still a couple of paces away across the paved strip. I will step forward so the load I am carrying ends up right beside that pile rather than out in the open walkway.", + "The green bag and its dark neighbors now fill the near foreground, close enough that the ground in front of me is the drop zone the task asks for. I still have the jerry can in hand, so I will release it here and it should settle right against the bags.", + "The jerry can rests on the ground right beside the green trash bags, no longer in my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x003301_y002104_z000268_t0_a/infos.json b/dataset/trajectory/MiddleEast/task_x003301_y002104_z000268_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6ee58e79e12e8f20ebea8a57faa9f3b3ecfc1ace --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x003301_y002104_z000268_t0_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the metal roll-up door marked with red graffiti.", + "Type": 0, + "Start_Pose": [ + 3301.322, + 2104.023, + 268.408, + 0, + -173.76, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3301.322, + 2104.023, + 268.408, + 0, + -173.76, + 0 + ], + [ + 3176.209, + 2090.343, + 262.907, + 0.0, + -173.76, + 0.0 + ], + [ + 3051.095, + 2076.663, + 262.907, + 0.0, + -173.76, + 0.0 + ], + [ + 2925.982, + 2062.983, + 262.907, + 0.0, + -173.76, + 0.0 + ], + [ + 2800.869, + 2049.303, + 262.907, + 0.0, + -173.76, + 0.0 + ], + [ + 2800.869, + 2049.303, + 262.907, + 0.0, + -148.76, + 0.0 + ], + [ + 2693.259, + 1984.029, + 262.907, + 0.0, + -148.76, + 0.0 + ], + [ + 2585.649, + 1918.756, + 262.907, + 0.0, + -148.76, + 0.0 + ], + [ + 2478.039, + 1853.482, + 262.907, + 0.0, + -148.76, + 0.0 + ], + [ + 2370.43, + 1788.209, + 282.881, + 0.0, + -148.76, + 0.0 + ], + [ + 2262.82, + 1722.935, + 282.881, + 0.0, + -148.76, + 0.0 + ], + [ + 2262.82, + 1722.935, + 282.881, + 0.0, + -123.76, + 0.0 + ], + [ + 2262.82, + 1722.935, + 282.881, + 0.0, + -98.76, + 0.0 + ], + [ + 2227.705, + 1636.698, + 282.907, + 0.0, + -98.76, + 0.0 + ], + [ + 2227.705, + 1636.698, + 282.907, + 0.0, + -98.76, + 0.0 + ] + ], + "Rationale": [ + "Looking down the alley, I can already pick out the metal roll-up shutter with red graffiti on it set into the wall on the right side of the street. The wet lane ahead of me is open and level, so stepping straight forward should shorten the gap to that shutter. I will move forward along the street.", + "The graffitied shutter on the right has grown slightly larger and its red marking is now clearer, confirming I am closing on the right target. The center of the lane stays clear apart from scattered stones near the curb. I will continue straight ahead.", + "The roll-up shutter with the red lettering and the blue wooden door beside it are clearly resolved on my right, so my heading down the lane is still carrying me toward them. I am not yet close enough to be beside the shutter. I will keep walking forward.", + "The graffitied shutter now occupies a large part of the right side of my view, meaning I am nearly level with the building that holds it. Continuing straight should bring me alongside its corner before I need to turn toward it. I will advance one more step forward.", + "The graffitied shutter sits off to my right while my body is still aimed straight down the empty lane, so walking on would pass it by. Turning right should swing my heading toward the shutter and put it more centrally in front of me. I will turn right to align with it.", + "After turning, the shutter with the red graffiti and the blue door beside it now sit ahead and slightly right of my heading, with clear pavement and curb between us. Moving forward should close the remaining distance toward that wall. I will step forward.", + "The red graffiti on the metal shutter is larger and sharper now, so my adjusted heading is taking me straight at the target wall. There is still a stretch of paved walkway before I reach it. I will keep moving forward to close that gap.", + "The graffitied metal shutter and the blue door now fill much of the right and center of my view, so only a short distance remains. Another step forward should bring me right up against the marked door. I will continue forward.", + "The metal roll-up shutter with the red graffiti lettering is clearly on my right along this raised walkway, but its near edge is still somewhat ahead of me. I will step forward again to close the remaining gap and bring myself level with the marked panel.", + "The graffiti-marked shutter now dominates the right side and its slats stretch sharply away, so I am nearly abreast of it but not yet centered on the painted lettering. Another forward step should place me right beside the red marking on the metal door.", + "I am now standing beside the metal roll-up door, with the red graffiti spread across the slats to my right rather than in front of me. Turning right should rotate my heading toward the marked panel so I can face it squarely.", + "The shutter and its red lettering now fill most of my view, yet the slats still run away at an angle, so my heading is not fully perpendicular to the door. A second turn to the right should finish squaring me up on the graffiti panel.", + "I am facing the corrugated metal shutter with part of the red graffiti still visible on its surface, and only a short gap of pavement separates me from it. I will take a small step forward to stand directly at the marked door.", + "I am standing directly at the corrugated metal roll-up door, its slats filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x003301_y002104_z000268_t0_b/infos.json b/dataset/trajectory/MiddleEast/task_x003301_y002104_z000268_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a453716c0eed8193fc49b679121f24cfe6c30eeb --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x003301_y002104_z000268_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the trash bag pile beside the wall.", + "Type": 0, + "Start_Pose": [ + 3301.322, + 2104.023, + 268.408, + 0, + -173.76, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3301.322, + 2104.023, + 268.408, + 0, + -173.76, + 0 + ], + [ + 3176.209, + 2090.343, + 262.907, + 0.0, + -173.76, + 0.0 + ], + [ + 3176.209, + 2090.343, + 262.907, + 0.0, + 161.24, + -0.0 + ], + [ + 3057.036, + 2130.82, + 262.907, + 0.0, + 161.24, + -0.0 + ], + [ + 2937.863, + 2171.297, + 266.961, + 0.0, + 161.24, + -0.0 + ], + [ + 2818.691, + 2211.773, + 262.907, + 0.0, + 161.24, + -0.0 + ], + [ + 2699.518, + 2252.25, + 273.955, + 0.0, + 161.24, + -0.0 + ], + [ + 2699.518, + 2252.25, + 273.955, + 0.0, + 136.24, + -0.0 + ], + [ + 2608.617, + 2339.299, + 282.85, + 0.0, + 136.24, + -0.0 + ], + [ + 2608.617, + 2339.299, + 282.85, + 0.0, + 136.24, + -0.0 + ] + ], + "Rationale": [ + "From the mouth of this narrow street I can see a small cluster of dark sacks resting against the base of the building on the left side, past the puddled roadway. The route straight ahead along the open lane is clear, so I will step forward to begin closing the distance before adjusting my heading.", + "The sacks against the left wall now sit well off to my left while my heading still points down the center of the street. I will turn left to bring that pile and the raised walkway in front of it into my forward path.", + "With my heading now angled toward the left side of the street, the greenish and dark sacks by the wall lie ahead of me beside the shuttered storefronts. The ground between us is flat and unobstructed, so I will step forward to reduce the gap.", + "The pile of sacks beside the wall is noticeably larger now and stays near the middle of my forward path, which tells me my heading is still good. I will continue forward to keep closing on it.", + "I can now clearly make out two bulging sacks and a dark bundle propped against the low wall ahead on my left. Nothing blocks the walkway between us, so another step forward should bring me close to the pile.", + "The sacks are close enough that I can see their creases and the wooden boards leaning beside them, but they still sit slightly ahead and to my left. I will move forward again to bring myself alongside them.", + "The pile of sacks against the wall has drifted into the lower left portion of my view as I approached, while my heading still runs down the walkway past it. I will turn left so the pile sits directly in front of me for the final step in.", + "The sacks now sit squarely ahead of me against the wall beside the shuttered front, only a short distance away. One more step forward should place me right beside the pile, close enough to consider the task done.", + "The trash bag pile sits directly against the wall right in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x003301_y002104_z000268_t5_a_p/infos.json b/dataset/trajectory/MiddleEast/task_x003301_y002104_z000268_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5ba1f86f65b7a83c6dc94917e67209ecf2df34ad --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x003301_y002104_z000268_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the jerry can at the blue garage door.", + "Type": 5, + "Start_Pose": [ + 3301.322, + 2104.023, + 268.408, + 0, + -173.76, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2214.199, + 1681.061, + 197.907, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3301.322, + 2104.023, + 268.408, + 0, + -173.76, + 0 + ], + [ + 3176.209, + 2090.343, + 262.907, + 0.0, + -173.76, + 0.0 + ], + [ + 3051.095, + 2076.663, + 262.907, + 0.0, + -173.76, + 0.0 + ], + [ + 2925.982, + 2062.983, + 262.907, + 0.0, + -173.76, + 0.0 + ], + [ + 2925.982, + 2062.983, + 262.907, + 0.0, + -148.76, + 0.0 + ], + [ + 2818.372, + 1997.709, + 264.552, + 0.0, + -148.76, + 0.0 + ], + [ + 2710.763, + 1932.436, + 268.258, + 0.0, + -148.76, + 0.0 + ], + [ + 2603.153, + 1867.162, + 262.907, + 0.0, + -148.76, + 0.0 + ], + [ + 2495.543, + 1801.889, + 282.657, + 0.0, + -148.76, + 0.0 + ], + [ + 2387.933, + 1736.615, + 282.657, + 0.0, + -148.76, + 0.0 + ], + [ + 2387.933, + 1736.615, + 282.657, + 0.0, + -148.76, + 0.0 + ], + [ + 2387.933, + 1736.615, + 282.657, + 0.0, + -148.76, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2214.199, + 1681.061, + 197.907, + 0.0, + 0.0, + 0.0 + ], + [ + 2399.53, + 1718.674, + 253.014, + -28.202, + -98.615, + 1.862 + ], + [ + 2399.53, + 1718.674, + 253.014, + -28.202, + -98.615, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1166.5, + 1045.5, + 925.7, + 807.8, + 807.8, + 682.1, + 556.6, + 431.2, + 306.2, + 182.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The task points me to a jerry can at a blue garage door, and far down this street on the right I can make out a blue door beside a shuttered garage. Nothing blocks the open roadway ahead, so I will walk forward to close that long distance and bring the door area into clearer view.", + "The blue door and the neighbouring rolling shutter with red graffiti are noticeably larger on the right side of the street now, confirming my heading is good. The road ahead is still clear of obstacles, so I will keep walking to close the remaining gap.", + "I can now resolve a small pinkish canister standing on the sidewalk beside the graffitied shutter next to the blue door, which matches the jerry can I need. It is still well ahead, so I will continue walking straight to shorten the approach.", + "My heading runs straight down the middle of the street while the jerry can and the blue door sit off to my right along the sidewalk. Turning right should swing that doorway toward the center of my view so my next steps carry me directly to the can.", + "The turn has brought the blue door, the graffitied shutter and the pale jerry can into the center-right of my view. With a clear stretch of pavement between us, I will step forward to close the distance to the can.", + "The jerry can now stands out clearly on the curb in front of the graffiti-marked shutter, just left of the blue garage door. It remains several paces away, so I will keep advancing along this heading.", + "The can is much larger now and holds a steady position slightly left of the blue door, so my line of approach is right. I am still outside comfortable reach, so I will take another step forward.", + "The jerry can sits close ahead on the sidewalk against the shuttered garage next to the blue door, but it is not yet within arm's reach. I will step forward once more to get near enough that a grasp may succeed.", + "The pink jerry can now stands clearly ahead of me on the walkway beside the shuttered garage, with the blue door just to my right. It is still a step or two beyond comfortable arm's reach, so I will walk forward once more to close that last gap before reaching for it.", + "The jerry can is now directly in front of me at the base of the blue garage door, large in view and within arm's reach, and my hands are empty. I will reach out and attempt to pick it up.", + "The pink jerry can is now held in my hands and no longer resting on the ground by the blue garage door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x003309_y-000580_z000020_t0_a/infos.json b/dataset/trajectory/MiddleEast/task_x003309_y-000580_z000020_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..97cbf474e204dfb841786f634dbaf56031543fb6 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x003309_y-000580_z000020_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the blue barrel in the ditch.", + "Type": 0, + "Start_Pose": [ + 3308.794, + -579.733, + 20.332, + 0.0, + 85.44, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3308.794, + -579.733, + 20.332, + 0.0, + 85.44, + -0.0 + ], + [ + 3318.8, + -454.272, + 14.638, + 0.0, + 85.44, + -0.0 + ], + [ + 3328.806, + -328.812, + 3.159, + 0.0, + 85.44, + -0.0 + ], + [ + 3338.812, + -203.351, + -16.347, + 0.0, + 85.44, + -0.0 + ], + [ + 3348.819, + -77.891, + -17.329, + 0.0, + 85.44, + -0.0 + ], + [ + 3365.999, + 42.056, + -19.104, + 0.0, + 85.44, + -0.0 + ], + [ + 3376.005, + 167.516, + -20.086, + 0.0, + 85.44, + -0.0 + ], + [ + 3386.011, + 292.977, + -20.978, + 0.0, + 85.44, + -0.0 + ], + [ + 3396.017, + 418.438, + -10.352, + 0.0, + 85.44, + -0.0 + ], + [ + 3396.017, + 418.438, + -10.352, + 0.0, + 60.44, + -0.0 + ], + [ + 3458.108, + 527.915, + -5.181, + 0.0, + 60.44, + -0.0 + ], + [ + 3520.198, + 637.392, + -23.432, + 0.0, + 60.44, + -0.0 + ], + [ + 3520.198, + 637.392, + -23.432, + 0.0, + 60.44, + -0.0 + ] + ], + "Rationale": [ + "I can see the blue barrel lying on the floor of the concrete ditch ahead, slightly left of my heading and well beyond the patch of dry grass in front of me. The channel floor between me and it looks clear and walkable, so no turn is needed yet. I will step forward along the ditch to begin closing that distance.", + "The barrel has grown slightly and still sits ahead near the left wall of the ditch, confirming my heading is carrying me toward it. The channel floor continues unobstructed between us. I will keep walking forward to reduce the remaining gap.", + "The blue barrel is clearly nearer now, still resting in the ditch a little to my left with the footbridge behind it. Tall grass covers the low ground but nothing blocks the route along the channel. Another forward step should continue closing the distance.", + "From here the barrel reads distinctly as a drum on its side, sitting in the middle of the ditch ahead and slightly left. My current heading keeps it comfortably in view, so I do not need to reorient yet. I will advance again along the channel.", + "The barrel now occupies noticeably more of my view and the scattered stones on the channel floor are passing close beneath me, confirming steady progress. The target is still ahead and a bit to the left, within easy walking reach. I will step forward once more.", + "The blue drum is close enough that its ribbed sides and worn paint are clear, sitting just left of my path against the sloped ditch wall. There is still a few paces of open floor between us. I will keep moving forward to bring myself alongside it.", + "The barrel is large in my view now, resting on the ditch floor ahead and to my left near a shallow puddle. A couple more paces should put me right beside it. I will continue forward rather than turning at this distance.", + "The blue barrel is very close, filling the left side of my view as it lies against the sloped concrete wall of the ditch. Because it has drifted toward my left edge, I still want to gain a little more ground before adjusting my heading. I will take another step forward along the channel.", + "The blue barrel in the ditch has drifted to my far left and its edge is cut off, so my heading is no longer pointed at it. I will turn left about a quarter turn to bring the barrel back toward the center of my view before continuing to close the gap.", + "The barrel now sits near the middle of my view on the ditch floor, so my heading lines up with the target. The ground between us is open gravel and low grass, so a step forward should reduce the remaining distance.", + "The blue barrel now fills much of the lower part of my view, so I am only a short step away from it. I will move forward once more to close the last of the gap and stand right at the barrel.", + "The blue barrel is directly in front of me, filling the near view at arm's reach in the ditch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x003309_y-000580_z000020_t5_a_p/infos.json b/dataset/trajectory/MiddleEast/task_x003309_y-000580_z000020_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..963701dfa2559713ac3ae2b7a6befebf394339a1 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x003309_y-000580_z000020_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Grab the wicker basket at the blue barrel in the ditch.", + "Type": 5, + "Start_Pose": [ + 3308.794, + -579.733, + 20.332, + 0, + 85.44, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3402.308, + 539.351, + -67.662, + 90, + 85.44, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3308.794, + -579.733, + 20.332, + 0, + 85.44, + 0 + ], + [ + 3318.8, + -454.272, + 14.638, + 0.0, + 85.44, + -0.0 + ], + [ + 3328.806, + -328.812, + 3.159, + 0.0, + 85.44, + -0.0 + ], + [ + 3338.812, + -203.351, + -16.347, + 0.0, + 85.44, + -0.0 + ], + [ + 3348.819, + -77.891, + -17.329, + 0.0, + 85.44, + -0.0 + ], + [ + 3365.999, + 42.056, + -19.104, + 0.0, + 85.44, + -0.0 + ], + [ + 3376.005, + 167.516, + -20.086, + 0.0, + 85.44, + -0.0 + ], + [ + 3386.011, + 292.977, + -20.978, + 0.0, + 85.44, + -0.0 + ], + [ + 3396.017, + 418.438, + -10.352, + 0.0, + 85.44, + -0.0 + ], + [ + 3396.017, + 418.438, + -10.352, + 0.0, + 85.44, + -0.0 + ], + [ + 3396.017, + 418.438, + -10.352, + 0.0, + 85.44, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3402.308, + 539.351, + -67.662, + 90.0, + 85.44, + 0.0 + ], + [ + 3402.308, + 539.351, + -67.662, + 90.0, + 85.44, + 0.0 + ], + [ + 3402.308, + 539.351, + -67.662, + 90.0, + 85.44, + 0.0 + ], + [ + 3402.308, + 539.351, + -67.662, + 90.0, + 85.44, + 0.0 + ], + [ + 3402.308, + 539.351, + -67.662, + 90.0, + 85.44, + 0.0 + ], + [ + 3402.308, + 539.351, + -67.662, + 90.0, + 85.44, + 0.0 + ], + [ + 3402.308, + 539.351, + -67.662, + 90.0, + 85.44, + 0.0 + ], + [ + 3402.308, + 539.351, + -67.662, + 90.0, + 85.44, + 0.0 + ], + [ + 3402.308, + 539.351, + -67.662, + 90.0, + 85.44, + 0.0 + ], + [ + 3374.682, + 419.527, + -53.325, + -28.202, + 135.585, + 1.862 + ], + [ + 3374.682, + 419.527, + -53.325, + -28.202, + 135.585, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1123.0, + 997.1, + 871.3, + 745.4, + 619.6, + 498.6, + 372.8, + 246.9, + 121.1, + 21.4, + 21.4 + ], + "Rationale": [ + "I am standing in the concrete ditch, and far ahead near the bridge I can make out the blue barrel with a pale round wicker basket beside it. That is my target, and it lies straight along the channel floor. I will walk forward to close the long gap.", + "The barrel and the wicker basket sit slightly larger in view now, still centered down the ditch beneath the bridge. Nothing blocks the sandy channel floor ahead of me. I will keep walking straight to shorten the distance.", + "The blue barrel and the round basket remain aligned with my heading, framed between the sloped ditch walls. They are still too distant to reach for. Another step forward should continue closing in without needing any turn.", + "The barrel now reads clearly as a blue drum lying on its side with the wicker basket resting just to its right. Both stay near the center of my view, so my heading is good. I will advance again along the ditch.", + "The basket's woven rim is now distinct beside the tipped blue drum, but it is still several strides away and low on the ditch floor. My path over the loose stones is clear. I will step forward again to get within reach.", + "The basket sits just right of center, close to the drum, and it is growing steadily in my view. It remains beyond a comfortable grasp distance. I will continue walking straight toward it rather than adjusting my heading.", + "The wicker basket is now large in front of me, tipped against the blue barrel a couple of paces away. I am not yet close enough to reach it reliably. I will take another step forward to reach grasping range.", + "The basket fills much of the lower view with the blue barrel right beside it, so I am nearly on top of the target. One more short step should place it directly at my hands for a grab. I will move forward.", + "The wicker basket now fills the lower center of my view, right beside the blue barrel in the ditch, close enough that no further stepping is needed. I will reach out and attempt the grasp, which should place the basket in my hands.", + "The wicker basket is now held in my hands rather than resting on the ditch floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_a/infos.json b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..905c70b028f8318ad7229c5bab7230629a5cd5e7 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the leftmost ground-floor window with metal shutters.", + "Type": 2, + "Start_Pose": [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 73.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4868.677, + 1976.89, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4903.538, + 2097.825, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4938.398, + 2218.76, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4973.258, + 2339.694, + 282.714, + 0.0, + 73.92, + -0.0 + ], + [ + 5008.119, + 2460.629, + 282.714, + 0.0, + 73.92, + -0.0 + ], + [ + 5008.119, + 2460.629, + 282.714, + 0.0, + 73.92, + -0.0 + ] + ], + "Rationale": [ + "Two ground-floor windows with rusted metal shutters sit on the pale wall ahead, and they look alike, so I fix on the left one because it stands closest to the building corner beside the arched passage. It lies straight ahead across the paving, so I walk forward toward it.", + "The shuttered window I chose is noticeably larger now and still centered slightly left of my heading. Nothing blocks the paved strip between me and the wall, so I keep walking straight ahead.", + "My window with the metal shutters now sits clearly in front of me, while its neighbor has slid to the far edge of my view. The distance is still too great to count as arrival, so I advance again.", + "The shuttered window fills much of the wall in front of me and no other window remains in my view to confuse it. I am close but still out on the paving, so I take another step toward the facade.", + "The rusted metal shutters and their sill now loom just above me, with my own shadow cast on the plaster beside the wall. One more step forward should bring me right up against the window.", + "I stand directly beneath the metal shutters, which fill the wall right in front of me. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_b/infos.json b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28260c5ff9182ccf0be07bbec487420f4a68b0d2 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the second shuttered window on the wall from the right.", + "Type": 2, + "Start_Pose": [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 73.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4868.677, + 1976.89, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4903.538, + 2097.825, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4938.398, + 2218.76, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4973.258, + 2339.694, + 282.714, + 0.0, + 73.92, + -0.0 + ], + [ + 5008.119, + 2460.629, + 282.714, + 0.0, + 73.92, + -0.0 + ], + [ + 5008.119, + 2460.629, + 282.714, + 0.0, + 98.92, + -0.0 + ], + [ + 4992.761, + 2538.328, + 232.866, + 0.0, + 98.92, + -0.0 + ], + [ + 4992.761, + 2538.328, + 232.866, + 0.0, + 98.92, + -0.0 + ], + [ + 4992.761, + 2538.328, + 232.866, + 0.0, + 98.92, + -0.0 + ] + ], + "Rationale": [ + "Counting the shuttered windows on this wall from the right, the target is the inner of the two, the brown louvred pair tucked beneath the concrete balcony ledge with patched brickwork above it. It lies well across the open paving ahead, so I walk forward toward it.", + "The shutters under the balcony ledge sit slightly left of my heading and are still far off across the paving. I keep walking forward to close that distance.", + "The louvred shutters beneath the ledge now stand out clearly ahead while the outer window has slid toward the right edge of my view. The wall is still several strides away, so I continue advancing.", + "The shutters I am heading for now dominate the upper part of my view, with the plastered wall directly in front of me. I step forward again to bring myself right up under them.", + "The shutters are close overhead now and my own shadow falls on the wall beneath them. A little more forward movement should place me directly at the window.", + "From this close range the shutters have drifted into the top right corner and are being cut off by the edge of my view. Turning right should swing them back toward the center so I can finish the approach squarely.", + "The shutters and their sill now sit centered above me with the wall directly ahead. A short step forward should bring me right beneath the window.", + "Standing this close, only blank plaster fills my view and the shutters have passed above my line of sight. I look up to raise my gaze to the window itself and confirm I am beneath it.", + "The louvred shutters and their sill hang directly overhead, an arm's length from my face. I have arrived at the window, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_c/infos.json b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6aafaa2df7391ce0f194e8a065e84a0f61d29b9f --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the rightmost shuttered window on the wall.", + "Type": 2, + "Start_Pose": [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 73.92, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 98.92, + -0.0 + ], + [ + 4814.302, + 1980.292, + 262.907, + 0.0, + 98.92, + -0.0 + ], + [ + 4794.787, + 2104.629, + 262.907, + 0.0, + 98.92, + -0.0 + ], + [ + 4775.272, + 2228.965, + 262.907, + 0.0, + 98.92, + -0.0 + ], + [ + 4755.757, + 2353.302, + 282.907, + 0.0, + 98.92, + -0.0 + ], + [ + 4736.241, + 2477.639, + 282.297, + 0.0, + 98.92, + -0.0 + ], + [ + 4736.241, + 2477.639, + 282.297, + 0.0, + 123.92, + -0.0 + ], + [ + 4666.973, + 2563.172, + 232.027, + 0.0, + 123.92, + -0.0 + ], + [ + 4666.973, + 2563.172, + 232.027, + 0.0, + 123.92, + -0.0 + ], + [ + 4666.973, + 2563.172, + 232.027, + 0.0, + 123.92, + -0.0 + ] + ], + "Rationale": [ + "Two shuttered windows sit on the wall in front of me, and my target is the right-hand one, the one nearest the corner where this wall ends at the open alley. My current heading is aimed left of that corner, so I turn right to bring the corner window and the ground before it into view.", + "The shuttered window beside the building corner now sits ahead of me with the boundary wall and alley opening just past it. The paving between me and the facade is clear, so I walk forward to close the gap.", + "The corner shuttered window has grown noticeably larger, confirming I am closing on the right thing. Nothing blocks the pavement ahead, so I keep stepping toward it.", + "The window near the corner now fills a good part of my view, but I am still out on the paving rather than beside the wall. I continue forward to reduce the remaining distance.", + "Up close the facade no longer reads as a row, and only the shuttered window by the corner remains framed ahead of me. I keep walking toward that window since I am still a few paces short of the wall.", + "The shuttered window I am after now sits high on my right as the wall looms close, so I am nearly beneath it. I step forward again to bring myself right up to the facade under that window.", + "I am close against the wall and the shuttered window has drifted to the upper right edge of my view. I turn right to swing my facing back onto the window instead of the blank masonry beside it.", + "The shuttered window and its sill are now squarely in front of me, with the corner and the alley just beyond on the right. One more step forward should place me directly at the window.", + "I am right up against the facade now, and my view has filled with nothing but plaster because the shutters sit well above my eye level. Only a sliver of dark frame clips the top edge. I look up to raise my gaze onto the window itself and confirm I am standing beneath it.", + "The shuttered window's sill and slats hang directly overhead against the wall I am standing at. I am there, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_d/infos.json b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bb4ce736775d34f6b298a8337d199074305e14ed --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Navigate to the vertical pillar on the far left.", + "Type": 2, + "Start_Pose": [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 73.92, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 48.92, + -0.0 + ], + [ + 4916.52, + 1950.827, + 262.907, + 0.0, + 48.92, + -0.0 + ], + [ + 4999.224, + 2045.698, + 262.907, + 0.0, + 48.92, + -0.0 + ], + [ + 5081.927, + 2140.57, + 262.907, + 0.0, + 48.92, + -0.0 + ], + [ + 5164.631, + 2235.441, + 262.907, + 0.0, + 48.92, + -0.0 + ], + [ + 5247.334, + 2330.313, + 282.884, + 0.0, + 48.92, + -0.0 + ], + [ + 5247.334, + 2330.313, + 282.884, + 0.0, + 23.92, + -0.0 + ], + [ + 5362.384, + 2381.344, + 282.884, + 0.0, + 23.92, + -0.0 + ], + [ + 5477.433, + 2432.375, + 282.884, + 0.0, + 23.92, + -0.0 + ], + [ + 5592.482, + 2483.406, + 281.097, + 0.0, + 23.92, + -0.0 + ], + [ + 5592.482, + 2483.406, + 281.097, + 0.0, + 23.92, + -0.0 + ] + ], + "Rationale": [ + "Straight ahead there is only building wall, and the timber scaffold barely shows at the far left edge of my view. My target is the outermost upright of that scaffold, the post at the near end of its beams beside the open flooded street. I turn left to swing that row properly into view.", + "The turn opened the street, and the scaffold uprights now stand well ahead of me along the left side of the lane. The pavement and curb between us look clear, so I step forward to close that distance.", + "The uprights have grown noticeably taller in my view, so my heading is carrying me toward them. The lane ahead stays open, and I keep walking forward.", + "The scaffold beams and their supporting posts are now clearly resolved ahead on my left, still some distance off. Nothing interrupts the paved strip in front of me, so I advance again.", + "The posts have shifted further toward the left edge as I close on them, which is expected while I still walk along the lane. I keep stepping forward to reach the level of the outermost upright.", + "The scaffold uprights stand close now at my left, but I am not yet abreast of the outermost one at the near end of the beams. One more step forward should bring me level with it.", + "My current heading points into the recessed archway and the timber uprights sit off to my left, outside the middle of my view. I turn left so the outermost post of that scaffold comes into the center where I can walk straight at it.", + "The turn brought the scaffold uprights into the middle of my view, with the outermost post standing free against the open square beyond. The ground between us is flat and clear, so I walk forward toward it.", + "The outermost post rises just right of center, with a second upright behind it and the open square showing past both. Its base is still a few paces off across flat, unobstructed ground, so I step forward again.", + "The post now fills the middle of my view from ground to top, so I am nearly on it, though its base still sits ahead rather than beside me. One more step should put me right at the foot of it.", + "The outermost upright stands directly in front of me at arm's length, its base right at my feet. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t5_a_p/infos.json b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f74baaab582be40bbeb04d919e6c53b757b8e717 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Lift the metal bucket near the leftmost ground-floor window with metal shutters.", + "Type": 5, + "Start_Pose": [ + 4833.817, + 1855.955, + 262.907, + 0, + 73.92, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 5076.887, + 2455.377, + 202.907, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4833.817, + 1855.955, + 262.907, + 0, + 73.92, + 0 + ], + [ + 4868.677, + 1976.89, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4903.538, + 2097.825, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4938.398, + 2218.76, + 262.907, + 0.0, + 73.92, + -0.0 + ], + [ + 4973.258, + 2339.694, + 282.714, + 0.0, + 73.92, + -0.0 + ], + [ + 4973.258, + 2339.694, + 282.714, + 0.0, + 73.92, + -0.0 + ], + [ + 4973.258, + 2339.694, + 282.714, + 0.0, + 73.92, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 5076.887, + 2455.377, + 202.907, + 0.0, + 0.0, + 0.0 + ], + [ + 5076.887, + 2455.377, + 202.907, + 0.0, + 0.0, + 0.0 + ], + [ + 5076.887, + 2455.377, + 202.907, + 0.0, + 0.0, + 0.0 + ], + [ + 5076.887, + 2455.377, + 202.907, + 0.0, + 0.0, + 0.0 + ], + [ + 5076.887, + 2455.377, + 202.907, + 0.0, + 0.0, + 0.0 + ], + [ + 4952.571, + 2345.023, + 253.014, + -28.202, + 124.064, + 1.862 + ], + [ + 4952.571, + 2345.023, + 253.014, + -28.202, + 124.064, + 1.862 + ] + ], + "PD_Dist_2D": [ + 646.8, + 521.8, + 397.4, + 274.2, + 155.3, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see two shuttered ground-floor windows on the wall ahead, and a small metal bucket standing on the paving below the leftmost one. It is still far across the open ground, so I step forward along my current heading to close that gap.", + "The metal bucket by the leftmost shuttered window now appears larger and stays near the center of my view, so my heading is good. It remains well out of reach, so I keep walking straight toward it.", + "The bucket sits clearly on the paved strip beneath the leftmost metal-shuttered window and the raised curb in front of me is low and passable. Nothing blocks the line to it, so I continue advancing to get within grasping range.", + "The bucket is now close and slightly left of my center, but still a stride or two beyond arm's length. One more step forward should place it directly at my feet for a grasp.", + "The metal bucket now fills the lower edge of my view, right against me and below the leftmost shuttered window, which matches the target described in the task. This is close enough to reach it, so I will attempt to pick it up.", + "My hands are gripping the metal bucket and it is no longer resting on the paving. The lift is done, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t5_b_p/infos.json b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..890c082fe5bc8d7a8b4a49f8162fb5b362accc19 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004834_y001856_z000263_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the green bell pepper from the second shuttered window on the wall from the right.", + "Type": 5, + "Start_Pose": [ + 4833.817, + 1855.955, + 262.907, + 0, + 73.92, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 4650.071, + 2467.915, + 222.907, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4833.817, + 1855.955, + 262.907, + 0, + 73.92, + 0 + ], + [ + 4833.817, + 1855.955, + 262.907, + 0.0, + 98.92, + -0.0 + ], + [ + 4814.302, + 1980.292, + 262.907, + 0.0, + 98.92, + -0.0 + ], + [ + 4794.787, + 2104.629, + 262.907, + 0.0, + 98.92, + -0.0 + ], + [ + 4775.272, + 2228.965, + 262.907, + 0.0, + 98.92, + -0.0 + ], + [ + 4775.272, + 2228.965, + 262.907, + 0.0, + 123.92, + -0.0 + ], + [ + 4705.038, + 2333.405, + 282.751, + 0.0, + 123.92, + -0.0 + ], + [ + 4705.038, + 2333.405, + 282.751, + 0.0, + 123.92, + -0.0 + ], + [ + 4705.038, + 2333.405, + 282.751, + 0.0, + 123.92, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 4650.071, + 2467.915, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + 4650.071, + 2467.915, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + 4650.071, + 2467.915, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + 4650.071, + 2467.915, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + 4650.071, + 2467.915, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + 4650.071, + 2467.915, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + 4650.071, + 2467.915, + 222.907, + 0.0, + 0.0, + 0.0 + ], + [ + 4687.659, + 2320.983, + 253.014, + -28.202, + 174.065, + 1.862 + ], + [ + 4687.659, + 2320.983, + 253.014, + -28.202, + 174.065, + 1.862 + ] + ], + "PD_Dist_2D": [ + 639.0, + 639.0, + 514.5, + 391.0, + 269.8, + 269.8, + 145.3, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the green bell pepper sitting on the ledge below the shuttered windows, but it sits off to the right side of my view and a water basin lies directly ahead of me. I will turn right to bring the pepper and the walkable pavement in front of the wall into the center of my heading.", + "The pepper now sits near the middle of my view on the ledge beneath the two shuttered windows, and the paved strip ahead looks clear. I will walk forward to close the considerable distance still separating me from it.", + "The pepper and the window shutters have grown larger, so my heading is carrying me straight toward the target. It is still out of arm's reach, so I will keep walking forward along the open pavement.", + "The pepper is clearly visible on the ledge just left of center and the wall detail is close enough to read individual bricks. One more step forward should bring me near enough to consider reaching for it.", + "I am now close to the wall, but the pepper has drifted to the right half of my view while the shutters fill the left. I will turn right so the pepper sits squarely ahead of me before making my final approach.", + "The pepper now sits low and near the center of my view with clear pavement between us. I will step forward to bring it within reach for grasping.", + "The green bell pepper fills the lower center of my view, right at the edge of the ledge and within arm's reach. I will attempt to grasp it now, since no closer positioning seems needed.", + "The green bell pepper is now held in my hands and no longer resting on the ledge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_a/infos.json b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cec046fdf6e0643c3aa6d13c7ba43ec1ec960cc0 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Walk to the blue door on the gray wall, then head toward the dark doorway on the far building.", + "Type": 3, + "Start_Pose": [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -102.76, + 0.0 + ], + [ + 4882.238, + 2418.275, + 282.832, + 0.0, + -102.76, + 0.0 + ], + [ + 4854.44, + 2295.524, + 282.832, + 0.0, + -102.76, + 0.0 + ], + [ + 4826.642, + 2172.774, + 262.907, + 0.0, + -102.76, + 0.0 + ], + [ + 4798.843, + 2050.023, + 262.907, + 0.0, + -102.76, + 0.0 + ], + [ + 4771.045, + 1927.272, + 262.907, + 0.0, + -102.76, + 0.0 + ], + [ + 4771.045, + 1927.272, + 262.907, + 0.0, + -127.76, + 0.0 + ], + [ + 4693.975, + 1827.77, + 274.159, + 0.0, + -127.76, + 0.0 + ], + [ + 4616.904, + 1728.268, + 282.819, + 0.0, + -127.76, + 0.0 + ], + [ + 4616.904, + 1728.268, + 282.819, + 0.0, + -127.76, + 0.0 + ], + [ + 4673.486, + 1801.318, + 282.819, + 0.0, + -127.76, + 0.0 + ], + [ + 4673.486, + 1801.318, + 282.819, + 0.0, + -102.76, + 0.0 + ], + [ + 4673.486, + 1801.318, + 282.819, + 0.0, + -77.76, + 0.0 + ], + [ + 4673.486, + 1801.318, + 282.819, + 0.0, + -52.76, + 0.0 + ], + [ + 4673.486, + 1801.318, + 282.819, + 0.0, + -27.76, + 0.0 + ], + [ + 4673.486, + 1801.318, + 282.819, + 0.0, + -2.76, + 0.0 + ], + [ + 4799.199, + 1795.258, + 282.819, + 0.0, + -2.76, + 0.0 + ], + [ + 4924.912, + 1789.197, + 282.819, + 0.0, + -2.76, + 0.0 + ], + [ + 5050.625, + 1783.137, + 282.819, + 0.0, + -2.76, + 0.0 + ], + [ + 5050.625, + 1783.137, + 282.819, + 0.0, + -27.76, + 0.0 + ], + [ + 5161.998, + 1724.515, + 282.819, + 0.0, + -27.76, + 0.0 + ], + [ + 5273.372, + 1665.894, + 282.819, + 0.0, + -27.76, + 0.0 + ], + [ + 5384.745, + 1607.273, + 282.819, + 0.0, + -27.76, + 0.0 + ], + [ + 5496.119, + 1548.652, + 233.143, + 0.0, + -27.76, + 0.0 + ], + [ + 5607.492, + 1490.031, + 233.143, + 0.0, + -27.76, + 0.0 + ], + [ + 5607.492, + 1490.031, + 233.143, + 0.0, + -52.76, + 0.0 + ], + [ + 5683.656, + 1389.833, + 233.143, + 0.0, + -52.76, + 0.0 + ], + [ + 5683.656, + 1389.833, + 233.143, + 0.0, + -52.76, + 0.0 + ] + ], + "Rationale": [ + "The blue wooden door set in the gray plaster wall stands off to my left, across the open paved yard. My heading points too far right of it, so I will turn left to bring that door in front of me before walking.", + "The blue door on the gray wall now sits ahead of me, with clear paving and shallow puddles between us. Nothing blocks the direct line, so I will walk forward to close the distance.", + "The blue door and its gray wall have grown larger and the doorframe is clearer, confirming my heading is good. I will keep walking forward toward it.", + "The wall face now fills much of my view and the raised walkway edge in front of the door is visible. Still too far to be at the door, so I continue walking forward.", + "The blue door's panels and frame are clearly resolved and the barred window beside it is close on my right. I am not yet standing at the doorway, so another step forward is the direct move.", + "The gray wall and its blue door now dominate my view, but the step up to the walkway still separates me from the door itself. I will walk forward again to reach it.", + "I am close to the blue door, but it sits left of my centerline while the barred window crowds the right side of my view. Turning left should place the door squarely ahead so my last steps land right at it.", + "The blue door now sits squarely ahead of me on the gray wall, with only the low walkway edge in between. I will step forward to bring myself right up to it.", + "The blue door on the gray wall now fills the right half of my view, its planks and small handle clearly readable, but I am still slightly short of standing in front of it. One more step forward should close that last bit of distance to the doorway.", + "The weathered blue planks and the little horseshoe handle of the door set in the gray wall fill my view at arm's length. I have reached this blue door. I mark arriving here before setting off toward the dark doorway on the far building.", + "Pressed this close, the blue door panel blocks almost my whole field of view and I can see nothing of the open ground I now need. Stepping back should restore enough distance from the wall to swing my heading around toward the far building with the dark doorway.", + "With a little clearance regained, the blue door and its gray wall still take up everything ahead of me. The open street toward the far buildings lies off to my right, so I will begin turning that way.", + "The door frame has shifted toward my left but the wall still fills the view, so my heading is not yet clear of this facade. Another turn to the right should carry my gaze further along the wall toward the open ground.", + "Only blank gray masonry and the edge of a barred window are in front of me now, with the blue door pushed to my left margin. I keep turning right to swing my heading past this wall toward the open area beyond it.", + "The barred window sits ahead of me and a strip of paving, sky and a utility pole has appeared at my right edge. Turning right again should bring that opening street and the buildings across it into the middle of my view.", + "The wall corner is sliding leftward and the paved lane with the distant buildings and their dark openings now lies to my right. One more turn in that direction should put that lane straight ahead so I can walk down it.", + "With the gray wall and its blue door now behind my shoulder, the open lane stretches ahead between the buildings, and the dark openings of the far block sit at the end of it. My heading is clear of the puddled ground on the right, so I will walk forward to close that distance.", + "The far buildings have grown noticeably larger and their shadowed entrances are becoming distinct at the end of the lane. Nothing blocks the paving in front of me, so I continue walking straight toward them.", + "A tall dark opening is now clearly cut into the wall on the left side of the lane, and the buildings ahead fill more of my view. I will keep walking forward to bring that doorway within reach of a turn.", + "The dark doorway sits off to my left in the brick wall while my heading still points down the open lane past it. I will turn left to swing that shadowed entrance toward the center of my view before advancing further.", + "The dark doorway now sits ahead of me on the left-hand building, roughly in line with my heading. The ground between us is flat and open, so I will walk forward toward it.", + "The shadowed entrance in the brick wall is wider and taller than a moment ago, confirming I am closing on it. I will keep walking forward along the open ground.", + "The doorway's frame and the recessed floor inside it are now clearly visible, so my line of travel is good. I will continue forward to close the remaining gap.", + "The dark opening dominates the wall to my front left and the threshold is only a short stretch of paving away. I will step forward again to draw right up to it.", + "The dark doorway cut into the brick building now sits close on my left, its interior already visible past the threshold. I still have a few paces of open concrete between me and its opening, so I will walk forward to close that remaining gap.", + "I am now level with the dark doorway, but it has slid to the far left edge of my view while my heading points along the open yard. I will turn left to bring the opening squarely in front of me before stepping in.", + "The dark doorway is now centered ahead, with the lit window inside it showing the passage is open. A short step forward should bring me right up to the threshold.", + "I stand at the dark doorway of the far building, its interior and lit windows open directly before me. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_b/infos.json b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ccc590669f4e8e2d4ae873011145cc9b2f0e2e56 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_b/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Approach the utility pole, then move to the barred ground-floor window.", + "Type": 3, + "Start_Pose": [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -52.76, + 0.0 + ], + [ + 4986.2, + 2440.829, + 282.699, + 0.0, + -52.76, + 0.0 + ], + [ + 5062.365, + 2340.631, + 282.699, + 0.0, + -52.76, + 0.0 + ], + [ + 5138.529, + 2240.434, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5214.693, + 2140.237, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5290.857, + 2040.039, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5290.857, + 2040.039, + 262.826, + 0.0, + -27.76, + 0.0 + ], + [ + 5402.231, + 1981.418, + 262.826, + 0.0, + -27.76, + 0.0 + ], + [ + 5513.604, + 1922.797, + 262.826, + 0.0, + -27.76, + 0.0 + ], + [ + 5624.977, + 1864.176, + 262.826, + 0.0, + -27.76, + 0.0 + ], + [ + 5736.351, + 1805.554, + 282.544, + 0.0, + -27.76, + 0.0 + ], + [ + 5736.351, + 1805.554, + 282.544, + 0.0, + -52.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.86, + 0.0, + -52.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.86, + 0.0, + -52.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.86, + 0.0, + -77.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.86, + 0.0, + -102.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.86, + 0.0, + -127.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.86, + 0.0, + -152.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.86, + 0.0, + -177.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.86, + 0.0, + 157.24, + -0.0 + ], + [ + 5696.456, + 1754.048, + 282.86, + 0.0, + 157.24, + -0.0 + ], + [ + 5580.398, + 1802.74, + 282.86, + 0.0, + 157.24, + -0.0 + ], + [ + 5580.398, + 1802.74, + 282.86, + 0.0, + -177.76, + 0.0 + ], + [ + 5454.635, + 1797.82, + 282.86, + 0.0, + -177.76, + 0.0 + ], + [ + 5328.872, + 1792.901, + 282.86, + 0.0, + -177.76, + 0.0 + ], + [ + 5203.109, + 1787.982, + 282.86, + 0.0, + -177.76, + 0.0 + ], + [ + 5077.346, + 1783.063, + 282.86, + 0.0, + -177.76, + 0.0 + ], + [ + 5077.346, + 1783.063, + 282.86, + 0.0, + -152.76, + 0.0 + ], + [ + 4965.445, + 1725.455, + 282.86, + 0.0, + -152.76, + 0.0 + ], + [ + 4965.445, + 1725.455, + 282.86, + 0.0, + -127.76, + 0.0 + ], + [ + 4965.445, + 1725.455, + 282.86, + 0.0, + -127.76, + 0.0 + ] + ], + "Rationale": [ + "From here the tall utility pole with its crossarms stands at the far right edge of my view, beside the pale building across the open ground. My heading points too far left, toward the yellow house and its doorway. I will turn right to bring the pole into the middle of my path before walking toward it.", + "The utility pole with its stacked insulators now sits ahead in my view, still far off across the open sandy ground. The paved and packed surface between me and it looks clear of any barrier. I will walk forward to close that distance.", + "The pole has grown slightly larger and remains near the middle of my view, so my heading is still good. There is nothing between me and it but flat ground and shallow puddles. I keep walking forward to shorten the gap.", + "The pole is clearly nearer now, its shaft and crossarms standing out against the light wall behind it. My line of travel still runs straight at it across the open ground. Another step forward should bring me closer.", + "The pole now rises well above the rooftops in front of me and its yellow painted band is visible on the lower shaft. Ground between us remains open, with only the low curb line off to the right. I continue walking toward it.", + "The pole stands close ahead, its base meeting the paved strip in front of the brick wall. I am still short of it, with clear ground remaining. I will step forward again to keep closing.", + "The pole is close, but my heading runs at the raised curb and the long brick wall to its left rather than at the pole's footing. Turning right should put the open pavement corridor beside the pole straight in front of me. I will make that turn before walking on.", + "With the turn made, the pole now stands slightly left of centre and the open pavement runs clear ahead past it. Nothing blocks that lane, so a step forward should bring me alongside the pole's base.", + "The tall utility pole with its insulator brackets stands ahead of me, just left of center, and the paved strip in front of me is clear. I will keep walking forward to cut down the remaining distance to it.", + "The pole now looms much larger and its base is clearly visible on the pavement ahead of me. Nothing blocks the walkway, so another step forward should bring me closer to standing beside it.", + "The pole has grown to fill much of the left side of my view, so I am close but not yet level with it. I will advance again along the clear paving to finish closing the gap.", + "The pole has drifted to the far left edge of my view and is nearly cut off by my heading. I will turn left so the pole comes back in front of me and I can walk straight up to it.", + "The pole is now centered in front of me with its yellow-painted band at eye level and clear ground between us. One more step forward should place me right at its foot.", + "The utility pole fills the middle of my view at arm's length, its weathered shaft running from the paving right past my eye level. I have reached the pole. I mark reaching it before setting off toward the barred ground-floor window.", + "Standing at the pole, all I face is its shaft and the blank plastered wall behind it, with no barred window anywhere in sight. I will turn left to swing my view across the surrounding facades and look for a ground-floor window with bars.", + "The swing has brought a brick facade with a dark open doorway into view, but still no barred window on this stretch of wall. I will keep turning left to bring more of the street frontage into view.", + "A blank brick face with a dark doorway fills my view, and nothing here resembles a barred ground-floor window. Having already reached the pole, I keep swinging left to sweep this wall aside and find the open street.", + "The rotation has opened my left side, showing a yellow upper storey and clear ground beside the brick wall. Still no grilled window at street level, so I continue turning left to uncover more of the way out.", + "A lane between the buildings is now emerging on my left, while the brick wall still takes up my right. I keep rotating left so that passage comes squarely in front of me.", + "The puddled alley with balconied buildings is largely visible but still sits left of my heading. One more turn left should center that route so I can walk down it and look over the ground-floor frontages.", + "The lane now runs straight ahead between the balconied block on my left and the plastered wall on my right, so my heading is sound. I step forward to advance along it and get near enough to read the ground-floor openings.", + "Advancing has brought the right-hand building's lower storey closer, where a window sits beside a doorway at street level. I take another step forward to shorten the distance to that frontage.", + "The ground-floor door and window I want are on the building to my right, yet my heading still points down the middle of the lane and would carry me past them. I turn right to angle onto that frontage.", + "I am now angled along the right-hand frontage, with its doorway and window set ahead above the tiled walkway. I walk forward to close on that ground-floor window.", + "The pale wall on my right carries a grille-covered opening beside a narrow door, and it is still some way down the walkway. The paved strip ahead of me is clear of the water pooling in the street, so I will keep walking to close that gap.", + "The grilled window on the right wall has grown noticeably larger and its metal bars are now distinct. I am still short of it, so another step forward should bring me nearly alongside.", + "The barred opening now sits high and wide at the right edge of my view, with the wooden door just beyond it. I am not yet level with the grille, so I will advance once more along the walkway.", + "The barred window is now beside me on the right, pushed to the edge of my view while my heading still points down the street. Turning right should swing the grille into the centre of my view so I can face the wall directly.", + "The turn brought the grilled window fully into view on the wall ahead of me, its bars and the plywood behind them plainly visible. A short step forward should put me right up against that ground-floor window.", + "I am now standing at the wall with the barred window filling the right half of my view, its sill and weeds close enough to touch. A last turn right should square me onto the grille rather than looking along the wall.", + "The barred ground-floor window fills my view directly in front of me, close enough to see through its grille into the room. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_c/infos.json b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..52c109ff62e153f7956755bd28129d7a30d69e52 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_c/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Navigate to the utility pole, then proceed to the blue door.", + "Type": 3, + "Start_Pose": [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -52.76, + 0.0 + ], + [ + 4986.2, + 2440.829, + 282.699, + 0.0, + -52.76, + 0.0 + ], + [ + 5062.365, + 2340.631, + 282.699, + 0.0, + -52.76, + 0.0 + ], + [ + 5138.529, + 2240.434, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5214.693, + 2140.237, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5214.693, + 2140.237, + 262.826, + 0.0, + -27.76, + 0.0 + ], + [ + 5326.066, + 2081.615, + 262.826, + 0.0, + -27.76, + 0.0 + ], + [ + 5437.44, + 2022.994, + 262.826, + 0.0, + -27.76, + 0.0 + ], + [ + 5548.813, + 1964.373, + 262.826, + 0.0, + -27.76, + 0.0 + ], + [ + 5660.187, + 1905.752, + 262.826, + 0.0, + -27.76, + 0.0 + ], + [ + 5660.187, + 1905.752, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5736.351, + 1805.554, + 282.465, + 0.0, + -52.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.773, + 0.0, + -52.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.773, + 0.0, + -52.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.773, + 0.0, + -77.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.773, + 0.0, + -102.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.773, + 0.0, + -127.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.773, + 0.0, + -152.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.773, + 0.0, + -177.76, + 0.0 + ], + [ + 5812.515, + 1705.357, + 282.773, + 0.0, + 157.24, + -0.0 + ], + [ + 5696.456, + 1754.048, + 282.773, + 0.0, + 157.24, + -0.0 + ], + [ + 5580.398, + 1802.74, + 282.773, + 0.0, + 157.24, + -0.0 + ], + [ + 5464.339, + 1851.431, + 262.931, + 0.0, + 157.24, + -0.0 + ], + [ + 5464.339, + 1851.431, + 262.931, + 0.0, + -177.76, + 0.0 + ], + [ + 5338.576, + 1846.512, + 262.931, + 0.0, + -177.76, + 0.0 + ], + [ + 5212.813, + 1841.593, + 262.931, + 0.0, + -177.76, + 0.0 + ], + [ + 5087.05, + 1836.673, + 265.25, + 0.0, + -177.76, + 0.0 + ], + [ + 4961.287, + 1831.754, + 270.88, + 0.0, + -177.76, + 0.0 + ], + [ + 4835.525, + 1826.835, + 274.758, + 0.0, + -177.76, + 0.0 + ], + [ + 4835.525, + 1826.835, + 274.758, + 0.0, + -152.76, + 0.0 + ], + [ + 4723.624, + 1769.227, + 282.906, + 0.0, + -152.76, + 0.0 + ], + [ + 4723.624, + 1769.227, + 282.906, + 0.0, + -127.76, + 0.0 + ], + [ + 4647.612, + 1684.074, + 282.907, + 0.0, + -127.76, + 0.0 + ], + [ + 4647.612, + 1684.074, + 282.907, + 0.0, + -127.76, + 0.0 + ] + ], + "Rationale": [ + "Straight ahead I face only the housefronts across the square, while the tall utility pole with its crossarms and insulators stands off to my right at the edge of the open ground. I turn right so that the pole and the clear paving leading toward it sit in front of me.", + "The pole now stands ahead on the right side of my view, still far off beside the row of concrete buildings. The paving between me and it looks open apart from the shallow wet patches, so I step forward to begin closing that distance.", + "The pole has grown taller in my view and its banded shaft is now clearly separated from the building behind it. The route stays flat and unobstructed, so I keep walking toward it.", + "The pole is noticeably closer, its yellow painted band and crossarm now easy to make out against the pale wall. I am still several strides short of standing beside it, so another step forward is the direct way to keep gaining ground.", + "The pole now rises through most of my view with its base resting on the raised walkway ahead. Nothing stands between me and that stretch of pavement, so I advance again to draw level with it.", + "Continuing exactly as I am would push me into the long brick wall and the curbed wet channel filling the left of my view. Turning right should open the lane that runs alongside the pole's footing and give me a clean line to walk in.", + "From this heading the street runs clear ahead and the pole stands just left of my path on the raised pavement. I walk forward along that open lane to bring myself alongside its base.", + "The pole is closer now, its shaft filling the left portion of my view with the insulators plainly visible near the top. The paving beside the curb remains clear, so I keep stepping forward to reach its foot.", + "The tall utility pole with its crossarm and insulators stands ahead and slightly left, growing larger with each step along this paved strip. The way in front of me is clear of the water and the curb. I will keep walking forward to close the remaining distance to it.", + "The pole now looms large on my left with its yellow painted band clearly visible, so I am close but not yet beside it. The pavement ahead stays open. Another step forward should bring me level with its base.", + "Closing in has pushed the pole out to the left edge of my view, so my heading no longer points at it. I will turn left to bring the pole back in front of me. That should line up a straight final walk to its base.", + "The turn has set the utility pole squarely ahead of me, its shaft rising through the middle of my view with open ground at its foot. Nothing blocks the short stretch between us. I will step forward to reach it.", + "The pole is directly in front of me and now fills a good part of my view, though I am still a stride or two short of standing at it. The ground stays flat and clear. One more step forward should put me right at its base.", + "The weathered shaft of the utility pole with its yellow painted band fills the middle of my view, close enough to touch. I have reached the utility pole. I mark reaching it and now turn my attention toward finding the blue door.", + "Standing at the pole, my view is filled by its shaft and the bare concrete wall beside it, with no blue door anywhere in front of me. I will turn left to sweep this heading away and search the surrounding street for it.", + "The first turn brought a brick facade with a dark open doorway into view, and that is not the blue door I am after. I will turn left again to keep sweeping toward the open street beyond this corner.", + "A blank brick face with one dark unlit opening fills my view, and nothing here resembles a blue door. I will keep turning left to swing my heading off this wall and pick up the open ground beyond its corner.", + "The edge of the brick wall has come into view and open pavement shows on my left, but masonry still occupies most of what is in front of me. Another left turn should bring that open side fully ahead of me.", + "A lane now opens off to my left, with a yellow upper storey and rooftops past the corner, while the brick flank still sits on my right. I will turn left again to keep drawing that corridor toward the middle of my view.", + "The residential lane with its balconies and puddled roadway lies ahead-left but is still off-center. One more left turn should set my heading along the lane so I can walk it while looking for a blue door.", + "The lane now runs straight away from me, between the balconied block on my left and the walled frontage on my right. With my heading matched to the street, I will step forward to gain ground along it toward a blue door.", + "The corridor stays open ahead, with dry paving on the right of the standing water. No blue door is within reach yet, so I keep walking forward down the lane.", + "The frontage on my right is sliding past and a pale bluish door frame is starting to show along that wall. I will advance again to close the gap and read the doors on that side more clearly.", + "The lane ahead runs on toward a low barrier, but the doorways I care about sit along the raised walkway to my right. I will turn right so that frontage comes in front of me and I can head straight down it.", + "Down this narrow street I can pick out a pale blue door set into the wall on my right, still some way ahead. The paved strip along that wall is clear of the standing water in the middle of the lane. I walk forward to close the gap toward that door.", + "The blue door on my right has grown noticeably larger, confirming my heading down the lane is the right one. Nothing blocks the walkway between me and it. I keep walking forward.", + "The blue door and the barred window beside it stand out clearly along the wall to my right, but I am still short of them. My path stays on the raised dry paving beside the water. Another step forward should bring me level with the doorway.", + "The blue door is now plainly the one I want, tall and panelled in the wall to my right. I am not yet beside it, so turning now would leave me facing wall instead. I advance again along the walkway.", + "The blue door fills much of the wall on my right, though it still sits slightly behind the direction I am walking. One more step should carry me close enough to swing toward it squarely. I keep moving forward.", + "I am now level with the blue door, which sits hard against the right edge of my view while I face straight down the lane. Continuing forward would only take me past it. I turn right to bring the door into the front of my view.", + "The turn has brought the tall blue door into clear view ahead and slightly to my right, with open paving between us. Nothing stands in the way except the low wall further left. I step forward to close in on it.", + "I am close in front of the blue door, but it is skewed to my right and I am angled along the wall rather than at it. A right turn should square my facing onto the door panels. I turn right to line up.", + "The blue plank door now fills the middle of my view with its frame and handle clearly visible just a short step ahead. I will walk forward to close that last bit of distance and stand directly at the door.", + "The blue door fills my view at arm's length, its handle right beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_d/infos.json b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..25d5b7dbf641f4f2920bb4c7b1d879168364f3da --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_d/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Head toward the dark doorway on the far building, then walk to the blue door.", + "Type": 3, + "Start_Pose": [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -52.76, + 0.0 + ], + [ + 4986.2, + 2440.829, + 282.699, + 0.0, + -52.76, + 0.0 + ], + [ + 5062.365, + 2340.631, + 282.699, + 0.0, + -52.76, + 0.0 + ], + [ + 5138.529, + 2240.434, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5214.693, + 2140.237, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5290.857, + 2040.039, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5367.021, + 1939.842, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5443.186, + 1839.645, + 262.826, + 0.0, + -52.76, + 0.0 + ], + [ + 5519.35, + 1739.447, + 282.847, + 0.0, + -52.76, + 0.0 + ], + [ + 5595.514, + 1639.25, + 282.847, + 0.0, + -52.76, + 0.0 + ], + [ + 5671.678, + 1539.053, + 233.143, + 0.0, + -52.76, + 0.0 + ], + [ + 5747.842, + 1438.855, + 233.143, + 0.0, + -52.76, + 0.0 + ], + [ + 5747.842, + 1438.855, + 233.143, + 0.0, + -77.76, + 0.0 + ], + [ + 5774.525, + 1315.857, + 233.143, + 0.0, + -77.76, + 0.0 + ], + [ + 5774.525, + 1315.857, + 233.143, + 0.0, + -77.76, + 0.0 + ], + [ + 5754.936, + 1406.157, + 233.143, + 0.0, + -77.76, + 0.0 + ], + [ + 5754.936, + 1406.157, + 233.143, + 0.0, + -102.76, + 0.0 + ], + [ + 5754.936, + 1406.157, + 233.143, + 0.0, + -127.76, + 0.0 + ], + [ + 5754.936, + 1406.157, + 233.143, + 0.0, + -152.76, + 0.0 + ], + [ + 5754.936, + 1406.157, + 233.143, + 0.0, + -177.76, + 0.0 + ], + [ + 5754.936, + 1406.157, + 233.143, + 0.0, + 157.24, + -0.0 + ], + [ + 5754.936, + 1406.157, + 233.143, + 0.0, + 132.24, + -0.0 + ], + [ + 5670.329, + 1499.335, + 233.143, + 0.0, + 132.24, + -0.0 + ], + [ + 5585.722, + 1592.513, + 279.326, + 0.0, + 132.24, + -0.0 + ], + [ + 5501.115, + 1685.691, + 282.677, + 0.0, + 132.24, + -0.0 + ], + [ + 5501.115, + 1685.691, + 282.677, + 0.0, + 157.24, + -0.0 + ], + [ + 5385.056, + 1734.382, + 282.677, + 0.0, + 157.24, + -0.0 + ], + [ + 5268.997, + 1783.073, + 282.677, + 0.0, + 157.24, + -0.0 + ], + [ + 5268.997, + 1783.073, + 282.677, + 0.0, + -177.76, + 0.0 + ], + [ + 5143.234, + 1778.154, + 282.677, + 0.0, + -177.76, + 0.0 + ], + [ + 5017.471, + 1773.235, + 282.677, + 0.0, + -177.76, + 0.0 + ], + [ + 4891.708, + 1768.316, + 282.677, + 0.0, + -177.76, + 0.0 + ], + [ + 4765.946, + 1763.396, + 282.677, + 0.0, + -177.76, + 0.0 + ], + [ + 4765.946, + 1763.396, + 282.677, + 0.0, + -152.76, + 0.0 + ], + [ + 4654.045, + 1705.788, + 282.677, + 0.0, + -152.76, + 0.0 + ], + [ + 4654.045, + 1705.788, + 282.677, + 0.0, + -152.76, + 0.0 + ] + ], + "Rationale": [ + "Across the open square I can pick out the dark doorway punched into the far building, but it sits off to the right of where I am facing. I will turn right so that opening lines up ahead of me before I start across the paving.", + "The dark doorway on the far building now sits ahead of me with clear paving and shallow puddles between us. I will walk forward to begin closing that distance.", + "The dark opening in the far wall has grown slightly and stays near the middle of my view, so my heading is still good. I keep walking forward across the damp paving toward it.", + "The brick facade with the dark doorway is filling more of my view and the low curb in front of it is becoming distinct. Nothing blocks the route, so I continue forward.", + "The doorway remains a black rectangle in the brick wall a little left of my centre, still well within my heading. I step forward again to keep shrinking the gap.", + "I am close enough now to see a pale window glowing inside the dark doorway, which confirms it is a real opening rather than shadow. I keep advancing toward it across the remaining paving.", + "The curb and the paved strip in front of the brick building are right in front of me, with the dark doorway standing open ahead and to my left. I walk forward to reach that frontage.", + "The doorway is now large in my view, its frame and the bright slit of window inside clearly resolved. I step forward again to bring myself up to the threshold of that opening.", + "The dark doorway cut into the pale brick wall sits ahead and slightly left, still several paces off across the open paving. My heading already lines up with it and the ground between is clear. I will keep walking straight to close the gap.", + "The doorway has grown noticeably and its bright inner window slit is clearer, so the last step gained real ground. Nothing blocks the paving in front of me and the opening stays just left of center. I will advance again to keep closing.", + "The opening now fills a good part of my view and I can make out the floor inside the dark room. I am close but not yet at the threshold. Another step forward should bring me right up to the entrance.", + "The threshold is directly beside me on the left with two bright window slits showing deep inside the unlit room. The way in is open with no step or obstruction at the sill. I will move forward once more to reach the entrance itself.", + "My forward heading has carried the dark opening off to my left, with the brick pier now filling the center of my view. To enter rather than pass along the wall, I need my body squared with the doorway. I will turn left to bring the opening in front of me.", + "The doorway is now framed squarely ahead, jambs on either side and the lit window slits deep in the dark room straight in front. Nothing bars the threshold. I will step forward through the opening.", + "Bare unlit walls surround me and the two bright window slits are close on my right, with the entry jamb at the edge of my view behind. I am standing inside the dark doorway of the far building. I mark reaching it before setting off for the blue door.", + "This unlit room is cramped and the only way back to the street is the opening straight behind me. Backing straight out is quicker than swinging fully around in such a tight space, and it should put me on the open paving where I can look for the blue door.", + "I am back out in the threshold of the dark room, with its unlit interior straight ahead and daylight leaking in past the brick jamb on my left. Having already reached that dark entrance, nothing more is wanted from it, so I begin swinging left to bring the open street back into view. A blue door is what I need to find next.", + "The dark room has slid to the right side of my view and a pale brick wall now fills the left half, so I am still facing along the building rather than out into the street. I keep rotating left to carry my heading further around toward the open daylight. The blue door will not be found inside this shell.", + "My view is now almost entirely the flat brick face of this building, with only a sliver of bright ground at the far left. That means I am aimed along the wall instead of away from it, so another left rotation is needed to clear it. I want open pavement in front of me before I start walking.", + "Open sunlit ground has opened up on my left while the brick wall still holds the right side of my view. I am close to a usable heading but not yet clear of the building corner, so I continue turning left. A few more degrees should put the street squarely ahead.", + "I can now see out across the open square, with a yellow upper storey and rooftops beyond, though the near wall still crowds my right shoulder. Turning left once more should center the open lane rather than the building corner. That is the direction I need for the blue door.", + "The square is wide open in front of me now, with balconies and hanging laundry off to the left and the pale wall trailing away on my right. One more turn to the left should line me up with the lane leading between these buildings. I still have no blue door in sight, so I need a clear line of travel to look along.", + "I am now facing squarely down the open lane, with the tan balconied building ahead on the left and a clear stretch of pavement between me and it. No blue door is visible from here, so I walk forward to close on the buildings and open up the street beyond them.", + "The step forward brought the balconied building noticeably closer and widened the view down the street past its corner. The way ahead is still open pavement with only shallow puddles, so I keep walking to reach the point where the side street reveals itself. A blue door should become visible once I clear these facades.", + "The open paved square runs ahead of me with the tall sand colored house on my left and a wall corner closing in from the right. Nothing blocks the ground in front, so I walk forward to reach that corner where the street continues and a blue door might be found.", + "Straight ahead the sand colored facade and its shuttered windows fill my path, while the gap between buildings lies off to my right. I turn right to swing my heading into that opening so I can see down the street rather than into a wall.", + "The turn opened a long narrow street running away from me, with a wet channel on the left and a raised paved walkway hugging the wall on my right. That right hand wall carries door openings, so I walk forward down the street to inspect them.", + "Further along the right hand wall a pale bluish door frame is now showing beside a barred window. The lane stays clear on the dry side, so I keep walking forward to close the distance to that door.", + "The blue framed door sits on the wall to my right, not in front of me, so walking straight would carry me past it along the channel. I turn right to bring the right hand facade and its door into the centre of my view.", + "The turn has put the pale blue door and the patterned walkway ahead of me on the right side of the building. I step forward along the dry pavement to shorten the gap to that door.", + "The blue door is noticeably larger and closer now, set back under the wall with the barred window beside it. The walkway remains clear, so I continue forward toward it.", + "The tall blue panelled door now stands close on my right, with a short stretch of pavement still separating me from it. I walk forward again to draw level with the doorway.", + "The blue-panelled door on the wall to my right is now close and large in view, but I am still slightly short of standing beside it. I will step forward along the paved walkway to draw level with its frame.", + "I am now level with the blue door, yet it sits at the edge of my view against the wall on my right. Turning right should swing my heading onto the door panels so I can face them squarely.", + "The blue door now fills the right portion of my view with its handle clearly visible, so my heading is on it. A short step forward should bring me right up against its threshold.", + "The blue door stands directly in front of me, its handle within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_e/infos.json b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c60d4449977e2da25890e9cbd18d125e62a395c --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t3_e/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Move to the barred ground-floor window, then approach the dark doorway on the far building.", + "Type": 3, + "Start_Pose": [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4910.036, + 2541.026, + 233.143, + 0.0, + -77.76, + 0.0 + ], + [ + 4936.719, + 2418.028, + 282.84, + 0.0, + -77.76, + 0.0 + ], + [ + 4963.402, + 2295.03, + 282.84, + 0.0, + -77.76, + 0.0 + ], + [ + 4990.085, + 2172.032, + 262.907, + 0.0, + -77.76, + 0.0 + ], + [ + 5016.768, + 2049.034, + 262.907, + 0.0, + -77.76, + 0.0 + ], + [ + 5016.768, + 2049.034, + 262.907, + 0.0, + -102.76, + 0.0 + ], + [ + 4988.97, + 1926.283, + 262.907, + 0.0, + -102.76, + 0.0 + ], + [ + 4961.172, + 1803.532, + 282.68, + 0.0, + -102.76, + 0.0 + ], + [ + 4933.756, + 1692.526, + 282.907, + 0.0, + -102.76, + 0.0 + ], + [ + 4933.756, + 1692.526, + 282.907, + 0.0, + -102.76, + 0.0 + ], + [ + 4954.164, + 1782.644, + 282.907, + 0.0, + -102.76, + 0.0 + ], + [ + 4954.164, + 1782.644, + 282.907, + 0.0, + -77.76, + 0.0 + ], + [ + 4954.164, + 1782.644, + 282.907, + 0.0, + -52.76, + 0.0 + ], + [ + 4954.164, + 1782.644, + 282.907, + 0.0, + -27.76, + 0.0 + ], + [ + 5065.537, + 1724.023, + 282.907, + 0.0, + -27.76, + 0.0 + ], + [ + 5176.911, + 1665.402, + 282.907, + 0.0, + -27.76, + 0.0 + ], + [ + 5288.284, + 1606.78, + 282.907, + 0.0, + -27.76, + 0.0 + ], + [ + 5399.658, + 1548.159, + 233.143, + 0.0, + -27.76, + 0.0 + ], + [ + 5511.031, + 1489.538, + 233.143, + 0.0, + -27.76, + 0.0 + ], + [ + 5622.404, + 1430.917, + 233.143, + 0.0, + -27.76, + 0.0 + ], + [ + 5733.778, + 1372.296, + 233.143, + 0.0, + -27.76, + 0.0 + ], + [ + 5733.778, + 1372.296, + 233.143, + 0.0, + -52.76, + 0.0 + ], + [ + 5733.778, + 1372.296, + 233.143, + 0.0, + -52.76, + 0.0 + ] + ], + "Rationale": [ + "The barred ground-floor window sits on the pale wall ahead and slightly left, with the dark doorway of the far building visible off to the right. The window is my first destination and it is still a good distance across the open ground. I will walk forward to close on it.", + "The barred window has grown noticeably and its grille is now clearly resolved on the wall ahead-left. Nothing blocks the paved stretch between me and that wall. Another step forward should keep shrinking the gap.", + "The barred window is drifting further to my left as I close, which means my straight heading passes beside it rather than into it. It is still too far away to count as reached, so I will keep walking forward and correct the bearing once I am nearer.", + "The window with its metal bars now dominates the left side of my view and the raised kerb along the building runs just ahead. I am close but not yet standing at the wall. One more forward step should bring me onto that frontage.", + "My heading is carrying me past the barred window, which now sits off the left edge of my view while the far building's doorway stays ahead on the right. To finish arriving at the window I need it squarely in front of me. I will turn left to bring it back to centre.", + "The turn has put the barred window and the blue door of the same wall in front of me, so my heading now leads straight at the frontage. The window still stands a couple of strides off. I will step forward to reach it.", + "The barred window now fills the centre of my view and I can make out the boarding and the small pane behind the grille. A short step more should place me right at the sill. I will move forward.", + "I am almost at the wall, with the bars and frame filling my view and the plaster surface close on the right. A final short step should bring me flush against the sill so I can count myself at the barred window. I will walk forward.", + "The steel grille of the ground-floor window fills my view from arm's length, close enough to see straight through the bars into the room beyond. That is the barred window, so I have arrived at it. I mark reaching it and now set off for the dark doorway in the far building across the open ground.", + "Standing this close, the grille and sill block almost everything, leaving me no view of the open ground I need to cross. Backing away from the wall should give me distance and clearance to swing my heading around toward the far building's dark doorway.", + "With a little space now between me and the barred window, the grille sits centred ahead and the plastered frontage still fills my view. The open ground toward the far building lies off to my right, so I will turn that way to start bringing it into sight.", + "The first turn pushed the barred window to my left edge, but a broad blank wall still occupies most of what I see. Only a sliver of open paving shows at the far right, so another turn in that direction should carry my heading further onto the open route.", + "The near wall has slid to my left and the courtyard is opening up on the right, with the far building and its black doorway now in sight. One more turn to the right should clear the corner of this wall and put the crossing ahead of me.", + "I am now facing down the open courtyard, with the far building's wall running ahead and its dark doorway a black rectangle at the base of it. The paving between us is clear, so I will walk forward to close that distance.", + "The dark doorway has grown larger and sits ahead to my left as the brick wall it pierces angles past me. Nothing blocks the paving between us, so I keep walking forward to shorten the gap.", + "The black opening in the brick wall is clearly nearer now, though still several strides off along the courtyard. I will continue forward to bring myself up to that doorway.", + "The dark doorway cut into the pale brick wall ahead on my left is now clearly the opening I want, and open pavement runs straight toward it. I will keep walking forward to shorten that gap.", + "The doorway has grown noticeably and its recessed jamb and step are becoming visible, so my heading is carrying me along the right line. Another stride forward should bring me nearer to the opening.", + "I am close enough now to see the threshold slab and the shadowed floor just inside the opening. Since nothing blocks the approach, I will step forward again to draw level with the entrance.", + "The opening now fills much of the left side and I can see a bright window glowing deep inside the dark room. One more step forward should place me right at the entrance rather than short of it.", + "I have drawn level with the entrance, and the dark interior is now sliding off to my left behind the corner pier while my heading points along the courtyard wall. Turning left should square my view onto the opening.", + "I stand at the threshold of the dark doorway, its shadowed interior and lit windows open directly before me. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t5_a_pd/infos.json b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f310ebe83b42dbe3d6d196422e23ac93e7680303 --- /dev/null +++ b/dataset/trajectory/MiddleEast/task_x004910_y002541_z000233_t5_a_pd/infos.json @@ -0,0 +1,525 @@ +{ + "Instruction": "Grab the plate at the blue door on the gray wall, then set it down near the dark doorway on the far building.", + "Type": 5, + "Start_Pose": [ + 4910.036, + 2541.026, + 233.143, + 0, + -77.76, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4689.896, + 1803.253, + 212.907, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + 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21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate is propped against the gray wall beside the blue door, far off on the left across the wet ground. Nothing blocks the open street between us, so I will walk forward to cut down that distance before refining my heading.", + "After closing some distance, the plate now sits well to the left of my heading, near the edge of my view by the blue door. Walking straight ahead would carry me past it, so I will turn left to bring the plate toward the center of my view.", + "The turn has put the plate near the middle of my view, resting against the base of the gray wall under the blue door. The paved strip in front of me is clear, so I will step forward to shorten the remaining gap.", + "The plate has grown noticeably larger and stays ahead of me by the blue door, so my line of travel is still good. It remains too far for a grasp, so I will keep walking forward.", + "Up close the plate has drifted to the left of my forward line, sitting against the curb below the blue door while my heading points at the window to its right. I will turn left so my approach lines up with the plate instead of the wall beside it.", + "The turn has swung the plate back near the middle of my view, propped on the low step below the blue door. The last stretch of street is open, so I will walk forward to close in on it.", + "The plate now fills a good part of my view against the curb by the blue door, but it is still slightly beyond arm's reach. One more step forward should bring it close enough to attempt a grasp.", + "The plate is right in front of me at the lower right, resting on the step beneath the blue door on the gray wall, close enough that its rim dominates my view. Nothing stands between my hands and it, so I will attempt to pick it up before carrying it toward the dark doorway across the way.", + "The plate is in my hands now, so the grasp on it succeeded. My heading is still into the gray wall where I took it, which leads nowhere for delivery. I will turn right to swing off the wall and start hunting for the far building with the dark doorway.", + "I am holding the plate and looking straight at the blue door and its gray wall, with no route in that direction. Turning right again should keep rotating my heading along the facade toward the open street where the far building stands.", + "The barred window and wall corner now dominate my view, and a dark opening is just appearing at the right edge past the building. Another right turn should bring that open area and the far facades into the middle of my view.", + "The wall has slid to my left and the open street with the utility pole and distant buildings is now on my right side. I will turn right once more so the lane ahead lines up with my heading before I start walking with the plate.", + "My heading is now down the open lane, with the far buildings and a dark opening visible ahead beyond the pole. Carrying the plate, I will step forward to close the long distance toward that far facade.", + "The pole and the far buildings have grown slightly and the pavement ahead stays clear of obstacles. Still holding the plate, I will keep walking straight to shorten the remaining distance to the far building.", + "The tall brick wall on my left now shows a dark recessed opening, and the far building across the yard is closer. With the plate still in hand, another forward step should bring me nearer to that dark doorway.", + "The open courtyard ahead is unobstructed and the dark doorway in the left-hand building is becoming clearly defined. I will continue walking forward with the plate to reach a position beside that doorway.", + "The plate is secure in my hands and the dark doorway cut into the brick wall now sits clearly ahead on my left. My heading along this open lane still points past it, so I step forward again to close the remaining distance before I commit to the entrance.", + "The dark opening on the left has widened noticeably, but I am not yet level with it. Carrying the plate, I advance one more step along the open pavement to bring the doorway abreast of me.", + "The doorway's frame and its shadowed interior are now distinct just off to my left, so I am nearly beside the target entrance. Still holding the plate, I take another step forward to reach a position where turning into the opening is practical.", + "A bright window glows inside the dark room, confirming this is the doorway I need. I am slightly short of it, so one more forward step should place me directly opposite the opening before I turn toward it.", + "The dark doorway is now immediately to my left, pushed to the edge of my view, while my body still faces down the lane. I turn left to square my heading with the opening so I can walk straight in with the plate.", + "The doorway is now centered ahead of me with its lit inner window visible straight through. I step forward to reach the threshold so the plate can be set down at this entrance.", + "The threshold and its jamb fill much of my view, but I am still just outside the dark interior. One more step should put me at the doorway itself, close enough for the plate to count as placed there.", + "I am now at the dark doorway, with the shadowed room and its bright windows directly in front of me and the plate still in my hands. This is the placement spot the task calls for, so I release the plate here and expect it to settle on the floor by the entrance.", + "The plate now rests on the ground just inside the dark doorway and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/000.jpg b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..6d2849168f82e0b779abcf493ee7ddbd623f5894 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34a2913d73fe36c8c43180071ac1ee770b7faa280444e0400f5d954081c2a955 +size 136470 diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/001.jpg b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..eef3a708adab54f09db2af39d7c786ad01704b5e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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"PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 14323.981, + -4534.806, + 3096.204, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14662.709, + -3948.111, + 3183.265, + 0, + -100, + 0 + ], + [ + 14640.854, + -4072.058, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14618.999, + -4196.005, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14597.143, + -4319.952, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14597.143, + -4319.952, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14524.954, + -4423.05, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14524.954, + -4423.05, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14524.954, + -4423.05, + 3176.204, + 0.0, + -150.0, + 0.0 + ], + [ + 14415.957, + -4485.979, + 3176.204, + 0.0, + -150.0, + 0.0 + ], + [ + 14415.957, + -4485.979, + 3176.204, + 0.0, + -150.0, + 0.0 + ], + [ + 14415.957, + -4485.979, + 3176.204, + 0.0, + -150.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 14323.981, + -4534.806, + 3096.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14323.981, + -4534.806, + 3096.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14323.981, + -4534.806, + 3096.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14323.981, + -4534.806, + 3096.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14323.981, + -4534.806, + 3096.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14323.981, + -4534.806, + 3096.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14323.981, + -4534.806, + 3096.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14323.981, + -4534.806, + 3096.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14323.981, + -4534.806, + 3096.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14427.162, + -4504.167, + 3146.311, + -28.202, + -99.855, + 1.862 + ], + [ + 14427.162, + -4504.167, + 3146.311, + -28.202, + -99.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 677.5, + 560.8, + 449.2, + 347.5, + 347.5, + 230.0, + 230.0, + 230.0, + 104.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The white ceramic vase stands far ahead on the floor beside the red double doors, well out of reach. My heading already points down the walkway toward it, so I will walk forward to close the gap before worrying about fine alignment.", + "The vase has grown slightly larger and remains left of center against the doors, confirming I am closing on it. It is still far too distant for a grasp, so I will continue walking straight ahead.", + "The vase now reads clearly at the lower left, its painted florets visible, but it is still beyond arm's length. Another straight step should bring me materially closer before I correct my heading.", + "My forward motion has pushed the vase to the very edge of my view, where only a sliver of it remains at the left border. Walking straight now would carry me past it, so I will turn left to bring the vase back toward the center of my heading.", + "The vase now sits fully in view ahead of me, standing against the door panels slightly left of center. The spacing still looks too wide for a reliable grasp, so I will step forward to tighten the distance.", + "The ceramic vase stands just ahead against the red door panels, close enough that it fills the lower left of my view. I will attempt to grasp it now, since it appears within arm's reach. If my hands close on nothing, the vase is likely still slightly too far off to the side.", + "That grasp did not take hold, as my hands are empty. The vase sat off to the left edge of my heading rather than straight in front, which likely put it outside my reach. I will turn left to bring it back in front of me.", + "The vase is now framed ahead of me beside the door, no longer pushed to the edge of my view. It still looks a couple of paces away, too distant for a reliable grasp. I will step forward to close that gap before trying again.", + "The vase now looms directly in front of me, its rim clearly visible at close range with nothing between us. This is the reach distance my earlier attempt lacked. I will try the grasp again from this position.", + "The ceramic vase is now held in my hands in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_a_pd/infos.json b/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9a53dbf14acb48b334ec389168e6e900e4db00b0 --- /dev/null +++ b/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the ceramic pot, then place it next to the dark green column base with the golden dragon ornament.", + "Type": 5, + "Start_Pose": [ + 14662.709, + -3948.111, + 3183.265, + 0, + -100, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 14335.452, + -4509.895, + 3091.204, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14662.709, + -3948.111, + 3183.265, + 0, + -100, + 0 + ], + [ + 14640.854, + -4072.058, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14640.854, + -4072.058, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14568.664, + -4175.156, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14496.474, + -4278.253, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14424.285, + -4381.351, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14424.285, + -4381.351, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14424.285, + -4381.351, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14424.285, + -4381.351, + 3176.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14424.285, + -4381.351, + 3176.204, + 0.0, + -50.0, + 0.0 + ], + [ + 14505.185, + -4477.765, + 3176.204, + 0.0, + -50.0, + 0.0 + ], + [ + 14505.185, + -4477.765, + 3176.204, + 0.0, + -25.0, + 0.0 + ], + [ + 14619.252, + -4530.955, + 3176.204, + 0.0, + -25.0, + 0.0 + ], + [ + 14693.409, + -4572.794, + 3176.204, + 0.0, + -25.0, + 0.0 + ], + [ + 14628.155, + -4542.365, + 3176.204, + 0.0, + -25.0, + 0.0 + ], + [ + 14628.155, + -4542.365, + 3176.204, + 0.0, + -25.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 14335.452, + -4509.895, + 3091.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14335.452, + -4509.895, + 3091.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14335.452, + -4509.895, + 3091.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14335.452, + -4509.895, + 3091.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14335.452, + -4509.895, + 3091.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14335.452, + -4509.895, + 3091.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14442.127, + -4393.099, + 3146.311, + -28.202, + -74.855, + 1.862 + ], + [ + 14446.365, + -4384.618, + 3146.584, + -28.189, + -49.843, + 1.872 + ], + [ + 14446.08, + -4375.67, + 3145.916, + -28.215, + -24.873, + 1.849 + ], + [ + 14448.132, + -4368.478, + 3145.97, + -14.092, + -7.656, + 6.87 + ], + [ + 14521.075, + -4463.479, + 3146.537, + -28.198, + 0.145, + 1.865 + ], + [ + 14514.116, + -4457.403, + 3146.407, + -28.189, + 25.158, + 1.869 + ], + [ + 14627.392, + -4511.193, + 3146.79, + -28.205, + 25.135, + 1.859 + ], + [ + 14701.835, + -4553.159, + 3146.436, + -28.191, + 25.154, + 1.874 + ], + [ + 14691.597, + -4571.948, + 3156.204, + 0.0, + -25.0, + 0.0 + ], + [ + 14691.597, + -4571.948, + 3156.204, + 0.0, + -25.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 650.2, + 533.8, + 533.8, + 408.0, + 282.1, + 156.3, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 22.2, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The small ceramic pot sits on the boards ahead of me at the base of the red double doors, and the green column base with the golden dragon stands off to my right. It is still far away, so I will walk forward to close the gap before trying to grasp it.", + "After advancing, the pot now sits well to the left of my heading while my view is centered on the wall panels. I will turn left so the pot moves toward the middle of my view and my forward path leads straight to it.", + "The pot is now roughly centered in front of me at the foot of the doors, so my heading is usable. I will step forward along this line to shorten the distance toward a range where a grasp becomes possible.", + "The pot has grown larger and stays near the center of my path, confirming I am closing in correctly. It is still several paces off, so I will keep walking forward rather than reaching from here.", + "The pot now fills a good part of the lower view just ahead of my feet, but it is not yet within comfortable reach. One more step forward should place it close enough for a grasp attempt.", + "The ceramic pot is directly at my feet at the edge of my view, closer than any further step would usefully improve. I will attempt the pick now, expecting the pot to come into my hands.", + "The grasp worked, and the ceramic pot is now held in my hands rather than resting on the boards. The dark green column base with the golden dragon lies back along the walkway behind my current heading, so I will turn right to begin swinging around toward it.", + "My view still shows only the red door leaves and carved wall panels, with no sign of the dragon-topped column base. I will keep turning right to bring that base into view before carrying the pot toward it.", + "The pot is in my hands, so I only need a heading toward the destination. A dark green column base with golden dragon carving has come into view at the right edge of my field, still partly cut off. I will turn right again to bring that base fully in front of me.", + "The dark green column base with the golden dragon ornament now sits clearly ahead of me along the veranda, with open floor between us. Carrying the pot, I will walk forward to close that gap before positioning it beside the base.", + "The green dragon base is now close but sits toward the left of the wall line, and my heading is angled into the wall rather than along the open veranda. Turning right should put the walkway ahead of me so I can step alongside the base instead of into the panelling.", + "With the walkway now open in front of me, the target base sits just off my left shoulder at the corner of the wall. I will step forward so I stand level with it, close enough to set the pot down beside it.", + "The green base fills the near left of my view but I am still slightly behind its face. One more short step forward should place me right beside it, giving a clean spot on the floor next to the base for the pot.", + "I am standing immediately beside the dark green column base with the golden dragon ornament, with clear floor at its edge. The pot is still in my hands, so I will release it here so that it should come to rest next to the base.", + "The ceramic pot now rests on the floor directly beside the dark green dragon column base. The placement condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_b_p/infos.json b/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff35f54489663ba01b029e97e8ef2f1fb8fb07c8 --- /dev/null +++ b/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the wicker basket.", + "Type": 5, + "Start_Pose": [ + 14662.709, + -3948.111, + 3183.265, + 0, + -100, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 14539.999, + -4644.159, + 3126.325, + 90, + -100, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14662.709, + -3948.111, + 3183.265, + 0, + -100, + 0 + ], + [ + 14640.854, + -4072.058, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14618.999, + -4196.005, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14597.143, + -4319.952, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14575.288, + -4443.899, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14553.433, + -4567.846, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14553.433, + -4567.846, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14553.433, + -4567.846, + 3176.204, + 0.0, + -100.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 14539.999, + -4644.159, + 3126.325, + 90.0, + -100.0, + 0.0 + ], + [ + 14539.999, + -4644.159, + 3126.325, + 90.0, + -100.0, + 0.0 + ], + [ + 14539.999, + -4644.159, + 3126.325, + 90.0, + -100.0, + 0.0 + ], + [ + 14539.999, + -4644.159, + 3126.325, + 90.0, + -100.0, + 0.0 + ], + [ + 14539.999, + -4644.159, + 3126.325, + 90.0, + -100.0, + 0.0 + ], + [ + 14539.999, + -4644.159, + 3126.325, + 90.0, + -100.0, + 0.0 + ], + [ + 14574.568, + -4570.953, + 3146.311, + -28.202, + -49.856, + 1.862 + ], + [ + 14574.568, + -4570.953, + 3146.311, + -28.202, + -49.856, + 1.862 + ] + ], + "PD_Dist_2D": [ + 706.8, + 580.9, + 455.1, + 329.2, + 203.3, + 77.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket rests upright against the red panelled wall ahead, well beyond my reach. It sits nearly straight in front of my heading, so no turn is needed yet. I will walk forward to close that distance.", + "The basket has grown slightly larger against the wall panel, confirming my heading carries me toward it. The floor between us is clear of obstacles. I will keep walking forward to shorten the remaining gap.", + "The basket is now clearly resolved as a woven disc leaning near the base of the wall, but still too distant to reach. It stays near the center of my view, so my heading remains good. I will continue advancing.", + "The basket now occupies a noticeable part of the lower view, yet it is still several strides away from arm's reach. Nothing blocks the straight path to it. I will step forward again to get close enough to grasp it.", + "The basket fills much of the lower frame now and the carved wall behind it is close, so only a short gap remains. One more step should place it within grasping range. I will move forward before attempting to take it.", + "I am standing right at the wall with the rim of the wicker basket at the bottom edge of my view, directly beneath me. That is close enough for my hands to reach it, and no further stepping is needed. I will attempt to pick it up.", + "The wicker basket is now held in my hands rather than resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_b_pd/infos.json b/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7c1076fecf4c59addc5e90fff2e75b79303d3a61 --- /dev/null +++ b/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_b_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the metal bucket, then place it in front of the red wooden double door.", + "Type": 5, + "Start_Pose": [ + 14662.709, + -3948.111, + 3183.265, + 0, + -100, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 14857.248, + -4432.993, + 3106.204, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14662.709, + -3948.111, + 3183.265, + 0, + -100, + 0 + ], + [ + 14662.709, + -3948.111, + 3183.265, + 0.0, + -75.0, + 0.0 + ], + [ + 14695.284, + -4069.682, + 3176.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14727.858, + -4191.252, + 3176.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14760.433, + -4312.822, + 3176.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14760.433, + -4312.822, + 3176.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14760.433, + -4312.822, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14760.433, + -4312.822, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14760.433, + -4312.822, + 3176.204, + 0.0, + -150.0, + 0.0 + ], + [ + 14651.436, + -4375.752, + 3176.204, + 0.0, + -150.0, + 0.0 + ], + [ + 14542.439, + -4438.681, + 3176.204, + 0.0, + -150.0, + 0.0 + ], + [ + 14433.441, + -4501.61, + 3176.204, + 0.0, + -150.0, + 0.0 + ], + [ + 14433.441, + -4501.61, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14363.502, + -4598.095, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14404.8, + -4539.117, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14404.8, + -4539.117, + 3176.204, + 0.0, + -125.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 14857.248, + -4432.993, + 3106.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14857.248, + -4432.993, + 3106.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14857.248, + -4432.993, + 3106.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14857.248, + -4432.993, + 3106.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14857.248, + -4432.993, + 3106.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14780.901, + -4306.706, + 3146.311, + -28.202, + -24.856, + 1.862 + ], + [ + 14780.632, + -4315.759, + 3146.584, + -28.189, + -49.843, + 1.872 + ], + [ + 14776.869, + -4324.522, + 3145.916, + -28.215, + -74.873, + 1.849 + ], + [ + 14769.219, + -4338.894, + 3146.097, + -14.175, + -107.808, + 6.959 + ], + [ + 14662.745, + -4393.881, + 3146.537, + -28.198, + -99.855, + 1.865 + ], + [ + 14553.492, + -4456.961, + 3145.999, + -28.191, + -99.842, + 1.871 + ], + [ + 14444.381, + -4519.945, + 3145.718, + -28.214, + -99.87, + 1.852 + ], + [ + 14452.329, + -4513.864, + 3146.943, + -28.191, + -74.85, + 1.872 + ], + [ + 14381.319, + -4609.884, + 3146.225, + -28.197, + -74.856, + 1.862 + ], + [ + 14364.649, + -4596.458, + 3136.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14364.649, + -4596.458, + 3136.204, + 0.0, + -125.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 522.5, + 522.5, + 397.8, + 274.2, + 154.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 22.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket sits far off to my right, near the base of a decorated column, while I am currently facing the red double door straight ahead. Before I can walk to it, I need it centered in my view, so I will turn right to put the bucket on my forward heading.", + "The bucket now sits near the middle of my view on the open wooden deck, with a clear stretch of floor between us. Nothing blocks that line, so I will walk forward to close the large gap before any grasp is possible.", + "The bucket has grown noticeably larger and is still slightly right of center, so my heading remains usable. It is still several paces off, well beyond arm's reach, so I will keep walking forward.", + "The bucket now stands prominently ahead beside the green pedestal, but it is still a step or two too far for a reliable grab. I will advance once more to bring it right up against my reach before attempting to lift it.", + "The metal bucket now fills the lower right of my view at arm's length, its rim clearly within reach. This is the closest useful stance, so I will attempt to pick it up rather than step nearer and risk bumping it.", + "The bucket is in my hands and off the floor, so the grasp succeeded. The red double door lies back to my left from this heading, so I will turn left to begin swinging around toward it while carrying the bucket.", + "I still hold the bucket, and my view shows only the carved pedestal and painted wall panels, not the double door I need. Rotating further left should bring the door leaves into the center of my view.", + "The red double door has come into view, but it sits left of center and I am angled into the wall rather than along the open deck. One more left turn should square me with the walkway that runs toward the door, giving me a clear approach with the bucket.", + "The bucket is in my hands and moves with me, so the grasp is holding. Ahead along the veranda I can see a red wooden double door set in the wall to my right, still several paces away. I will walk forward to close that distance while carrying the bucket.", + "The double door with its paired gold ornaments now fills more of my view, but I am still short of standing directly before it. The carried bucket stays with me as I walk. I will step forward again along the veranda to draw level with that doorway.", + "I am nearly abreast of the red double door, whose leaf seam and gold plates are close on my right. One more stride should place me squarely at the door's frontage before I turn to face it. I keep the bucket steady as I advance.", + "I have reached the front of the red double door, but it lies to my right while I face along the veranda. Turning right should square my body and the carried bucket with the door leaves. That heading is what I need before setting the bucket down in front of them.", + "The two door leaves and their gold medallions are now centered ahead of me, so my heading is right. I am still a step off the threshold, which would leave the bucket short of the door. I will move forward once to stand close in front of the doors.", + "I am standing right at the red double door with its panels and gold fitting filling my view, and the bucket is still in my hands. This is the position the task asks for, directly in front of the doors. I will release the bucket here so it rests before them.", + "The metal bucket now rests on the ground directly in front of the red wooden double door, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_c_pd/infos.json b/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5edb473cebf5cc9031f48624ac905cdfac72cc69 --- /dev/null +++ b/dataset/trajectory/asianTemple/task_x014663_y-003948_z003183_t5_c_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it on the floor beside the gold-decorated red wall panel beneath the central teal lattice window.", + "Type": 5, + "Start_Pose": [ + 14662.709, + -3948.111, + 3183.265, + 0, + -100, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 14230.206, + -4482.459, + 3121.204, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 14662.709, + -3948.111, + 3183.265, + 0, + -100, + 0 + ], + [ + 14662.709, + -3948.111, + 3183.265, + 0.0, + -125.0, + 0.0 + ], + [ + 14590.519, + -4051.209, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14518.329, + -4154.306, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14446.14, + -4257.404, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14373.95, + -4360.502, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14373.95, + -4360.502, + 3176.204, + 0.0, + -125.0, + 0.0 + ], + [ + 14373.95, + -4360.502, + 3176.204, + 0.0, + -100.0, + 0.0 + ], + [ + 14373.95, + -4360.502, + 3176.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14373.95, + -4360.502, + 3176.204, + 0.0, + -50.0, + 0.0 + ], + [ + 14454.85, + -4456.916, + 3176.204, + 0.0, + -50.0, + 0.0 + ], + [ + 14535.751, + -4553.329, + 3176.204, + 0.0, + -50.0, + 0.0 + ], + [ + 14535.751, + -4553.329, + 3176.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14573.768, + -4648.922, + 3176.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14555.133, + -4579.375, + 3176.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14555.133, + -4579.375, + 3176.204, + 0.0, + -75.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 14230.206, + -4482.459, + 3121.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14230.206, + -4482.459, + 3121.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14230.206, + -4482.459, + 3121.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14230.206, + -4482.459, + 3121.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14230.206, + -4482.459, + 3121.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14230.206, + -4482.459, + 3121.204, + 0.0, + 0.0, + 0.0 + ], + [ + 14391.792, + -4372.25, + 3146.311, + -28.202, + -74.856, + 1.862 + ], + [ + 14396.03, + -4363.769, + 3146.584, + -28.189, + -49.843, + 1.872 + ], + [ + 14395.746, + -4354.82, + 3145.916, + -28.215, + -24.873, + 1.849 + ], + [ + 14397.797, + -4347.628, + 3145.97, + -14.092, + -7.656, + 6.87 + ], + [ + 14470.741, + -4442.63, + 3146.537, + -28.198, + 0.145, + 1.865 + ], + [ + 14551.833, + -4539.269, + 3145.999, + -28.191, + 0.158, + 1.871 + ], + [ + 14555.153, + -4547.345, + 3146.79, + -28.205, + -24.865, + 1.859 + ], + [ + 14594.157, + -4642.536, + 3146.765, + -28.209, + -24.868, + 1.858 + ], + [ + 14573.25, + -4646.99, + 3166.204, + 0.0, + -75.0, + 0.0 + ], + [ + 14573.25, + -4646.99, + 3166.204, + 0.0, + -75.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 687.4, + 687.4, + 562.0, + 436.7, + 311.9, + 188.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 20.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper is sitting on the floor well to my left, close to the base of the red panelled wall, while my heading points at the doors ahead. I will turn left so the pepper moves toward the middle of my view and I can walk straight at it. That should give me a clean approach line before any grasp attempt.", + "The green pepper now sits near the middle of my view, resting on the wooden floor in front of the red doors. It is still far off, too distant for my hands to reach. I will walk forward along this heading to close the gap.", + "The pepper has grown noticeably larger and stays just left of center, so my heading is still good. There is open floor between me and it with nothing blocking the way. I will keep walking forward to shorten the remaining distance.", + "The pepper is clearly closer now, sitting on the floor beside the red door frame slightly left of my center. I am still several paces short of a comfortable reach. Another step forward should bring it within grasping range.", + "The pepper now fills a good part of the lower view with its stem clearly visible, but it is still a bit ahead of my feet. I want it directly at my front before attempting a grasp. I will take one more step forward to close that last gap.", + "The green bell pepper is now right at my feet, large in the lower part of my view and within arm's reach against the red door base. Nothing stands between my hands and it. I will attempt the pick now so I can carry it to the decorated panel area.", + "The grasp worked, the pepper is in my hands and no longer resting on the floorboards. The drop spot lies beside the gold-decorated red panel further along to my right, not behind the doors I was facing. I will turn right to begin swinging my heading toward that stretch of wall.", + "With the pepper secured, my view still shows only the flat red door leaves directly ahead, so my heading is not yet on the target stretch of wall. The gold-decorated panelling continues off to my right edge. I will turn right again to bring that panel and its lattice window into view.", + "The bell pepper is in my hands, so I now need a heading toward the drop spot along this veranda. My view still shows only the door leaves and the near pillar base, with the walkway opening off to the right. I will turn right once more to bring the gold-decorated panel section and the walkway ahead into view.", + "Turning has opened the veranda ahead, with the gold-ornamented red panels running along my left and the teal lattice window above them. The target panel is still several paces away, so carrying the pepper forward is the right move. I will step forward to close that gap.", + "The gold cloud carvings and the pillar base have grown noticeably larger, confirming I am closing on the panel section beneath the lattice window. I am still short of the floor space directly beside it. Another forward step should bring me level with that panel.", + "I am now level with the decorated wall, but it fills the left side of my view while my heading points down the walkway. To set the pepper beside the gold-decorated panel I need to square up to it. I will turn left so the panel and the lattice window above it sit in front of me.", + "The gold corner ornaments and the lattice frame above them are now centered in front of me, so I am facing the intended panel. A short gap of floor still separates me from the wall base. I will step forward so the pepper can be released right beside the panel.", + "The red panel with its gold corner carving now fills my view at close range, meaning I am standing at the floor space beside it, under the lattice window. The pepper is still in my hands and the placement target is directly here. I will release it now so it should come to rest beside this panel.", + "The green bell pepper now rests on the floor beside the gold-decorated red panel under the teal lattice window. The task condition is met, so I stop here." + ] +}