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then approach the wooden door under the corner.", + "Type": 3, + "Start_Pose": [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001312_y008131_z000118_t3_b.json b/benchmark/task/CourtYard/task_x001312_y008131_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9a842f12673e4cfb440aa3751d3b901a6819d983 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001312_y008131_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the vertical drainpipe on the wall corner, then reach the red door.", + "Type": 3, + "Start_Pose": [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001312_y008131_z000118_t3_c.json b/benchmark/task/CourtYard/task_x001312_y008131_z000118_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..cd9e8b26bd52c4f68e7c62eb682b6e5f2be37e93 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001312_y008131_z000118_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden door under the corner, then move to the red door.", + "Type": 3, + "Start_Pose": [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001312_y008131_z000118_t3_d.json b/benchmark/task/CourtYard/task_x001312_y008131_z000118_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..cb67e357a1c9995a13838fdc176e09bd95151fe3 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001312_y008131_z000118_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the red door, then reach the drainpipe corner.", + "Type": 3, + "Start_Pose": [ + 1312.002, + 8131.077, + 118.15, + 0.0, + 30.72, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_a.json b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..63fbeee6548f3248156eab155ba37c75734750ca --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the green metal dumpsters, then approach the red door.", + "Type": 3, + "Start_Pose": [ + 1318.245, + 7191.147, + 118.15, + 0, + -11.52, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_b.json b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..c8b60fb20910bffd2efa60fc7ab37ef70f2f8d67 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the brown wooden door, then reach the red door.", + "Type": 3, + "Start_Pose": [ + 1318.245, + 7191.147, + 118.15, + 0.0, + -11.52, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_c.json b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..459ef31a4c8d82caeca273a16409ee7f7d372268 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the gray graffiti on the wall, then navigate to the red door.", + "Type": 3, + "Start_Pose": [ + 1318.245, + 7191.147, + 118.15, + 0, + -11.52, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_d.json b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..d2be6c26a0d4e16a17c04b5b2ac4528b0b44e8e3 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the red door, then proceed to the brown wooden door.", + "Type": 3, + "Start_Pose": [ + 1318.245, + 7191.147, + 118.15, + 0.0, + -11.52, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_e.json b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_e.json new file mode 100644 index 0000000000000000000000000000000000000000..d79a4aa209f161e94654a03155cf049a4da383fc --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007191_z000118_t3_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the red door, then walk to the wall gray graffiti.", + "Type": 3, + "Start_Pose": [ + 1318.245, + 7191.147, + 118.15, + 0, + -11.52, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_a.json b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d2c3ab83fe4f4bfabb4862a0379cb29255aa862e --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the red door on the right under the awning.", + "Type": 2, + "Start_Pose": [ + 1318.018, + 7867.234, + 118.15, + 0.0, + 29.76, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_b.json b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0c102c46c8b0dfe802cf964b1b4fcc96a8018575 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost ground-floor window at the base.", + "Type": 2, + "Start_Pose": [ + 1318.018, + 7867.234, + 118.15, + 0.0, + 29.76, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_c.json b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..96b50f60cfdb0dab125a83f26d0afb49393eed13 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the vertical drainpipe in the far right corner.", + "Type": 2, + "Start_Pose": [ + 1318.018, + 7867.234, + 118.15, + 0, + 29.76, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_d.json b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..f969f8153c85344ee1be2044de396de6fc08ff22 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the vertical drainpipe on the left.", + "Type": 2, + "Start_Pose": [ + 1318.018, + 7867.234, + 118.15, + 0.0, + 29.76, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_e.json b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..e7242e4c1ed5ab0f90d34c19227abb65721a88d2 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001318_y007867_z000118_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the second ground-floor window from the left.", + "Type": 2, + "Start_Pose": [ + 1318.018, + 7867.234, + 118.15, + 0.0, + 29.76, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001433_y006682_z000130_t0_a.json b/benchmark/task/CourtYard/task_x001433_y006682_z000130_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2ab5ed58c2875176a4a5a163a39dacf26dad2ac6 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001433_y006682_z000130_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red door on the building.", + "Type": 0, + "Start_Pose": [ + 1432.97, + 6682.451, + 129.616, + 0.0, + 35.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001433_y006682_z000130_t0_b.json b/benchmark/task/CourtYard/task_x001433_y006682_z000130_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..23983b25399ee2558a5f5972c3cb75cd08944eea --- /dev/null +++ b/benchmark/task/CourtYard/task_x001433_y006682_z000130_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the green dumpster against the wall.", + "Type": 0, + "Start_Pose": [ + 1432.97, + 6682.451, + 129.616, + 0.0, + 35.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001433_y006682_z000130_t0_c.json b/benchmark/task/CourtYard/task_x001433_y006682_z000130_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..75ee2949099b98ae952cdb2fa0a18ff5fb0c7081 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001433_y006682_z000130_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the graffiti tag on the wall.", + "Type": 0, + "Start_Pose": [ + 1432.97, + 6682.451, + 129.616, + 0.0, + 35.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001459_y008111_z000118_t0_a.json b/benchmark/task/CourtYard/task_x001459_y008111_z000118_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1d7f722432c69638f70c5d92441c9d0dffb15246 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001459_y008111_z000118_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red door.", + "Type": 0, + "Start_Pose": [ + 1458.563, + 8110.887, + 118.15, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001459_y008111_z000118_t0_b.json b/benchmark/task/CourtYard/task_x001459_y008111_z000118_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e608ee53f8da8738bacb2889adff36e4fb9a726d --- /dev/null +++ b/benchmark/task/CourtYard/task_x001459_y008111_z000118_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to that dark brown door.", + "Type": 0, + "Start_Pose": [ + 1458.563, + 8110.887, + 118.15, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001459_y008111_z000118_t0_c.json b/benchmark/task/CourtYard/task_x001459_y008111_z000118_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..c7ca7985bc609ba4d8eaf05586b1000c87fd6d9f --- /dev/null +++ b/benchmark/task/CourtYard/task_x001459_y008111_z000118_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the concrete step below the red door.", + "Type": 0, + "Start_Pose": [ + 1458.563, + 8110.887, + 118.15, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_a.json b/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..79ed6540515020b028321c145143c3429842c253 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red door on the left.", + "Type": 2, + "Start_Pose": [ + 1513.88, + 6599.484, + 118.15, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_b.json b/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..903e4b1c535688336b21d11392f8029abd99811b --- /dev/null +++ b/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the red door on the right.", + "Type": 2, + "Start_Pose": [ + 1513.88, + 6599.484, + 118.15, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_c.json b/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..4aa8de5b4b08cdf3dd6821017d4a5afcccc8fe40 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second red door from the right.", + "Type": 2, + "Start_Pose": [ + 1513.88, + 6599.484, + 118.15, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_d.json b/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..743e93d4dbfc8a0b79b44b41987b53490c1d23b3 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001514_y006599_z000118_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the wooden pallets leaning against the wall on the left.", + "Type": 2, + "Start_Pose": [ + 1513.88, + 6599.484, + 118.15, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001527_y008193_z000118_t5_a_p.json b/benchmark/task/CourtYard/task_x001527_y008193_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..e6fea31e8c1da459a3a519240aaac94847525f22 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001527_y008193_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra near the drainpipe base.", + "Type": 5, + "Start_Pose": [ + 1526.975, + 8192.727, + 118.15, + 0, + 54.08, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 1862.174, + 8641.317, + 28.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001527_y008193_z000118_t5_a_pd.json b/benchmark/task/CourtYard/task_x001527_y008193_z000118_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..de4677ebaef4b5ac520db6a8e813ef002e6a1641 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001527_y008193_z000118_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket, then set it down near the red door.", + "Type": 5, + "Start_Pose": [ + 1526.975, + 8192.727, + 118.15, + 0, + 54.08, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1994.758, + 8644.85, + 68.281, + 90, + 54.08, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001527_y008193_z000118_t5_b_pd.json b/benchmark/task/CourtYard/task_x001527_y008193_z000118_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..db909fc376ed25649f8638de22b6fc35e566faef --- /dev/null +++ b/benchmark/task/CourtYard/task_x001527_y008193_z000118_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can, then place it by the brown door.", + "Type": 5, + "Start_Pose": [ + 1526.975, + 8192.727, + 118.15, + 0, + 54.08, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1675.299, + 8630.133, + 50.15, + 0, + 90, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001645_y006817_z000118_t1_a.json b/benchmark/task/CourtYard/task_x001645_y006817_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..af5e693c7d15faacd8689b8817a45cab2b6a00f8 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001645_y006817_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the green dumpsters positioned against the weathered wall, then head over to them.", + "Type": 1, + "Start_Pose": [ + 1645.424, + 6816.561, + 118.15, + 0.0, + -145.92, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001645_y006817_z000118_t1_b.json b/benchmark/task/CourtYard/task_x001645_y006817_z000118_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ee361dea40331db5537c4fe690e6408f68285d16 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001645_y006817_z000118_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the wooden pallet resting near the concrete wall with red graffiti text; after locating it, proceed to its position.", + "Type": 1, + "Start_Pose": [ + 1645.424, + 6816.561, + 118.15, + 0.0, + -145.92, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001645_y006817_z000118_t1_c.json b/benchmark/task/CourtYard/task_x001645_y006817_z000118_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..e0eb5d368031a55082b87c51ab6cb95684c070e4 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001645_y006817_z000118_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the stacked trash bags; once found, head toward it.", + "Type": 1, + "Start_Pose": [ + 1645.424, + 6816.561, + 118.15, + 0.0, + -145.92, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_a_p.json b/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..018233997bcd22da1d91b6fd04f721a2525da328 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra near the wooden pallet standing upright near the dumpster.", + "Type": 5, + "Start_Pose": [ + 1664.723, + 6763.362, + 118.15, + 0, + 34.08, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 2240.138, + 7149.622, + 43.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_a_pd.json b/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..ef7453509af44f1ccc749a0d96098c1d5c9fa40e --- /dev/null +++ b/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot from the wooden pallet near the graffiti wall, then place it near the concrete step in front of the red door.", + "Type": 5, + "Start_Pose": [ + 1664.723, + 6763.362, + 118.15, + 0, + 34.08, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2497.747, + 6842.49, + 43.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_b_p.json b/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..88bef63ddb7e7b83a8a23e1498513a89b9f3caea --- /dev/null +++ b/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket near the concrete step in front of the red door.", + "Type": 5, + "Start_Pose": [ + 1664.723, + 6763.362, + 118.15, + 0, + 34.08, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1903.829, + 7410.451, + 68.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_b_pd.json b/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..274ebf0e7e42de0932dc191f5c8e1d8eb8999cab --- /dev/null +++ b/benchmark/task/CourtYard/task_x001665_y006763_z000118_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper from the concrete step in front of the red door, then place it near the left-hand one of the two green dumpsters, beside the upright wooden pallet.", + "Type": 5, + "Start_Pose": [ + 1664.723, + 6763.362, + 118.15, + 0, + 34.08, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1922.098, + 7444.684, + 74.892, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001686_y006195_z000118_t3_a.json b/benchmark/task/CourtYard/task_x001686_y006195_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f7dc19abe9f8e86421799e514414feef2614bf1e --- /dev/null +++ b/benchmark/task/CourtYard/task_x001686_y006195_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the red door with the awning on the right, then reach the green dumpster.", + "Type": 3, + "Start_Pose": [ + 1685.65, + 6194.675, + 118.15, + 0.0, + 89.28, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001686_y006195_z000118_t3_b.json b/benchmark/task/CourtYard/task_x001686_y006195_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2357f41377a44f4849d87e50fd93cc316fd703a5 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001686_y006195_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the wooden pallet, then proceed to the red door with awning on the right.", + "Type": 3, + "Start_Pose": [ + 1685.65, + 6194.675, + 118.15, + 0.0, + 89.28, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001788_y006967_z000118_t1_a.json b/benchmark/task/CourtYard/task_x001788_y006967_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..050177c71bcf9e5c448c33e2634a3b43f73c87f6 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001788_y006967_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the brown wooden door set into the building facade and navigate to it.", + "Type": 1, + "Start_Pose": [ + 1788.174, + 6967.071, + 118.15, + 0.0, + 19.2, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001788_y006967_z000118_t1_b.json b/benchmark/task/CourtYard/task_x001788_y006967_z000118_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a893e44ceedbda68c20350a50bf63c05a8ac83b6 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001788_y006967_z000118_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Determine where the graffiti depicting a large red letter \"A\" enclosed within a circle is painted on the wall, then make your way to that spot.", + "Type": 1, + "Start_Pose": [ + 1788.174, + 6967.071, + 118.15, + 0.0, + 19.2, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001990_y008061_z000118_t5_a_p.json b/benchmark/task/CourtYard/task_x001990_y008061_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..1ac8e2d9682004bf0f1fd7da0b84f6994216f96a --- /dev/null +++ b/benchmark/task/CourtYard/task_x001990_y008061_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can near the corner where the left wall meets the right wall.", + "Type": 5, + "Start_Pose": [ + 1989.881, + 8060.777, + 118.15, + 0, + 154.08, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1395.914, + 8670.655, + 38.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001990_y008061_z000118_t5_b_p.json b/benchmark/task/CourtYard/task_x001990_y008061_z000118_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..422a89359ee28c6c9e7db0d0b337e0459fb9172f --- /dev/null +++ b/benchmark/task/CourtYard/task_x001990_y008061_z000118_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket near the concrete step in front of the red door.", + "Type": 5, + "Start_Pose": [ + 1989.881, + 8060.777, + 118.15, + 0, + 154.08, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1677.635, + 8693.671, + 82.342, + 90, + 114.08, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x001990_y008061_z000118_t5_c_p.json b/benchmark/task/CourtYard/task_x001990_y008061_z000118_t5_c_p.json new file mode 100644 index 0000000000000000000000000000000000000000..a582ecebe34e941b25ab2b220606ba4b9f58a0b6 --- /dev/null +++ b/benchmark/task/CourtYard/task_x001990_y008061_z000118_t5_c_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot near the base of the drainpipe on the right wall.", + "Type": 5, + "Start_Pose": [ + 1989.881, + 8060.777, + 118.15, + 0, + 154.08, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1400.861, + 8060.248, + 33.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_a.json b/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..bfe2726d1657de2e0980515a1f95f7dc9a2a0467 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the dark wooden door, then approach the red door.", + "Type": 3, + "Start_Pose": [ + 2008.516, + 7036.984, + 118.15, + 0.0, + -99.84, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_b.json b/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..da5703897eb6bef138dd2437030241ffc57514e3 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the red door, then reach the drainpipe base.", + "Type": 3, + "Start_Pose": [ + 2008.516, + 7036.984, + 118.15, + 0.0, + -99.84, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_c.json b/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..2405d0e502967a0bad5b37451a94de0f2a39207e --- /dev/null +++ b/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the drainpipe base, then move to the red door.", + "Type": 3, + "Start_Pose": [ + 2008.516, + 7036.984, + 118.15, + 0.0, + -99.84, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_d.json b/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..ead3e699009e1a65d208bdbc3b0d3ab3be5abbb2 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002009_y007037_z000118_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the drainpipe base, then proceed to the brown wooden door.", + "Type": 3, + "Start_Pose": [ + 2008.516, + 7036.984, + 118.15, + 0.0, + -99.84, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_a_p.json b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..d406eb19ba065c8b5e5f4ede43e61eeb2b98c265 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket near the concrete step in front of the large brown wooden door.", + "Type": 5, + "Start_Pose": [ + 2192.159, + 6895.649, + 118.15, + 0, + -145.92, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1957.25, + 6413.445, + 66.555, + 90, + 60, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_a_pd.json b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..034e787e43e559f81fb1cbe012a13c93cbe82417 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot from the concrete step in front of the large brown wooden door, then place it near the concrete step in front of the red door on the left.", + "Type": 5, + "Start_Pose": [ + 2192.159, + 6895.649, + 118.15, + 0, + -145.92, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1924.091, + 6378.371, + 47.177, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_b_p.json b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..a17d9ff2c633a6259183e3e2a3e353e8981e0d7d --- /dev/null +++ b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate near the front of the smaller red door in the center.", + "Type": 5, + "Start_Pose": [ + 2192.159, + 6895.649, + 118.15, + 0, + -145.92, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1577.97, + 6140.808, + 68.15, + 90, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_b_pd.json b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..6bf74f3c16b16caf0d2ad78a152c4e4457706039 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can in front of the smaller red door in the center, then place it on the ground near the base of the brown wooden door on the right.", + "Type": 5, + "Start_Pose": [ + 2192.159, + 6895.649, + 118.15, + 0, + -145.92, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1601.983, + 6276.647, + 34.877, + 12.079, + -125.282, + 90.003 + ] +} diff --git a/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_c_pd.json b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..1a78aacc4b32eaabb02c4b3804db1bb25ccda565 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002192_y006896_z000118_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato from the concrete step in front of the red door on the left, then place it near the concrete step in front of the smaller red door in the center.", + "Type": 5, + "Start_Pose": [ + 2192.159, + 6895.649, + 118.15, + 0, + -145.92, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1375.519, + 6719.016, + 68.07, + -44.33, + -87.398, + 87.655 + ] +} diff --git a/benchmark/task/CourtYard/task_x002242_y005336_z000118_t1_a.json b/benchmark/task/CourtYard/task_x002242_y005336_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a7b014fada2033c350e5b5e69446e6bbb78e4e91 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002242_y005336_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the wooden door set into the building facade and navigate to it.", + "Type": 1, + "Start_Pose": [ + 2241.698, + 5336.455, + 118.15, + 0.0, + -45.92, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002242_y005336_z000118_t1_b.json b/benchmark/task/CourtYard/task_x002242_y005336_z000118_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..48a670af3dc5a311d99685e924da3697f6213ca0 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002242_y005336_z000118_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the circled letter \"A\" graffiti that appears alone on the wall, separate from other surrounding markings, and make your way to that spot.", + "Type": 1, + "Start_Pose": [ + 2241.698, + 5336.455, + 118.15, + 0.0, + -45.92, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002254_y005309_z000118_t0_a.json b/benchmark/task/CourtYard/task_x002254_y005309_z000118_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fcc07246f1eed97803e12fc3c553a08599b38971 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002254_y005309_z000118_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden door with the small overhead canopy.", + "Type": 0, + "Start_Pose": [ + 2253.899, + 5309.103, + 118.15, + 0.0, + -151.68, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002254_y005309_z000118_t0_b.json b/benchmark/task/CourtYard/task_x002254_y005309_z000118_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e19eef72c361115e04e59c547c3deebfe794bd46 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002254_y005309_z000118_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the wall bearing the red 'A' graffiti enclosed by a circle.", + "Type": 0, + "Start_Pose": [ + 2253.899, + 5309.103, + 118.15, + 0.0, + -151.68, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002254_y005309_z000118_t0_c.json b/benchmark/task/CourtYard/task_x002254_y005309_z000118_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..72aa095db11c5654fa7b4ff91caade675a9a587b --- /dev/null +++ b/benchmark/task/CourtYard/task_x002254_y005309_z000118_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the ground-floor window near the arched entrance.", + "Type": 0, + "Start_Pose": [ + 2253.899, + 5309.103, + 118.15, + 0, + -151.68, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002298_y005199_z000118_t3_a.json b/benchmark/task/CourtYard/task_x002298_y005199_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..696a32bfa8b73780501b737e10ab5488565a2bd7 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002298_y005199_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the red anarchy symbol on the wall, then proceed to the wooden entrance door.", + "Type": 3, + "Start_Pose": [ + 2297.689, + 5199.394, + 118.15, + 0.0, + -175.68, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002298_y005199_z000118_t3_b.json b/benchmark/task/CourtYard/task_x002298_y005199_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0562e2a0bdb2302be679094b243100c20b4ba45b --- /dev/null +++ b/benchmark/task/CourtYard/task_x002298_y005199_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the wooden door under the awning, then head toward the red spray-painted symbol on the wall.", + "Type": 3, + "Start_Pose": [ + 2297.689, + 5199.394, + 118.15, + 0, + -175.68, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_a.json b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fe9375793b6e09801f583fd2b98e32ec5a59fcca --- /dev/null +++ b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the first red door on the left.", + "Type": 2, + "Start_Pose": [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_b.json b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..bb91fefa4cbda67182bc17cab3a4d83fa8467837 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second red door from the left.", + "Type": 2, + "Start_Pose": [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_c.json b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..5a436c8c1bd9cfd258dbd44e8e245fb432985bcc --- /dev/null +++ b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the brown wooden door on the right.", + "Type": 2, + "Start_Pose": [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_d.json b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..db8139e3db34bb30c48d98c19dc51a246beaca40 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the drainpipe running down the left wall.", + "Type": 2, + "Start_Pose": [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_e.json b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..87d3098cd0a0c0c678856656b52bb2999e7e73c6 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002321_y007212_z000118_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the drainpipe on the far right wall.", + "Type": 2, + "Start_Pose": [ + 2321.139, + 7211.584, + 118.15, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_a_p.json b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..eab23e485399b970ff4030d2c34682de8e19b026 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket near the stone step in front of the wooden door.", + "Type": 5, + "Start_Pose": [ + 2378.149, + 5064.609, + 118.15, + 0, + 174.08, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1491.95, + 5148.253, + 81.871, + 90, + -165.92, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_a_pd.json b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..892f2a9a5da55f09f1cc6131579e13a121f6c0d1 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato from the stone step in front of the wooden door, then place it on the ground beneath the window on the left wall.", + "Type": 5, + "Start_Pose": [ + 2378.149, + 5064.609, + 118.15, + 0, + 174.08, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1563.38, + 4979.988, + 88.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_b_p.json b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..05a11629de87b053743afbc2b10f213c6c26ea3f --- /dev/null +++ b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot from the ground beneath the window on the left wall.", + "Type": 5, + "Start_Pose": [ + 2378.149, + 5064.609, + 118.15, + 0, + 174.08, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 2061.531, + 5360.623, + 43.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_b_pd.json b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..4c58061a643e694514dfb68ab035b10b8ecea2d3 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag from the ground beneath the window on the left wall, then place it near the corner where the right wall meets the far wall.", + "Type": 5, + "Start_Pose": [ + 2378.149, + 5064.609, + 118.15, + 0, + 174.08, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1899.104, + 5374.074, + 38.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_c_pd.json b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..7ee8fb9d9d35118349f66dca7c0afa8c27083d72 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002378_y005065_z000118_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate from the ground near the graffiti on the right wall, then place it on the ground beneath the window on the left wall.", + "Type": 5, + "Start_Pose": [ + 2378.149, + 5064.609, + 118.15, + 0, + 174.08, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1521.381, + 4821.912, + 68.15, + 90, + 0, + 0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002758_y004923_z000118_t2_a.json b/benchmark/task/CourtYard/task_x002758_y004923_z000118_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5b771b881a89dd9f4ea967567097bc569542f71b --- /dev/null +++ b/benchmark/task/CourtYard/task_x002758_y004923_z000118_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost low ground-floor window on the left wall.", + "Type": 2, + "Start_Pose": [ + 2758.176, + 4922.996, + 118.15, + 0.0, + 143.04, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002758_y004923_z000118_t2_b.json b/benchmark/task/CourtYard/task_x002758_y004923_z000118_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9c61e723dd1694026395c543e125303b62d4c89b --- /dev/null +++ b/benchmark/task/CourtYard/task_x002758_y004923_z000118_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the ground-floor window immediately left of the wooden door.", + "Type": 2, + "Start_Pose": [ + 2758.176, + 4922.996, + 118.15, + 0.0, + 143.04, + -0.0 + ] +} diff --git a/benchmark/task/CourtYard/task_x002758_y004923_z000118_t2_c.json b/benchmark/task/CourtYard/task_x002758_y004923_z000118_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..9bd015243e1c06fda59308c150fb3ecfa18a22c1 --- /dev/null +++ b/benchmark/task/CourtYard/task_x002758_y004923_z000118_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the second low ground-floor window on the left.", + "Type": 2, + "Start_Pose": [ + 2758.176, + 4922.996, + 118.15, + 0.0, + 143.04, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_a.json b/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..77570d6ac5edbf74ace1ae9b84fee44383a45078 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the vending cart under the leftmost yellow-blue umbrella.", + "Type": 2, + "Start_Pose": [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_c.json b/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..7462c647afe95ac3f53833fc65331e269b22b7d7 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second vending cart with the blue-and-yellow striped umbrella from the left.", + "Type": 2, + "Start_Pose": [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_d.json b/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..059b244a65ed9285b1d914533e7f8b352c214799 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the base of the leftmost large tree.", + "Type": 2, + "Start_Pose": [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-001345_y-000417_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x-001345_y-000417_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ed225fb5f897df591caeb70c773ebedfce687130 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-001345_y-000417_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the pure yellow umbrella situated in the plaza area, then approach it.", + "Type": 1, + "Start_Pose": [ + -1344.856, + -417.188, + 100.978, + -0.006, + 36.921, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-001416_y000403_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x-001416_y000403_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6ce7712833fcf447ed98c71deed3ffa643c5d7a4 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-001416_y000403_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the low, horizontal white rectangular signboard inside the small fenced planter beneath a large tree, then approach it.", + "Type": 1, + "Start_Pose": [ + -1416.075, + 403.43, + 100.798, + -0.006, + -23.079, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-003678_y000454_z000102_t2_a.json b/benchmark/task/Downtownwest/task_x-003678_y000454_z000102_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..37ffeb5e86f115d708f7228921e622348c2f32cc --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-003678_y000454_z000102_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue umbrella on the right side.", + "Type": 2, + "Start_Pose": [ + -3678.217, + 453.981, + 101.86, + -0.006, + -80.679, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-003678_y000454_z000102_t2_b.json b/benchmark/task/Downtownwest/task_x-003678_y000454_z000102_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..6363c553881c466a22ee832a79540e1b52248881 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-003678_y000454_z000102_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden bench near the second tree from the left.", + "Type": 2, + "Start_Pose": [ + -3678.217, + 453.981, + 101.86, + -0.006, + -80.679, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-005469_y-001114_z000101_t0_a.json b/benchmark/task/Downtownwest/task_x-005469_y-001114_z000101_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..13ef6122d7ac9950e257d9421e4248a732846afd --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-005469_y-001114_z000101_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the small cart with an umbrella on the walkway.", + "Type": 0, + "Start_Pose": [ + -5468.979, + -1114.5, + 100.67, + 0.0, + -166.08, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-008500_y000994_z000101_t0_a.json b/benchmark/task/Downtownwest/task_x-008500_y000994_z000101_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a95cb9bb7bf1f2c6ded6e0725a30fd05705482ad --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-008500_y000994_z000101_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the ornate street lamp post.", + "Type": 0, + "Start_Pose": [ + -8499.857, + 994.202, + 100.798, + 0.0, + -97.92, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-008501_y000197_z000103_t1_a.json b/benchmark/task/Downtownwest/task_x-008501_y000197_z000103_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..15c32314649b3c28c0e7857149032f6f77fa5c0e --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-008501_y000197_z000103_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the storefront entrance that has three blue advertisement posters displayed on its glass panels, then navigate to that door.", + "Type": 1, + "Start_Pose": [ + -8500.584, + 197.29, + 102.72, + -0.006, + 56.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-008501_y000197_z000103_t1_b.json b/benchmark/task/Downtownwest/task_x-008501_y000197_z000103_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..c6ea58e3111a5e9f3b5d96d033bb910f84938589 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-008501_y000197_z000103_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the A-frame advertising sign standing on the sidewalk; once you have spotted it, go over to it.", + "Type": 1, + "Start_Pose": [ + -8500.584, + 197.29, + 102.72, + -0.006, + 56.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_a.json b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5a67348f1615b585e7072a19c5243cda13102839 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the storefront displaying the red and white \"Weefit\" sign above glass double doors; navigate to its entrance.", + "Type": 1, + "Start_Pose": [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_c.json b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..6693abe3710ac916e8643e4f067d5f94deee03b7 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look for the establishment whose sign reads \"Europa\" framed in red on the building facade; once you spot it, head to the front of that shop.", + "Type": 1, + "Start_Pose": [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_d.json b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_d.json new file mode 100644 index 0000000000000000000000000000000000000000..8ee7c6a60b7b090b35af560ca893953e0c16fc41 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the red advertisement panel situated near the Upsway store, and after spotting it, walk over to that sign.", + "Type": 1, + "Start_Pose": [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_e.json b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_e.json new file mode 100644 index 0000000000000000000000000000000000000000..c5bfa7a7a3cefdb8273155e3a30d3c57f9601b34 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Seek out the red promotional banner close to the Europa shop entrance; once located, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_a.json b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..61d0e768f3b9dd3b550bb8e60f8f271ce6f7d9d3 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the storefront window under the second green awning from the right.", + "Type": 2, + "Start_Pose": [ + -11069.945, + -1851.515, + 82.097, + -0.006, + -168.999, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_b.json b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd8af5c97888028c00eb22b14e117cb13c9098c --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the storefront window under the second green awning from the left.", + "Type": 2, + "Start_Pose": [ + -11069.945, + -1851.515, + 82.097, + -0.006, + -168.999, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_d.json b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..6274a15b3462732544c7e82d07fe431f38d5a3c9 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the information kiosk near the left sidewalk.", + "Type": 2, + "Start_Pose": [ + -11069.945, + -1851.515, + 82.097, + -0.006, + -168.999, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_e.json b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..a387b76870ffb3db5dd20203ef0a0bea0069c8c5 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the rightmost storefront window under the green awning.", + "Type": 2, + "Start_Pose": [ + -11069.945, + -1851.515, + 82.097, + -0.006, + -168.999, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_b.json b/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..17f122d9d0585d47426acc8017bf5e7b852a684c --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the black bollard closest to the uFoods storefront, then move to the uFoods store entrance.", + "Type": 3, + "Start_Pose": [ + -11652.917, + -2070.48, + 82.097, + -0.006, + 172.761, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_c.json b/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..32f94adcc079b8a46f7b9dab1e4bebfd83547d5e --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the blue street sign pole, then proceed to the uFoods store entrance.", + "Type": 3, + "Start_Pose": [ + -11652.917, + -2070.48, + 82.097, + -0.006, + 172.761, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_d.json b/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..35be0d6d38b160c82249bc5f82abebce4918038c --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the colorful newsstand kiosk with the green canopy, then walk to the black bollard beside the pole holding the blue street sign.", + "Type": 3, + "Start_Pose": [ + -11652.917, + -2070.48, + 82.097, + -0.006, + 172.761, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_a_p.json b/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..c443c211d7a096dbd9694bf9172c93df6f0d5465 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can near the green fire hydrant.", + "Type": 5, + "Start_Pose": [ + -12061.707, + 1730.127, + 82.097, + -0.006, + -163.079, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -12700.232, + 1247.681, + 20.817, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_a_pd.json b/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..a4aa03824927ed37fbf03ebb4805e800c761453c --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato from the sidewalk near the blue fire hydrant, then place it near the sandwich board sign on the brick pedestrian plaza.", + "Type": 5, + "Start_Pose": [ + -12061.707, + 1730.127, + 82.097, + -0.006, + -163.079, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -12648.897, + 1122.798, + 52.097, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_b_p.json b/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..e8ecf8915d51af6f068761933f391b511d79eece --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper near the raised brick planter box in front of the building with the red awning.", + "Type": 5, + "Start_Pose": [ + -12061.707, + 1730.127, + 82.097, + -0.006, + -163.079, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -13236.956, + 1590.69, + 55.798, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_b_pd.json b/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..ca5d85db98573cac501407b3c7d0e25b646b0503 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-012062_y001730_z000082_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate from the ground next to the sandwich board sign on the brick pedestrian plaza, then place it near the gray stone planter near the building with large dark windows.", + "Type": 5, + "Start_Pose": [ + -12061.707, + 1730.127, + 82.097, + -0.006, + -163.079, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -13491.424, + 1129.763, + 50.81, + 90, + 180, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-013093_y000029_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x-013093_y000029_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2ac58b35cf3f3441caf077f91461c3db6d1df5 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-013093_y000029_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the A-frame sandwich board sign placed in front of the shop with a red awning on this plaza, then approach it.", + "Type": 1, + "Start_Pose": [ + -13092.925, + 29.334, + 100.877, + -0.006, + 176.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-013093_y000029_z000101_t1_b.json b/benchmark/task/Downtownwest/task_x-013093_y000029_z000101_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2e4d05de0b3f4ed7371c225d5dac1f8b777cad7a --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-013093_y000029_z000101_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the cylindrical advertising column topped with a green dome and covered in colorful posters; once found, reach it.", + "Type": 1, + "Start_Pose": [ + -13092.925, + 29.334, + 100.877, + -0.006, + 176.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-013162_y000182_z000101_t3_a.json b/benchmark/task/Downtownwest/task_x-013162_y000182_z000101_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..56547324a2b87f536bf0f7b62c39563672475b6f --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-013162_y000182_z000101_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the large terracotta pot with flowers beside the street lamp, then head toward the wooden bench near the large terracotta pot.", + "Type": 3, + "Start_Pose": [ + -13161.751, + 182.208, + 100.978, + -0.006, + -120.039, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_a_p.json b/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..9c8c0a9b9fe9b5016cb5d12716db62d14a028983 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag from the bench on the plaza.", + "Type": 5, + "Start_Pose": [ + -14691.46, + -311.545, + 100.85, + -0.006, + 136.921, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -14923.976, + 234.884, + 65.519, + 54.218, + -85.485, + -39.929 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_b_p.json b/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..94731414f614eb2c0537534f19bf925ae1cad465 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket near the hot dog cart around the tree.", + "Type": 5, + "Start_Pose": [ + -14691.46, + -311.545, + 100.85, + -0.006, + 136.921, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -15647.533, + 363.831, + 36.044, + 90, + 136.921, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_b_pd.json b/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..350ea8e2c1b1e78935bf6f77a52406f7496bf267 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase from the hot dog cart with the yellow and red umbrella, then place it near the wooden bench around the tree.", + "Type": 5, + "Start_Pose": [ + -14691.46, + -311.545, + 100.85, + -0.006, + 136.921, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -15650.666, + 247.505, + 36.044, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-014773_y-000094_z000101_t3_a.json b/benchmark/task/Downtownwest/task_x-014773_y-000094_z000101_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9596e946f69b0f349801dde6ddc0cf05823ac463 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-014773_y-000094_z000101_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the yellow and red umbrella cart, then head toward the wooden bench.", + "Type": 3, + "Start_Pose": [ + -14773.38, + -93.73, + 100.978, + -0.006, + -171.879, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-014773_y-000094_z000101_t3_c.json b/benchmark/task/Downtownwest/task_x-014773_y-000094_z000101_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..9fd020781dadc319028cedbcdea4fc7844e9de2e --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-014773_y-000094_z000101_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the two large round planter pots, then move to the wooden bench.", + "Type": 3, + "Start_Pose": [ + -14773.38, + -93.73, + 100.978, + -0.006, + -171.879, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-015933_y-000282_z000106_t3_b.json b/benchmark/task/Downtownwest/task_x-015933_y-000282_z000106_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2b379988259cfe0e133dc1e6b993518e97eeb0fa --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-015933_y-000282_z000106_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the cart with the umbrella, then move to the trash bin across from the deer statue.", + "Type": 3, + "Start_Pose": [ + -15933.176, + -281.902, + 105.905, + -0.006, + -174.759, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_a.json b/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d472e9d13cdb617716e91c1c74a34f8a65846820 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the black trash bin on the right.", + "Type": 2, + "Start_Pose": [ + -16004.216, + -251.356, + 105.905, + -0.006, + -168.999, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_b.json b/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..72569adf02e9329298fffab5b52b6b11c6bc469e --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the first lamp post on the right side.", + "Type": 2, + "Start_Pose": [ + -16004.216, + -251.356, + 105.905, + -0.006, + -168.999, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_d.json b/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..cb73592bf776432bd962fd0d786851f5ce49bff0 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the second lamp post with hanging blue banners.", + "Type": 2, + "Start_Pose": [ + -16004.216, + -251.356, + 105.905, + -0.006, + -168.999, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016212_y-000985_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x-016212_y-000985_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ac48059d38126a8a8197ed8509a0688c1405ac91 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016212_y-000985_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the small pushcart topped with a yellow-and-red umbrella on the plaza, then navigate over to it.", + "Type": 1, + "Start_Pose": [ + -16211.559, + -984.574, + 101.011, + -0.006, + -163.079, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_a_p.json b/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..e861d3e3393513ffa0078b1b0820342f8356d6b5 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato near the red stool.", + "Type": 5, + "Start_Pose": [ + -16806.038, + -628.74, + 100.978, + -0.006, + 116.921, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -17433.932, + -47.986, + 38.438, + 84.827, + 15.241, + 0.515 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_a_pd.json b/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..8c72d7e5fa413f5696ae82faf321a0080d942ec4 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper from the signboard in front of the deer sculpture, then place it near the red stool.", + "Type": 5, + "Start_Pose": [ + -16806.038, + -628.74, + 100.978, + -0.006, + 116.921, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -16832.051, + -134.863, + 55.978, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_b_p.json b/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..4fe6db4e549e8cdf1ebb5830206e44bd11679306 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot near the signboard in front of the deer sculpture.", + "Type": 5, + "Start_Pose": [ + -16806.038, + -628.74, + 100.978, + -0.006, + 116.921, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -16918.23, + -131.313, + 105.798, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_b_pd.json b/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..c234921b13e0f56de77d4e638e1cd82335f6f15f --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016806_y-000629_z000101_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra from the yellow-blue umbrella vendor cart, then place it near the signboard in front of the deer sculpture.", + "Type": 5, + "Start_Pose": [ + -16806.038, + -628.74, + 100.978, + -0.006, + 116.921, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -17431.301, + -155.774, + 117.57, + 0, + 90, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-017914_y005198_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x-017914_y005198_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f0bf3cdedc1fa5a201c8875301f442ae8e67ae5d --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-017914_y005198_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the alley for a three-compartment waste bin with colored sorting slots; once you locate it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + -17914.318, + 5198.336, + 100.798, + -0.006, + -163.079, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-017914_y005198_z000101_t1_b.json b/benchmark/task/Downtownwest/task_x-017914_y005198_z000101_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..3b7b829d8f0ccd133b20c2a0096ab9e825a68a6b --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-017914_y005198_z000101_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look for a door situated beside a red chair in the alleyway, then make your way toward it.", + "Type": 1, + "Start_Pose": [ + -17914.318, + 5198.336, + 100.798, + -0.006, + -163.079, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-018397_y000124_z000101_t1_b.json b/benchmark/task/Downtownwest/task_x-018397_y000124_z000101_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..84fba09c01024f9f9da43a16482fccec63d70ff1 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-018397_y000124_z000101_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the small vendor cart topped with a blue-and-yellow umbrella, then proceed toward it.", + "Type": 1, + "Start_Pose": [ + -18397.173, + 123.672, + 100.798, + -0.006, + 56.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-018568_y000656_z000101_t3_a.json b/benchmark/task/Downtownwest/task_x-018568_y000656_z000101_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..30f374e53dd7ba723972bab4e2c592fdc5f3cfe9 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-018568_y000656_z000101_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the metal trash bin, then head toward the cart under the blue-and-yellow umbrella.", + "Type": 3, + "Start_Pose": [ + -18567.728, + 656.236, + 100.798, + -0.006, + -71.079, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-018568_y000656_z000101_t3_b.json b/benchmark/task/Downtownwest/task_x-018568_y000656_z000101_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a7533219172300f91c0333db36c2d56a9dbc3432 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-018568_y000656_z000101_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the lamp post with green banner, then move to the red chair.", + "Type": 3, + "Start_Pose": [ + -18567.728, + 656.236, + 100.798, + -0.006, + -71.079, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-018568_y000656_z000101_t3_c.json b/benchmark/task/Downtownwest/task_x-018568_y000656_z000101_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..876ab9b43cd241206fea4b28d84c479fe2b6b097 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-018568_y000656_z000101_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the trash bin beside the tree trunk, then reach the green banner pole.", + "Type": 3, + "Start_Pose": [ + -18567.728, + 656.236, + 100.798, + -0.006, + -71.079, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_a_p.json b/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..734fb75147f4b279241e2c48fa84cb9b260d28b4 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket from the table under the blue umbrella.", + "Type": 5, + "Start_Pose": [ + -21190.27, + -840.057, + 101.98, + -0.006, + -83.079, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -21396.131, + -1494.764, + 50.798, + 90, + -123.079, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_b_pd.json b/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..69d83ae250c4e812a009df6e542250780d95fcfa --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate from the building entrance, then place it near the blue umbrella.", + "Type": 5, + "Start_Pose": [ + -21190.27, + -840.057, + 101.98, + -0.006, + -83.079, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -20983.744, + -1635.24, + 50.646, + -0.001, + 0.026, + 115.152 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-021255_y000199_z000102_t1_a.json b/benchmark/task/Downtownwest/task_x-021255_y000199_z000102_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cde7bac57899202441a2b05d9ced22bba35f4922 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-021255_y000199_z000102_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the entrance to the Thrifty store marked by yellow lettering above the door, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + -21254.72, + 199.084, + 101.955, + -0.006, + 156.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-021394_y-000256_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x-021394_y-000256_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6ac3f7216966b14e0c49bd02e12ecf38df97e09d --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-021394_y-000256_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the base of the blue patio umbrella standing among the outdoor coffee tables, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -21393.746, + -255.77, + 100.978, + -0.006, + -23.079, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000048_y-000363_z000098_t0_a.json b/benchmark/task/Downtownwest/task_x000048_y-000363_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..23646d2f06761c68885a34fd31e77f71912338a9 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000048_y-000363_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the pure yellow umbrella near the food cart.", + "Type": 0, + "Start_Pose": [ + 47.993, + -362.501, + 97.863, + 0, + 125.76, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000048_y-000363_z000098_t0_b.json b/benchmark/task/Downtownwest/task_x000048_y-000363_z000098_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..bdd951c0eeb35f4252c1dd00bbf26ac6cc3d86d8 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000048_y-000363_z000098_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the white-globe street lamp by the planter.", + "Type": 0, + "Start_Pose": [ + 47.993, + -362.501, + 97.863, + 0.0, + 125.76, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000185_y-000032_z000084_t3_a.json b/benchmark/task/Downtownwest/task_x000185_y-000032_z000084_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..77aede08d0126539eeb425e292fea009f1b997cd --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000185_y-000032_z000084_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the globe-topped lamp post near the pot, then move to the lit kiosk booth.", + "Type": 3, + "Start_Pose": [ + 184.599, + -32.139, + 83.872, + -0.006, + -21.159, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000444_y-002259_z000082_t1_a.json b/benchmark/task/Downtownwest/task_x000444_y-002259_z000082_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f72a67ab93778a426627d50eb3841d43b7709990 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000444_y-002259_z000082_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the blue fire hydrant standing on the sidewalk near the street; once you have located it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + 443.603, + -2258.587, + 82.097, + -0.006, + -123.079, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000444_y-002259_z000082_t1_b.json b/benchmark/task/Downtownwest/task_x000444_y-002259_z000082_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9a682c727e0c2cc1847fe36e72f257f107aa0dc7 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000444_y-002259_z000082_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around for an A-frame advertising sign placed along the walkway, then make your way toward it.", + "Type": 1, + "Start_Pose": [ + 443.603, + -2258.587, + 82.097, + -0.006, + -123.079, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000528_y-002505_z000082_t3_b.json b/benchmark/task/Downtownwest/task_x000528_y-002505_z000082_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e7dc5e4fba73d13f7a0595ddef1d6143089d3bd3 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000528_y-002505_z000082_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the red table under the blue umbrella, then proceed to the blue fire hydrant beside the curb.", + "Type": 3, + "Start_Pose": [ + 528.136, + -2505.086, + 82.097, + -0.006, + 137.241, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_a.json b/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..14fc7738cff2492a4ec8dc4c13e6a386f677da0f --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost blue umbrella on the sidewalk.", + "Type": 2, + "Start_Pose": [ + 693.938, + -2433.859, + 82.097, + -0.006, + -175.719, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_b.json b/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9149d9ee161d5a747a0dcbc50cc390d15a3342bf --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the large potted plant left of the planters.", + "Type": 2, + "Start_Pose": [ + 693.938, + -2433.859, + 82.097, + -0.006, + -175.719, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_d.json b/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..04186c0b9ae7c098bd35263257f817a2d2b6d06f --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the rightmost window.", + "Type": 2, + "Start_Pose": [ + 693.938, + -2433.859, + 82.097, + -0.006, + -175.719, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x001130_y-002255_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x001130_y-002255_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..914c6ad7be047f3969f248638276ad7498b32eee --- /dev/null +++ b/benchmark/task/Downtownwest/task_x001130_y-002255_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the freestanding advertising kiosk with a green dome top situated in the open plaza area, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 1129.984, + -2254.999, + 101.033, + -0.006, + -3.079, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x003168_y-001123_z000101_t0_a.json b/benchmark/task/Downtownwest/task_x003168_y-001123_z000101_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7edbc289163831ec04ab1fae5a7b65e961e7b7b2 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x003168_y-001123_z000101_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the colorful newsstand kiosk with the green roof.", + "Type": 0, + "Start_Pose": [ + 3168.389, + -1122.97, + 100.978, + 0.0, + 135.36, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x003918_y000549_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x003918_y000549_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..24e6027b1ebfb16923dd6b908f2096f0d8291911 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x003918_y000549_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the A-frame sandwich board sign standing in front of the shop with red awnings, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 3918.193, + 548.791, + 100.798, + -0.006, + 36.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x003918_y000549_z000101_t1_b.json b/benchmark/task/Downtownwest/task_x003918_y000549_z000101_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4c644c84b9b6338e4db8c055447d8a19032aa061 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x003918_y000549_z000101_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Determine where the white notice is posted on the entrance door of the red-awning shop; once found, make your way over to it.", + "Type": 1, + "Start_Pose": [ + 3918.193, + 548.791, + 100.798, + -0.006, + 36.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_a.json b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..923af3cd8654cd8863f26353f7cbc34eb7e67d0a --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the hot dog cart with the colorful umbrella.", + "Type": 0, + "Start_Pose": [ + 4282.112, + -696.562, + 100.798, + 0.0, + 81.6, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_b.json b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..86b60a0a220dd2465a0456761733a0ec98eabb42 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the long wooden bench near the tree trunk.", + "Type": 0, + "Start_Pose": [ + 4282.112, + -696.562, + 100.798, + 0.0, + 81.6, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_c.json b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..dcf3a122ed06ac77f9630dd4748dc867785f7580 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the golden double door on the building's ground floor.", + "Type": 0, + "Start_Pose": [ + 4282.112, + -696.562, + 100.798, + 0, + 81.6, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_d.json b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..e2373a31fa4a1fa1351ac857074f5a999c461853 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the trunk of the tree beside the bench.", + "Type": 0, + "Start_Pose": [ + 4282.112, + -696.562, + 100.798, + 0.0, + 81.6, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_b.json b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..7eea6ce00cd7dd3a266904ead263710ccc2d6304 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the gold door of the center building, then move to the hot dog cart.", + "Type": 3, + "Start_Pose": [ + 4645.356, + -621.727, + 100.798, + -0.006, + 88.281, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_c.json b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..645dff2fdfdb7389b1b6accb6a7c613ad70e41e4 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the tree trunk near the bench, then proceed to the hot dog cart.", + "Type": 3, + "Start_Pose": [ + 4645.356, + -621.727, + 100.798, + -0.006, + 88.281, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_d.json b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c4602fdc9c8a4232dde4f66e5ec39d80bdfdbe --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the wooden bench, then walk to the gold door of the center building.", + "Type": 3, + "Start_Pose": [ + 4645.356, + -621.727, + 100.798, + -0.006, + 88.281, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_e.json b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_e.json new file mode 100644 index 0000000000000000000000000000000000000000..57e08d39685e0b26b61b7ef1ba22cc4912c8f4ac --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the hot dog cart, then approach the gold door of the center building.", + "Type": 3, + "Start_Pose": [ + 4645.356, + -621.727, + 100.798, + -0.006, + 88.281, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_a_p.json b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..a6d89ef4b41116be782fbae4cacbdabf469e71a1 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket from the bench.", + "Type": 5, + "Start_Pose": [ + 4656.215, + -4183.117, + 71.531, + -0.006, + -103.079, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3710.342, + -5041.708, + 2.016, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_a_pd.json b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..676ba96b121a5a308e6de5a473543d1ddf0b26e7 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate from the black bollard, then place it near the bench.", + "Type": 5, + "Start_Pose": [ + 4656.215, + -4183.117, + 71.531, + -0.006, + -103.079, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4733.988, + -5057.933, + 35.269, + -90, + -90, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_b_p.json b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..683ce2b7beff46c1846c10d60a9d25eacd801a4c --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase near the black bollard.", + "Type": 5, + "Start_Pose": [ + 4656.215, + -4183.117, + 71.531, + -0.006, + -103.079, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 4972.556, + -5009.29, + 22.83, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_c_pd.json b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4aad7ec5931388c4905fc536026b85c78c0f2d --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra from the tree trunk between the bollard and the bench, then place it near the black bollard.", + "Type": 5, + "Start_Pose": [ + 4656.215, + -4183.117, + 71.531, + -0.006, + -103.079, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4442.874, + -4999.572, + 10, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x005898_y-000477_z000101_t0_b.json b/benchmark/task/Downtownwest/task_x005898_y-000477_z000101_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..6f306d3f494902018dfb59cdc27ccb117575ec40 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x005898_y-000477_z000101_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the entrance of the storefront with 'THRIFTY' logo.", + "Type": 0, + "Start_Pose": [ + 5897.619, + -476.634, + 100.798, + 0, + 57.6, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_b.json b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..7e4c69552ed67a892f36f2e2a02b8b13cf8e2bb6 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second stone fence pillar from the left.", + "Type": 2, + "Start_Pose": [ + 5959.868, + -5942.599, + 110.423, + -0.006, + -92.199, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_d.json b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..6f5cbf357e67c88fb380ff45f4efde9ce5695eec --- /dev/null +++ b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the leftmost stone pillar along the fence.", + "Type": 2, + "Start_Pose": [ + 5959.868, + -5942.599, + 110.423, + -0.006, + -92.199, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_e.json b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..30426e89c9ae8ef5464a086f703761824d468024 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the third stone fence pillar from the left.", + "Type": 2, + "Start_Pose": [ + 5959.868, + -5942.599, + 110.423, + -0.006, + -92.199, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x006269_y-003150_z000090_t2_a.json b/benchmark/task/Downtownwest/task_x006269_y-003150_z000090_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4f53cfdf8bb8d832e414fc603a06f24a478e5687 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x006269_y-003150_z000090_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the large potted plant on the left.", + "Type": 2, + "Start_Pose": [ + 6268.554, + -3149.608, + 89.847, + -0.006, + 93.081, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x006269_y-003150_z000090_t2_c.json b/benchmark/task/Downtownwest/task_x006269_y-003150_z000090_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..4090be39fed88c578960ec5951fae98da8ae98d4 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x006269_y-003150_z000090_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the second lamp post on the left.", + "Type": 2, + "Start_Pose": [ + 6268.554, + -3149.608, + 89.847, + -0.006, + 93.081, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_a.json b/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ccda9a17f656747c72f43ee40f29d7df9593a869 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the three-compartment recycling bin.", + "Type": 0, + "Start_Pose": [ + 6570.891, + -2798.424, + 70.856, + -0.006, + -142.119, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_c.json b/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..983c66745016250247dce5dc3f52527f7170c90e --- /dev/null +++ b/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the black lamp post near the trash bin.", + "Type": 0, + "Start_Pose": [ + 6570.891, + -2798.424, + 70.856, + -0.006, + -142.119, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x006769_y-003714_z000095_t1_a.json b/benchmark/task/Downtownwest/task_x006769_y-003714_z000095_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0b6309b0fcf112c51d0453e2fd20624659730b65 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x006769_y-003714_z000095_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the three-compartment waste sorting bin in the plaza area, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 6769.363, + -3713.906, + 94.976, + -0.006, + -123.079, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x007059_y-000713_z000101_t3_a.json b/benchmark/task/Downtownwest/task_x007059_y-000713_z000101_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3e7d003c0fa4184eb3c2612210b58c9e0094c055 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x007059_y-000713_z000101_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden bench, then head toward the kiosk with a canopy.", + "Type": 3, + "Start_Pose": [ + 7058.554, + -712.657, + 100.798, + -0.006, + 96.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x007059_y-000713_z000101_t3_b.json b/benchmark/task/Downtownwest/task_x007059_y-000713_z000101_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a7c406f3f050fb2c406b7fac71559fbbd8c4734f --- /dev/null +++ b/benchmark/task/Downtownwest/task_x007059_y-000713_z000101_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the kiosk with a canopy, then proceed to the wooden bench.", + "Type": 3, + "Start_Pose": [ + 7058.554, + -712.657, + 100.798, + -0.006, + 96.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x007185_y000958_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x007185_y000958_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9b9667c1005333af62b0ebbac7dad15777c352f9 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x007185_y000958_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the upright information kiosk standing in the middle of the plaza, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 7184.63, + 957.958, + 100.798, + -0.006, + 116.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x008269_y-000580_z000101_t0_a.json b/benchmark/task/Downtownwest/task_x008269_y-000580_z000101_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..84040570a5b3a5b2c6a35cce044d3327bdbf99bc --- /dev/null +++ b/benchmark/task/Downtownwest/task_x008269_y-000580_z000101_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the three-compartment waste bin on the plaza.", + "Type": 0, + "Start_Pose": [ + 8269.159, + -580.38, + 100.978, + 0.0, + 57.6, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x008269_y-000580_z000101_t0_b.json b/benchmark/task/Downtownwest/task_x008269_y-000580_z000101_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..637c652887f16c0590b992dbad6f2b0ceb28c5aa --- /dev/null +++ b/benchmark/task/Downtownwest/task_x008269_y-000580_z000101_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the entrance under the red awning.", + "Type": 0, + "Start_Pose": [ + 8269.159, + -580.38, + 100.978, + 0.0, + 57.6, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x010025_y-004271_z000073_t0_a.json b/benchmark/task/Downtownwest/task_x010025_y-004271_z000073_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..318a9ab72408e49ed8154dd0ecd97f66f1b83696 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x010025_y-004271_z000073_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the turtle sculpture on the grass.", + "Type": 0, + "Start_Pose": [ + 10024.722, + -4270.531, + 73.239, + -0.006, + 93.081, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x010025_y-004271_z000073_t0_c.json b/benchmark/task/Downtownwest/task_x010025_y-004271_z000073_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..9ece1ef1a00b92bf4a836dec70cc086625036a4b --- /dev/null +++ b/benchmark/task/Downtownwest/task_x010025_y-004271_z000073_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the base of the tall black street lamp post.", + "Type": 0, + "Start_Pose": [ + 10024.722, + -4270.531, + 73.239, + -0.006, + 93.081, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-000788_y007132_z001301_t1_a.json b/benchmark/task/Greek_Island/task_x-000788_y007132_z001301_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1b07abc1da5beb9ada59788c075e78b9fbc5ff72 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-000788_y007132_z001301_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Determine where the wooden-wheeled cart with its open plank bed rests along the water's edge, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -788.427, + 7131.595, + 1300.868, + -0.05, + -32.131, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-001756_y-000826_z000881_t0_a.json b/benchmark/task/Greek_Island/task_x-001756_y-000826_z000881_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..58e373b3cb443c0451689c3e49f75956ed65065b --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-001756_y-000826_z000881_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the tree.", + "Type": 0, + "Start_Pose": [ + -1755.604, + -825.948, + 880.512, + -0.049, + -70.581, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002207_y-005577_z000424_t2_a.json b/benchmark/task/Greek_Island/task_x-002207_y-005577_z000424_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..892f2b784761a633b0c989dfc0d3dc71cb1b02e0 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002207_y-005577_z000424_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the wooden door on the right.", + "Type": 2, + "Start_Pose": [ + -2206.772, + -5576.573, + 423.659, + 0.0, + 150.584, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002311_y-007077_z000444_t1_a.json b/benchmark/task/Greek_Island/task_x-002311_y-007077_z000444_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..246dda601d40b465156046f090f341a379301c93 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002311_y-007077_z000444_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for a tripod rack made of three wooden poles lashed together at the top, with a bowl or pot hanging from its center; once you locate it, walk over to it.", + "Type": 1, + "Start_Pose": [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 128.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002311_y-007077_z000444_t1_b.json b/benchmark/task/Greek_Island/task_x-002311_y-007077_z000444_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..fd94110b08eec6e214a967513206efd2f0780d98 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002311_y-007077_z000444_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look for a four-wheeled wooden cart loaded with sandbags sitting near a red-canopied shed, then navigate to that cart.", + "Type": 1, + "Start_Pose": [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 128.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002514_y-005403_z000428_t2_a.json b/benchmark/task/Greek_Island/task_x-002514_y-005403_z000428_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f8f7142b5742b6d8afa709bb44254a22f375928c --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002514_y-005403_z000428_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the door on the left side.", + "Type": 2, + "Start_Pose": [ + -2514.147, + -5403.263, + 427.699, + 0.0, + -179.656, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002548_y-005206_z000433_t1_a.json b/benchmark/task/Greek_Island/task_x-002548_y-005206_z000433_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..debd601b754bec8ffa405cc573af72719ff50314 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002548_y-005206_z000433_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the doorway that has a shark hanging above its entrance, then navigate to that door.", + "Type": 1, + "Start_Pose": [ + -2548.362, + -5205.723, + 432.668, + -0.05, + 108.899, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002548_y-005206_z000433_t1_b.json b/benchmark/task/Greek_Island/task_x-002548_y-005206_z000433_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b064dccd7f4ec0483810ef258d230df7ecba726e --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002548_y-005206_z000433_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Find the wooden door with two containers hanging from the wooden frame outside, then make your way toward it.", + "Type": 1, + "Start_Pose": [ + -2548.362, + -5205.723, + 432.668, + -0.05, + 108.899, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002563_y-006549_z000458_t1_a.json b/benchmark/task/Greek_Island/task_x-002563_y-006549_z000458_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5be21b99d8ca69eb17efcd1818686ee98bdbe6a2 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002563_y-006549_z000458_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the small cart loaded with lots of small ceramic jars and navigate over to it.", + "Type": 1, + "Start_Pose": [ + -2563.437, + -6549.316, + 458.257, + -0.05, + 68.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002563_y-006549_z000458_t1_b.json b/benchmark/task/Greek_Island/task_x-002563_y-006549_z000458_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..3816f7d19eb5afc09bcd2cd3f299483efe54a80c --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002563_y-006549_z000458_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Determine where the grill sits beneath the open-sided shelter with a flat roof, then make your way to that spot.", + "Type": 1, + "Start_Pose": [ + -2563.437, + -6549.316, + 458.257, + -0.05, + 68.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002579_y-005232_z000433_t0_a.json b/benchmark/task/Greek_Island/task_x-002579_y-005232_z000433_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..dc44caa466d89764c7ba5a63b03968961a61e1bf --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002579_y-005232_z000433_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the jar.", + "Type": 0, + "Start_Pose": [ + -2579.204, + -5232.237, + 433.317, + 0.0, + 61.304, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002603_y-006705_z000457_t2_a.json b/benchmark/task/Greek_Island/task_x-002603_y-006705_z000457_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..081fa2024db6b751e4463732c16f272f89bb6cfe --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002603_y-006705_z000457_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the red-and-white pillar on the left.", + "Type": 2, + "Start_Pose": [ + -2603.445, + -6705.424, + 457.209, + -0.05, + -166.621, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002603_y-006705_z000457_t2_b.json b/benchmark/task/Greek_Island/task_x-002603_y-006705_z000457_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2a1aae6e75d32022ef4ba9bbee1a9743184bca88 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002603_y-006705_z000457_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the red-and-white pillar on the right.", + "Type": 2, + "Start_Pose": [ + -2603.445, + -6705.424, + 457.209, + -0.05, + -166.621, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002603_y-006705_z000457_t3_a.json b/benchmark/task/Greek_Island/task_x-002603_y-006705_z000457_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c4e5166af99719a06c8b5356aaa4d147293c19d1 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002603_y-006705_z000457_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "First go to the right red-and-white column, then go to the left one.", + "Type": 3, + "Start_Pose": [ + -2603.445, + -6705.424, + 457.209, + -0.05, + -166.621, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_a_p.json b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..59c3a56372d0c99b178e2f98a40bb4899d9172cb --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot near the wood-framed ceramic vat on the right side.", + "Type": 5, + "Start_Pose": [ + -2672.141, + -4901.336, + 423.061, + -0.05, + -11.101, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1843.2, + -4611.1, + 313.482, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_a_pd.json b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..05067e7d4df7ec58858e3125bedcf688ae93d11d --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato from the wooden door, then place it near the wood-framed ceramic vat on the right side.", + "Type": 5, + "Start_Pose": [ + -2672.141, + -4901.336, + 423.061, + -0.05, + -11.101, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1997.299, + -5504.653, + 384.554, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_b_p.json b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..3553e58bc790866924cc60288046c5e623437ce3 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket near the wooden rack at the doorway with two ceramic jars on it.", + "Type": 5, + "Start_Pose": [ + -2672.141, + -4901.336, + 423.061, + -0.05, + -11.101, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2023.708, + -5159.93, + 354.813, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_b_pd.json b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..84ed17f5d82617c1000b31dad8481f6e46f4032e --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket from the wood-framed ceramic vat on the right side, then place it near the wooden rack at the doorway with two ceramic jars on it.", + "Type": 5, + "Start_Pose": [ + -2672.141, + -4901.336, + 423.061, + -0.05, + -11.101, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1676.588, + -4549.653, + 332.901, + 90, + 28.899, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_c_pd.json b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7cb145eb571ef23cd2242a6e3078d66bdce183 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002672_y-004901_z000423_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper from the wooden rack at the doorway with two ceramic jars on it, then place it near the wood-framed ceramic vat on the right side.", + "Type": 5, + "Start_Pose": [ + -2672.141, + -4901.336, + 423.061, + -0.05, + -11.101, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1878.666, + -5159.265, + 352.692, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002731_y-008557_z000375_t1_a.json b/benchmark/task/Greek_Island/task_x-002731_y-008557_z000375_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..52775f81dd4da7a8a10df34cecfe136d6e0774d8 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002731_y-008557_z000375_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the area and go to the wooden cart.", + "Type": 1, + "Start_Pose": [ + -2731.485, + -8556.51, + 374.852, + -0.05, + -131.101, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002802_y-004988_z000428_t1_a.json b/benchmark/task/Greek_Island/task_x-002802_y-004988_z000428_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..97386d9b8781c15e125b10f367a68e3f4cf0d907 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002802_y-004988_z000428_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the large ceramic vat encased in a wooden frame that sits on the ground, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -2801.935, + -4987.803, + 428.431, + -0.05, + 88.899, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002802_y-004988_z000428_t1_b.json b/benchmark/task/Greek_Island/task_x-002802_y-004988_z000428_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e745401f0366f132a51af5f3e64a71f23c9875dd --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002802_y-004988_z000428_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Determine where the doorway with three ceramic pots hanging above it is situated and make your way there.", + "Type": 1, + "Start_Pose": [ + -2801.935, + -4987.803, + 428.431, + -0.05, + 88.899, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002802_y-004988_z000428_t1_c.json b/benchmark/task/Greek_Island/task_x-002802_y-004988_z000428_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..dc88baa7cb28ff2720e357906162c000e0d00abe --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002802_y-004988_z000428_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the window belonging to the white-and-blue building whose entrance displays three hanging ceramic pots; once found, go to it.", + "Type": 1, + "Start_Pose": [ + -2801.935, + -4987.803, + 428.431, + -0.05, + 88.899, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_a_p.json b/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..37c63bc5f4ca090d6b62d00ba8d578b2d7e81996 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper near the wooden door.", + "Type": 5, + "Start_Pose": [ + -2857.704, + -8709.229, + 370.018, + -0.05, + 128.899, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3657.442, + -8419.899, + 392.067, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_a_pd.json b/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc0ebe6e1e5f3ed79837af980f634d5d705419b --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato from the wooden cart, then place it near the wooden door.", + "Type": 5, + "Start_Pose": [ + -2857.704, + -8709.229, + 370.018, + -0.05, + 128.899, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -3063.052, + -8109.434, + 389.407, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_b_p.json b/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..378cc07ac78b2d702372863ef404534286d53b3b --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot near the wooden cart.", + "Type": 5, + "Start_Pose": [ + -2857.704, + -8709.229, + 370.018, + -0.05, + 128.899, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -3106.322, + -8134.723, + 349.992, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_b_pd.json b/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..97876843ec732313b7d9a01f082c982ca4e0fda2 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002858_y-008709_z000370_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra from the wooden door, then place it near the wooden cart.", + "Type": 5, + "Start_Pose": [ + -2857.704, + -8709.229, + 370.018, + -0.05, + 128.899, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -3606.594, + -8540.812, + 364.193, + 0, + 90, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002886_y-008741_z000368_t1_a.json b/benchmark/task/Greek_Island/task_x-002886_y-008741_z000368_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..19587f8fc2f3a1a0d22c0a9fd8855691af820d1f --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002886_y-008741_z000368_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the wooden door of the building that has a piece of meat hanging on the wall beside its entrance, then approach it.", + "Type": 1, + "Start_Pose": [ + -2886.456, + -8740.803, + 368.458, + -0.05, + -91.101, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-002886_y-008741_z000368_t1_b.json b/benchmark/task/Greek_Island/task_x-002886_y-008741_z000368_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..fd892e5acd098cb12ea8a496c0dc9b33e5d7fdfd --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-002886_y-008741_z000368_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Once you identify the four-wheeled wooden cart loaded with stacked sandbags, navigate over to reach it.", + "Type": 1, + "Start_Pose": [ + -2886.456, + -8740.803, + 368.458, + -0.05, + -91.101, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003139_y-005500_z000450_t0_a.json b/benchmark/task/Greek_Island/task_x-003139_y-005500_z000450_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..36d4f2236adc196d4c5054e363a0d0f215131ea8 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003139_y-005500_z000450_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the door of the house.", + "Type": 0, + "Start_Pose": [ + -3138.864, + -5500.0, + 449.861, + 0.0, + 0.0, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_a.json b/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1520d7080b2f23080a406ee09c94cf500fe130be --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden door on the white building, then head toward the palm tree trunk.", + "Type": 3, + "Start_Pose": [ + -3180.241, + -5096.56, + 440.758, + -0.05, + -18.781, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_b.json b/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..581466557346d34f6dcd514cfcda4644c177b4f9 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the red ceramic pot hanging by the door, then move to the palm tree trunk.", + "Type": 3, + "Start_Pose": [ + -3180.241, + -5096.56, + 440.758, + -0.05, + -18.781, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_c.json b/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..b64e35635549d6e9be004157f82648f21ebec62d --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the base of the palm tree, then proceed to the wooden door on the white building.", + "Type": 3, + "Start_Pose": [ + -3180.241, + -5096.56, + 440.758, + -0.05, + -18.781, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_d.json b/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..56c547c1f38bdb19c948972ac35ebab4e19b0454 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003180_y-005097_z000441_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the wooden window, then walk to the palm tree trunk.", + "Type": 3, + "Start_Pose": [ + -3180.241, + -5096.56, + 440.758, + -0.05, + -18.781, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003195_y-001112_z000997_t0_a.json b/benchmark/task/Greek_Island/task_x-003195_y-001112_z000997_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c05ad30ae9c1d3e43a3710ba58dc0b8c5d58be --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003195_y-001112_z000997_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the window of the building.", + "Type": 0, + "Start_Pose": [ + -3194.575, + -1112.289, + 997.216, + -0.05, + -140.171, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003372_y-010998_z000198_t1_a.json b/benchmark/task/Greek_Island/task_x-003372_y-010998_z000198_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..124a26c0a5edac5381818d8f9e84ca86260ccadc --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003372_y-010998_z000198_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the beach area for a boat resting upside down on the sand near the sea; after spotting it, make your way over to it.", + "Type": 1, + "Start_Pose": [ + -3371.628, + -10998.457, + 198.341, + -0.05, + 8.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003372_y-010998_z000198_t1_b.json b/benchmark/task/Greek_Island/task_x-003372_y-010998_z000198_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a944d55b15eb21f9710dfdd34a3aaf8cf36f3b88 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003372_y-010998_z000198_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate two boats placed closely together along the seaside shore, then navigate into the gap between them.", + "Type": 1, + "Start_Pose": [ + -3371.628, + -10998.457, + 198.341, + -0.05, + 8.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003713_y-002098_z001070_t3_a.json b/benchmark/task/Greek_Island/task_x-003713_y-002098_z001070_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9e66de90265b52d2d3cc530311ab0525be87ea94 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003713_y-002098_z001070_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "First walk to the jar, then walk to the entrance of the house.", + "Type": 3, + "Start_Pose": [ + -3712.629, + -2097.975, + 1069.766, + -0.05, + 160.309, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003760_y007505_z001766_t0_a.json b/benchmark/task/Greek_Island/task_x-003760_y007505_z001766_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2f54cf01345e26549ad3adea7041b84de2e176 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003760_y007505_z001766_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the large palm tree.", + "Type": 0, + "Start_Pose": [ + -3759.77, + 7505.472, + 1765.533, + -0.05, + -54.919, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-003970_y-002402_z001080_t1_a.json b/benchmark/task/Greek_Island/task_x-003970_y-002402_z001080_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9444b37f4fba951924ff1098620351b045ae84b0 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-003970_y-002402_z001080_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the area to find and go to the large jar.", + "Type": 1, + "Start_Pose": [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + -162.314, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-004495_y-011130_z000198_t1_a.json b/benchmark/task/Greek_Island/task_x-004495_y-011130_z000198_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cac461634d0dd5e76b2b4a67e9fce6fe95e138c5 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-004495_y-011130_z000198_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the wooden door of the white building that has ceramic pots and dried fish hanging at its entrance; after locating it, head over to that door.", + "Type": 1, + "Start_Pose": [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 128.899, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-004495_y-011130_z000198_t1_b.json b/benchmark/task/Greek_Island/task_x-004495_y-011130_z000198_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f05ed805a16aede22ed4f0f94e5b358058c6431e --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-004495_y-011130_z000198_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the large ceramic vat standing on the ground at the entrance of the building with hanging pots and dried fish, then proceed to it.", + "Type": 1, + "Start_Pose": [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 128.899, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_a_p.json b/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..8fe5b0077c8579aef8f0df70d3b7581ea707702d --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase near the palm tree trunk.", + "Type": 5, + "Start_Pose": [ + -4944.496, + -7257.504, + 434.782, + -0.05, + 148.899, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -5613.127, + -7065.878, + 357.004, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_a_pd.json b/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..774ee67f81fd30dab5b791dbf681da3ed2f5bac0 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can from the wooden door, then place it near the palm tree trunk.", + "Type": 5, + "Start_Pose": [ + -4944.496, + -7257.504, + 434.782, + -0.05, + 148.899, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -6097.818, + -6515.286, + 329.065, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_b_p.json b/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..fe139ab0c7d4bfa06d8e12e36420aa0f86a1f489 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate near the wooden door.", + "Type": 5, + "Start_Pose": [ + -4944.496, + -7257.504, + 434.782, + -0.05, + 148.899, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -6068.122, + -6557.119, + 348.93, + 90, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_b_pd.json b/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..18df08594f2463056e4fc360a3551008dea0ac44 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-004944_y-007258_z000435_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra from the palm tree trunk, then place it near the wooden door.", + "Type": 5, + "Start_Pose": [ + -4944.496, + -7257.504, + 434.782, + -0.05, + 148.899, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5723.672, + -6995.191, + 363.189, + 0, + 90, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_a_p.json b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..e4301335b1c94b8e8b3974d653a1e9314d775a2f --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot near the tall pole.", + "Type": 5, + "Start_Pose": [ + -5864.473, + -9214.778, + 245.19, + -0.05, + -91.101, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -6158.932, + -9838.899, + 123.063, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_a_pd.json b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..339358ee034503a894fbad3d304b6b627da3ae9a --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase from the wooden cart, then place it near the sheltered area with the yellow canopy on the left.", + "Type": 5, + "Start_Pose": [ + -5864.473, + -9214.778, + 245.19, + -0.05, + -91.101, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5697.906, + -9814.977, + 141.387, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_b_p.json b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..876f8cfa78d6fe386e166f5e9d781c77bd2e0994 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket near the dark wooden cart.", + "Type": 5, + "Start_Pose": [ + -5864.473, + -9214.778, + 245.19, + -0.05, + -91.101, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -5663.402, + -9831.099, + 131.894, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_b_pd.json b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..30aedef8f25b42adcc76e10351c549c66ff43760 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket from the ground near the sandbags under the tall wooden pole, then place it near the dark wooden cart on the right.", + "Type": 5, + "Start_Pose": [ + -5864.473, + -9214.778, + 245.19, + -0.05, + -91.101, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -6277.464, + -10018.661, + 138.067, + 90, + -90, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_c_pd.json b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..bb0891db67448f24fe681110f21bb5282d5ba867 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-005864_y-009215_z000245_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate from the wooden cart, then place it near the blue-and-white fence under the yellow canopy on the left.", + "Type": 5, + "Start_Pose": [ + -5864.473, + -9214.778, + 245.19, + -0.05, + -91.101, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5755.168, + -9801.586, + 149.521, + 90, + 90, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-005900_y-011208_z000198_t1_a.json b/benchmark/task/Greek_Island/task_x-005900_y-011208_z000198_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2695e95c1f5d8a88c9e61d9d883302d428f8b303 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-005900_y-011208_z000198_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for a bamboo basket resting on a table draped with a purple-pink cloth, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -5900.173, + -11207.928, + 198.106, + -0.05, + 148.899, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-005900_y-011208_z000198_t1_b.json b/benchmark/task/Greek_Island/task_x-005900_y-011208_z000198_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9241ad82bef2a8b6adad06f899011188f49330c6 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-005900_y-011208_z000198_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the small four-wheeled cart in this market area; once you spot it, move toward it.", + "Type": 1, + "Start_Pose": [ + -5900.173, + -11207.928, + 198.106, + -0.05, + 148.899, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-005995_y-007462_z000367_t1_a.json b/benchmark/task/Greek_Island/task_x-005995_y-007462_z000367_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3e4aa690ed95ee485e8858c9eae54df466129c01 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-005995_y-007462_z000367_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the tall wooden rack standing between two wooden fences and approach it.", + "Type": 1, + "Start_Pose": [ + -5994.999, + -7462.265, + 367.111, + -0.05, + 48.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-005995_y-007462_z000367_t1_b.json b/benchmark/task/Greek_Island/task_x-005995_y-007462_z000367_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..415ec5d9d5ab8756c044812a3997593aa327f6c7 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-005995_y-007462_z000367_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the wooden door belonging to the building that has ceramic pots hanging beside its entrance and a low blue-and-white painted wall flanking the doorway; once found, navigate to that door.", + "Type": 1, + "Start_Pose": [ + -5994.999, + -7462.265, + 367.111, + -0.05, + 48.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-006007_y-010649_z000198_t1_a.json b/benchmark/task/Greek_Island/task_x-006007_y-010649_z000198_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e64289c6a681fcdab6ff24b474303c237981351c --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-006007_y-010649_z000198_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for a two-tiered wooden shelf situated beneath a canopy structure where sandbags are also present, with items stored on both levels of the shelf; once you locate it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + -6007.232, + -10648.888, + 198.106, + -0.05, + -131.101, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007309_y-005931_z000996_t0_a.json b/benchmark/task/Greek_Island/task_x-007309_y-005931_z000996_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e60201d70f7eef7d3b3e4940046061d0953a6f3b --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007309_y-005931_z000996_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the door of the white house in the distance.", + "Type": 0, + "Start_Pose": [ + -7309.414, + -5931.019, + 996.16, + 0.0, + -166.988, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007518_y001015_z000700_t0_a.json b/benchmark/task/Greek_Island/task_x-007518_y001015_z000700_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..099a1c0c5248eee48e8754d63ad8d75da912ef84 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007518_y001015_z000700_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the door of the white building.", + "Type": 0, + "Start_Pose": [ + -7518.398, + 1015.413, + 699.514, + 0.0, + 121.13, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007622_y-005600_z000992_t0_a.json b/benchmark/task/Greek_Island/task_x-007622_y-005600_z000992_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4006144cbb3370d7c2498c1664bbaa2ab993c8ed --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007622_y-005600_z000992_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the large jar.", + "Type": 0, + "Start_Pose": [ + -7621.876, + -5599.833, + 992.477, + 0.0, + -70.879, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007685_y-009678_z000198_t1_a.json b/benchmark/task/Greek_Island/task_x-007685_y-009678_z000198_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8ffbc54c49373268243b576903c83a514cd3a505 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007685_y-009678_z000198_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the single wooden post near the rocks along the shore where a shark is hung up, then approach that spot.", + "Type": 1, + "Start_Pose": [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 88.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007685_y-009678_z000198_t1_b.json b/benchmark/task/Greek_Island/task_x-007685_y-009678_z000198_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f53355ebeef477b0543bfb56e8176e3f7b5d8df7 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007685_y-009678_z000198_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the pair of wooden poles displaying a suspended shark and, once found, navigate over to them.", + "Type": 1, + "Start_Pose": [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 88.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007768_y012694_z003813_t2_a.json b/benchmark/task/Greek_Island/task_x-007768_y012694_z003813_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ea22fcd3d401024fe93e3eecc4f4f20105d5ac13 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007768_y012694_z003813_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the large tree on the right.", + "Type": 2, + "Start_Pose": [ + -7767.875, + 12694.363, + 3813.074, + -0.097, + 55.026, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007804_y-009393_z000198_t3_a.json b/benchmark/task/Greek_Island/task_x-007804_y-009393_z000198_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fd0db8ea54799699fc1050840b2d87f1d005bb43 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007804_y-009393_z000198_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden post with hanging fish, then head toward the trunk of the green tree.", + "Type": 3, + "Start_Pose": [ + -7804.154, + -9393.267, + 198.106, + 0.0, + -69.462, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007804_y-009393_z000198_t3_b.json b/benchmark/task/Greek_Island/task_x-007804_y-009393_z000198_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..94cf8405d16b4c1bca89f6907895030b0c0f2d64 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007804_y-009393_z000198_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the open-weave crate on the platform, then move to trunk of the green tree.", + "Type": 3, + "Start_Pose": [ + -7804.154, + -9393.267, + 198.106, + 0.0, + -69.462, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007804_y-009393_z000198_t3_c.json b/benchmark/task/Greek_Island/task_x-007804_y-009393_z000198_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..2beb95ba4bb46523337b0f34942f8a7986e7fddc --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007804_y-009393_z000198_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the trunk of the green tree, then proceed to the open-weave crate on the platform.", + "Type": 3, + "Start_Pose": [ + -7804.154, + -9393.267, + 198.106, + 0.0, + -69.462, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007808_y012637_z003807_t2_a.json b/benchmark/task/Greek_Island/task_x-007808_y012637_z003807_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ce33e0abb67e976be28d687c305dd522a40b5833 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007808_y012637_z003807_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the base of the tree directly in front of you on the left.", + "Type": 2, + "Start_Pose": [ + -7808.328, + 12636.535, + 3807.18, + -0.097, + 55.026, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007832_y-009757_z000198_t0_a.json b/benchmark/task/Greek_Island/task_x-007832_y-009757_z000198_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0028f27d6cae70c15060c9a86a6cafe776ed9635 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007832_y-009757_z000198_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the large palm tree.", + "Type": 0, + "Start_Pose": [ + -7832.232, + -9756.941, + 198.106, + 0, + 123.498, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007832_y-009757_z000198_t3_a.json b/benchmark/task/Greek_Island/task_x-007832_y-009757_z000198_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..728b69b506d25534d53590a498e31acd9f8f51dc --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007832_y-009757_z000198_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the tree first, then go to the wooden post.", + "Type": 3, + "Start_Pose": [ + -7832.232, + -9756.941, + 198.106, + 0.0, + 123.498, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_a_p.json b/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..bc589751e903b3994a832095a46bf8c020a3ada2 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag near the wooden post with two poles.", + "Type": 5, + "Start_Pose": [ + -7899.276, + -9794.573, + 198.106, + -0.05, + 108.899, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -8406.819, + -9345.397, + 118.173, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_a_pd.json b/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..bc356cc2dbabdb920ac6637c5ab5dc51e83bd6dc --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket from the palm tree trunk, then place it near the wooden post with two poles.", + "Type": 5, + "Start_Pose": [ + -7899.276, + -9794.573, + 198.106, + -0.05, + 108.899, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -8232.778, + -8725.255, + 148.106, + 90, + 88.899, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_b_p.json b/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..84fd68cd7de26bb0692a3b3b191880432681c919 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase near the palm tree trunk.", + "Type": 5, + "Start_Pose": [ + -7899.276, + -9794.573, + 198.106, + -0.05, + 108.899, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -8191.529, + -8906.551, + 138.106, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_b_pd.json b/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..dbdc50369939eff2263a2b90b220447222de7875 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007899_y-009795_z000198_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can from the wooden post with two poles, then place it near the palm tree trunk.", + "Type": 5, + "Start_Pose": [ + -7899.276, + -9794.573, + 198.106, + -0.05, + 108.899, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -8375.294, + -9335.121, + 128.106, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007934_y-009597_z000198_t1_a.json b/benchmark/task/Greek_Island/task_x-007934_y-009597_z000198_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6c5c3789c8f2decca81e9343398e99c9f280d0ae --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007934_y-009597_z000198_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the wooden barrel sitting on the table beneath the open-sided shelter with the orange curtain; once you have located it, make your way over to it.", + "Type": 1, + "Start_Pose": [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -171.101, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007934_y-009597_z000198_t1_b.json b/benchmark/task/Greek_Island/task_x-007934_y-009597_z000198_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..5f62bbc21a0c3182ee4033818e1763d944ffcdd8 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007934_y-009597_z000198_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look for the openwork wooden cube structure near the single post where a shark hangs; after spotting it, navigate to that hollow wooden cube.", + "Type": 1, + "Start_Pose": [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -171.101, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-007934_y-009597_z000198_t1_c.json b/benchmark/task/Greek_Island/task_x-007934_y-009597_z000198_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8b6c04ed4b7e642a559b8d400dd92c690af47c --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-007934_y-009597_z000198_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the openwork wooden cube, then approach it.", + "Type": 1, + "Start_Pose": [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -171.101, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-008454_y-009799_z000216_t1_a.json b/benchmark/task/Greek_Island/task_x-008454_y-009799_z000216_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..765fb280c48344e181c061eef2ec8845793ef136 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-008454_y-009799_z000216_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the dried fish hanging at the end of the dock; once found, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -8454.057, + -9798.841, + 215.95, + -0.05, + 128.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-008454_y-009799_z000216_t1_b.json b/benchmark/task/Greek_Island/task_x-008454_y-009799_z000216_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..6e3bcbd465ad2e703a1b1f118be8beba1149279e --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-008454_y-009799_z000216_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the ceramic pottery resting on the ground at the far end of the pier, then head over to it.", + "Type": 1, + "Start_Pose": [ + -8454.057, + -9798.841, + 215.95, + -0.05, + 128.899, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-008490_y-005500_z000981_t0_a.json b/benchmark/task/Greek_Island/task_x-008490_y-005500_z000981_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fb340dc70857607a7fc47888c38e2c1495f2eec7 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-008490_y-005500_z000981_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the door of the white house.", + "Type": 0, + "Start_Pose": [ + -8490.01, + -5500.473, + 980.951, + 0.0, + -160.24, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-008689_y-005572_z001024_t0_a.json b/benchmark/task/Greek_Island/task_x-008689_y-005572_z001024_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1a8d38e8a53d5a036f64e8e0ffd4cb547bcc84da --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-008689_y-005572_z001024_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the crate near the door.", + "Type": 0, + "Start_Pose": [ + -8689.263, + -5572.052, + 1023.855, + 0.0, + -160.24, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_a.json b/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..264cc835f1b70e5aef89e1fb7683d7fbbf18a5ee --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden crate on the porch, then head toward the small metal bowl hanging from the wooden tripod.", + "Type": 3, + "Start_Pose": [ + -8940.172, + -5355.198, + 1081.962, + 0.0, + -166.271, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_b.json b/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..d4f81e57ce660819425f1a063d1eb182c32646f8 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the brown wooden door on the white building, then move to the small metal bowl hanging from the wooden tripod.", + "Type": 3, + "Start_Pose": [ + -8940.172, + -5355.198, + 1081.962, + 0.0, + -166.271, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_c.json b/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..ad8d7651a7b41433f2ae2b50a1f4dea2ca0f457c --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the small metal bowl hanging from the wooden tripod, then proceed to the small bench on the far right.", + "Type": 3, + "Start_Pose": [ + -8940.172, + -5355.198, + 1081.962, + 0.0, + -166.271, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_d.json b/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1e50e99d5127045bdfd5f477f1cbb383a7f277 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-008940_y-005355_z001082_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the table under the pergola, then approach the wooden crate on the porch.", + "Type": 3, + "Start_Pose": [ + -8940.172, + -5355.198, + 1081.962, + 0, + -166.271, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-008974_y-005939_z001097_t3_a.json b/benchmark/task/Greek_Island/task_x-008974_y-005939_z001097_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..de1bb7b4950984102415cebce09918abaac8f839 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-008974_y-005939_z001097_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the slatted wooden crate first, then go to the main door of the house.", + "Type": 3, + "Start_Pose": [ + -8973.707, + -5939.471, + 1097.169, + 0.0, + 169.729, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-009301_y-003441_z000260_t2_a.json b/benchmark/task/Greek_Island/task_x-009301_y-003441_z000260_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b39b19112c14c32fa62bd663a8b06fcae7a66c7c --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-009301_y-003441_z000260_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk towards the pillar on the left.", + "Type": 2, + "Start_Pose": [ + -9301.339, + -3441.419, + 260.496, + 0.0, + 173.281, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-009301_y-003441_z000260_t2_b.json b/benchmark/task/Greek_Island/task_x-009301_y-003441_z000260_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..026f14fa9968dba6a522390ea551939672b4788d --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-009301_y-003441_z000260_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the pillar on the right.", + "Type": 2, + "Start_Pose": [ + -9301.339, + -3441.419, + 260.496, + 0.0, + -156.959, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-009301_y-003441_z000273_t3_a.json b/benchmark/task/Greek_Island/task_x-009301_y-003441_z000273_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cf6f3f669f16343da95719c1ca543f97384524f7 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-009301_y-003441_z000273_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "First, walk to the left pillar, then go to the right pillar.", + "Type": 3, + "Start_Pose": [ + -9301.339, + -3441.419, + 273.254, + 0.0, + 173.281, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-009329_y-005733_z001113_t0_a.json b/benchmark/task/Greek_Island/task_x-009329_y-005733_z001113_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..25a62f13a1409fd1392ff17dcfa680cb36fce3ae --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-009329_y-005733_z001113_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the table under the canopy.", + "Type": 0, + "Start_Pose": [ + -9328.743, + -5732.732, + 1112.882, + 0.0, + 139.969, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-010561_y013346_z004038_t0_a.json b/benchmark/task/Greek_Island/task_x-010561_y013346_z004038_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8afba5b02ed1cd7a74aaa1db74c0c23869238e06 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-010561_y013346_z004038_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the wooden crate on the path.", + "Type": 0, + "Start_Pose": [ + -10561.224, + 13346.478, + 4038.199, + -0.05, + 139.161, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_a.json b/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b7c98f551ae226ee4f5c66989dafc6677f59cb1b --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the trident statue's base, then head toward the orange column base.", + "Type": 3, + "Start_Pose": [ + -10616.454, + 11133.515, + 3784.819, + -0.05, + 57.265, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_b.json b/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..96debab8156214445848d3879c2a478b5101a9b8 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the orange column base, then move to the white column base.", + "Type": 3, + "Start_Pose": [ + -10616.454, + 11133.515, + 3784.819, + -0.05, + 57.265, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_c.json b/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..a595cf84ec4e62204c6cfcbac29850cf1724a330 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the white column base, then proceed to the trident statue's base.", + "Type": 3, + "Start_Pose": [ + -10616.454, + 11133.515, + 3784.819, + -0.05, + 57.265, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_d.json b/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..185914499a5a8cf9b4c38168ac49c3e93b3d228a --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-010616_y011134_z003785_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the orange column base, then approach the trident statue's base.", + "Type": 3, + "Start_Pose": [ + -10616.454, + 11133.515, + 3784.819, + -0.05, + 57.265, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-010917_y013279_z004035_t2_a.json b/benchmark/task/Greek_Island/task_x-010917_y013279_z004035_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4bc5b3dbe1103cf2f38fc00af8a3317a47437adb --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-010917_y013279_z004035_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the second closest orange pillar on your right.", + "Type": 2, + "Start_Pose": [ + -10917.309, + 13279.034, + 4035.356, + -0.05, + -133.662, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-010929_y011087_z003793_t0_a.json b/benchmark/task/Greek_Island/task_x-010929_y011087_z003793_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a92decf363683c3e6614ded8eb630838f312fd66 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-010929_y011087_z003793_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the base of the large pillar in your view.", + "Type": 0, + "Start_Pose": [ + -10929.253, + 11087.195, + 3793.334, + -0.05, + 15.2, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-011075_y013165_z004034_t2_a.json b/benchmark/task/Greek_Island/task_x-011075_y013165_z004034_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..15399a5658a52f0f381329ad980466314a94cf08 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-011075_y013165_z004034_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the base of the third orange column visible on the right.", + "Type": 2, + "Start_Pose": [ + -11074.985, + 13164.555, + 4033.757, + -0.05, + -133.662, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-011453_y015314_z004045_t3_a.json b/benchmark/task/Greek_Island/task_x-011453_y015314_z004045_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fead8dbc67368611e46ee041ecaadae66fbd697d --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-011453_y015314_z004045_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden shelf with the pink cloth, then head toward the orange pot enclosed by the slatted wooden crate.", + "Type": 3, + "Start_Pose": [ + -11453.427, + 15313.824, + 4044.629, + -0.05, + 175.345, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-011456_y-002310_z000247_t3_a.json b/benchmark/task/Greek_Island/task_x-011456_y-002310_z000247_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8e7ea5dfb169f76b9b0e708eeeb50e099c788fcf --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-011456_y-002310_z000247_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the dark open-frame crate on the ground, then head toward the large round boulder.", + "Type": 3, + "Start_Pose": [ + -11456.072, + -2310.177, + 246.556, + 0.0, + 138.721, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-011525_y007616_z003638_t2_a.json b/benchmark/task/Greek_Island/task_x-011525_y007616_z003638_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7c6d28487bd6f571169b2461d9f7d8ac71c804b1 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-011525_y007616_z003638_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the base of the large pillar on the left.", + "Type": 2, + "Start_Pose": [ + -11524.539, + 7615.883, + 3638.441, + -0.05, + 110.604, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-011613_y007553_z003648_t3_a.json b/benchmark/task/Greek_Island/task_x-011613_y007553_z003648_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e83f63dc63fcad054b97bfcd117b5d2d00ca4ca1 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-011613_y007553_z003648_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "First head to the right pillar, then head to the left pillar.", + "Type": 3, + "Start_Pose": [ + -11613.082, + 7552.763, + 3647.71, + -0.05, + 170.124, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012426_y012796_z004034_t2_a.json b/benchmark/task/Greek_Island/task_x-012426_y012796_z004034_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b153eb3bf56384cd4a5684fe57ebf093efb22961 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012426_y012796_z004034_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second nearest large pillar.", + "Type": 2, + "Start_Pose": [ + -12426.152, + 12795.92, + 4034.373, + -0.05, + 76.458, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_a.json b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cac8439e8273854b74d08605787aec702f97bea3 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the orange clay pot, then head toward the striped column base.", + "Type": 3, + "Start_Pose": [ + -12624.453, + 8792.082, + 3793.614, + -0.05, + -129.929, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_b.json b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2bea9daad6bc8f1c491652b350cb1c4591fc9d46 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the dark wooden door on the white building, then move to the striped column base.", + "Type": 3, + "Start_Pose": [ + -12624.453, + 8792.082, + 3793.614, + -0.05, + -129.929, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_c.json b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..a553b61345a8a7ad749d6a0daac90cf2165d6e70 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the red awning post, then proceed to the orange pot.", + "Type": 3, + "Start_Pose": [ + -12624.453, + 8792.082, + 3793.614, + -0.05, + -129.929, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_d.json b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..e5175f7bd0fa452344451bbd6677d6f8e6e14b53 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the wooden cart near the awning, then approach the striped column base.", + "Type": 3, + "Start_Pose": [ + -12624.453, + 8792.082, + 3793.614, + -0.05, + -129.929, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_e.json b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_e.json new file mode 100644 index 0000000000000000000000000000000000000000..271d90ace4fd7db36a8831df9a7cbf1dc1345920 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012624_y008792_z003794_t3_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the striped column base, then reach the dark wooden door on the white building.", + "Type": 3, + "Start_Pose": [ + -12624.453, + 8792.082, + 3793.614, + -0.05, + -129.929, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012674_y-002302_z000247_t1_a.json b/benchmark/task/Greek_Island/task_x-012674_y-002302_z000247_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2de40a8c445040858902004caca0ef770864c1c5 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012674_y-002302_z000247_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for a ladder leaning against the white-and-blue striped wall of the rounded building; once found, proceed to it.", + "Type": 1, + "Start_Pose": [ + -12674.309, + -2302.466, + 246.558, + 0.0, + -73.031, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012674_y-002302_z000247_t1_b.json b/benchmark/task/Greek_Island/task_x-012674_y-002302_z000247_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..7ba5955991d9da2f23e13373ed87fe33464980e5 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012674_y-002302_z000247_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the ladder attached to the wooden scaffolding structure, then head over to where it stands.", + "Type": 1, + "Start_Pose": [ + -12674.309, + -2302.466, + 246.558, + 0.0, + -73.031, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012674_y-002302_z000247_t1_c.json b/benchmark/task/Greek_Island/task_x-012674_y-002302_z000247_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..4350a78ccf019762bb3b593b41b734026724b6e0 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012674_y-002302_z000247_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look for the open doorway, a rectangular opening in the white wall with no door panel fitted; after locating it, navigate to that entrance.", + "Type": 1, + "Start_Pose": [ + -12674.309, + -2302.466, + 246.558, + 0, + -73.031, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012707_y013800_z004047_t1_a.json b/benchmark/task/Greek_Island/task_x-012707_y013800_z004047_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..473d70b9bb7da414e7c1801a27b28890ddc723b4 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012707_y013800_z004047_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the large statue holding a spear and a round shield in this hall; after locating it, proceed to the base of the sculpture.", + "Type": 1, + "Start_Pose": [ + -12706.816, + 13799.968, + 4047.454, + -0.05, + -89.929, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012728_y009831_z003792_t0_a.json b/benchmark/task/Greek_Island/task_x-012728_y009831_z003792_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d6f0f7ba6b15c59ae1b7112eca6abe3ce76d08cf --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012728_y009831_z003792_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the base of the statue with its back facing you.", + "Type": 0, + "Start_Pose": [ + -12728.177, + 9830.685, + 3792.278, + -0.05, + 15.2, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-012921_y-003830_z000256_t0_a.json b/benchmark/task/Greek_Island/task_x-012921_y-003830_z000256_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..229b819121571412a0b48fd1b4eb5a2d1bb1b331 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-012921_y-003830_z000256_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the table under the shelter.", + "Type": 0, + "Start_Pose": [ + -12920.605, + -3829.557, + 255.644, + 0.0, + 126.969, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-013444_y009089_z003859_t0_a.json b/benchmark/task/Greek_Island/task_x-013444_y009089_z003859_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f6a5280fca23f46997f69e799cf8c8065b963fe2 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-013444_y009089_z003859_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the wooden cart.", + "Type": 0, + "Start_Pose": [ + -13443.914, + 9088.558, + 3859.007, + -0.05, + -129.929, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-013469_y-001356_z000247_t0_a.json b/benchmark/task/Greek_Island/task_x-013469_y-001356_z000247_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4db45abda09b252229be6f2e82691b0f249ea10e --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-013469_y-001356_z000247_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the scaffolding attached to the building.", + "Type": 0, + "Start_Pose": [ + -13469.086, + -1356.173, + 246.558, + 0.0, + -13.434, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-013549_y008938_z003865_t0_a.json b/benchmark/task/Greek_Island/task_x-013549_y008938_z003865_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..be1acd55c1aeab55bc878eab7d3b69e0853e57da --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-013549_y008938_z003865_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the door of the white building.", + "Type": 0, + "Start_Pose": [ + -13548.535, + 8937.776, + 3865.187, + -0.05, + -129.929, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-013549_y008938_z003865_t3_a.json b/benchmark/task/Greek_Island/task_x-013549_y008938_z003865_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..294bc517d4ca174ff509157cd24a0d91545a6263 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-013549_y008938_z003865_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "First, go to the wooden cart, then go to the door of the white building.", + "Type": 3, + "Start_Pose": [ + -13548.535, + 8937.776, + 3865.187, + -0.05, + -129.929, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-014050_y-001188_z000246_t0_a.json b/benchmark/task/Greek_Island/task_x-014050_y-001188_z000246_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..aecca4bfd39ecc1c63ee4da65ba8d8281b5240ab --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-014050_y-001188_z000246_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the door of the small white building.", + "Type": 0, + "Start_Pose": [ + -14050.284, + -1187.913, + 246.357, + 0.0, + 52.896, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x-015312_y-002144_z000231_t0_a.json b/benchmark/task/Greek_Island/task_x-015312_y-002144_z000231_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..90561bdbf763fd06ae753a7ce49e8b66fb6dfcbe --- /dev/null +++ b/benchmark/task/Greek_Island/task_x-015312_y-002144_z000231_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the palm tree.", + "Type": 0, + "Start_Pose": [ + -15312.042, + -2143.931, + 231.179, + 0.0, + 87.672, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x001438_y005299_z001288_t1_a.json b/benchmark/task/Greek_Island/task_x001438_y005299_z001288_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..bcdf2ac0bbdf49ae3c89d60596f029c105b0f6e5 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x001438_y005299_z001288_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the area to go to the door of a house.", + "Type": 1, + "Start_Pose": [ + 1438.078, + 5298.852, + 1287.745, + -0.05, + 107.869, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x003107_y-004455_z001607_t0_a.json b/benchmark/task/Greek_Island/task_x003107_y-004455_z001607_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b1eb862ac9ca6a19a47b462115d8986abc4f64 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x003107_y-004455_z001607_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go near the wooden scaffold.", + "Type": 0, + "Start_Pose": [ + 3106.857, + -4455.07, + 1607.195, + -0.05, + -69.736, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x003901_y-004471_z001661_t1_a.json b/benchmark/task/Greek_Island/task_x003901_y-004471_z001661_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f7292d579e55e3cd1a7b7dc9f92a95ca92498714 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x003901_y-004471_z001661_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the area and go to the tied shark.", + "Type": 1, + "Start_Pose": [ + 3901.398, + -4470.75, + 1660.823, + -0.05, + -64.773, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_a.json b/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6f2d9b0a46b0d4e30af3562ea9b29c1da462ac81 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the wooden ladder leaning against the blue-and-white wall, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -124.773, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_b.json b/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..3a17a747ab932c50617962474d6ed236a4bb18bd --- /dev/null +++ b/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the boat resting beside the wooden ladder near the wall; once found, approach it.", + "Type": 1, + "Start_Pose": [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -124.773, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_c.json b/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..0309d6903689b9c324bc899d4b26c54a40019f79 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the wooden door on the building that has a ladder propped against its wall, and go reach that door.", + "Type": 1, + "Start_Pose": [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -124.773, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_d.json b/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_d.json new file mode 100644 index 0000000000000000000000000000000000000000..301246046bb5b67b93f7c3c28a4cca3a24b0d166 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x004014_y-004441_z001671_t1_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the small wooden window on the facade of the building where the ladder leans; after locating it, move toward that window.", + "Type": 1, + "Start_Pose": [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -124.773, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x004895_y-001287_z001690_t0_a.json b/benchmark/task/Greek_Island/task_x004895_y-001287_z001690_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c13cbd37573bfb012e97082f8f12b8cf92193d7d --- /dev/null +++ b/benchmark/task/Greek_Island/task_x004895_y-001287_z001690_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the large pot near the statue base.", + "Type": 0, + "Start_Pose": [ + 4894.784, + -1286.868, + 1690.31, + -0.049, + -63.355, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x005329_y002418_z001963_t1_a.json b/benchmark/task/Greek_Island/task_x005329_y002418_z001963_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5c9ed8a8c99b19140bae6cc668b82d3d574cbad0 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x005329_y002418_z001963_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the area and go to the main entrance door of the house.", + "Type": 1, + "Start_Pose": [ + 5328.531, + 2418.284, + 1962.851, + -0.049, + -152.538, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x005436_y001594_z001980_t0_a.json b/benchmark/task/Greek_Island/task_x005436_y001594_z001980_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5b880ac3a6f666bea2d0bc33dc1e6703d437c6ce --- /dev/null +++ b/benchmark/task/Greek_Island/task_x005436_y001594_z001980_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the window on the house wall.", + "Type": 0, + "Start_Pose": [ + 5435.528, + 1594.464, + 1979.882, + -0.049, + 147.942, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x005643_y-001973_z001690_t1_a.json b/benchmark/task/Greek_Island/task_x005643_y-001973_z001690_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ad90adc620342870482d57bab1998c137d9ec87f --- /dev/null +++ b/benchmark/task/Greek_Island/task_x005643_y-001973_z001690_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the large ceramic jar encased in a wooden frame near the statue; once you have located it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -43.355, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x005643_y-001973_z001690_t1_b.json b/benchmark/task/Greek_Island/task_x005643_y-001973_z001690_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b184cf74f555d8aded26a6aefcbaf072d2e3546a --- /dev/null +++ b/benchmark/task/Greek_Island/task_x005643_y-001973_z001690_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the stack of rectangular hay bales beside the cloth-covered table under the wooden shelter, then make your way toward it.", + "Type": 1, + "Start_Pose": [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -43.355, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x006107_y-001737_z001677_t2_a.json b/benchmark/task/Greek_Island/task_x006107_y-001737_z001677_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cd9ff865f0bbed680f07735463292cb0c2bb795e --- /dev/null +++ b/benchmark/task/Greek_Island/task_x006107_y-001737_z001677_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the first tall palm tree on the left.", + "Type": 2, + "Start_Pose": [ + 6107.44, + -1736.558, + 1677.312, + -0.05, + 119.052, + 0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x006933_y016342_z001304_t2_a.json b/benchmark/task/Greek_Island/task_x006933_y016342_z001304_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..297bcc0eb1827fc2b3cf4a820feb23f0beacdeea --- /dev/null +++ b/benchmark/task/Greek_Island/task_x006933_y016342_z001304_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the large tree visible on the left.", + "Type": 2, + "Start_Pose": [ + 6933.055, + 16342.131, + 1304.193, + -0.097, + 97.785, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x008399_y021711_z001322_t0_a.json b/benchmark/task/Greek_Island/task_x008399_y021711_z001322_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fec8bf71124754e15a3eba6fa585166436fb53a8 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x008399_y021711_z001322_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the red-and-white stone pillar.", + "Type": 0, + "Start_Pose": [ + 8399.279, + 21710.842, + 1321.588, + -0.097, + 99.544, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x008399_y021711_z001322_t2_a.json b/benchmark/task/Greek_Island/task_x008399_y021711_z001322_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ccc1e79e292fdfc799f9d7b8ee7298374ff90254 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x008399_y021711_z001322_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the prominent palm tree on the left side of the path.", + "Type": 2, + "Start_Pose": [ + 8399.279, + 21710.842, + 1321.588, + -0.097, + 99.544, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x010118_y024169_z001332_t0_a.json b/benchmark/task/Greek_Island/task_x010118_y024169_z001332_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..64568bfda0662a4756dabc0dc447ebad9253f02c --- /dev/null +++ b/benchmark/task/Greek_Island/task_x010118_y024169_z001332_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the cart under the wooden shelter.", + "Type": 0, + "Start_Pose": [ + 10117.838, + 24168.569, + 1332.227, + -0.097, + -29.95, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x011153_y027246_z001322_t0_a.json b/benchmark/task/Greek_Island/task_x011153_y027246_z001322_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..747a411d7982c65a53f08e861f7eb7c43880db74 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x011153_y027246_z001322_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the jar under the canopy.", + "Type": 0, + "Start_Pose": [ + 11153.221, + 27246.209, + 1321.587, + -0.097, + -153.024, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_a.json b/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6d7a6124f626a4f572f3172aca7f050878cd4940 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the dark wooden door on the white building, then head toward the beached boat.", + "Type": 3, + "Start_Pose": [ + 11550.418, + 26830.599, + 1321.587, + -0.097, + 97.561, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_b.json b/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a47bac2396471e3ebff8894573b2b152347b6834 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden ladder leaning against the building, then move to the small window.", + "Type": 3, + "Start_Pose": [ + 11550.418, + 26830.599, + 1321.587, + -0.097, + 97.561, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_c.json b/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..48b98fdc730fb697e5137d60ea0a7236f9e56b63 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the beached boat, then proceed to the dark wooden door on the white building.", + "Type": 3, + "Start_Pose": [ + 11550.418, + 26830.599, + 1321.587, + -0.097, + 97.561, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_d.json b/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..e4cf57bc1c6458794d42f19f67a3c3d42b39b6e2 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x011550_y026831_z001322_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the small window, then walk to the base of the ladder.", + "Type": 3, + "Start_Pose": [ + 11550.418, + 26830.599, + 1321.587, + -0.097, + 97.561, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x011618_y023679_z001322_t2_a.json b/benchmark/task/Greek_Island/task_x011618_y023679_z001322_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..90f51e8036a3ee9a5d547109665bc7c1df53e7de --- /dev/null +++ b/benchmark/task/Greek_Island/task_x011618_y023679_z001322_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the leftmost door.", + "Type": 2, + "Start_Pose": [ + 11618.281, + 23679.395, + 1321.588, + -0.097, + 6.001, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x011618_y023679_z001322_t2_b.json b/benchmark/task/Greek_Island/task_x011618_y023679_z001322_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ac9d2e316abd573fa10532801849c2a33abe1aa6 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x011618_y023679_z001322_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the second door from the left.", + "Type": 2, + "Start_Pose": [ + 11618.281, + 23679.395, + 1321.588, + -0.097, + 6.001, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x011618_y023679_z001322_t2_c.json b/benchmark/task/Greek_Island/task_x011618_y023679_z001322_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..0f0b8b3aba05160c4db09caf5e722e2dee50c6a2 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x011618_y023679_z001322_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the rightmost door.", + "Type": 2, + "Start_Pose": [ + 11618.281, + 23679.395, + 1321.588, + -0.097, + 6.001, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x011688_y023687_z001322_t0_a.json b/benchmark/task/Greek_Island/task_x011688_y023687_z001322_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..eb60e6f7a0b1bb9c7b27617129a21bacb85c9c4c --- /dev/null +++ b/benchmark/task/Greek_Island/task_x011688_y023687_z001322_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the palm tree.", + "Type": 0, + "Start_Pose": [ + 11688.468, + 23686.773, + 1321.588, + -0.097, + 35.761, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x012649_y027666_z001322_t0_a.json b/benchmark/task/Greek_Island/task_x012649_y027666_z001322_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..eb9240b7272eebddacdbdabe05cec98c4b767380 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x012649_y027666_z001322_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the wooden door.", + "Type": 0, + "Start_Pose": [ + 12649.205, + 27665.623, + 1321.587, + -0.097, + 171.481, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x012649_y027666_z001331_t0_a.json b/benchmark/task/Greek_Island/task_x012649_y027666_z001331_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..09a2649b8c9b2ccdb36a821a4e2e508e6ef6099f --- /dev/null +++ b/benchmark/task/Greek_Island/task_x012649_y027666_z001331_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the ladder leaning against the building.", + "Type": 0, + "Start_Pose": [ + 12649.205, + 27665.623, + 1331.484, + -0.097, + -158.759, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x012667_y027666_z001322_t3_a.json b/benchmark/task/Greek_Island/task_x012667_y027666_z001322_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d42a500ee5b24a25a44b8ec99eb8659fd128f4d1 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x012667_y027666_z001322_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the window first, then go to the ladder.", + "Type": 3, + "Start_Pose": [ + 12667.168, + 27666.139, + 1321.587, + -0.097, + 171.481, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x012832_y028903_z001322_t0_a.json b/benchmark/task/Greek_Island/task_x012832_y028903_z001322_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a429935488f3996aa37195c396df6010c8a53a27 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x012832_y028903_z001322_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the large palm tree with the thick gray trunk.", + "Type": 0, + "Start_Pose": [ + 12832.171, + 28902.924, + 1321.587, + -0.097, + 0.023, + 0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x022302_y016301_z002327_t2_a.json b/benchmark/task/Greek_Island/task_x022302_y016301_z002327_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..383e730339ba6f70406477927a58f7fa83f0b783 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x022302_y016301_z002327_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the leftmost tall palm tree.", + "Type": 2, + "Start_Pose": [ + 22301.738, + 16300.831, + 2327.096, + -0.097, + -120.641, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x022612_y013338_z002327_t2_a.json b/benchmark/task/Greek_Island/task_x022612_y013338_z002327_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ab235fb7906d8fd1884b5d677ea5c84a93be6bef --- /dev/null +++ b/benchmark/task/Greek_Island/task_x022612_y013338_z002327_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the nearer wooden door.", + "Type": 2, + "Start_Pose": [ + 22611.764, + 13338.487, + 2326.703, + -0.097, + -47.996, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x022612_y013338_z002327_t2_b.json b/benchmark/task/Greek_Island/task_x022612_y013338_z002327_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9c7d9381609b75f8b0fd729f799bfeec3c600a25 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x022612_y013338_z002327_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the door of the building in front of you on the left.", + "Type": 2, + "Start_Pose": [ + 22611.764, + 13338.487, + 2326.703, + -0.097, + -47.996, + -0.0 + ] +} diff --git a/benchmark/task/Greek_Island/task_x033685_y051599_z001601_t2_a.json b/benchmark/task/Greek_Island/task_x033685_y051599_z001601_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f05b05412787144bd92ab446ff1d3ff217a4f711 --- /dev/null +++ b/benchmark/task/Greek_Island/task_x033685_y051599_z001601_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the palm tree on the left.", + "Type": 2, + "Start_Pose": [ + 33685.267, + 51599.327, + 1601.149, + -0.097, + 53.796, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_a_p.json b/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..6223d6fb92d38e00d26c0321d1bf363fa227ff19 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase near the door.", + "Type": 5, + "Start_Pose": [ + -92.967, + -2274.345, + 561.15, + 0, + 125.12, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -241.656, + -1875.416, + 488.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_a_pd.json b/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..378fd599db8b4f5368eb07a935a20535bf8d52a2 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate from the door, then place it near the green wooden crate stack.", + "Type": 5, + "Start_Pose": [ + -92.967, + -2274.345, + 561.15, + 0, + 125.12, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -264.303, + -1830.703, + 511.15, + 90, + 90, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_b_p.json b/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..bd5462990724b1cba70e72bf907c1ff34fa5e89b --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket near the green wooden crate stack.", + "Type": 5, + "Start_Pose": [ + -92.967, + -2274.345, + 561.15, + 0, + 125.12, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -424.357, + -2000.009, + 470.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_b_pd.json b/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..585edd24147774f893003269546d221f1b64f049 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000093_y-002274_z000561_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper from the green wooden crate stack, then place it near the door.", + "Type": 5, + "Start_Pose": [ + -92.967, + -2274.345, + 561.15, + 0, + 125.12, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -451.816, + -2087.714, + 599.488, + -45, + -115.283, + 90 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000105_y-000207_z000098_t0_a.json b/benchmark/task/IndustrialArea/task_x-000105_y-000207_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5a60763256f704cc70939084bef044867df505 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000105_y-000207_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the fresh green dumpster beside the storage tanks.", + "Type": 0, + "Start_Pose": [ + -105.322, + -207.425, + 98.15, + 0.0, + 15.36, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000105_y-000207_z000098_t0_b.json b/benchmark/task/IndustrialArea/task_x-000105_y-000207_z000098_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..c36210df7e99d84b4e78fd087b206131255f13b8 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000105_y-000207_z000098_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the blue dumpster beside the green dumpster.", + "Type": 0, + "Start_Pose": [ + -105.322, + -207.425, + 98.15, + 0, + 15.36, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000165_y-001894_z000911_t1_a.json b/benchmark/task/IndustrialArea/task_x-000165_y-001894_z000911_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c2fdb709f3adbb175aca4f5f6b2a72cec066d08b --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000165_y-001894_z000911_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the red fire extinguisher mounted on the wall inside this room; after locating it, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -164.56, + -1893.62, + 911.15, + 0.0, + -34.88, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000165_y-001894_z000911_t1_b.json b/benchmark/task/IndustrialArea/task_x-000165_y-001894_z000911_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9b3413d63ecda051c3b007013804e85124b11e22 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000165_y-001894_z000911_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the box sitting on the tiled floor in the center of the room, then head over to it.", + "Type": 1, + "Start_Pose": [ + -164.56, + -1893.62, + 911.15, + 0.0, + -34.88, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000167_y-002072_z000561_t1_a.json b/benchmark/task/IndustrialArea/task_x-000167_y-002072_z000561_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f196e09a2c068b72acabb07901821de153f66a --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000167_y-002072_z000561_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the valve wheel mounted on the blue pipe inside this room; once found, reach that mechanism.", + "Type": 1, + "Start_Pose": [ + -166.993, + -2072.455, + 561.15, + 0.0, + 105.12, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000167_y-002072_z000561_t1_b.json b/benchmark/task/IndustrialArea/task_x-000167_y-002072_z000561_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..735d88880001beef8320fe111b5f121a5b846ca2 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000167_y-002072_z000561_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the red fire extinguisher hanging on the wall inside this room and approach it.", + "Type": 1, + "Start_Pose": [ + -166.993, + -2072.455, + 561.15, + 0.0, + 105.12, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000216_y-002721_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x-000216_y-002721_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..df7f7962f0eb37c90c05b47cc8070c87a87ec356 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000216_y-002721_z000211_t4_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "The pale door at the far end of the hallway is your target. Navigate to it and open it.", + "Type": 4, + "Start_Pose": [ + -215.606, + -2721.263, + 211.15, + 0.0, + 96.32, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/benchmark/task/IndustrialArea/task_x-000283_y-001613_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x-000283_y-001613_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..98bf2d7f892722ccbbd51d9f63c491b36af8b838 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000283_y-001613_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the metal door with the glass window near the fire extinguisher, then pull it open when you arrive.", + "Type": 4, + "Start_Pose": [ + -283.36, + -1613.029, + 211.15, + 0.0, + -63.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000286_y-002398_z000561_t4_a.json b/benchmark/task/IndustrialArea/task_x-000286_y-002398_z000561_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..63b359c73f039fe600392af2bcc624db9255a6fa --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000286_y-002398_z000561_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go straight to the gray metal door with a narrow window between the two banks of electrical control panels, and pull it open.", + "Type": 4, + "Start_Pose": [ + -285.934, + -2398.121, + 561.15, + 0.0, + 76.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000407_y-001339_z000561_t4_a.json b/benchmark/task/IndustrialArea/task_x-000407_y-001339_z000561_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ee8bb355e4cbde212d4eaf49022cf5d944eadefb --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000407_y-001339_z000561_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Open the gray metal door immediately to your left, the one with a narrow window beside a red fire extinguisher.", + "Type": 4, + "Start_Pose": [ + -407.169, + -1339.492, + 561.15, + 0.0, + -43.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000407_y-001339_z000561_t4_b.json b/benchmark/task/IndustrialArea/task_x-000407_y-001339_z000561_t4_b.json new file mode 100644 index 0000000000000000000000000000000000000000..fb428c5b77bfb9e983307c2cd647535a5a2fb4d2 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000407_y-001339_z000561_t4_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The door at the far end of the hallway is your target. Walk over and open it.", + "Type": 4, + "Start_Pose": [ + -407.169, + -1339.492, + 561.15, + 0.0, + -43.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000631_y-002106_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x-000631_y-002106_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..205145ead0963a1cab74eea8690b1c5a43b96528 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000631_y-002106_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the metal door on the right wall between the electrical control panels, then pull it open.", + "Type": 4, + "Start_Pose": [ + -631.142, + -2105.543, + 211.15, + 0.0, + 16.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000652_y-002504_z000561_t4_a.json b/benchmark/task/IndustrialArea/task_x-000652_y-002504_z000561_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..69c6e32c057847b0edabc7a681cd1f2038bf3c57 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000652_y-002504_z000561_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the gray metal door with a narrow window beside the wall-mounted intercom panel, between the electrical control panels and the stacked wooden crates, and pull it open.", + "Type": 4, + "Start_Pose": [ + -652.389, + -2504.433, + 561.15, + 0.0, + 36.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000652_y-002688_z000561_t3_a.json b/benchmark/task/IndustrialArea/task_x-000652_y-002688_z000561_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..53bd7104578f322d4f487bd8b31ca2991b914803 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000652_y-002688_z000561_t3_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the valve wheel on the far wall, then head toward the doorway.", + "Type": 3, + "Start_Pose": [ + -652.139, + -2687.915, + 561.15, + 0.0, + 45.12, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/benchmark/task/IndustrialArea/task_x-000652_y-002688_z000561_t3_b.json b/benchmark/task/IndustrialArea/task_x-000652_y-002688_z000561_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3d3c724385124ff85faf3893b384aa1fda228e --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000652_y-002688_z000561_t3_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Approach the metal door, then move to the valve wheel.", + "Type": 3, + "Start_Pose": [ + -652.139, + -2687.915, + 561.15, + 0.0, + 45.12, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/benchmark/task/IndustrialArea/task_x-000652_y-002688_z000561_t3_c.json b/benchmark/task/IndustrialArea/task_x-000652_y-002688_z000561_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..ced64764ff913cdd8b30cb8fc814dbf062f1cc8d --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000652_y-002688_z000561_t3_c.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Head toward the doorway, then proceed to the vertical pipe with valve wheel.", + "Type": 3, + "Start_Pose": [ + -652.139, + -2687.915, + 561.15, + 0.0, + 45.12, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/benchmark/task/IndustrialArea/task_x-000702_y-002738_z000911_t4_a.json b/benchmark/task/IndustrialArea/task_x-000702_y-002738_z000911_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8d1f63f408e850ec0863f7572a5eb4f9a3ea46cb --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000702_y-002738_z000911_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the metal door nestled between the electrical panels on the far wall and pull it open.", + "Type": 4, + "Start_Pose": [ + -701.915, + -2737.895, + 911.15, + 0.0, + 36.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000874_y000221_z000098_t0_a.json b/benchmark/task/IndustrialArea/task_x-000874_y000221_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f8c5b103ef4d71aa589a0f66f891c43d86f48309 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000874_y000221_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the blue four-wheeled vehicle.", + "Type": 0, + "Start_Pose": [ + -874.468, + 220.524, + 98.15, + 0.0, + 97.92, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-000874_y000221_z000098_t0_b.json b/benchmark/task/IndustrialArea/task_x-000874_y000221_z000098_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0cbe51425ef440e3a4f4f0579ad41fa4a9ba25d6 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-000874_y000221_z000098_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the tall wooden crates beside the forklift.", + "Type": 0, + "Start_Pose": [ + -874.468, + 220.524, + 98.15, + 0, + 97.92, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001209_y001604_z000098_t0_a.json b/benchmark/task/IndustrialArea/task_x-001209_y001604_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..49e3407c4ca909db86e6017377025ea367012dee --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001209_y001604_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the small door on the warehouse gate.", + "Type": 0, + "Start_Pose": [ + -1209.124, + 1604.392, + 98.15, + 0.0, + 37.92, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001209_y001604_z000098_t0_b.json b/benchmark/task/IndustrialArea/task_x-001209_y001604_z000098_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..7fb06e1f0c76ec1bcf3f626cdde4865251032215 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001209_y001604_z000098_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the four-wheeled blue cart near the building.", + "Type": 0, + "Start_Pose": [ + -1209.124, + 1604.392, + 98.15, + 0.0, + 37.92, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001209_y001604_z000098_t0_c.json b/benchmark/task/IndustrialArea/task_x-001209_y001604_z000098_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..a880c989b6953306e50d23a88afacb740824cff5 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001209_y001604_z000098_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden crate by the chain-link fence.", + "Type": 0, + "Start_Pose": [ + -1209.124, + 1604.392, + 98.15, + 0.0, + 37.92, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_a_p.json b/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..c471fe75c906770e5c81af8862c054dff14f2b6a --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag near the two red barrels standing together on the pallet.", + "Type": 5, + "Start_Pose": [ + -1337.163, + 1449.032, + 98.368, + 0, + 76.32, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1347.489, + 2061.546, + 96.582, + -8.965, + 146.629, + 89.45 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_a_pd.json b/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..36aaefe16af7155e24477628bafd1e1f59f5ad62 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket from the rear tire of the blue truck, then place it near the two red barrels standing together on the pallet.", + "Type": 5, + "Start_Pose": [ + -1337.163, + 1449.032, + 98.368, + 0, + 76.32, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -682.104, + 2011.768, + 88.15, + 90, + -3.68, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_b_p.json b/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..5f83132263c6116fc4d34b4e0c1382623c6a042a --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper near the rear tire of the blue truck.", + "Type": 5, + "Start_Pose": [ + -1337.163, + 1449.032, + 98.368, + 0, + 76.32, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -725.539, + 2000.824, + 83.846, + -3.475, + -22.29, + -89.926 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_b_pd.json b/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..7e8b0436f9c8bf9055b586c4eca684e5fc538d38 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001337_y001449_z000098_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can from the two red barrels standing together on the pallet, then place it near the rear tire of the blue truck.", + "Type": 5, + "Start_Pose": [ + -1337.163, + 1449.032, + 98.368, + 0, + 76.32, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1389.717, + 2073.168, + 88.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001389_y001702_z000098_t1_a.json b/benchmark/task/IndustrialArea/task_x-001389_y001702_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9352d4f84f02dc4ff0b75757519908e5df300d96 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001389_y001702_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the small blue vehicle in the area and navigate your way over to it.", + "Type": 1, + "Start_Pose": [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 136.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001389_y001702_z000098_t1_b.json b/benchmark/task/IndustrialArea/task_x-001389_y001702_z000098_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..3a493090cc3571fccc4d653aa71d037defd56c62 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001389_y001702_z000098_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Determine where the small iron door built into the warehouse's main gate is situated; once found, make your way to that entry point.", + "Type": 1, + "Start_Pose": [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 136.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001400_y-001221_z000098_t1_a.json b/benchmark/task/IndustrialArea/task_x-001400_y-001221_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b673df88dced04c668cc3ea55823246496e0cc77 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001400_y-001221_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the green shipping container's door on the side adjacent to the blue container, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -1400.347, + -1220.521, + 98.15, + 0.0, + 176.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001404_y-000695_z000098_t0_a.json b/benchmark/task/IndustrialArea/task_x-001404_y-000695_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8c63d333670606fec14b290d27457041bb8062f3 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001404_y-000695_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the stack of wooden pallets.", + "Type": 0, + "Start_Pose": [ + -1404.25, + -695.378, + 98.15, + 0.0, + -138.24, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001459_y-000640_z000098_t1_a.json b/benchmark/task/IndustrialArea/task_x-001459_y-000640_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6060c4b1eba1f460bd201f4083dd1ff086b4b101 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001459_y-000640_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Determine where the single standalone dumpster is located and make your way over to it.", + "Type": 1, + "Start_Pose": [ + -1458.589, + -640.342, + 98.15, + 0.0, + -123.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001614_y000185_z000098_t1_a.json b/benchmark/task/IndustrialArea/task_x-001614_y000185_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..faf3bc25aae299b4c2287ded200ddb7c3a748554 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001614_y000185_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for a stack of crates positioned in front of a yellow forklift; after locating them, proceed to that pile.", + "Type": 1, + "Start_Pose": [ + -1613.895, + 184.938, + 98.15, + 0.0, + 176.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001616_y000320_z000098_t0_a.json b/benchmark/task/IndustrialArea/task_x-001616_y000320_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c1db0c6c3c01376a124078a54dd4f854069d16d4 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001616_y000320_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the forks of the yellow forklift.", + "Type": 0, + "Start_Pose": [ + -1616.007, + 319.522, + 98.15, + 0.0, + 77.92, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x-001616_y000320_z000098_t0_b.json b/benchmark/task/IndustrialArea/task_x-001616_y000320_z000098_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..fb64ca34f96004d591eba4999d48e4a9020fe1b1 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x-001616_y000320_z000098_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden pallet loaded with crates in front of the yellow forklift.", + "Type": 0, + "Start_Pose": [ + -1616.007, + 319.522, + 98.15, + 0.0, + 77.92, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000177_y-002189_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x000177_y-002189_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e104de4235c2132ddcf5df6ad06168d4bc4637e0 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000177_y-002189_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the metal door near the electrical panels on the far wall; once there, open it.", + "Type": 4, + "Start_Pose": [ + 176.883, + -2189.024, + 211.15, + 0.0, + 176.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000184_y-002450_z000911_t4_a.json b/benchmark/task/IndustrialArea/task_x000184_y-002450_z000911_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6719da706d2c5980c55e6a8ecc2a447f12f45c72 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000184_y-002450_z000911_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Reach the metal door set between the electrical control panels; once there, open it.", + "Type": 4, + "Start_Pose": [ + 183.675, + -2449.879, + 911.15, + 0.0, + 136.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000198_y-002511_z000211_t1_a.json b/benchmark/task/IndustrialArea/task_x000198_y-002511_z000211_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..22ea7119b25726997b8ed6542f237748ee8bf90c --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000198_y-002511_z000211_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the red fire extinguisher mounted on the green wall section between the machinery; once you've spotted it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + 198.102, + -2510.655, + 211.15, + 0.0, + -83.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000245_y-001569_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x000245_y-001569_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1338544925cff1cd2ac388a0eb735b604afb34e1 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000245_y-001569_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the grey metal door near the fire extinguisher and pull it open.", + "Type": 4, + "Start_Pose": [ + 244.893, + -1568.99, + 211.068, + 0.0, + 176.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000387_y-002538_z000844_t4_a.json b/benchmark/task/IndustrialArea/task_x000387_y-002538_z000844_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b7660f22316a0c4b17355b16bb6d628534e18a45 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000387_y-002538_z000844_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head up the stairs to the door at the top, and pull it open after reaching it.", + "Type": 4, + "Start_Pose": [ + 387.045, + -2538.343, + 844.454, + 0.0, + 16.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000387_y-002555_z000482_t4_a.json b/benchmark/task/IndustrialArea/task_x000387_y-002555_z000482_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ec0fe2548dcd81d588bcaa1fdc4a984143ae5300 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000387_y-002555_z000482_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the metal door; once there, pull it open.", + "Type": 4, + "Start_Pose": [ + 387.192, + -2555.185, + 481.845, + 0.0, + 36.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000387_y-002616_z000210_t4_a.json b/benchmark/task/IndustrialArea/task_x000387_y-002616_z000210_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4b44b19d359c4907a364e82d34bc6d1b79f0718e --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000387_y-002616_z000210_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the weathered metal door beneath the fluorescent light at the base of the stairwell; once there, pull it open.", + "Type": 4, + "Start_Pose": [ + 387.165, + -2616.242, + 209.648, + 0.0, + 56.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000425_y-001292_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x000425_y-001292_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4bf93fa7bb82c0b3979e1cd0d4c65681b476b9d5 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000425_y-001292_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the small gray door on the far left wall and pull it open.", + "Type": 4, + "Start_Pose": [ + 424.907, + -1292.004, + 211.15, + 0.0, + -43.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000425_y-001292_z000211_t4_b.json b/benchmark/task/IndustrialArea/task_x000425_y-001292_z000211_t4_b.json new file mode 100644 index 0000000000000000000000000000000000000000..15b414a527b43f58174d1f83fbcce255d5aea6a2 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000425_y-001292_z000211_t4_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the door near the window with the fire extinguisher beside it and swing it open.", + "Type": 4, + "Start_Pose": [ + 424.907, + -1292.004, + 211.15, + 0.0, + -43.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000431_y-002738_z000386_t4_a.json b/benchmark/task/IndustrialArea/task_x000431_y-002738_z000386_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..32ab7bfba1e98c0d9193a8cc37c93c3cd73c67d9 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000431_y-002738_z000386_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Descend the stairs and, after reaching the lit door at the bottom landing, pull it open.", + "Type": 4, + "Start_Pose": [ + 430.982, + -2737.906, + 386.15, + 0.0, + 76.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000487_y-001274_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x000487_y-001274_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..502a326b94ce23887dfd56b3e191b352f75c6f71 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000487_y-001274_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the gray metal door beside the red fire extinguisher and pull it open.", + "Type": 4, + "Start_Pose": [ + 486.969, + -1274.355, + 210.901, + 0.0, + -123.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000487_y-001274_z000211_t4_b.json b/benchmark/task/IndustrialArea/task_x000487_y-001274_z000211_t4_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b39977b738187ccd659ee5061795b503997c0fe0 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000487_y-001274_z000211_t4_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Cross the room to the gray metal door on the right-hand green brick wall and open it.", + "Type": 4, + "Start_Pose": [ + 486.969, + -1274.355, + 210.901, + 0.0, + -123.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000516_y-002738_z000736_t4_a.json b/benchmark/task/IndustrialArea/task_x000516_y-002738_z000736_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..651aff2786b62b7ba57b89ed0ada7c231c0875fe --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000516_y-002738_z000736_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the door at the top of the staircase with the small window and open it.", + "Type": 4, + "Start_Pose": [ + 516.133, + -2737.893, + 736.15, + 0.0, + 76.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000516_y-002738_z000736_t4_b.json b/benchmark/task/IndustrialArea/task_x000516_y-002738_z000736_t4_b.json new file mode 100644 index 0000000000000000000000000000000000000000..40f9920c575d8b0d655f46df53f33b9f313c0f2b --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000516_y-002738_z000736_t4_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Reach the worn door tucked beneath the stairs with the fluorescent light above it and pull it open.", + "Type": 4, + "Start_Pose": [ + 516.133, + -2737.893, + 736.15, + 0.0, + 76.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t0_a.json b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..18def99190aa15ea381939f27bb60ea91da88ded --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the metal door with a window.", + "Type": 0, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -127.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t0_b.json b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..120e1567b7e28422ffb26c50b28ea9f1a6812e3d --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the gray door without a window.", + "Type": 0, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -127.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t0_c.json b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..8056330e4453cceae2576cd00bf581f7ecf9780f --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the red fire extinguisher on the wall.", + "Type": 0, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -127.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_a.json b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4ed9783daad7b05e562c7eebdfb7101971520ff6 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the metal door on the left wall.", + "Type": 2, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_b.json b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..db527be77c49c52d242c823f86c62ddfce8e677e --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the door on the right.", + "Type": 2, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_c.json b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..39d4b0ebc2ab8d6e747dbbac8d31e987b9d730c6 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the rightmost pipe junction on the right wall.", + "Type": 2, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_d.json b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..909e285c175ab932546dc06055c2578d7b0e75d8 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000548_y-001171_z000210_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the leftmost corner where the two walls meet.", + "Type": 2, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000562_y-002143_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x000562_y-002143_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7997bbaae8679b10280c9a589ec1cb9cf639fc72 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000562_y-002143_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the metal door with the keypad entry on the green brick wall; pull the handle to open it.", + "Type": 4, + "Start_Pose": [ + 561.787, + -2142.602, + 211.15, + 0.0, + -83.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_a.json b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ebab99bea625981ccf6eb9cbb3a2b24861ba57b9 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the rightmost window on the far wall.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_b.json b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..dd07808f474433c30c4345e0a2840e0721192a43 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the radiator beneath the second window from left.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_c.json b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..81832ab13bca553b86f5b2677e4d59c15df0abf6 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the circular valve wheel on the left wall.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_d.json b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..6c57055c057602880d2859c25d11118a93fcad35 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the second window from right.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_e.json b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..8a5d0540c054967009fb6b360b6546092a87fb5e --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000569_y-001832_z000561_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the third window from the left.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000574_y-001860_z000561_t1_a.json b/benchmark/task/IndustrialArea/task_x000574_y-001860_z000561_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a5e0d9a3f5a906d48f4937643317b5e3d6d33bd2 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000574_y-001860_z000561_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the valve wheel mounted on the blue pipe between the windows and navigate to it.", + "Type": 1, + "Start_Pose": [ + 573.818, + -1860.194, + 561.15, + 0.0, + 45.12, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000603_y-002738_z000386_t4_a.json b/benchmark/task/IndustrialArea/task_x000603_y-002738_z000386_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3cdab0adad57dc6bae374cf6fb7e8d4f3787540f --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000603_y-002738_z000386_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the metal door beneath the staircase and pull it open.", + "Type": 4, + "Start_Pose": [ + 602.989, + -2737.829, + 386.15, + 0.0, + 76.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000691_y001267_z000098_t0_a.json b/benchmark/task/IndustrialArea/task_x000691_y001267_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a2cf7adb2ed9a8b8207e177b84d8306a98be2ae0 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000691_y001267_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the metal barrels.", + "Type": 0, + "Start_Pose": [ + 690.854, + 1266.548, + 98.15, + 0.0, + 97.92, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000691_y001267_z000098_t0_b.json b/benchmark/task/IndustrialArea/task_x000691_y001267_z000098_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..d9a794eda0659e6147d205f095ba1d680dc0886d --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000691_y001267_z000098_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden crate with the hazard symbol.", + "Type": 0, + "Start_Pose": [ + 690.854, + 1266.548, + 98.15, + 0.0, + 97.92, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000691_y001267_z000098_t0_c.json b/benchmark/task/IndustrialArea/task_x000691_y001267_z000098_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..43ea9b73474cbf7dc488d0920687da9d7c6573c2 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000691_y001267_z000098_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the stack of wooden pallets.", + "Type": 0, + "Start_Pose": [ + 690.854, + 1266.548, + 98.15, + 0.0, + 97.92, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_a_p.json b/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..b9cd63eb82f88cc7286089cbc873d88264f228db --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper near the rightmost red barrel on the left side of the warehouse.", + "Type": 5, + "Start_Pose": [ + 747.653, + 1380.301, + 98.15, + 0, + 116.32, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 813.009, + 2047.975, + 109.289, + 13.469, + 112.946, + 93.157 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_a_pd.json b/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..8ef28dbd32549959c52faeaf4448c7394f52f92f --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot from the stacked wooden pallets on the far right, then place it near the rightmost red barrel on the left side of the warehouse.", + "Type": 5, + "Start_Pose": [ + 747.653, + 1380.301, + 98.15, + 0, + 116.32, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -140.101, + 1824.887, + 23.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_b_p.json b/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..67d48dd539b7cc8fbb34f3ace0ed40d04a0d0d97 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket near the stacked wooden pallets on the far right.", + "Type": 5, + "Start_Pose": [ + 747.653, + 1380.301, + 98.15, + 0, + 116.32, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -206.353, + 1838.02, + 28.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_b_pd.json b/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..907527bfb4a605083541126129abb48b055f5aa5 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000748_y001380_z000098_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate from the rightmost red barrel on the left side of the warehouse, then place it near the stacked wooden pallets on the far right.", + "Type": 5, + "Start_Pose": [ + 747.653, + 1380.301, + 98.15, + 0, + 116.32, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 807.878, + 1976.315, + 70.699, + 42.467, + 172.753, + -100.08 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000787_y-002377_z000561_t4_a.json b/benchmark/task/IndustrialArea/task_x000787_y-002377_z000561_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e8436150bab31d48ea7ea90d94993755f2912721 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000787_y-002377_z000561_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the metal door between the electrical panels and pull it open.", + "Type": 4, + "Start_Pose": [ + 787.14, + -2376.727, + 561.15, + 0.0, + 36.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000796_y-001385_z000211_t0_a.json b/benchmark/task/IndustrialArea/task_x000796_y-001385_z000211_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f7607d96abf5f7d0a5eb11dac6c2992fb47defc9 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000796_y-001385_z000211_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the metal door with the small window.", + "Type": 0, + "Start_Pose": [ + 795.508, + -1385.063, + 211.15, + 0.0, + -53.76, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000796_y-001385_z000211_t0_b.json b/benchmark/task/IndustrialArea/task_x000796_y-001385_z000211_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0d0b2a41fdb95f4d0b36efa73a83ff8a8a88c216 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000796_y-001385_z000211_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the red fire extinguisher mounted beside the metal door.", + "Type": 0, + "Start_Pose": [ + 795.508, + -1385.063, + 211.15, + 0.0, + -53.76, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000796_y-001385_z000211_t0_c.json b/benchmark/task/IndustrialArea/task_x000796_y-001385_z000211_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..45487c3e6951ab189198a86444355f193b6e38b9 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000796_y-001385_z000211_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the barred window on the green wall.", + "Type": 0, + "Start_Pose": [ + 795.508, + -1385.063, + 211.15, + 0.0, + -53.76, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000825_y-001373_z000561_t4_a.json b/benchmark/task/IndustrialArea/task_x000825_y-001373_z000561_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..33cc55be4802bb69f88d2a6b9794b1fef05cc07e --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000825_y-001373_z000561_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the metal door on the far right wall with the small window, and pull it open when you arrive.", + "Type": 4, + "Start_Pose": [ + 824.95, + -1372.732, + 561.15, + 0.0, + -143.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000825_y-001373_z000561_t4_b.json b/benchmark/task/IndustrialArea/task_x000825_y-001373_z000561_t4_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e0497ef2486090b255f54d6c95880311ba4390d3 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000825_y-001373_z000561_t4_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "After reaching the light-colored door beside the red fire extinguisher on the wall straight ahead, open it.", + "Type": 4, + "Start_Pose": [ + 824.95, + -1372.732, + 561.15, + 0.0, + -143.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x000955_y-002466_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x000955_y-002466_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fb36527f967a395ed2fb7b9e022ed3c9017cf286 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x000955_y-002466_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the metal door on the far wall near the electrical panels and pull it open.", + "Type": 4, + "Start_Pose": [ + 954.582, + -2465.821, + 211.15, + 0.0, + 36.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001143_y-001644_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x001143_y-001644_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..85e839f6302e6e0ca9a38bb6e0fc72b50dec9940 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001143_y-001644_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head over to the metal door with the frosted glass panel near the keypad and fire extinguisher, then pull it open.", + "Type": 4, + "Start_Pose": [ + 1142.605, + -1644.069, + 211.15, + 0.0, + -63.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001160_y-001886_z000911_t4_a.json b/benchmark/task/IndustrialArea/task_x001160_y-001886_z000911_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..dc84e7206a3fc33348ee0fb8d101ac7dea5983cb --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001160_y-001886_z000911_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the metal door with the frosted glass window, then pull it open.", + "Type": 4, + "Start_Pose": [ + 1160.456, + -1886.19, + 911.15, + 0.0, + 56.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001274_y-001929_z000211_t1_a.json b/benchmark/task/IndustrialArea/task_x001274_y-001929_z000211_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cb72fae7f51d679f0f0c17de87d94e4edb95224b --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001274_y-001929_z000211_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search this room for a blue metal barrel; after locating it, head over to where it stands.", + "Type": 1, + "Start_Pose": [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -23.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001274_y-001929_z000211_t1_b.json b/benchmark/task/IndustrialArea/task_x001274_y-001929_z000211_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4c34ffbec01b25eadc91a2b733a7a6231d360bbf --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001274_y-001929_z000211_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the black valve wheel mounted on a blue pipe somewhere in this room, then proceed to its location.", + "Type": 1, + "Start_Pose": [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -23.68, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_a.json b/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1506aab7143a0400994d02dabd2b621ac61c4b84 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden crates, then head toward the blue barrel.", + "Type": 3, + "Start_Pose": [ + 1274.742, + -1819.438, + 211.15, + 0.0, + -139.2, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_b.json b/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f6af81e882180713e4a306154844122d666ad4d1 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the blue barrel, then move to the valve wheel on the wall.", + "Type": 3, + "Start_Pose": [ + 1274.742, + -1819.438, + 211.15, + 0.0, + -139.2, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_c.json b/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..015b99a1617cb45e5d37fe8aa3ed6b33d4ee0ad1 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the blue barrel, then proceed to the two wooden crates stacked beneath the large valve wheel.", + "Type": 3, + "Start_Pose": [ + 1274.742, + -1819.438, + 211.15, + 0.0, + -139.2, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_d.json b/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..9c0f2d3c88dca82583cbef73a21c1e3893b46869 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001275_y-001819_z000211_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the valve wheel, then approach the blue barrel.", + "Type": 3, + "Start_Pose": [ + 1274.742, + -1819.438, + 211.15, + 0.0, + -139.2, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001291_y-002481_z000561_t0_a.json b/benchmark/task/IndustrialArea/task_x001291_y-002481_z000561_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c81e5d3c18a3316852e6e3b93bcd97985f3f5d59 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001291_y-002481_z000561_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the metal door between the control panels.", + "Type": 0, + "Start_Pose": [ + 1291.015, + -2480.684, + 561.15, + 0.0, + 115.2, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001291_y-002481_z000561_t0_b.json b/benchmark/task/IndustrialArea/task_x001291_y-002481_z000561_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..fa8f4438bfac41a759552e0e321b74fa0e6f608d --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001291_y-002481_z000561_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the small white box mounted beside the door.", + "Type": 0, + "Start_Pose": [ + 1291.015, + -2480.684, + 561.15, + 0.0, + 115.2, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001294_y-002738_z000561_t3_a.json b/benchmark/task/IndustrialArea/task_x001294_y-002738_z000561_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..89702f47b911bdc1430693d478ce5d079d300c7d --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001294_y-002738_z000561_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the fire extinguisher on the wall, then head toward the metal door.", + "Type": 3, + "Start_Pose": [ + 1293.585, + -2737.904, + 561.15, + 0.0, + 83.52, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001294_y-002738_z000561_t3_b.json b/benchmark/task/IndustrialArea/task_x001294_y-002738_z000561_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..8422907d35b70c2340c27dedcf5c3754da90e316 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001294_y-002738_z000561_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the metal door, then move to the fire extinguisher on the wall.", + "Type": 3, + "Start_Pose": [ + 1293.585, + -2737.904, + 561.15, + 0.0, + 83.52, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001294_y-002738_z000561_t3_c.json b/benchmark/task/IndustrialArea/task_x001294_y-002738_z000561_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..424156112c5a265bcea10a1548a05a87a619df63 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001294_y-002738_z000561_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the wall-mounted intercom panel beside the gray metal door, then proceed to the red fire extinguisher near the windows.", + "Type": 3, + "Start_Pose": [ + 1293.585, + -2737.904, + 561.15, + 0.0, + 83.52, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001307_y-002364_z000561_t1_a.json b/benchmark/task/IndustrialArea/task_x001307_y-002364_z000561_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c48644a2fdf1f5fad9d8dde3ce1b35866cce570d --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001307_y-002364_z000561_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search this industrial room for the valve wheel mounted on a blue pipe; once you have located it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -74.88, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001307_y-002364_z000561_t1_b.json b/benchmark/task/IndustrialArea/task_x001307_y-002364_z000561_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..97e64d411551a2a50fa78614bfd45240e168b863 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001307_y-002364_z000561_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Within this room, locate the red fire extinguisher hanging on the green-tiled wall, then make your way toward it.", + "Type": 1, + "Start_Pose": [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -74.88, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001307_y-002364_z000561_t1_c.json b/benchmark/task/IndustrialArea/task_x001307_y-002364_z000561_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..36004400e3f3ffa269e865671a34c7bebfac53f4 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001307_y-002364_z000561_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around this room to identify the main door that serves as the entrance; after finding it, go there.", + "Type": 1, + "Start_Pose": [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -74.88, + 0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_a_p.json b/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..17343b6a82b75ea1a912f4d89ad2b5b2a08e6b88 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato near the blue barrel.", + "Type": 5, + "Start_Pose": [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 860.777, + -2527.609, + 261.15, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_a_pd.json b/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..92110685f8ec1f71b84a317b3cb09d8b47291c79 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper from the small wooden crate beneath the wall-mounted valve, then place it near the blue barrel.", + "Type": 5, + "Start_Pose": [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 812.237, + -2088.828, + 178.959, + 0.742, + -104.499, + -69.706 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_b_p.json b/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..4996e45258b442d341c944e8561b625c45c45de3 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag near the low wooden crate beneath the row of wall-mounted electrical boxes.", + "Type": 5, + "Start_Pose": [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 833.941, + -2102.409, + 164.099, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_b_pd.json b/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..32610da906903df87c89287740634622c248d7ce --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001308_y-001914_z000211_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase from the blue barrel, then place it near the low wooden crate beneath the row of wall-mounted electrical boxes.", + "Type": 5, + "Start_Pose": [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 806.834, + -2444.551, + 131.225, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001396_y-002147_z000911_t4_a.json b/benchmark/task/IndustrialArea/task_x001396_y-002147_z000911_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1655b4ea847fa85cb593f324dfd3efa77bb8baff --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001396_y-002147_z000911_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the heavy metal door beside the electrical control panel; once there, pull it open.", + "Type": 4, + "Start_Pose": [ + 1395.521, + -2147.354, + 911.15, + 0.0, + 136.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001397_y-002549_z000561_t4_a.json b/benchmark/task/IndustrialArea/task_x001397_y-002549_z000561_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..67c0c3849ed328c4028e26f4b7325970368614e9 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001397_y-002549_z000561_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the metal door on the far wall near the control panels; once there, open it.", + "Type": 4, + "Start_Pose": [ + 1397.125, + -2548.557, + 561.15, + 0.0, + 136.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001421_y-002424_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x001421_y-002424_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f14e09a019dd944b9d4067d68bb8422f81f3b048 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001421_y-002424_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the metal door beside the electrical panels and pull it open when you arrive.", + "Type": 4, + "Start_Pose": [ + 1420.652, + -2423.92, + 211.15, + 0.0, + 116.32, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_a.json b/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b6d8860d5b7ee42cf5ca45fcaecfa96545d92dfb --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the leftmost electrical box mounted on the wall straight ahead.", + "Type": 2, + "Start_Pose": [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_b.json b/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a87fd797ee56c7e1f159c5b37741b2107862a8fc --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the third electrical box from the left on the wall straight ahead.", + "Type": 2, + "Start_Pose": [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_c.json b/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..5108d71f1ad69112dd40804752aed57cff86b528 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost electrical box mounted on the wall straight ahead.", + "Type": 2, + "Start_Pose": [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_d.json b/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..564de8a98c36a9ee5585d0bee9d7d4b20c8f1885 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001502_y-002500_z000561_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the second electrical box from the left.", + "Type": 2, + "Start_Pose": [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ] +} diff --git a/benchmark/task/IndustrialArea/task_x001628_y-001430_z000211_t4_a.json b/benchmark/task/IndustrialArea/task_x001628_y-001430_z000211_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4823639a4b4651a7196dcaf71691e181a8f18a02 --- /dev/null +++ b/benchmark/task/IndustrialArea/task_x001628_y-001430_z000211_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the nearest gray metal door on your right, the one with a narrow window and a red fire extinguisher directly beside it, and pull it open.", + "Type": 4, + "Start_Pose": [ + 1627.83, + -1430.373, + 211.15, + 0.0, + -143.68, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_a.json b/benchmark/task/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..61a41481212a13e28735e354fdf7b5e357c5af14 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look for the area at the bottom of the wooden staircase where the stone walls converge; navigate to that spot once you have identified it.", + "Type": 1, + "Start_Pose": [ + -521.064, + -1052.51, + 215.203, + 0, + -120.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001281_y000651_z000289_t1_a.json b/benchmark/task/Medieval_Daytime/task_x001281_y000651_z000289_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4b16e89ed4a4bf95be58add32b8ef3574e4755ae --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001281_y000651_z000289_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the bench situated beside the open-lidded wooden barrel; after locating it, proceed to that spot.", + "Type": 1, + "Start_Pose": [ + 1280.51, + 651.087, + 288.871, + 0, + 99.007, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000004_y000141_z000106_t0_a.json b/benchmark/task/TemplePlaza/task_x-000004_y000141_z000106_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b127da6cbf341b1df93f19485f2a1b49a7ec4fcd --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000004_y000141_z000106_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the white cylindrical tower with ivy.", + "Type": 0, + "Start_Pose": [ + -4.022, + 140.864, + 106.277, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000004_y000141_z000106_t0_b.json b/benchmark/task/TemplePlaza/task_x-000004_y000141_z000106_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..db5600cfdd52fdcde6d799d60fe5af65510d4c1a --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000004_y000141_z000106_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the base of the tall ornate stone pillar with circular emblem.", + "Type": 0, + "Start_Pose": [ + -4.022, + 140.864, + 106.277, + 0, + 56.64, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000061_y000383_z000112_t3_a.json b/benchmark/task/TemplePlaza/task_x-000061_y000383_z000112_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1631f99c26a9032cf9c9cfc38ef9f4fa04f8606a --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000061_y000383_z000112_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the shield on the weapon rack, then proceed to the white tower near the staircase.", + "Type": 3, + "Start_Pose": [ + -60.705, + 382.873, + 111.948, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000061_y000383_z000112_t3_b.json b/benchmark/task/TemplePlaza/task_x-000061_y000383_z000112_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..77f01b37ef80abbb695dbf2085c961b6de318861 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000061_y000383_z000112_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the staircase near the crenellated wall, then go to the shield on the weapon rack.", + "Type": 3, + "Start_Pose": [ + -60.705, + 382.873, + 111.948, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000078_y000659_z000112_t3_a.json b/benchmark/task/TemplePlaza/task_x-000078_y000659_z000112_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..938f8bdd43d7a6203af082be996f2d100f3a675a --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000078_y000659_z000112_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the weapon rack, then navigate to the ivy-covered tower.", + "Type": 3, + "Start_Pose": [ + -78.498, + 659.3, + 112.296, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_a.json b/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4e0d51843a0cbfada45261be46605c40659f3cd1 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the base of the leftmost railing along the steps leading up to the circular building.", + "Type": 2, + "Start_Pose": [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_b.json b/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..02a9dc70c5c0536889630072a2bac8215b401a06 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second stair divider base from the left.", + "Type": 2, + "Start_Pose": [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_c.json b/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..62a11b9d6658e832895167f66f7afa66f22d70d9 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the rightmost battlement tower along the wall.", + "Type": 2, + "Start_Pose": [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_d.json b/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..e891baf73b2d706abe63fb65c7d53fe9830a675e --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000104_y001167_z000104_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the third stair railing base from the right.", + "Type": 2, + "Start_Pose": [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_a.json b/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c86358d18972acec2d57d91576858a30bb60f970 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the entrance of the rounded colonnade building, then head to the weapon rack.", + "Type": 3, + "Start_Pose": [ + -120.477, + -517.309, + 255.381, + 0.0, + -35.52, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_b.json b/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..378ff53bb3dfaf5ebc2191efc4cc528db1a496dd --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Approach the entrance of the tall building, then move to the weapon rack holding a shield.", + "Type": 3, + "Start_Pose": [ + -120.477, + -517.309, + 255.381, + 0.0, + -35.52, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_c.json b/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..97f3b32d9a381c6436a66f026776614389c2f341 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_c.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Head toward the spear on the weapon rack, then proceed to the door of the low building.", + "Type": 3, + "Start_Pose": [ + -120.477, + -517.309, + 255.381, + 0.0, + -35.52, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_d.json b/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..2131787910729aac5225aa99ee2decad9fd9d285 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000120_y-000517_z000255_t3_d.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Navigate to the entrance of the tall building, then reach the door of the low building.", + "Type": 3, + "Start_Pose": [ + -120.477, + -517.309, + 255.381, + 0.0, + -35.52, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_a_p.json b/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..f31dd6a1ace20bab8b5623ffc72f0a6030e9de68 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag near the covered porch area of the front door.", + "Type": 5, + "Start_Pose": [ + -139.487, + -1662.284, + 236.15, + 0.0, + 29.76, + -0.0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 655.771, + -1336.77, + 154.716, + 0.0, + 0.0, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_a_pd.json b/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..986b6e4c3489adbd3fc6464c9f4d6e0dbf7160f3 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot, then leave it near the front entrance.", + "Type": 5, + "Start_Pose": [ + -139.487, + -1662.284, + 236.15, + 0.0, + 29.76, + -0.0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 340.24, + -992.448, + 165.498, + 0.0, + 0.0, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_b_p.json b/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..d8a33b96f1a4c5089c8d10e6e903292ce12b332d --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag from beside the pillar on the right.", + "Type": 5, + "Start_Pose": [ + -139.487, + -1662.284, + 236.15, + 0, + 29.76, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 579.141, + -815.314, + 156.967, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_b_pd.json b/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..a41535757a9f06ccda2efc3e183c8298cb8d73ab --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000139_y-001662_z000236_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the metal bucket near the front door, then put it down near the second leftmost stone column.", + "Type": 5, + "Start_Pose": [ + -139.487, + -1662.284, + 236.15, + 0, + 29.76, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 773.846, + -1283.189, + 209.714, + -0.004, + 150.197, + 179.992 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_a.json b/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cec3e91e36644e6679786d0c7c249125fafb46ec --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the arched entrance of the domed stone building.", + "Type": 0, + "Start_Pose": [ + -156.572, + -778.14, + 247.042, + 0.0, + -59.52, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_b.json b/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..434d643b2dce4585cc0169bd053658f8618b52a0 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Head toward the doorway of the red-roofed building.", + "Type": 0, + "Start_Pose": [ + -156.572, + -778.14, + 247.042, + 0.0, + -59.52, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_c.json b/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..e39bf75251174ed0efef4b39b75db36de0e79eb5 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_c.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Make your way to the small dark window on the dome building near the red-roofed building.", + "Type": 0, + "Start_Pose": [ + -156.572, + -778.14, + 247.042, + 0.0, + -59.52, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_d.json b/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..f231164eeef5ea5f76564580afb2011e429fb8ba --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000157_y-000778_z000247_t0_d.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Navigate to the steps leading into the red-roofed door.", + "Type": 0, + "Start_Pose": [ + -156.572, + -778.14, + 247.042, + 0.0, + -59.52, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000263_y-001609_z000236_t1_a.json b/benchmark/task/TemplePlaza/task_x-000263_y-001609_z000236_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e916d85030ab2d8897e2899fc18443ffec4c9114 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000263_y-001609_z000236_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Find the low white building with a red-tiled roof, a door, and a porch supported by stone columns, then head to its arched entrance.", + "Type": 1, + "Start_Pose": [ + -262.729, + -1608.777, + 235.928, + 0, + -127.68, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000285_y-001054_z000236_t0_a.json b/benchmark/task/TemplePlaza/task_x-000285_y-001054_z000236_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..17580ab320eb47d8e25e893e8c51c0c9414575bb --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000285_y-001054_z000236_t0_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the dark wooden door of the main building.", + "Type": 0, + "Start_Pose": [ + -285.206, + -1054.234, + 236.125, + 0.0, + -0.0, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000334_y000158_z000106_t0_a.json b/benchmark/task/TemplePlaza/task_x-000334_y000158_z000106_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..71e923252b1fbbb44fdd7fefb6d7431a939834a9 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000334_y000158_z000106_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the bottom of the stone staircase.", + "Type": 0, + "Start_Pose": [ + -333.778, + 157.858, + 106.277, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000352_y000428_z000112_t1_a.json b/benchmark/task/TemplePlaza/task_x-000352_y000428_z000112_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cc006377243cbcd7b0b3dc402cdd88258c4d8746 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000352_y000428_z000112_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around for the base of the large stone monument block on the cobblestone ground, then approach the target area.", + "Type": 1, + "Start_Pose": [ + -351.947, + 428.267, + 112.034, + 0, + -92.16, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_a.json b/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b47f2e20bf54ff3ec456b9c21f0a715375d3383e --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Head toward the second column from the right.", + "Type": 2, + "Start_Pose": [ + -406.91, + -1273.473, + 236.277, + 0.0, + 2.88, + -0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_b.json b/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..6b72a6775607990954429cb69de708faca806390 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Approach the third pillar from the right under the tiled-roof building.", + "Type": 2, + "Start_Pose": [ + -406.91, + -1273.473, + 236.277, + 0, + 2.88, + 0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_c.json b/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..17cd60edd3bbd93f2000e1d51dce4b8e846b4c62 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_c.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Move to the second column from the left on the rotunda.", + "Type": 2, + "Start_Pose": [ + -406.91, + -1273.473, + 236.277, + 0.0, + -56.64, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_d.json b/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..25b29541cfa6f758e06b5c8443313c4933b76ad3 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000407_y-001273_z000236_t2_d.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Move to the third column from the left on the rotunda.", + "Type": 2, + "Start_Pose": [ + -406.91, + -1273.473, + 236.277, + 0.0, + -56.64, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000418_y000059_z000106_t0_a.json b/benchmark/task/TemplePlaza/task_x-000418_y000059_z000106_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..446d9670689c5ab6719a0cf2184cb536b479175b --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000418_y000059_z000106_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the tall white stone pillar topped with a black cylinder.", + "Type": 0, + "Start_Pose": [ + -417.739, + 59.153, + 106.137, + 0.0, + -178.56, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000451_y-001247_z000236_t2_a.json b/benchmark/task/TemplePlaza/task_x-000451_y-001247_z000236_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1036f4d67fcf5f041e759d3751bf0f1fb3c9263b --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000451_y-001247_z000236_t2_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the leftmost column on the rounded building.", + "Type": 2, + "Start_Pose": [ + -450.777, + -1246.904, + 236.277, + 0.0, + -56.64, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x-000565_y-000461_z000106_t5_a_pd.json b/benchmark/task/TemplePlaza/task_x-000565_y-000461_z000106_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..43cebbca3a7bdd74c1feb913b7f9fa41e8df1086 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000565_y-000461_z000106_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the ceramic vase, then place it near the wooden shield on the right.", + "Type": 5, + "Start_Pose": [ + -565.472, + -461.091, + 106.274, + 0, + 148.8, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1098.071, + -94.894, + 48.588, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000572_y000291_z000106_t0_a.json b/benchmark/task/TemplePlaza/task_x-000572_y000291_z000106_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c1eb442e674c9dbd790f0fe074511d5955c810eb --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000572_y000291_z000106_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the base of the tall stone obelisk.", + "Type": 0, + "Start_Pose": [ + -572.23, + 291.029, + 106.277, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000572_y000291_z000106_t0_b.json b/benchmark/task/TemplePlaza/task_x-000572_y000291_z000106_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f811f38e8544739299406b526980723f3f65b766 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000572_y000291_z000106_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the round corner tower on the castle wall.", + "Type": 0, + "Start_Pose": [ + -572.23, + 291.029, + 106.277, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000574_y-002236_z-000024_t1_a.json b/benchmark/task/TemplePlaza/task_x-000574_y-002236_z-000024_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a6785b41586275abfaabc44521dd0c321308b66d --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000574_y-002236_z-000024_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the nearby area until you find the building's main entrance doorway, then head to that location.", + "Type": 1, + "Start_Pose": [ + -574.153, + -2235.997, + -23.723, + 0.0, + 148.8, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000574_y-002236_z-000024_t1_b.json b/benchmark/task/TemplePlaza/task_x-000574_y-002236_z-000024_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2dd3c73879733f242852327fe2e3bf66f91cdab9 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000574_y-002236_z-000024_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the surroundings to locate the wooden crates near the building entrance, then move to that location.", + "Type": 1, + "Start_Pose": [ + -574.153, + -2235.997, + -23.723, + 0.0, + 148.8, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000664_y-001053_z000008_t2_a.json b/benchmark/task/TemplePlaza/task_x-000664_y-001053_z000008_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..16669c05f2ea69b9d9fb389d4afec6d414fcd0a9 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000664_y-001053_z000008_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost column near the building entrance.", + "Type": 2, + "Start_Pose": [ + -664.113, + -1052.708, + 7.662, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000664_y-001053_z000008_t2_b.json b/benchmark/task/TemplePlaza/task_x-000664_y-001053_z000008_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b57e461f34a39621df34aa014df5bb5e159f98e7 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000664_y-001053_z000008_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost column under the portico.", + "Type": 2, + "Start_Pose": [ + -664.113, + -1052.708, + 7.662, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000664_y-001053_z000008_t2_c.json b/benchmark/task/TemplePlaza/task_x-000664_y-001053_z000008_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..d5b420458ca48b3f73c732878bfe6c5ae458bd22 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000664_y-001053_z000008_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the leftmost arched doorway of the main building.", + "Type": 2, + "Start_Pose": [ + -664.113, + -1052.708, + 7.662, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_a.json b/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6ecc4c598adc3ddce78e99a6f0498749f7dd69cb --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the building's front doorway, then proceed to the weapon rack holding a shield.", + "Type": 3, + "Start_Pose": [ + -684.632, + -1266.167, + -23.723, + 0.0, + -127.68, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_b.json b/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..1bf66a7002addad177180f7678312b8b2ae8b715 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the stone steps, then move to the weapon rack holding a shield.", + "Type": 3, + "Start_Pose": [ + -684.632, + -1266.167, + -23.723, + 0.0, + -127.68, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_c.json b/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..d5518d3f7d6ad1cca672af6e774b8335c3c9f705 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the armored wooden fence, then navigate to the stacked crates.", + "Type": 3, + "Start_Pose": [ + -684.632, + -1266.167, + -23.723, + 0.0, + -127.68, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_d.json b/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..b8510cf0e4f525bba810bbd15ed72b2fc81a361e --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000685_y-001266_z-000024_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the wooden fence on the right, then approach the front doorway.", + "Type": 3, + "Start_Pose": [ + -684.632, + -1266.167, + -23.723, + 0.0, + -127.68, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_a_p.json b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..579c78806db06071f0f6d80ebf753a067eb0ac21 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate from near the stone columns.", + "Type": 5, + "Start_Pose": [ + -685.581, + -1136.545, + -12.108, + 0, + -121.92, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1182.243, + -1650.823, + -72.154, + 90, + -90, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_a_pd.json b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..82141b54390ccb78784f9f0394b3623cb013743b --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket, then drop it near the wooden crates on the left.", + "Type": 5, + "Start_Pose": [ + -685.581, + -1136.545, + -12.108, + 0, + -121.92, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -734.235, + -2068.197, + -98.608, + 0.83, + 0.272, + 0.012 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_b_p.json b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..1b9e77c002178b9b3ad929369702a23bc4dbaa3e --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag from the courtyard ground.", + "Type": 5, + "Start_Pose": [ + -685.581, + -1136.545, + -12.108, + 0.0, + -121.92, + 0.0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1275.597, + -1616.821, + -115.128, + 1.938, + -86.547, + 73.606 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_b_pd.json b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..f0f6b1e8fc5842acbd06807dae6d4a8a2062ef30 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the wicker basket, then leave it near the building's front door.", + "Type": 5, + "Start_Pose": [ + -685.581, + -1136.545, + -12.108, + 0, + -121.92, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -877.465, + -1820.937, + -77.273, + 90, + -90, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_c_pd.json b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..49efc3bc9d64cde966dfbbab4707951705dbb314 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000686_y-001137_z-000012_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato, then put it down near the building entrance.", + "Type": 5, + "Start_Pose": [ + -685.581, + -1136.545, + -12.108, + 0, + -121.92, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1193.871, + -1453.995, + -48.807, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000769_y-001413_z-000024_t1_a.json b/benchmark/task/TemplePlaza/task_x-000769_y-001413_z-000024_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ce644b0acb23d959b766b05cf8f866b5306de663 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000769_y-001413_z-000024_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search nearby for the standing spear leaning near the wooden logs near the two-story red-roof building, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + -768.874, + -1412.65, + -23.848, + 0.0, + 145.92, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000845_y000281_z000106_t5_a_p.json b/benchmark/task/TemplePlaza/task_x-000845_y000281_z000106_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..632cb3994c324bda91436460cdfd814d2261ea79 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000845_y000281_z000106_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato from the ground beside the shield leaning against the weapon rack.", + "Type": 5, + "Start_Pose": [ + -844.969, + 281.137, + 106.277, + 0.0, + -127.68, + 0.0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1797.422, + -209.528, + 101.512, + 0.0, + 0.0, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000845_y000281_z000106_t5_a_pd.json b/benchmark/task/TemplePlaza/task_x-000845_y000281_z000106_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..a15a27e2e00911b7772f331b82eb1abccf965aba --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000845_y000281_z000106_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag beside the shield leaning against the weapon rack, then place it near the white stone tower.", + "Type": 5, + "Start_Pose": [ + -844.969, + 281.137, + 106.277, + 0, + -127.68, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1859.152, + -142.395, + 39.841, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-000845_y000281_z000106_t5_b_pd.json b/benchmark/task/TemplePlaza/task_x-000845_y000281_z000106_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..e621094f670ce26839bcceb74586a687d27172d2 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-000845_y000281_z000106_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can, then leave it near the wooden shield on the left.", + "Type": 5, + "Start_Pose": [ + -844.969, + 281.137, + 106.277, + 0, + -127.68, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1190.357, + -563.75, + 18.439, + 0, + 90, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001047_y-000126_z000124_t5_a_p.json b/benchmark/task/TemplePlaza/task_x-001047_y-000126_z000124_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..48a7ebf9600c4b7e15ea887d2923d0c2df63dbd7 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001047_y-000126_z000124_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can from near the wooden boardwalk.", + "Type": 5, + "Start_Pose": [ + -1046.749, + -125.976, + 123.588, + 0, + 148.8, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1400.149, + 991.18, + 36.312, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001047_y-000126_z000124_t5_a_pd.json b/benchmark/task/TemplePlaza/task_x-001047_y-000126_z000124_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..baabeb3fe6452f40fd1932f867f9bc3a87855f77 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001047_y-000126_z000124_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag, then drop it at the base of the left stone pillar.", + "Type": 5, + "Start_Pose": [ + -1046.749, + -125.976, + 123.588, + 0.0, + 148.8, + -0.0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1762.6, + -30.601, + 37.151, + 0.0, + 0.0, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001047_y-000126_z000124_t5_b_p.json b/benchmark/task/TemplePlaza/task_x-001047_y-000126_z000124_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..47321631a1edb7019756aa67e20cfb820350c167 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001047_y-000126_z000124_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket by the stone wall.", + "Type": 5, + "Start_Pose": [ + -1046.749, + -125.976, + 123.588, + 0.0, + 148.8, + -0.0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1926.487, + 139.527, + 48.053, + 90.0, + 90.0, + 90.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_a.json b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6f41d420eac8ec4196dc1593df803274d2ab4d7c --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost column near the building.", + "Type": 2, + "Start_Pose": [ + -1294.293, + -750.524, + -23.723, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_b.json b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..09d78b64f5342ff4460187bbc72a8901fe3903f8 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost column by the entrance.", + "Type": 2, + "Start_Pose": [ + -1294.293, + -750.524, + -23.723, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_c.json b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..1e49c003d05441f77b012fcaed48f775a7bf448d --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second column from the left.", + "Type": 2, + "Start_Pose": [ + -1294.293, + -750.524, + -23.723, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_d.json b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..f2abf34c36ccf606d5d1769e960a38ecb58ea688 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the wooden crate between the center columns.", + "Type": 2, + "Start_Pose": [ + -1294.293, + -750.524, + -23.723, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_e.json b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..c0840499c4c4487cfa05d1365c1c210869bb4464 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001294_y-000751_z-000024_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the third column from the left near the door.", + "Type": 2, + "Start_Pose": [ + -1294.293, + -750.524, + -23.723, + 0.0, + -119.04, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001307_y-001849_z-000004_t0_a.json b/benchmark/task/TemplePlaza/task_x-001307_y-001849_z-000004_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..214141180e326742e499f541fda15ca8a0985590 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001307_y-001849_z-000004_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the root of the stone staircase leading upward.", + "Type": 0, + "Start_Pose": [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 86.4, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001307_y-001849_z-000004_t0_b.json b/benchmark/task/TemplePlaza/task_x-001307_y-001849_z-000004_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e2aad6ee9195e11e3132aa9a7a8c971e6b4a07fb --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001307_y-001849_z-000004_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the white pillar with star-shaped decorations.", + "Type": 0, + "Start_Pose": [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 86.4, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001307_y-001849_z-000004_t0_c.json b/benchmark/task/TemplePlaza/task_x-001307_y-001849_z-000004_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..bb74d04d58a67ce3f45f03d70e1e315de7f4869e --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001307_y-001849_z-000004_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the dark wooden post supporting the overhang.", + "Type": 0, + "Start_Pose": [ + -1306.607, + -1849.323, + -3.85, + 0.0, + 86.4, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001408_y-002191_z-000003_t0_a.json b/benchmark/task/TemplePlaza/task_x-001408_y-002191_z-000003_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3718e9d354a8463498930151e142fbe9e2a7c891 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001408_y-002191_z-000003_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the arched doorway.", + "Type": 0, + "Start_Pose": [ + -1407.902, + -2191.368, + -2.676, + 0.0, + 148.8, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001408_y-002191_z-000003_t2_a.json b/benchmark/task/TemplePlaza/task_x-001408_y-002191_z-000003_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..435254c103609c97bef7db9d8c6e99527982c9f0 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001408_y-002191_z-000003_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the window group left of the arched doorway.", + "Type": 2, + "Start_Pose": [ + -1407.902, + -2191.368, + -2.676, + 0.0, + 148.8, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001408_y-002191_z-000003_t2_b.json b/benchmark/task/TemplePlaza/task_x-001408_y-002191_z-000003_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0ed04f6961f2ba5b4b1a04726151f48af97e43ff --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001408_y-002191_z-000003_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost window group near the right wall.", + "Type": 2, + "Start_Pose": [ + -1407.902, + -2191.368, + -2.676, + 0.0, + 148.8, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001509_y003443_z000104_t1_a.json b/benchmark/task/TemplePlaza/task_x-001509_y003443_z000104_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2e0d97c66b88fe83e1fde8fa9ee4885058276aa7 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001509_y003443_z000104_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for three white crates stacked beside a wooden barrel, then head to that spot.", + "Type": 1, + "Start_Pose": [ + -1509.025, + 3442.888, + 104.15, + 0.0, + -72.16, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001615_y000712_z000112_t0_a.json b/benchmark/task/TemplePlaza/task_x-001615_y000712_z000112_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cbc901bced461c40c85f72b94dbd3d703c9d8990 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001615_y000712_z000112_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the wooden weapon rack.", + "Type": 0, + "Start_Pose": [ + -1615.458, + 711.589, + 112.091, + 0, + -95.04, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001615_y000712_z000112_t0_b.json b/benchmark/task/TemplePlaza/task_x-001615_y000712_z000112_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b08890e4ef50d3045b2daba7346155f14a7a7252 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001615_y000712_z000112_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go near the shield leaning against the weapon rack.", + "Type": 0, + "Start_Pose": [ + -1615.458, + 711.589, + 112.091, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001712_y003120_z000104_t0_a.json b/benchmark/task/TemplePlaza/task_x-001712_y003120_z000104_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8a635efbf30ac6714bf45e43936b7699da581fae --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001712_y003120_z000104_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the stone well on the circular platform.", + "Type": 0, + "Start_Pose": [ + -1712.402, + 3120.069, + 104.102, + 0.0, + -92.16, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001712_y003120_z000104_t0_b.json b/benchmark/task/TemplePlaza/task_x-001712_y003120_z000104_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..bf1c5222f0e0ca4f3f1fcaacd1f93a9b5cac662e --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001712_y003120_z000104_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden barrels.", + "Type": 0, + "Start_Pose": [ + -1712.402, + 3120.069, + 104.102, + 0.0, + -92.16, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-001983_y-002364_z-000024_t1_a.json b/benchmark/task/TemplePlaza/task_x-001983_y-002364_z-000024_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5a8aeb4cb95969d122126f84570628780274141f --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-001983_y-002364_z-000024_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the shield mounted on the wall; approach its base.", + "Type": 1, + "Start_Pose": [ + -1982.747, + -2363.572, + -23.938, + 0.0, + 145.92, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-002264_y-001954_z-000024_t5_a_p.json b/benchmark/task/TemplePlaza/task_x-002264_y-001954_z-000024_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..20c8d51648453abbea83acc6b00cf053158fec3c --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-002264_y-001954_z-000024_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag from the ground near the far stone column.", + "Type": 5, + "Start_Pose": [ + -2263.588, + -1954.109, + -23.723, + 0, + 86.4, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2067.696, + -1246.425, + -117.442, + -4.036, + 110.984, + 70.669 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-002264_y-001954_z-000024_t5_b_p.json b/benchmark/task/TemplePlaza/task_x-002264_y-001954_z-000024_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..5067e1c98dd62d65605080121e91929eff033c40 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-002264_y-001954_z-000024_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket from beside the right stone wall.", + "Type": 5, + "Start_Pose": [ + -2263.588, + -1954.109, + -23.723, + 0, + 86.4, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2297.543, + -1138.796, + -99.931, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-002264_y-001954_z-000024_t5_c_p.json b/benchmark/task/TemplePlaza/task_x-002264_y-001954_z-000024_t5_c_p.json new file mode 100644 index 0000000000000000000000000000000000000000..9fcc04d3abffffb32b023da95818c1edecf30d57 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-002264_y-001954_z-000024_t5_c_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can near the far column on the left wall.", + "Type": 5, + "Start_Pose": [ + -2263.588, + -1954.109, + -23.723, + 0, + 86.4, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2189.824, + -1321.094, + -110.42, + 0, + 90, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_a.json b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..30a08ebedecaf59832a80269331adbd1bab5d4c8 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the farthest pillar on the right.", + "Type": 2, + "Start_Pose": [ + -2293.586, + -2142.9, + -23.723, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_b.json b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e15d78486d089387bcaa5c39ddbf44ec26a7e489 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second pillar from the right.", + "Type": 2, + "Start_Pose": [ + -2293.586, + -2142.9, + -23.723, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_c.json b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..ece39e6b129318d27a3d34c0e36e8b7094af8053 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second pillar from the left.", + "Type": 2, + "Start_Pose": [ + -2293.586, + -2142.9, + -23.723, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_d.json b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..0cda136ecf15f031959a3aff1d77c4241b3d4d27 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the third pillar from the left.", + "Type": 2, + "Start_Pose": [ + -2293.586, + -2142.9, + -23.723, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_e.json b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..4f210a7ad852323c110b030f141977d553c1c46f --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-002294_y-002143_z-000024_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the second farthest pillar on the right.", + "Type": 2, + "Start_Pose": [ + -2293.586, + -2142.9, + -23.723, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_a.json b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e13f5f78028201c2c1679b32a3e8ffbf6c6de69e --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the nearest stone railing post on the left side of the walkway.", + "Type": 2, + "Start_Pose": [ + -3770.101, + 587.421, + 93.797, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_b.json b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf6f79d28d513f79fe52425f1a3fd084e7457f1 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the nearest stone railing post on the right side of the walkway.", + "Type": 2, + "Start_Pose": [ + -3770.101, + 587.421, + 93.797, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_c.json b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..5a701bd9a5a9e334e6bdbf6f2260a4e1fe0796a2 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the second closest stone railing post on the left side of the walkway.", + "Type": 2, + "Start_Pose": [ + -3770.101, + 587.421, + 93.797, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_d.json b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..43a61a5ffc76ce5a487f7bb108038b5436d1c3ff --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the second closest stone railing post on the right side of the walkway.", + "Type": 2, + "Start_Pose": [ + -3770.101, + 587.421, + 93.797, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_e.json b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..bba8955460de47dd18d7fdef5241c0512d4d13fc --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x-003770_y000587_z000094_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the third closest stone railing post on the left side of the walkway.", + "Type": 2, + "Start_Pose": [ + -3770.101, + 587.421, + 93.797, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_a_p.json b/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..4c05eadfbbdc2d85bba2226b56866e945f02af4f --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_a_p.json @@ -0,0 +1,24 @@ +{ + "Instruction": "Pick up the trash bag near the building entrance.", + "Type": 5, + "Start_Pose": [ + 23.887, + -797.811, + 247.097, + 0, + -62.4, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 551.685, + -1150.983, + 157.097, + 0, + 0, + 0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_a_pd.json b/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..e70d7881c930910bd14da667aaab6a82175e2038 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_a_pd.json @@ -0,0 +1,24 @@ +{ + "Instruction": "Pick up the ceramic vase, then leave it near the rotunda entrance.", + "Type": 5, + "Start_Pose": [ + 23.887, + -797.811, + 247.097, + 0.0, + -62.4, + 0.0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 551.685, + -1350.983, + 157.097, + 0.0, + 0.0, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_b_p.json b/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..fc4f0b9ddeaa13743b463c3e63f86ec02ef5795c --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_b_p.json @@ -0,0 +1,24 @@ +{ + "Instruction": "Pick up the jerry can from the courtyard ground.", + "Type": 5, + "Start_Pose": [ + 23.887, + -797.811, + 247.097, + 0.0, + -62.4, + 0.0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 451.685, + -1350.983, + 157.097, + 0.0, + 0.0, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_b_pd.json b/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..7531ffa87bc86c6ae458bf7e74fc42c0ee83facd --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000024_y-000798_z000247_t5_b_pd.json @@ -0,0 +1,24 @@ +{ + "Instruction": "Grab the ceramic pot, then put it down near the entrance of the right door.", + "Type": 5, + "Start_Pose": [ + 23.887, + -797.811, + 247.097, + 0.0, + -62.4, + 0.0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 151.685, + -1350.983, + 157.097, + 0.0, + 0.0, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x000105_y-000794_z000247_t1_a.json b/benchmark/task/TemplePlaza/task_x000105_y-000794_z000247_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..396ff73785ca6f3a47ccbd6d47227e287a6ec2d7 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000105_y-000794_z000247_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Locate the entrance of the white-walled building with stone columns and a flat concrete overhang, then navigate to its doorway.", + "Type": 1, + "Start_Pose": [ + 104.777, + -794.432, + 246.894, + 0.0, + -94.08, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x000105_y-000794_z000247_t1_b.json b/benchmark/task/TemplePlaza/task_x000105_y-000794_z000247_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..140cb93bc440e1676e58125ba3c1a43506ca6d60 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000105_y-000794_z000247_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Determine where the shield and spear are mounted on the wooden rack near the building's courtyard; once found, make your way over to them.", + "Type": 1, + "Start_Pose": [ + 104.777, + -794.432, + 246.894, + 0.0, + -94.08, + 0.0 + ], + "Exposure": 0.3 +} diff --git a/benchmark/task/TemplePlaza/task_x000159_y000284_z000106_t3_a.json b/benchmark/task/TemplePlaza/task_x000159_y000284_z000106_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a3c6460f8985c7d9bc8df1275682d4a0382fbbde --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000159_y000284_z000106_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the tall stone obelisk, then head toward the white tower near the staircase.", + "Type": 3, + "Start_Pose": [ + 159.034, + 284.496, + 106.277, + 0.0, + 143.04, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000159_y000284_z000106_t3_b.json b/benchmark/task/TemplePlaza/task_x000159_y000284_z000106_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..dd9d5c0de1338255a496d80540068d64914072bc --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000159_y000284_z000106_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the white tower with ivy, then move to the tall obelisk base.", + "Type": 3, + "Start_Pose": [ + 159.034, + 284.496, + 106.277, + 0.0, + 143.04, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000189_y-000795_z000247_t1_a.json b/benchmark/task/TemplePlaza/task_x000189_y-000795_z000247_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..eca1e52e92df90cb2dd58a0cf49d495eee0c9575 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000189_y-000795_z000247_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the area until you identify the entrance of the round columned building, then head toward that location.", + "Type": 1, + "Start_Pose": [ + 189.462, + -794.632, + 247.116, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000293_y-000345_z000236_t1_a.json b/benchmark/task/TemplePlaza/task_x000293_y-000345_z000236_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..161ced75ee7a5e5bb03acb327f21aa97b30b6de0 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000293_y-000345_z000236_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the surrounding area for the entrance of the round domed building with columns, then move to that location.", + "Type": 1, + "Start_Pose": [ + 293.182, + -344.991, + 236.277, + 0.0, + 145.92, + -0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_a_p.json b/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..1114014dab6ccc513983204b0bcd726502cdbd68 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket from the courtyard.", + "Type": 5, + "Start_Pose": [ + 588.953, + -584.535, + 236.277, + 0.0, + -151.68, + 0.0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 34.082, + -1864.612, + 171.678, + 0.0, + 0.0, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_a_pd.json b/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..d936f40b0a706f5e5d5f34909e7bcde2d43453ef --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase, then place it near the space between the two stone pillars.", + "Type": 5, + "Start_Pose": [ + 588.953, + -584.535, + 236.277, + 0.0, + -151.68, + 0.0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -95.55, + -615.674, + 166.126, + 0.0, + 0.0, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_b_pd.json b/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..9ade5d8081b7ab0a5487ef8c620cd461a81ebb05 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the wicker basket, then leave it near the row of dark wooden crates lined up against the courtyard wall.", + "Type": 5, + "Start_Pose": [ + 588.953, + -584.535, + 236.277, + 0.0, + -151.68, + 0.0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 106.79, + -1218.871, + 189.703, + 90.017, + 0.772, + 0.064 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_c_pd.json b/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..822438a876400a71e3561f330e79bbc856d1c041 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000589_y-000585_z000236_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag, then drop it near the arched doorway on the right building.", + "Type": 5, + "Start_Pose": [ + 588.953, + -584.535, + 236.277, + 0.0, + -121.92, + 0.0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -163.818, + -1138.528, + 153.562, + -4.07, + -112.628, + 70.629 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_a.json b/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ff0ed076fff120f4a373bb9496fa584063ce4e06 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the stack of wooden crates near the stone tower.", + "Type": 0, + "Start_Pose": [ + 636.038, + -570.803, + 236.218, + 0.0, + -151.68, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_b.json b/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..98749c6e7909f7e01590ea56c2c9198d69db1794 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the stone columns on the ornate building.", + "Type": 0, + "Start_Pose": [ + 636.038, + -570.803, + 236.218, + 0, + -151.68, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_c.json b/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..697a463e1e89b25d51b5472bc96cbd2049991bb2 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the dark wooden crate near the white wall.", + "Type": 0, + "Start_Pose": [ + 636.038, + -570.803, + 236.218, + 0.0, + -151.68, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_d.json b/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..c90d5d4e3d877e4258e50966f63aabbae4c2d6b0 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000636_y-000571_z000236_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the window near the stone column on the ornate building.", + "Type": 0, + "Start_Pose": [ + 636.038, + -570.803, + 236.218, + 0.0, + -151.68, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000643_y-000580_z000236_t3_a.json b/benchmark/task/TemplePlaza/task_x000643_y-000580_z000236_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7e9c2048f6297fbee4d810717807946b0fd039b1 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000643_y-000580_z000236_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the large arched entrance, then head toward the wooden crates.", + "Type": 3, + "Start_Pose": [ + 643.352, + -579.954, + 236.133, + 0.0, + -124.8, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000643_y-000580_z000236_t3_b.json b/benchmark/task/TemplePlaza/task_x000643_y-000580_z000236_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..86cac8eedb0a9989af154b86aa003e3fbde1fded --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000643_y-000580_z000236_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden crates, then move to the arched doorway.", + "Type": 3, + "Start_Pose": [ + 643.352, + -579.954, + 236.133, + 0.0, + -124.8, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_a.json b/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..870db8e5d4ad7841e5c6438d3c690817f3d0ccf1 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the base of the second railing from the left along the steps leading up to the circular building.", + "Type": 2, + "Start_Pose": [ + 695.548, + 1275.574, + 104.15, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_b.json b/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..06323779d8841f5141492aa25de2b08bc8330995 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third white stone pillar from the left.", + "Type": 2, + "Start_Pose": [ + 695.548, + 1275.574, + 104.15, + 0, + -121.92, + 0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_c.json b/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..799d41d08d8188d17dad59e17c8f4286ce396f0b --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second staircase railing base from the right.", + "Type": 2, + "Start_Pose": [ + 695.548, + 1275.574, + 104.15, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_d.json b/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..e59450112baaaadc4736aaa3e1834349457b1532 --- /dev/null +++ b/benchmark/task/TemplePlaza/task_x000696_y001276_z000104_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the third railing base from the right on the stairway.", + "Type": 2, + "Start_Pose": [ + 695.548, + 1275.574, + 104.15, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-000045_y-000444_z000239_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-000045_y-000444_z000239_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ccdf24b4158981847cb55eec21960d91c167c16f --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-000045_y-000444_z000239_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door on the ivy-covered stone building to the right and open it.", + "Type": 4, + "Start_Pose": [ + -44.669, + -444.038, + 238.523, + 0.0, + -140.0, + 0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-000186_y-001074_z000225_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-000186_y-001074_z000225_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d286a65e9709f9d2cbec83b4680c515212b8b347 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-000186_y-001074_z000225_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Beside the ivy-framed window is a narrow wooden door. Step up to it and open it.", + "Type": 4, + "Start_Pose": [ + -185.906, + -1073.568, + 224.888, + 0.0, + -140.0, + 0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-000263_y000671_z000224_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-000263_y000671_z000224_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..565a6d6dd5f2ac821fd0b4d5677217ae274c03e4 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-000263_y000671_z000224_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden door with four glass panes across its upper section and open it.", + "Type": 4, + "Start_Pose": [ + -262.698, + 671.048, + 223.561, + 0.0, + 100.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-000276_y001042_z000247_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-000276_y001042_z000247_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e9a88eac57cebd194e94e25d4d514857c1ed54ae --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-000276_y001042_z000247_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the weathered door with a row of glass panes along the top and open it.", + "Type": 4, + "Start_Pose": [ + -276.393, + 1042.018, + 246.782, + 0.0, + -80.0, + 0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-000325_y000458_z000200_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-000325_y000458_z000200_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1c2f63bda846868de367f0ae79dcff79b45e4717 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-000325_y000458_z000200_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Cross the porch to the wooden door with upper window panes, next to the barrel enclosure, and open it.", + "Type": 4, + "Start_Pose": [ + -324.663, + 458.02, + 199.56, + 0.0, + 60.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-000643_y-001540_z000215_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-000643_y-001540_z000215_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..db006bc7be39256e94226bfc1843ac550066f65f --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-000643_y-001540_z000215_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "On the covered porch, approach the narrow wooden door beside the small window and open it.", + "Type": 4, + "Start_Pose": [ + -642.587, + -1539.79, + 215.241, + 0.0, + 60.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-001280_y-001225_z000272_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-001280_y-001225_z000272_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7812c8bc127ed686dc1c097097e2c95a0bb05181 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-001280_y-001225_z000272_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden door beside the staircase, to the right of the small square window, and open it.", + "Type": 4, + "Start_Pose": [ + -1280.45, + -1224.613, + 271.754, + 0, + 140, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-001365_y-001583_z000277_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-001365_y-001583_z000277_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2ae2b44c03cfd617852176c9eca6f586e1348cb7 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-001365_y-001583_z000277_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The door beneath the staircase on the right is your target. Go to it and open it.", + "Type": 4, + "Start_Pose": [ + -1364.693, + -1583.305, + 277.427, + 0, + 100, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-001500_y-001225_z000274_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-001500_y-001225_z000274_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c6e7426c2f4e4049be8b43ec57d22888d1a05ea7 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-001500_y-001225_z000274_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the plain wooden door framed by rough stone blocks and open it.", + "Type": 4, + "Start_Pose": [ + -1499.838, + -1224.613, + 273.501, + 0.0, + 180.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-001539_y-000395_z000280_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-001539_y-000395_z000280_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6008989bdf2754e8e1da0b14831811b899216f --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-001539_y-000395_z000280_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the wooden door with glass panes along the top, under the covered walkway, and open it.", + "Type": 4, + "Start_Pose": [ + -1539.404, + -395.212, + 279.566, + 0.0, + 140.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-001914_y-000316_z000255_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-001914_y-000316_z000255_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8951a407ea1439dfbddae19b0a9b4a049a7838ad --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-001914_y-000316_z000255_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the tall weathered door with four upper window panes and open it.", + "Type": 4, + "Start_Pose": [ + -1914.275, + -316.477, + 255.142, + 0.0, + -0.0, + 0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-002029_y-001276_z000272_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-002029_y-001276_z000272_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..878887c1e55b9a6acb102a0859c45473b501ae1f --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-002029_y-001276_z000272_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the narrow wooden door with the pale horizontal brace set into the stone wall and open it.", + "Type": 4, + "Start_Pose": [ + -2028.57, + -1276.298, + 272.199, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_a.json b/benchmark/task/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4831e19bdb1640fe537e993dcdc9d33464032a6d --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Choose the dark wooden door to the left of the illuminated archway; walk over and open it.", + "Type": 4, + "Start_Pose": [ + -2526.482, + -1034.03, + 274.103, + 0.0, + 20.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_b.json b/benchmark/task/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2ac6e36a1ec53aadeb1f51725af57c57df8e1129 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Circle to the wooden door with upper glass panes on the right side of the illuminated archway and open it.", + "Type": 4, + "Start_Pose": [ + -2526.482, + -1034.03, + 274.103, + 0.0, + 20.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000045_y-001555_z000215_t4_a.json b/benchmark/task/medieval_Nighttime/task_x000045_y-001555_z000215_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..bb8bbbd81a3879d06be7f23f2b89a15a8b0afcad --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000045_y-001555_z000215_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "On the covered stone porch, go to the plain wooden door to the right of the window and open it.", + "Type": 4, + "Start_Pose": [ + 45.015, + -1554.532, + 215.16, + 0.0, + 120.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_a_p.json b/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..19895447233f26cf2e708cefe06ff7ddb531a05d --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper near the wagon wheel area.", + "Type": 5, + "Start_Pose": [ + 223.805, + 65.151, + 224.888, + 0, + -20, + 0 + ], + "PD_ID": 2, + "PD_Size": 5, + "PD_Type": "p", + "PD_Start_Pose": [ + 641.282, + -331.866, + 149.839, + 41.698, + -129.961, + 90.071 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_a_pd.json b/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..a623923588b032cddcec1d86b7d4defea5a033de --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can from the wooden barrel on the left side of the courtyard, then place it near the sack pile.", + "Type": 5, + "Start_Pose": [ + 223.805, + 65.151, + 224.888, + 0, + -20, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 537.713, + -438.341, + 214.888, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_b_p.json b/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..753702839faf15ca78c6d638421e14f53e19746c --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot near the sack pile.", + "Type": 5, + "Start_Pose": [ + 223.805, + 65.151, + 224.888, + 0, + -20, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 612.63, + -26.848, + 139.888, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_b_pd.json b/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..2dfd54ab937ab4dba8db4b12681bf98f8d71e46d --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000224_y000065_z000225_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket from the sack pile near the wooden steps, then place it near the barrels on the left.", + "Type": 5, + "Start_Pose": [ + 223.805, + 65.151, + 224.888, + 0, + -20, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 609.458, + -38.745, + 159.888, + 90, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_a_p.json b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..63dad7b5ee279ae1a32ecb11fb41e5163fe6940f --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot near the wooden door on the left.", + "Type": 5, + "Start_Pose": [ + 375.908, + 347.864, + 224.888, + 0, + 100, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 506.301, + 860.562, + 165.507, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_a_pd.json b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..27c8bf692677dba561f4681ac031f8a7c873f8a5 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato from the wooden barrel near the right wall, then place it near the wooden door on the left stone wall.", + "Type": 5, + "Start_Pose": [ + 375.908, + 347.864, + 224.888, + 0, + 100, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 33.905, + 798.625, + 194.888, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_b_p.json b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..73242ae75260bcc04c950183ed2c486f4cb05415 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase near the wooden barrel near the right wall.", + "Type": 5, + "Start_Pose": [ + 375.908, + 347.864, + 224.888, + 0, + 100, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 16.237, + 770.894, + 154.888, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_b_pd.json b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe4acb600d938fbc5b2607223f303114192d602 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket from the ground near the wooden door on the left stone wall, then place it near the wooden barrel on the right side of the courtyard.", + "Type": 5, + "Start_Pose": [ + 375.908, + 347.864, + 224.888, + 0, + 100, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 483.511, + 827.977, + 177.36, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_c_pd.json b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..20309876f15f358ac59ccc447438a8a77ba20bb6 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000376_y000348_z000225_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper from the wooden cart visible through the arched passageway, then place it near the wooden door on the left.", + "Type": 5, + "Start_Pose": [ + 375.908, + 347.864, + 224.888, + 0, + 100, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 42.256, + 1356.278, + 224.869, + -41.582, + 158.504, + 83.039 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000392_y-001422_z000402_t4_a.json b/benchmark/task/medieval_Nighttime/task_x000392_y-001422_z000402_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..af329719b2480dfabd6c6bd6e2927aad2539c4d9 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000392_y-001422_z000402_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The wooden door on the ground floor is your target. Head down and open it.", + "Type": 4, + "Start_Pose": [ + 392.142, + -1421.935, + 401.644, + 0, + 160, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000421_y-000126_z000225_t4_a.json b/benchmark/task/medieval_Nighttime/task_x000421_y-000126_z000225_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..52ab8ca081bcfddad52f68787b1302fa76695a98 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000421_y-000126_z000225_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the wooden door at the top of the short staircase, framed by ivy-covered walls; once there, open it.", + "Type": 4, + "Start_Pose": [ + 420.992, + -125.586, + 224.888, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_a_p.json b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..f7bba4a06d642d68b12c41993cd3f3d0209feb66 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket near the wooden barrel on the left side of the scene.", + "Type": 5, + "Start_Pose": [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -58.534, + 400.767, + 274.888, + 90, + 160, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_a_pd.json b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..856ea189e5e16739fc09169431f0db2db5f7c42f --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra from the wooden bench against the stone wall, then place it near the wooden door of the building.", + "Type": 5, + "Start_Pose": [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -91.305, + 282.104, + 250.094, + 15.043, + 179.99, + 90.001 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_b_p.json b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..410733da517d77260ad2cad2e98d2ca32401b1e2 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate near the wooden bench against the stone wall.", + "Type": 5, + "Start_Pose": [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -53.491, + 247.206, + 234.888, + 90, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_b_pd.json b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..524407b7cc2cede3835d5d6e7be0728b83cf1134 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase from the ground near the wooden barrel on the left, then place it near the wooden door of the building.", + "Type": 5, + "Start_Pose": [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4.635, + 329.217, + 154.888, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_c_pd.json b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..522d0c4988b112c12089dd6b1566ad659fb1afa1 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000506_y000031_z000225_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper from the ground in front of the wooden door, then place it near the wooden bench against the stone wall.", + "Type": 5, + "Start_Pose": [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -21.453, + -158.991, + 179.888, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000627_y000702_z000227_t4_a.json b/benchmark/task/medieval_Nighttime/task_x000627_y000702_z000227_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cbbf9aea7d70a3a5db86bd83e91e7dd341377225 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000627_y000702_z000227_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the narrow wooden plank door set into the stone wall, marked by a pale horizontal brace, and open it.", + "Type": 4, + "Start_Pose": [ + 627.421, + 701.809, + 226.969, + 0.0, + 100.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000639_y000397_z000224_t4_a.json b/benchmark/task/medieval_Nighttime/task_x000639_y000397_z000224_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3857bd97f8848a4796f3749708873b347cf7c80b --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000639_y000397_z000224_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden door beside the hanging white banner and open it.", + "Type": 4, + "Start_Pose": [ + 639.274, + 397.446, + 224.416, + 0.0, + 80.0, + -0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000728_y000991_z000241_t4_a.json b/benchmark/task/medieval_Nighttime/task_x000728_y000991_z000241_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..cd0f59712c909b448800d5210b96e1baa5d4523f --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000728_y000991_z000241_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Cross the small porch to the broad wooden door beside the square window and open it.", + "Type": 4, + "Start_Pose": [ + 727.96, + 991.455, + 240.603, + 0, + -160, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x000838_y-000482_z000295_t4_a.json b/benchmark/task/medieval_Nighttime/task_x000838_y-000482_z000295_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..723c5c534b511da54a33e91d30907164d9c1fe85 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x000838_y-000482_z000295_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The ivy-framed wooden door with two horizontal braces is your target. Approach it and open it.", + "Type": 4, + "Start_Pose": [ + 838.292, + -482.198, + 295.144, + 0.0, + -0.0, + 0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001112_y-000165_z000295_t4_a.json b/benchmark/task/medieval_Nighttime/task_x001112_y-000165_z000295_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..90f364d8dbdcb516b81f232b0a9ea8b16ce32543 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001112_y-000165_z000295_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk up to the sunlit wooden door bordered by thick ivy and reinforced with two metal braces, then open it.", + "Type": 4, + "Start_Pose": [ + 1112.291, + -165.333, + 295.144, + 0, + -20, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_a_p.json b/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..fb5c29a56c10aaa15e37746e1c1693b9fc927bfd --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper near the barrel next to the wooden shelf.", + "Type": 5, + "Start_Pose": [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + "PD_ID": 2, + "PD_Size": 5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1400.765, + -1315.446, + 724.808, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_b_p.json b/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..3d13effcd1763795a0920ecd715894dd5d76d6c0 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can near the wooden dining table near the windows.", + "Type": 5, + "Start_Pose": [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1254.621, + -1306.343, + 663.611, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_c_p.json b/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_c_p.json new file mode 100644 index 0000000000000000000000000000000000000000..ad873a426ad5583848dff0ddd4607663d1d14884 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_c_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra near the wooden shelf unit against the wall.", + "Type": 5, + "Start_Pose": [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 1455.565, + -1144.793, + 664.808, + 0, + 90, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_d_p.json b/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_d_p.json new file mode 100644 index 0000000000000000000000000000000000000000..ae59466ee4c5d5034e74e81b7fed5e3b30cb8c29 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001234_y-000671_z000681_t5_d_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket near the bed with the embroidered cover.", + "Type": 5, + "Start_Pose": [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1185.071, + -940.937, + 636.294, + -0.704, + 122.037, + 179.568 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001365_y-001199_z000680_t4_a.json b/benchmark/task/medieval_Nighttime/task_x001365_y-001199_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5f347333a02b19f5d349d5f4ea9d3b71d2672d6f --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001365_y-001199_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "At the end of the carpeted corridor, approach the wooden door with glass panes along the top and open it.", + "Type": 4, + "Start_Pose": [ + 1364.594, + -1198.952, + 679.808, + 0, + 120, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001413_y-000156_z000680_t4_a.json b/benchmark/task/medieval_Nighttime/task_x001413_y-000156_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..62462e46a5a633c930c397cd5957447e1228fb45 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001413_y-000156_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The wooden door with the small upper window near the barrels is your target. Head over and pull it open.", + "Type": 4, + "Start_Pose": [ + 1412.855, + -156.053, + 679.808, + 0, + 140, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001783_y-000577_z000295_t4_a.json b/benchmark/task/medieval_Nighttime/task_x001783_y-000577_z000295_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..df7599bfdb529c99828a37186b554dd9bce5f1fe --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001783_y-000577_z000295_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Cross the dining area to the tall wooden door beneath the overhead walkway and open it.", + "Type": 4, + "Start_Pose": [ + 1783.169, + -576.819, + 295.144, + 0, + 140, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001940_y-000305_z000333_t4_a.json b/benchmark/task/medieval_Nighttime/task_x001940_y-000305_z000333_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f1063c8e4765361c9902f8d89e59faf0dc8cf7f8 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001940_y-000305_z000333_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the large wooden door beneath the balcony, just left of the central support post, and pull it open.", + "Type": 4, + "Start_Pose": [ + 1940.155, + -304.911, + 332.977, + 0, + -160, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x001993_y000705_z000680_t4_a.json b/benchmark/task/medieval_Nighttime/task_x001993_y000705_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5918e9cde32cfd8dce216dd7c6488b4c8fcff861 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x001993_y000705_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The wooden door with upper glass panes on the left side of the room is the target. Go to it and open it.", + "Type": 4, + "Start_Pose": [ + 1993.267, + 704.877, + 679.808, + 0.0, + -20.0, + 0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x002451_y-000816_z000228_t4_a.json b/benchmark/task/medieval_Nighttime/task_x002451_y-000816_z000228_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0c1586d941cdacee420448ed603be8ca515f89e3 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x002451_y-000816_z000228_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the wooden door set into the stone wall at the far end of the room and pull it open.", + "Type": 4, + "Start_Pose": [ + 2450.783, + -815.961, + 228.275, + 0, + -40, + 0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x004142_y-000878_z000235_t4_a.json b/benchmark/task/medieval_Nighttime/task_x004142_y-000878_z000235_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8c984faddf1c1193652edc1bf067091c3ce45f8b --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x004142_y-000878_z000235_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden door set into the side wall of the small stone cottage and open it.", + "Type": 4, + "Start_Pose": [ + 4142.405, + -877.747, + 235.176, + 0.0, + -140.0, + 0.0 + ] +} diff --git a/benchmark/task/medieval_Nighttime/task_x004255_y-001782_z000245_t4_a.json b/benchmark/task/medieval_Nighttime/task_x004255_y-001782_z000245_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8417fab8cdfe99c3c00547f4a6e53b581c4b0045 --- /dev/null +++ b/benchmark/task/medieval_Nighttime/task_x004255_y-001782_z000245_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Cross the grass to the wooden door of the isolated stone-and-timber cottage and open it.", + "Type": 4, + "Start_Pose": [ + 4254.527, + -1781.607, + 244.514, + 0.0, + 120.0, + -0.0 + ] +}