Add files using upload-large-folder tool

dataset/trajectory/AsianMedivalCity/task_x-003126_y-006703_z001248_t2_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Walk to the rightmost base of the front gate.",
+    "Type": 2,
+    "Start_Pose": [
+        -3125.706,
+        -6702.878,
+        1247.731,
+        -0.006,
+        101.721,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3125.706,
+            -6702.878,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3151.274,
+            -6579.643,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -3151.274,
+            -6579.643,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3226.527,
+            -6478.76,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3301.781,
+            -6377.877,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3377.034,
+            -6276.994,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3452.288,
+            -6176.111,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3527.541,
+            -6075.228,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3602.795,
+            -5974.345,
+            1247.731,
+            -0.006,
+            126.721,
+            -0.0
+        ],
+        [
+            -3602.795,
+            -5974.345,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3628.363,
+            -5851.11,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3653.93,
+            -5727.875,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3679.498,
+            -5604.641,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3705.066,
+            -5481.406,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3730.634,
+            -5358.171,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3730.634,
+            -5358.171,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The front gate spans overhead on two thick pale bases, and the one I want is the right-hand base, the one standing next to the blossoming cherry tree. From this distance the plaza ahead is clear stone, so I will walk forward to close the gap before angling toward that base.",
+        "Walking straight ahead would carry me between the two bases rather than to the one beside the cherry tree, which sits off to my right. I will turn right to put that base in front of me before continuing.",
+        "After the turn, the tall pale base of the gate now stands ahead of me, just left of center, with the cherry tree and the red railing on my right. The paving between us is empty, so I will step forward to close in on it.",
+        "The base I am heading for has grown taller in my view and is still set slightly left of my line of travel. Nothing blocks the pavement, so I will keep walking toward it.",
+        "The gate base now rises well above the rooftops behind it, confirming I am closing on it. The stone plaza in front of me remains open, so I will continue forward.",
+        "The stone lion and the low plinth at the foot of my target base are becoming distinct, so I am still some strides short. The red railing keeps to my right and leaves the route clear, so I will walk on.",
+        "My target base and its plinth now fill much of the view ahead and the guardian lion beside it is clearly visible. There is still open pavement in front, so I will take another step toward it.",
+        "The base stands close now, its plinth and the lion just off to my left front, with the railing hemming me on the right. I will advance again to draw right up beside it.",
+        "The pale base I am heading for has slid to the left side of my view, with only railing and open plaza straight ahead. I will turn left to bring it back in front of me before covering the last stretch.",
+        "The turn has put the tall pale base squarely ahead, its dark plinth panel facing me and the lion crouching just behind it. The stone between us is clear, so I will walk straight in.",
+        "The plinth panel is wider now but still a few strides off, and the stacked crates stay clear on my left. I will keep walking straight at it.",
+        "The base now towers above my sightline and its plinth cap is level with my chest, so I am nearly upon it. Nothing stands between us, so I will advance again.",
+        "The plinth's recessed panel is close enough to read its molding, and the lion sits just beyond the base's left edge. A short step more should bring me right up against it.",
+        "The base's grain and the plinth's painted trim dominate the right of my view, only a stride away. I will take that last step to stand directly at its foot.",
+        "The pale base and its plinth fill my view at arm's length, with the guardian lion beside it. I have arrived at it, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-003126_y-006703_z001248_t2_b/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Head toward the leftmost base of the front gate.",
+    "Type": 2,
+    "Start_Pose": [
+        -3125.706,
+        -6702.878,
+        1247.731,
+        -0.006,
+        101.721,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3125.706,
+            -6702.878,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3151.274,
+            -6579.643,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -3176.842,
+            -6456.409,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -3176.842,
+            -6456.409,
+            1247.731,
+            -0.006,
+            76.721,
+            0.0
+        ],
+        [
+            -3147.933,
+            -6333.915,
+            1247.731,
+            -0.006,
+            76.721,
+            0.0
+        ],
+        [
+            -3119.024,
+            -6211.421,
+            1247.731,
+            -0.006,
+            76.721,
+            0.0
+        ],
+        [
+            -3090.115,
+            -6088.927,
+            1247.731,
+            -0.006,
+            76.721,
+            0.0
+        ],
+        [
+            -3090.115,
+            -6088.927,
+            1247.731,
+            -0.006,
+            51.721,
+            -0.0
+        ],
+        [
+            -3012.146,
+            -5990.127,
+            1247.731,
+            -0.006,
+            51.721,
+            -0.0
+        ],
+        [
+            -2934.178,
+            -5891.327,
+            1247.731,
+            -0.006,
+            51.721,
+            -0.0
+        ],
+        [
+            -2856.209,
+            -5792.528,
+            1247.731,
+            -0.006,
+            51.721,
+            -0.0
+        ],
+        [
+            -2778.241,
+            -5693.728,
+            1247.731,
+            -0.006,
+            51.721,
+            -0.0
+        ],
+        [
+            -2700.272,
+            -5594.928,
+            1247.731,
+            -0.006,
+            51.721,
+            -0.0
+        ],
+        [
+            -2622.303,
+            -5496.128,
+            1247.731,
+            -0.006,
+            51.721,
+            -0.0
+        ],
+        [
+            -2622.303,
+            -5496.128,
+            1247.731,
+            -0.006,
+            76.721,
+            -0.0
+        ],
+        [
+            -2622.303,
+            -5496.128,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -2647.871,
+            -5372.894,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -2647.871,
+            -5372.894,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The front gate stands right in front of me, its two thick wooden supports framing the plaza, and the one on the left is the base I want. Its foot, set behind the crates near the left railing, is still far across the open paving. I walk forward to close that distance.",
+        "The left support of the gate has grown noticeably wider and its foot is now clearer beside the stacked crates, so my heading is carrying me the right way. Nothing blocks the paving between me and it. I step forward again to keep closing in.",
+        "As I approach, the gate support I am aiming for has slid out toward the left edge of my view while the crates and cart sit straight ahead of me. Walking on this heading would carry me past it rather than to its base. I turn left to swing that pillar back toward the middle of my view.",
+        "The turn has brought the gate support back into the left half of my view, with its base and the crates against it plainly visible. The stone ahead of me is open. I walk forward to shorten the gap to that base.",
+        "The wooden support is filling more of my view and its crated foot is holding steady in the left half, so my line is still good. There is nothing between me and it but flat paving. I keep walking forward.",
+        "The gate support now rises well past the top of my view and the cart beside it is close enough to make out its wheels, so I am nearly at the gate line. The base I want still lies a little further on. I advance once more.",
+        "At this range the pillar I am following sits left of my heading, with crates and the cart crowding the ground straight in front of me. Turning left points me at open paving along the red railing and swings that support toward the middle of my view. I turn left.",
+        "The other gate support has slid out of my view, so I simply keep to this tall wooden pillar with the crates stacked at its foot, now standing just ahead and slightly to my right. The paving in front of me toward the railing is clear. I step forward to reach its base.",
+        "The pillar and the crates banked against its foot sit just right of my heading, with the cart beyond them and clear stone between. Nothing crowds the line I am walking. I step forward again to close on that foot.",
+        "The crates stacked at the pillar's foot have grown large enough that I can read their planks, so the base is only a short walk off my right shoulder. The paving in front stays empty. I keep advancing.",
+        "The pillar now fills the right side of my view and the low stall beside its foot is close by, which tells me I am nearly level with the base. A couple more paces should bring me alongside it. I walk on.",
+        "The wooden shaft and its crated foot are now right beside me on that side, close enough that the grain is plain. I am not quite level with the foot yet. Another step forward should put me even with it.",
+        "The pillar has slid to the very edge of my view as I draw abreast of it, with the railing and the terrace filling everything ahead. One more pace should set me squarely at the level of its foot before I turn to face it.",
+        "I am now level with the support, and it has dropped almost entirely out of my view along the right border while I stare down the railing instead. To stand at its foot I need it in front of me. I turn right to bring it back.",
+        "The turn has pulled the pillar and the panelled stall at its base into the right half of my view, but my heading still points past them toward the open terrace. A second turn should centre the foot ahead of me.",
+        "The support now stands squarely in front of me with its base panel and the crates directly under my line of travel, and the gate's red beams show overhead to the right. Only a short gap of paving remains. I walk forward to stand at that foot.",
+        "The gate support's wooden base fills my view at arm's length, with its red beam edging in above. I am standing at that foot, so the task is done."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-003140_y-006634_z001248_t0_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Go to the two-wheeled wooden cart.",
+    "Type": 0,
+    "Start_Pose": [
+        -3140.043,
+        -6633.776,
+        1247.731,
+        -0.006,
+        101.721,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -3140.043,
+            -6633.776,
+            1247.731,
+            -0.006,
+            101.721,
+            0.0
+        ],
+        [
+            -3165.611,
+            -6510.541,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -3191.179,
+            -6387.307,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -3216.746,
+            -6264.072,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -3242.314,
+            -6140.837,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -3267.882,
+            -6017.603,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -3293.45,
+            -5894.368,
+            1247.731,
+            -0.006,
+            101.721,
+            -0.0
+        ],
+        [
+            -3293.45,
+            -5894.368,
+            1247.731,
+            -0.006,
+            76.721,
+            0.0
+        ],
+        [
+            -3264.541,
+            -5771.874,
+            1247.731,
+            -0.006,
+            76.721,
+            0.0
+        ],
+        [
+            -3235.632,
+            -5649.38,
+            1247.731,
+            -0.006,
+            76.721,
+            0.0
+        ],
+        [
+            -3235.632,
+            -5649.38,
+            1247.731,
+            -0.006,
+            76.721,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open stone plaza I can see wooden carts clustered under the red torii gate ahead, slightly left of center, including one with large spoked wheels and long shafts. My heading is already roughly toward that cluster, so I will step forward to begin closing the long gap.",
+        "The cart group under the torii gate now appears larger and I can pick out a cart with two tall wheels among them. Nothing blocks the paving in front of me, so I will keep advancing on this heading.",
+        "The two-wheeled wooden cart with its long draw shafts is now clearly distinguishable slightly left of center, still several paces off. I will continue straight ahead since the heading still points at it and the ground is unobstructed.",
+        "The cart is drawing noticeably nearer and its wheels now sit low in my view, but I am still too far to consider myself at it. I will take another step forward to keep reducing the distance.",
+        "The two-wheeled cart and its shafts now occupy much of the left portion of my view, so only a short remaining gap separates us. I will advance again to bring myself close beside it.",
+        "The cart with its two large wheels and low wooden shafts is close on my left, though the space directly ahead is still clear paving. I will step forward once more to draw level with it rather than stopping short.",
+        "The two-wheeled cart has drifted to the left portion of my view and its shafts run off the left edge, while my heading points into empty plaza and a pillar to the right. I will turn left to bring the cart back to the center of my view before closing the last of the distance.",
+        "After the turn the two-wheeled cart with its long shafts sits centered in front of me, with the paving between us open. I will step forward to close the short remaining gap and stand right at it.",
+        "The two-wheeled wooden cart with its long draft shaft and large spoked wheel now fills the lower center of my view, centered on my heading. There is still a short stretch of open stone paving between me and its frame, so I will step forward once more to close that last gap. This should bring me directly beside the cart, near enough to count as reaching it.",
+        "The two-wheeled wooden cart's shaft and wheel are right at my feet, filling my near view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-006481_y000943_z001218_t0_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Move to the wooden railing at the staircase edge near the pink cherry blossom tree.",
+    "Type": 0,
+    "Start_Pose": [
+        -6481.219,
+        942.718,
+        1218.151,
+        -0.011,
+        -71.118,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6481.219,
+            942.718,
+            1218.151,
+            -0.011,
+            -71.118,
+            0.0
+        ],
+        [
+            -6440.489,
+            823.632,
+            1218.151,
+            -0.011,
+            -71.118,
+            -0.0
+        ],
+        [
+            -6399.758,
+            704.546,
+            1218.151,
+            -0.011,
+            -71.118,
+            -0.0
+        ],
+        [
+            -6359.028,
+            585.46,
+            1218.151,
+            -0.011,
+            -71.118,
+            -0.0
+        ],
+        [
+            -6318.297,
+            466.373,
+            1218.151,
+            -0.011,
+            -71.118,
+            -0.0
+        ],
+        [
+            -6318.297,
+            466.373,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -6231.055,
+            375.658,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -6143.812,
+            284.943,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -6056.57,
+            194.228,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -5969.328,
+            103.512,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -5882.085,
+            12.797,
+            1218.151,
+            -0.011,
+            -46.118,
+            -0.0
+        ],
+        [
+            -5882.085,
+            12.797,
+            1218.151,
+            -0.011,
+            -21.118,
+            0.0
+        ],
+        [
+            -5764.679,
+            -32.549,
+            1218.151,
+            -0.011,
+            -21.118,
+            0.0
+        ],
+        [
+            -5658.756,
+            -76.404,
+            1221.925,
+            -0.011,
+            -21.118,
+            0.0
+        ],
+        [
+            -5658.756,
+            -76.404,
+            1221.925,
+            -0.011,
+            -21.118,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open paved courtyard I can see the pink cherry blossom tree ahead on the right, with the broad staircase rising to the gate on the left and a wooden handrail running along its edge. The target railing is still far off across the empty flagstones, so I will move straight forward to begin closing that gap.",
+        "The gate and the staircase have grown noticeably larger, confirming that my heading is carrying me toward the raised stair area near the blossom tree. The paving ahead remains clear, so I will continue forward to keep reducing the distance.",
+        "I can now make out the wooden handrail along the stair edge and the red balustrade beside the blossom tree on my right, but both are still several paces away. Another forward step should bring the stair edge and its railing within a comfortable approach range.",
+        "The steps now fill much of the left side of my view and the blossom tree with its railing sits off to my right, so I am close to the raised terrace level. I will advance once more to reach the area where the stair edge meets the railing.",
+        "My heading is aimed mostly at the stairs and the gate, while the cherry blossom tree and the railing that runs along the stair edge lie off to my right. I will turn right to bring that railing and tree into the centre of my view before continuing.",
+        "After turning, the blossom tree in its planter and the red railing along the raised walkway now sit ahead and slightly right, with open paving between us. I will move forward along this corrected heading to close on the railing beside the stair edge.",
+        "The railing panels and the tree base are clearly larger and the stair banister on my left is drawing nearer, so this heading is working. I will keep stepping forward to reach the point where the wooden handrail meets the railing at the stair edge.",
+        "I am now near the foot of the steps, with the wooden handrail sweeping up on my left and the red railing under the blossom branches just ahead on my right. Another forward step should place me right at the railing along the staircase edge.",
+        "The wooden banister capping the staircase edge is now clearly visible ahead on my right, with the red balustrade and the blossom canopy above it. The paved strip between the steps and the railing is still open, so I will keep moving forward to close the remaining gap.",
+        "The wooden handrail and its posts have grown noticeably larger in my view, confirming I am still closing on the staircase edge rather than drifting away. I will advance once more along this lane to bring the railing within a short reach.",
+        "The wooden banister and the red railing it joins sit off to my right while my heading still points up along the steps. A small turn to the right should place the railing at the staircase edge squarely in front of me before the last approach.",
+        "After the turn the wooden banister and the red railing panels now sit centrally in my view, so my heading is aimed at the staircase edge. I will move forward to close the last stretch of pavement toward that railing.",
+        "The railing now fills much of the lower view with the wooden handrail sloping close in front of me, but a short span of pavement still separates me from it. One more forward step should bring me right up against the railing at the staircase edge.",
+        "The wooden railing at the staircase edge stands directly in front of me, filling my view at arm's length. The task is complete, so no further movement is needed."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-006810_y-001394_z001628_t1_a/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Inside the open wooden building directly ahead, find the golden lion statue sitting on the tatami floor and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -6810.393,
+        -1393.755,
+        1628.151,
+        -0.011,
+        -110.478,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveBackward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6810.393,
+            -1393.755,
+            1628.151,
+            -0.011,
+            -110.478,
+            -0.0
+        ],
+        [
+            -6810.393,
+            -1393.755,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6800.47,
+            -1519.222,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6782.472,
+            -1638.537,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6782.472,
+            -1638.537,
+            1628.151,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6806.771,
+            -1751.982,
+            1632.339,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6850.803,
+            -1869.888,
+            1632.609,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6872.375,
+            -1983.562,
+            1642.237,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6896.185,
+            -2013.73,
+            1656.664,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6914.362,
+            -2012.34,
+            1662.151,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6882.036,
+            -1925.78,
+            1664.8,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6882.036,
+            -1925.78,
+            1664.8,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6859.591,
+            -2032.732,
+            1631.757,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6842.248,
+            -2153.722,
+            1631.757,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6842.248,
+            -2153.722,
+            1631.757,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6886.28,
+            -2271.628,
+            1632.46,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6929.706,
+            -2384.861,
+            1632.632,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6929.706,
+            -2384.861,
+            1632.632,
+            -0.011,
+            -110.478,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the stone walkway the wooden building is right in front of me, but a solid paper screen and a broad wooden panel sit straight ahead, while the clear gap onto the tatami floor lies off to my right. I cannot yet see any golden statue inside, so I need a heading that lines up with that open bay rather than the closed screens. I will turn right to face the opening and get a usable view into the hall.",
+        "The turn has put the open doorway near the center of my view, with tatami mats, hanging lanterns and stacked barrels visible in the dim interior. The golden lion is still not in sight from out here, so I have to get past the screen frames to see more of the room. I will step forward through the opening to bring the interior into view.",
+        "Now that I am in the doorway I can see a small golden figure crouched on the tatami toward the left side of the hall, which matches the lion statue I am looking for. The door frame still crops most of the room and the statue is far off. I will keep walking forward to clear the threshold and close distance on it.",
+        "I am inside the hall now with the full tatami room open around me, and the golden lion sits on the mats to the left of my heading, past the low tables. Walking straight ahead would carry me toward the barrels on the right instead of the statue. I will turn left to swing my heading toward the statue before advancing.",
+        "After the turn the golden lion is now sitting near the middle of my view against the far paper wall, with open tatami between us. It is still several body lengths away, so I need to cover ground before I can call it approached. I will walk forward toward it, keeping the low tables to my left.",
+        "The golden lion statue is clearly in view on the tatami just right of center, seated against the far shoji wall. Nothing blocks the open matting between me and it apart from the low tables off to my left, so I will walk straight ahead to close the remaining distance.",
+        "The statue has grown noticeably larger and still sits ahead and slightly right, confirming my heading is good. A low dining table now occupies the near foreground on my left, but the lane of matting toward the lion still looks clear, so I keep walking forward.",
+        "The lion is now large in front of me, and a low table with dishes has come right up under the bottom edge of my view. I am still several body lengths short of the statue, so I attempt another step forward along the same heading.",
+        "My last step gained almost no ground, since the statue and the wall behind it have barely shifted and the low table is still pressed against the bottom of my view. That suggests the table in front of me is holding me up, but I will try pushing forward once more to see if I can slip past it.",
+        "Two forward attempts in a row have barely moved me, and the scene ahead looks essentially identical, so the low table right in front is clearly blocking this line. I will back up to open some clearance so I can work around the obstruction instead of pressing into it.",
+        "My last few straight-ahead pushes barely gained ground because the low dining table with its trays sits right in my path, so I backed off to open some clearance and it now fills the near foreground. The golden lion is still clearly seated on the tatami ahead against the paper screens, but the direct line to it is obstructed. I will turn right to look for open matting around the table rather than keep pressing into it.",
+        "After turning, the blocking table has slid to my lower left and a clear stretch of tatami opens straight in front of me. The golden lion remains in sight slightly left of my heading, so this line should carry me past the obstruction. I will step forward along this clear route.",
+        "The table is no longer in front of me and the lion statue has grown noticeably larger, confirming this detour line is working. There is still empty matting between me and the statue, so distance remains to be closed. I will keep walking forward.",
+        "Having passed around the table, my heading now carries me to the right of the target, and the golden lion sits well toward the left side of my view. I need to bring it back to the center before closing the last stretch. I will turn left to face it directly.",
+        "The turn has brought the golden lion back near the middle of my view, seated on the tatami with clear floor between us. Nothing blocks this line now, so straight walking should shorten the gap. I will step forward toward the statue.",
+        "The golden lion statue now fills the lower center of my view on the tatami, close and roughly centered ahead of me. I am still a short gap away from standing right beside it, so I will step forward once more to close that final distance.",
+        "The golden lion statue on the tatami fills my view directly in front of me at arm's length. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-006810_y-001394_z001628_t1_b/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Inside the open wooden building directly ahead, find the wooden rack displaying three polearm blades upright against the shoji screens and approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -6810.393,
+        -1393.755,
+        1628.151,
+        -0.011,
+        -110.478,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -6810.393,
+            -1393.755,
+            1628.151,
+            -0.011,
+            -110.478,
+            -0.0
+        ],
+        [
+            -6810.393,
+            -1393.755,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6800.47,
+            -1519.222,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6782.472,
+            -1638.537,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6782.472,
+            -1638.537,
+            1628.151,
+            -0.011,
+            -60.478,
+            0.0
+        ],
+        [
+            -6782.472,
+            -1638.537,
+            1628.151,
+            -0.011,
+            -35.478,
+            0.0
+        ],
+        [
+            -6782.472,
+            -1638.537,
+            1628.151,
+            -0.011,
+            -60.478,
+            0.0
+        ],
+        [
+            -6782.472,
+            -1638.537,
+            1628.151,
+            -0.011,
+            -85.478,
+            0.0
+        ],
+        [
+            -6782.472,
+            -1638.537,
+            1628.151,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6806.771,
+            -1751.982,
+            1632.339,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -6806.771,
+            -1751.982,
+            1632.339,
+            -0.011,
+            -135.478,
+            0.0
+        ],
+        [
+            -6896.506,
+            -1840.232,
+            1632.626,
+            -0.011,
+            -135.478,
+            0.0
+        ],
+        [
+            -6972.448,
+            -1882.203,
+            1632.626,
+            -0.011,
+            -135.478,
+            0.0
+        ],
+        [
+            -6972.448,
+            -1882.203,
+            1632.626,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -7024.85,
+            -1933.348,
+            1632.626,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -7068.948,
+            -2051.225,
+            1633.515,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -7112.979,
+            -2169.131,
+            1635.547,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -7157.011,
+            -2287.036,
+            1633.643,
+            -0.011,
+            -110.478,
+            0.0
+        ],
+        [
+            -7157.011,
+            -2287.036,
+            1633.643,
+            -0.011,
+            -135.478,
+            0.0
+        ],
+        [
+            -7246.746,
+            -2375.286,
+            1633.643,
+            -0.011,
+            -135.478,
+            0.0
+        ],
+        [
+            -7328.459,
+            -2447.129,
+            1633.643,
+            -0.011,
+            -135.478,
+            0.0
+        ],
+        [
+            -7328.459,
+            -2447.129,
+            1633.643,
+            -0.011,
+            -135.478,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing on the stone paving just outside the wooden building, and a sliding panel blocks most of the entry directly in front of me. Turning right should line me up with the open gap between the shoji panels so I can look into the matted hall where a polearm rack would be kept.",
+        "The doorway gap is now centered ahead of me with clear tatami flooring beyond it and no panel in the way. I will step forward to pass through the opening and get inside the hall, where the polearm rack should be somewhere along the shoji walls.",
+        "I am in the doorway now with the wooden jambs close on either side and the hall opening up ahead, though the doorframe still crops most of the room from view. Another step forward should carry me fully inside so I can see the side walls where a weapon rack could stand.",
+        "I am inside the hall now with a wide view of tatami, low tables, barrels and a golden statue, but nothing directly ahead matches a rack of three upright polearms. I will turn right to scan the part of the room hidden beyond the right edge of my view.",
+        "This heading shows more barrels, a red lacquered stand and dark benches along the wall, but still no upright polearms on a rack. I will continue the scan one more step to the right to check the remaining unseen stretch of wall before deciding where to walk.",
+        "Continuing to swing right has only brought me to the edge of the hall, where a thick post and the daylight outside fill the right side of my view, and the only furnishings here are barrels and a red lacquered frame, no upright polearms on a stand. Sweeping further this way would take me out of the interior rather than deeper into it, so I will reverse the scan and turn left. That should bring the darker inner floor of the hall back in front of me where a weapon rack is more likely to stand against the screens.",
+        "Turning back left has restored the interior view, but this stretch of wall holds only stacked barrels, a gold lion figure, and the lacquered stand, with no three-blade rack against the shoji. The unexamined part of the hall still lies further to my left, so I will keep the sweep going in that direction. Maintaining one consistent turning direction should let me cover the remaining wall without doubling back again.",
+        "This heading shows low tables and the gold lion in front of the screened wall, and near the far left edge there are thin dark vertical shapes that could be shafts standing against the screens. I will turn left once more to bring that promising corner of the hall into the middle of my view. If those uprights are the polearms, centering them lets me commit to an approach.",
+        "The turn has revealed a slender wooden stand against the screens on the left side of the hall with dark upright shafts rising from it, which matches the rack of polearms I am looking for. It is still far off across the tatami, so I will walk forward to close that distance. Advancing should also sharpen the shapes enough to confirm they are three blades rather than another fixture.",
+        "After stepping forward, the wooden stand with its upright shafts is clearer but sits left of my heading, with the low tables and the lion statue straight ahead of me. I will turn left to put that rack nearer the center of my path. A cleaner heading should let me continue walking toward it without weaving around the tables.",
+        "Scanning this large tatami hall, I can now pick out a small wooden stand near the far shoji wall ahead of me with dark upright shafts resting in it, which matches the polearm rack I was sent to find. It is still far off across the matting, with only open floor between me and it. I will walk forward to close that distance and confirm the three blades.",
+        "The stand against the shoji wall is clearly larger now and I can make out slender dark blades standing upright in its crossbars, so my read on the target holds. A long bench runs to its left and a low table sits at my right shoulder, but the matting straight ahead is clear. I will keep walking forward toward the rack.",
+        "The rack with its three upright blades now sits a little right of the middle of my view, so my heading is drifting toward the benches on the left. A low table also crowds my right side, so I want a cleaner line before advancing further. I will turn right to bring the rack nearer to straight ahead.",
+        "After the turn the rack with its upright blades sits ahead and slightly to my left, with open tatami in front of me and the gold statue standing off to the right. The distance is still substantial, so closing ground matters more than perfect heading right now. I will step forward, expecting the rack to grow and steady in my view.",
+        "That last step gained noticeably less ground than usual, most likely because I squeezed past the low table that was sitting at my side. The rack and its three upright blades are still ahead and a bit left, and the matting in front of me now looks clear of furniture. I will walk forward again to keep closing on it.",
+        "The wooden rack holding three upright polearm blades is now clearly visible ahead on my left, standing against the paper shoji panels at the far wall. It is still several body lengths away across the tatami, with open matting between us, so I will keep walking forward to close that gap.",
+        "The rack with its three blades now fills much more of my view on the left, confirming I am closing on the correct display. There is still open matting between me and it, so I will continue stepping forward rather than stopping at this distance.",
+        "My forward motion has pushed the rack out to the far left edge of my view, where the blades are partly cropped and the pillar and wall now dominate straight ahead. Turning left should bring the rack and its three polearms back into the center of my heading before I advance further.",
+        "The turn worked, and the wooden rack with three upright blades now sits squarely in the middle of my view against the corner shoji screens. I am still a couple of steps short of it, so I will walk forward to reach a close standing position.",
+        "The rack now dominates my view, its crossbars and the three blade shafts close enough to read in detail. One more step forward should place me right at the display, which is what approaching it requires.",
+        "The wooden rack with its upright polearm shafts fills my view at arm's length against the shoji screens. The approach target is reached, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-007270_y-006022_z001218_t1_a/infos.json

@@ -0,0 +1,276 @@
+{
+    "Instruction": "Determine where the entrance to the open pavilion with a tiered roof is located; once found, make your way there.",
+    "Type": 1,
+    "Start_Pose": [
+        -7269.957,
+        -6022.321,
+        1218.151,
+        0.0,
+        -131.52,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7269.957,
+            -6022.321,
+            1218.151,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            -156.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            153.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            128.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            103.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            78.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            53.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            28.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            3.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            -21.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            -46.52,
+            0.0
+        ],
+        [
+            -7183.353,
+            -6113.646,
+            1218.251,
+            0.0,
+            -46.52,
+            0.0
+        ],
+        [
+            -7096.75,
+            -6204.971,
+            1218.251,
+            0.0,
+            -46.52,
+            0.0
+        ],
+        [
+            -7010.146,
+            -6296.296,
+            1218.251,
+            0.0,
+            -46.52,
+            0.0
+        ],
+        [
+            -6923.542,
+            -6387.621,
+            1218.251,
+            0.0,
+            -46.52,
+            0.0
+        ],
+        [
+            -6923.542,
+            -6387.621,
+            1218.251,
+            0.0,
+            -21.52,
+            0.0
+        ],
+        [
+            -6806.457,
+            -6433.79,
+            1218.251,
+            0.0,
+            -21.52,
+            0.0
+        ],
+        [
+            -6689.371,
+            -6479.958,
+            1218.251,
+            0.0,
+            -21.52,
+            0.0
+        ],
+        [
+            -6572.286,
+            -6526.126,
+            1218.251,
+            0.0,
+            -21.52,
+            0.0
+        ],
+        [
+            -6455.201,
+            -6572.295,
+            1218.251,
+            0.0,
+            -21.52,
+            0.0
+        ],
+        [
+            -6338.115,
+            -6618.463,
+            1218.251,
+            0.0,
+            -21.52,
+            0.0
+        ],
+        [
+            -6338.115,
+            -6618.463,
+            1218.251,
+            0.0,
+            -46.52,
+            0.0
+        ],
+        [
+            -6251.512,
+            -6709.788,
+            1218.251,
+            0.0,
+            -46.52,
+            0.0
+        ],
+        [
+            -6164.908,
+            -6801.113,
+            1218.251,
+            0.0,
+            -46.52,
+            0.0
+        ],
+        [
+            -6164.908,
+            -6801.113,
+            1218.251,
+            0.0,
+            -46.52,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Straight ahead I only see the long enclosed hall with paper-panel walls and closed sliding doors, which is not the open pavilion with a tiered roof I am asked to reach. Tiered eaves and lantern-lit structures are visible off to my left, so I will turn left to open that side of the courtyard into view. This should start a steady scan toward the more promising part of the complex.",
+        "The turn has brought a multi-storey wooden building with hanging red lanterns and barrels into the left of my view, but its lower level still looks walled and enclosed rather than an open pavilion. No stairway or open pillared front is visible yet, so I keep rotating in the same direction. Continuing left should reveal the rest of the courtyard edge behind that structure.",
+        "Now the tall tiered tower with red lanterns is roughly centred, yet its ground floor is closed with panelled walls and a low fenced front rather than an open, columned space. That does not match the open pavilion I need, so I keep the scan consistent instead of committing here. Another left turn should uncover the courtyard area still hidden past this tower.",
+        "The view now shows a long grey masonry wall running left with balustraded upper galleries above it, and no accessible opening along this stretch. Since this side of the square is blocked by solid wall, there is no reason to stop the sweep here. I will turn left again to keep uncovering unseen parts of the courtyard.",
+        "Ahead of me is mostly empty paving and the same high stone wall under a broad overhanging eave, which offers no entrance and no tiered open structure. The scan is not finished, so I hold the same rotation direction rather than doubling back. Turning left again should bring the next section of the perimeter into view.",
+        "A thick wooden pillar standing free on the pavement and a blossoming tree at the left edge suggest an open, roofed colonnade begins on that side rather than another closed wall. That is the first cue that matches an open pavilion, so I want more of it in view. I will turn left again to bring that pillared area toward the centre of my sight.",
+        "Now several heavy columns carrying a deep roof stand over open paving with plinths between them, and blossom trees and railings open out to the left. This looks like the edge of a covered, open-sided structure, so I want to see where its front and approach lie. Another left turn should expose more of that open frontage.",
+        "The open pillared space keeps extending to my left, with blossom trees, red railings and tiered roofs of further halls beyond it. I still cannot see a clear front approach or steps into the pavilion from this angle. I will continue turning left to bring that open frontage and any entrance into direct view.",
+        "Ahead of me I only see blossoming trees, a red railing and the heavy columns of a walled walkway, with no open tiered-roof structure or its entrance in sight. I will keep rotating steadily to the left so the scan stays in one consistent direction and covers the courtyard edge that is still hidden.",
+        "The view now opens onto a railed terrace with blossoming trees and, at the far left edge, a warm golden glow under a roofed structure that could be a candidate building. I will continue turning left to bring that promising left-hand area fully into view rather than stopping on this partial glimpse.",
+        "On my left there is now a red-pillared structure whose sides are open, sheltering a large gilded figure, which matches an open pavilion far better than the enclosed halls I have been passing. I will turn left once more to place that structure near the center of my view so I can judge its roof and approach.",
+        "The open pavilion with its layered, tiered roof and open pillared sides is now centered ahead of me, with the gilded figure clearly visible between the columns. I will walk forward across the paving toward it so I can get close enough to see where its entrance side lies.",
+        "The pavilion is growing larger and its open bays and raised base are becoming easier to read, but I still cannot see any step or opening on the face turned toward me. I will keep walking straight ahead to close the remaining distance before deciding which side gives access.",
+        "From here the pavilion's columns, railings and dark stone platform are clearly defined, and the courtyard ahead of me remains flat and unobstructed. I will step forward again to bring the structure within a range where its entrance side should be distinguishable.",
+        "The pavilion now dominates the left and center of my view, and the near face shows only a solid raised plinth between the pillars rather than an opening. I will advance once more so I can inspect along its front and locate the way up.",
+        "I am close to the pavilion's corner, and the side facing me is a blank raised base with railings, so there is no access on this face. I will turn right to swing my heading along the pavilion's open front, where the courtyard continues and the entrance is more likely to be found.",
+        "The open tiered-roof pavilion stands to my left, its columned interior and gilded statue visible under the eaves, and the slight rightward adjustment I just made has opened the paved courtyard ahead as a clear travel lane. I will walk forward along this open ground to close distance with the pavilion instead of crowding its side wall. Its front side, where an entrance should be, lies further ahead past the corner columns.",
+        "The pavilion's raised platform edge and its interior are now larger on my left, confirming I am closing in on the correct structure. The stone paving in front of me remains clear of railings and planters, so another step forward is safe. I keep advancing to reach the pavilion's forward face where an access point should become visible.",
+        "A low dark stone base is now clearly visible along the near side of the pavilion, which suggests a stepped platform rather than a closed wall. Nothing blocks the paving between me and that base, so I continue walking forward to bring the platform edge within reach. Getting closer should reveal whether the steps up form the entrance.",
+        "The stone base on my left now reads as a broad stair front leading up into the open pavilion interior, which matches the entrance I need to reach. The courtyard ahead is still clear, so I take another step forward to draw level with that stair. I want to reach a position directly in front of the steps before turning toward them.",
+        "I am nearly abreast of the pavilion's stepped platform, though the stair front still sits behind and to my left rather than in front of me. Continuing forward should carry me far enough along the courtyard to stand square with those steps. The paving remains open, so one more step is straightforward.",
+        "I am now standing in front of the pavilion's stepped platform, but the stairs and the open columned bay sit to my left while I face along the courtyard. Turning left should put those steps squarely ahead of me so I can walk straight up to the entrance. This is an alignment turn toward the target, not a change of route.",
+        "The broad flight of stone steps is now centered ahead, rising into the open pillared space of the tiered-roof pavilion, so this is the entrance I was asked to find. I will walk forward to close the remaining paving between me and the foot of those stairs. Nothing stands in the way along that line.",
+        "The stairway now fills the lower part of my view and the pavilion's open bay, banners, and gilded figure are directly ahead. One more step forward should bring me right onto the entrance stair so I am properly at the pavilion's threshold. The approach line stays clear of the railing on my right.",
+        "I stand at the foot of the pavilion's entrance steps, its open pillared platform directly ahead. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-007270_y-006022_z001218_t1_b/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Search for a wooden barrel positioned between two ceramic jars, then navigate to that spot.",
+    "Type": 1,
+    "Start_Pose": [
+        -7269.957,
+        -6022.321,
+        1218.151,
+        0.0,
+        -131.52,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7269.957,
+            -6022.321,
+            1218.151,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            -106.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            -81.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            -56.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            -31.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            -6.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            18.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            43.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            68.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            93.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            118.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            143.48,
+            -0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            168.48,
+            -0.0
+        ],
+        [
+            -7393.281,
+            -5997.185,
+            1218.251,
+            0.0,
+            168.48,
+            -0.0
+        ],
+        [
+            -7516.604,
+            -5972.05,
+            1218.251,
+            0.0,
+            168.48,
+            -0.0
+        ],
+        [
+            -7639.928,
+            -5946.915,
+            1218.251,
+            0.0,
+            168.48,
+            -0.0
+        ],
+        [
+            -7763.251,
+            -5921.78,
+            1218.251,
+            0.0,
+            168.48,
+            -0.0
+        ],
+        [
+            -7886.575,
+            -5896.644,
+            1218.251,
+            0.0,
+            168.48,
+            -0.0
+        ],
+        [
+            -8009.899,
+            -5871.509,
+            1218.251,
+            0.0,
+            168.48,
+            -0.0
+        ],
+        [
+            -8133.222,
+            -5846.374,
+            1218.251,
+            0.0,
+            168.48,
+            -0.0
+        ],
+        [
+            -8133.222,
+            -5846.374,
+            1218.251,
+            0.0,
+            168.48,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot I only see an open flagstone courtyard and a long wooden hall with paper doors, with no barrel or ceramic jars anywhere in view. I will turn right to begin a steady scan of the surrounding plaza in one consistent direction. Sweeping this way should bring unseen parts of the courtyard into view where storage vessels are more likely to stand.",
+        "The new heading still shows the same style of wooden facade, a stone wall, and empty pavement, so the barrel between two jars is not here either. I will keep rotating right to maintain a single-direction sweep rather than doubling back over ground I have already checked. More of the courtyard edge should come into view with each step of the turn.",
+        "A red pillared pavilion with a large golden figure has entered the right side of my view, but the ground around it shows no barrel or ceramic jars. I will turn right again to bring that pavilion and the area beyond it fully in front of me. Continuing the same sweep keeps my coverage of the courtyard systematic.",
+        "The pavilion, its hanging banners, and a blossoming tree are now centered, yet I still see no wooden barrel flanked by jars on the paving. I will continue turning right so the open area past the trees and railings comes into view. Holding one rotation direction avoids rechecking the same stretch of courtyard.",
+        "Ahead are cherry trees, red railings, and rooftops in the distance, but nothing resembling the barrel and its two ceramic jars. I will keep the sweep going to the right to expose the remaining sectors of this plaza. The next portion of the courtyard should reveal whether goods are stacked along the far buildings.",
+        "This heading shows blossoming trees, timber columns, and a low dark chest, none of which match a wooden barrel between two jars. I will turn right once more to continue covering the courtyard in the same direction. The buildings further around should be checked before I commit to any approach.",
+        "A tall column and a dark stone chest sit near the middle of the view, with a long walled hall stretching to the right and still no barrel or paired jars. I will keep turning right to look past that wall toward the parts of the square I have not examined. Maintaining the sweep should eventually bring a storage area into view.",
+        "The view is now dominated by a plain stone wall beneath a wooden gallery, an unlikely place for the barrel and jars I need. I will continue the rightward sweep to move past this blank wall toward more promising frontage. Shopfronts or lantern-lit stalls beyond it are the sort of place such vessels would be set out.",
+        "From here I only see an empty stone courtyard, a tall wooden pillar, a single dark stone censer and a long grey wall under the veranda, with no barrel or ceramic jars anywhere in view. I will keep rotating right in the same consistent direction to sweep the remaining unseen part of the square for the paired jars.",
+        "The wall and shuttered upper storey still hide nothing useful, but at the right edge of my view red lanterns and a lit shopfront are appearing, the kind of place where storage barrels and jars are usually set out. I will continue the right rotation to bring that lantern-lit frontage fully into view.",
+        "The lantern-hung shop row is now open in front of me and a rounded barrel-like object sits at the far right edge near the building base, just beyond my centre of view. I will turn right again so that stretch of frontage and its containers come into the middle of my field of view for a closer look.",
+        "I can now make out a small cluster of round containers resting on the ground at the base of the lantern-lit shopfront, right of my heading. One more right turn should place that cluster near the centre of my view so I can walk straight at it.",
+        "The containers by the shopfront are now roughly ahead of me, slightly left of centre, and my heading points along open paving with nothing blocking the way. I will walk forward to close the distance so I can confirm whether a wooden barrel sits between the ceramic jars.",
+        "The cluster ahead has grown larger and I can begin to distinguish a lighter, banded wooden barrel beside darker rounded jars at the shopfront. I will keep walking forward to shorten the remaining gap across the courtyard.",
+        "The pale wooden barrel and the dark ceramic jars flanking it are now clearly separate objects under the lantern-hung eaves ahead of me. I am still several paces short of them, so I will continue walking straight forward.",
+        "The wooden barrel with its dark jar neighbours sits slightly left of my path and is noticeably closer, matching the arrangement described in the task. I will step forward again to bring myself right up to that spot.",
+        "The wooden barrel with the dark ceramic jar beside it sits ahead and slightly left, under the lantern-hung veranda, and the second jar is partly hidden behind the barrel from this angle. The paved courtyard between us is clear, so I will keep walking forward to close the remaining distance.",
+        "The barrel and the neighboring jar are noticeably larger now, confirming I am closing on the right spot along the building's front. I will step forward again to reach the ground directly beside them.",
+        "I am now close to the barrel, which stands just left of the tall ceramic jar with the wooden step platform behind them. One more forward step should place me right at that spot rather than short of it.",
+        "I am standing right beside the wooden barrel flanked by the ceramic jars. The task is complete, so no further movement is needed."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-007270_y-006022_z001218_t1_c/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Locate the wooden pillar standing near the pair of ceramic jars and the barrel; after identifying it, proceed to its base.",
+    "Type": 1,
+    "Start_Pose": [
+        -7269.957,
+        -6022.321,
+        1218.151,
+        0.0,
+        -131.52,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7269.957,
+            -6022.321,
+            1218.151,
+            0.0,
+            -131.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            -156.52,
+            0.0
+        ],
+        [
+            -7269.957,
+            -6022.321,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -7395.772,
+            -6018.982,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -7521.586,
+            -6015.644,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -7647.401,
+            -6012.305,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -7773.216,
+            -6008.967,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -7899.031,
+            -6005.628,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -8024.845,
+            -6002.29,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -8150.66,
+            -5998.951,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -8276.475,
+            -5995.613,
+            1218.251,
+            0.0,
+            178.48,
+            -0.0
+        ],
+        [
+            -8276.475,
+            -5995.613,
+            1218.251,
+            0.0,
+            153.48,
+            -0.0
+        ],
+        [
+            -8276.475,
+            -5995.613,
+            1218.251,
+            0.0,
+            128.48,
+            -0.0
+        ],
+        [
+            -8354.789,
+            -5897.087,
+            1218.251,
+            0.0,
+            128.48,
+            -0.0
+        ],
+        [
+            -8436.472,
+            -5805.507,
+            1228.144,
+            0.0,
+            128.48,
+            -0.0
+        ],
+        [
+            -8436.472,
+            -5805.507,
+            1228.144,
+            0.0,
+            103.48,
+            -0.0
+        ],
+        [
+            -8436.472,
+            -5805.507,
+            1228.144,
+            0.0,
+            78.48,
+            -0.0
+        ],
+        [
+            -8436.472,
+            -5805.507,
+            1228.144,
+            0.0,
+            78.48,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From my starting spot I only see a long shoji-fronted hall on my right and open paving ahead, with no jars or barrel anywhere in view. I will turn left to sweep the unseen part of the courtyard where the covered walkway continues, since that is the most likely place for storage vessels beside a pillar.",
+        "The turn has brought a dark timber building with red lanterns into the left side of my view, and I can just make out a barrel and a rounded jar sitting at its base. I will continue turning left to bring that cluster of vessels and the pillars above them into the center of my view.",
+        "The barrel and the pair of dark ceramic jars are now clearly ahead on my left, standing right beside the lantern-hung wooden posts of the two-story hall. I will walk forward to close the long stretch of open paving between me and that pillar cluster.",
+        "The jars and barrel have grown slightly larger, confirming I am closing on the right corner of the courtyard, but they are still far off to my left. I will keep walking forward to cut down the remaining distance before I swing toward the pillar itself.",
+        "The wooden posts with their red lanterns now fill more of my left side and the barrel with the jars beside it is clearly resolved at their base. Another step forward should bring me alongside that veranda where the pillar stands.",
+        "I can now see the barrel and the round jar plainly at ground level under the timber post, so my heading toward the target cluster is good. I will advance again since I am still several paces short of the pillar base.",
+        "The barrel and the tall dark jar are close on my left now, with the thick wooden post rising directly behind them. I will step forward once more to draw level with that corner of the building rather than stopping short of it.",
+        "The pillar with the vessels at its foot is nearly beside me, and the wooden veranda deck along the building is visible just past it. I will continue forward so I finish adjacent to that pillar's base before turning to face it.",
+        "The covered veranda on my left is lined with heavy wooden pillars, and a dark ceramic jar with a barrel beside it sits at the foot of one of them near the raised wooden platform. I am still short of that cluster, so I will keep walking straight along the open courtyard to close the remaining distance. This should bring the jars and barrel clearly abreast of me for a confident identification of the pillar.",
+        "The raised wooden deck and its supporting pillar are now close on my left, but I am still travelling parallel to the veranda rather than standing at any pillar base. I will take another step forward to reach a position from which I can turn cleanly toward the pillar with the jars and barrel. Staying on this straight heading keeps the platform edge in easy reach on my left.",
+        "I have drawn level with the veranda, and the pillar and its raised wooden platform lie off to my left rather than ahead. Turning left should swing my heading off the open courtyard and toward the colonnade where the jars and barrel stand. I expect the pillar base to come into the centre of my view as I rotate.",
+        "The rotation has brought the veranda into view with its pillars and the wooden platform, and a dark ceramic jar is now visible at the lower left near a pillar base. My heading is still angled slightly past the cluster, so I will turn left once more to face it squarely. That should place the pillar with the jars and barrel directly in front of me.",
+        "I can now see the pair of ceramic jars and the wooden barrel sitting together at the left of the platform, right beside a thick wooden pillar, which matches the described landmark. Since I am still out on the paving a short way from them, I will step forward toward the platform. This should carry me in among the pillars where that base stands.",
+        "I have reached the edge of the raised wooden walkway, with one of the jars close on my left and the pillars rising on either side. Another step forward should put me level with the base of the pillar that stands beside the jars and barrel. The decking ahead is clear, so the movement should be unobstructed.",
+        "I am standing on the wooden walkway among the veranda pillars, but my view is aimed down the covered corridor rather than at the pillar beside the jars and barrel. I will turn left to bring that base back into the front of my view. This should let me confirm that I am positioned right at the correct pillar.",
+        "The turn has swung the lantern-hung colonnade into view, and the pillars of the veranda now run along the near side of the walkway. One more left turn should bring the specific pillar with the jars and barrel at its foot squarely in front of me. That framing is what I need before declaring I have arrived at its base.",
+        "The wooden pillar fills my view at arm's length, with the barrel and ceramic jars beside its base. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-008552_y006239_z001228_t1_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Once you locate the small wooden stool sitting on the floor among the crates and barrels, approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -8551.505,
+        6239.099,
+        1228.249,
+        0.0,
+        117.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8551.505,
+            6239.099,
+            1228.249,
+            0.0,
+            117.12,
+            -0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            142.12,
+            -0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            167.12,
+            -0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            -167.88,
+            0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            -142.88,
+            0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            -117.88,
+            0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            -92.88,
+            0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            -67.88,
+            0.0
+        ],
+        [
+            -8551.505,
+            6239.099,
+            1228.25,
+            0.0,
+            -42.88,
+            0.0
+        ],
+        [
+            -8459.278,
+            6153.456,
+            1228.25,
+            0.0,
+            -42.88,
+            0.0
+        ],
+        [
+            -8459.278,
+            6153.456,
+            1228.25,
+            0.0,
+            -17.88,
+            0.0
+        ],
+        [
+            -8339.498,
+            6114.815,
+            1228.25,
+            0.0,
+            -17.88,
+            0.0
+        ],
+        [
+            -8219.717,
+            6076.173,
+            1228.25,
+            0.0,
+            -17.88,
+            0.0
+        ],
+        [
+            -8219.717,
+            6076.173,
+            1228.25,
+            0.0,
+            -17.88,
+            0.0
+        ],
+        [
+            -8219.717,
+            6076.173,
+            1228.25,
+            0.0,
+            -17.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing in a doorway with most of my view blocked by sliding paper panels and a courtyard visible straight ahead, and I see no wooden stool, crates, or barrels from here. I will turn right to open up the interior side of this room, where storage goods are more likely to be kept.",
+        "Turning has already revealed wooden barrels and a large jar along the right side of this interior space, which is exactly the kind of storage clutter the stool should sit among. I will keep turning right in the same direction to bring more of that cluttered corner into view.",
+        "I can now see several barrels and stacked wooden crates along the wall ahead of me, but I still cannot make out a small low stool among them. I will continue my rightward scan so more of this storage area comes into view.",
+        "The room's interior is now fully in front of me with barrels, crates, and a stone counter, yet nothing small and stool-like stands out on the floor. I will keep rotating right to sweep the remaining unseen portion of this storeroom.",
+        "This heading shows crate stacks, a lantern, and an opening leading through to another area with more barrels beyond, but no stool on the floor near me. I will continue turning right to inspect that farther storage space and the rest of the room.",
+        "Ahead I mostly see bright sliding panels and a passage with barrels behind it, so the immediate floor here is empty of any stool. I will keep the rightward sweep going to reach the parts of this room I have not yet examined.",
+        "Turning further has brought a new corner into view with a barrel and stacked crates on the right, and something low and pale sits at the far right edge beside them. I will turn right again to center that cluttered corner and check whether it holds the stool.",
+        "I can now see a low four-legged wooden stool on the floor between the crate stacks and the barrels across the room, which matches the target described in the task. I will turn right once more to line my heading up with it before walking over.",
+        "Scanning this storeroom has brought a small pale wooden stool into view on the floor ahead, sitting between the stacked crates and the barrels near the far wall. It is still some distance away and partly lost in the dim light, so I will walk forward to close the gap and confirm it. Advancing should also bring the crate cluster and barrels into clearer relief around it.",
+        "After stepping in, the stool now sits slightly right of my heading, tucked beside the dark barrel and the tall stoneware jar. I will turn right so it moves toward the center of my view and gives me a straight walking line to it.",
+        "The stool is now roughly centered ahead of me, low on the floor with the crates on its left and barrels on its right. The remaining distance is still too great to count as being beside it, so I will walk forward again along this heading.",
+        "The stool has grown noticeably larger and its legs and top surface are now distinct just left of center, but I am still a step or so short of standing right at it. I will move forward once more to bring myself directly alongside it.",
+        "I have closed in far enough that the stool has slipped below the bottom edge of my forward gaze, with only the barrels and the dark jar filling the upper view. I will look down to bring the stool back into sight and confirm that I am standing right next to it.",
+        "The small wooden stool is directly in front of me on the floor, within arm's reach among the crates and barrels. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010455_y003378_z001228_t1_a/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Search for a lamp placed on a small stool; after locating it, head over to that spot.",
+    "Type": 1,
+    "Start_Pose": [
+        -10455.456,
+        3377.854,
+        1228.35,
+        0.0,
+        -124.8,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -124.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -99.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -74.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -49.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -24.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            0.2,
+            -0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            25.2,
+            -0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            50.2,
+            -0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -10436.134,
+            3498.979,
+            1228.3,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -10403.984,
+            3620.663,
+            1228.3,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -10403.984,
+            3620.663,
+            1228.3,
+            0.0,
+            50.2,
+            -0.0
+        ],
+        [
+            -10323.42,
+            3717.358,
+            1228.3,
+            0.0,
+            50.2,
+            -0.0
+        ],
+        [
+            -10242.856,
+            3814.053,
+            1218.151,
+            0.0,
+            50.2,
+            -0.0
+        ],
+        [
+            -10242.856,
+            3814.053,
+            1218.151,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -10242.856,
+            3814.053,
+            1218.151,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -10265.144,
+            3937.923,
+            1218.151,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -10287.432,
+            4061.793,
+            1227.545,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -10287.432,
+            4061.793,
+            1227.545,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -10287.432,
+            4061.793,
+            1227.545,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -10287.432,
+            4061.793,
+            1227.545,
+            0.0,
+            75.2,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open courtyard under the torii gate I can see paved ground, shopfronts and hanging lanterns, but no small stool carrying a lamp anywhere in front of me. I will turn right to begin a steady one-direction sweep of the surrounding buildings, since low objects like a stool are likely tucked against a veranda edge outside my current field of view.",
+        "The rotation has brought a row of wooden storefronts and tall standing lamp posts into view, but those lamps are pole mounted rather than resting on a stool. I will keep turning right to continue the sweep along this building frontage.",
+        "Now I am facing a long sliding-door facade with red lanterns hung under the eaves, and the ground along it looks clear of any small stool. Continuing the same rightward rotation should reveal the next stretch of veranda where such a low table could sit.",
+        "This part of the shaded arcade shows only the raised wooden deck and overhead lanterns, with nothing standing at stool height beside it. I will turn right again to keep the scan consistent and open up the darker area farther along the passage.",
+        "A wide lane with parasols and more hanging lamps has opened up ahead, and a large lamp post is entering my view on the right edge, but it is not what I am looking for. I will continue the rightward turn to bring that lane and the far courtyard fully into view.",
+        "The nearby lamp post now blocks much of the center of my view, so I cannot judge what sits along the buildings behind it. Turning right again should move that obstruction aside and expose the courtyard and veranda edges on the far side.",
+        "As the tall lamp post slides to the left edge, an open courtyard opens up with a wooden building on the right, and I can pick out a small lantern resting on what looks like a low bench or stool beside its wall. I will turn right once more to bring that promising spot nearer the center of my view before moving toward it.",
+        "The candidate spot is now clearly ahead, a small lantern sitting on a low stool beside the wall between two large jars, slightly right of my heading. One more rightward turn should line my facing up with that stool so I can walk straight toward it.",
+        "My scan around the courtyard has brought a promising spot into view: against the lit paper-screen wall on the right, a small lit lantern rests on a low wooden stool between the tall lamp post and the two big clay jars. That matches the lamp on a small stool I am looking for, so I stop scanning and commit to it. I will step forward to close the distance across the open paving.",
+        "The small stool with the lantern on it is now noticeably larger ahead and slightly left of the tall standing lamp post, confirming I am moving the right way. Nothing blocks the paving between me and that stretch of wall. I will keep walking forward to shorten the remaining gap.",
+        "The tall standing lamp post now fills the middle of my view and sits directly on my straight line of travel, while the small stool with its lantern lies beyond it to the left. Continuing dead ahead would just walk me into that post. I will turn left to take the open lane past it and keep the stool side of the courtyard in front of me.",
+        "With my heading shifted, the open corridor between the wooden platform on the left and the building on the right is clear ahead, and the low stool with the lantern sits close along that right-hand wall. Walking this lane should carry me alongside it without clipping the lamp post. I will step forward.",
+        "The lantern on its low stool is now off to my right beside the wall, and the wooden pillar ahead marks the edge of the open passage I am following. I still have room to advance before I need to swing toward the stool. I will take another step forward along this lane.",
+        "I have drawn level with the wall where the target sits, and the small stool with its lantern is no longer straight ahead but off to my right, partly hidden behind the near pillar. Facing forward any longer only takes me deeper down the passage. I will turn right to bring that stool back into the center of my view.",
+        "The small wooden stool with the lit lantern on it is now clearly in view, but still sitting right of my center with the pillar cutting across the left of my sight line. A little more rotation should put it squarely in front of me for a straight approach. I will turn right again.",
+        "The lantern resting on the small wooden stool is now directly in front of me at the base of the paper-screen wall, with the clay jars to its right. My heading is good and only a short stretch of paving separates us. I will walk forward to reach the spot.",
+        "The small wooden stool with the lit lamp on it now sits close in front of me at the base of the paper-screen wall, slightly to my left. I will step forward once more to close the last bit of distance and stand right at that spot.",
+        "I am now right up against the paper-screen wall, which fills my view, and the lamp and its stool have slipped out of sight past my left edge. I will turn left to bring the stool and lamp back into the center of my view.",
+        "The lantern-style lamp is back in view at my lower left, standing on its small stool just beside the pillar. Since it sits low near the ground, I will tilt my gaze down to see the lamp and stool clearly and confirm I am standing at that spot.",
+        "The lamp sits directly before me on its small wooden stool, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010455_y003378_z001228_t1_b/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Identify the pair of ceramic jars sitting in the courtyard, then proceed toward them.",
+    "Type": 1,
+    "Start_Pose": [
+        -10455.456,
+        3377.854,
+        1228.35,
+        0.0,
+        -124.8,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -124.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -99.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -74.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -49.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            -24.8,
+            0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            0.2,
+            -0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            25.2,
+            -0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            50.2,
+            -0.0
+        ],
+        [
+            -10455.456,
+            3377.854,
+            1228.35,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -10436.134,
+            3498.979,
+            1228.3,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -10403.984,
+            3620.663,
+            1228.3,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -10403.984,
+            3620.663,
+            1228.3,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -10426.271,
+            3744.532,
+            1228.3,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -10448.559,
+            3868.402,
+            1228.3,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -10470.847,
+            3992.272,
+            1228.3,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -10474.919,
+            4076.515,
+            1229.453,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -10474.919,
+            4076.515,
+            1229.453,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -10474.919,
+            4076.515,
+            1229.453,
+            0.0,
+            100.2,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot in the courtyard I can see the torii gate, cherry blossoms and the lantern-hung halls, but no pair of ceramic jars anywhere in the open paving ahead. I will turn right to begin a steady scan of the surrounding buildings, since jars are usually set against a wall or veranda edge. This should reveal parts of the courtyard currently hidden behind me.",
+        "The view now shows the gate and a row of sliding-screen buildings, yet still no pair of jars along the paving or the wooden platforms. Continuing the same rightward rotation keeps the scan consistent and avoids re-checking ground I have just covered. The next slice of the courtyard may expose a wall base where jars would sit.",
+        "This heading shows a long facade of paper screens with red lanterns and a standing lamp, but the ground beside it is bare of any jars. I will keep rotating right to sweep along that building line rather than stop at an empty stretch. Storage jars are likely tucked further along the wall that is still out of view.",
+        "I am looking straight at the wooden veranda and screen doors of the hall, and nothing round or ceramic stands along its base here. Another right turn continues the sweep toward the darker part of the courtyard on that side. I expect more of the covered walkway and its wall to come into view.",
+        "The current view is dominated by the shaded eaves and raised wooden platform, with the far end of the passage opening up to the right. Since no jars appear along this stretch, I will keep turning right toward that brighter opening. That direction seems the most promising unexamined part of the courtyard.",
+        "Ahead I now see the passage with hanging umbrellas and a stone lantern close on my right, but still no pair of ceramic jars. I will continue the rightward rotation to bring the wall behind that lantern into view. Objects standing against a building base are exactly what I am scanning for.",
+        "The nearby lantern post blocks much of the right half of this view, so I cannot yet judge what stands along the building on that side. I will turn right again to move that obstruction out of the way and expose the wall base behind it. Any jars set beside the veranda should become visible with this rotation.",
+        "At the far right edge of my view I can now make out a dark rounded ceramic vessel resting against the wooden building, which matches what I am looking for. I will turn right once more to bring that spot toward the center and confirm whether there is a pair of them. Centering the target first should give me a clean line to walk in afterward.",
+        "Scanning around the courtyard has brought a pair of round ceramic jars into view, sitting side by side against the wooden base of the shoji wall ahead and slightly to my right. That matches the pair of jars I was asked to find, so I will stop scanning and walk forward to close the open paving between us.",
+        "The two jars are noticeably larger now and still sit together at the base of the lantern-lit building ahead of me. Nothing blocks the paved stretch in front, so I will keep walking straight to reduce the remaining distance.",
+        "The jars now sit off to the right of my heading, with the standing lantern post nearly in front of me instead. I will turn right to swing the pair toward the center of my view so my next steps carry me straight at them.",
+        "The turn has placed both jars near the middle of my view, resting together against the wooden wall. With a clear paved lane between the lantern posts, I will walk forward to close on them.",
+        "The jar pair is bigger and clearly centered under the shoji panels just ahead of me. I will continue walking forward since the route is still open and I am not yet close to them.",
+        "Both ceramic jars now fill a good part of my view, with their lidded tops and the wooden wall behind them clearly visible. A few more steps should bring me right up beside them, so I will keep advancing.",
+        "The two jars are directly in front of me at the base of the wall, close enough that their rims sit low in my view. I will take one more short step forward to finish arriving beside the pair.",
+        "I am standing right at the jars, and at this distance only their upper rims remain at the bottom edge of my view while the shoji wall fills everything above. I will tilt my head down to bring both jars fully back into view and confirm I have reached the pair.",
+        "Both ceramic jars fill my view directly in front of me, close enough to touch their lids. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010626_y-005978_z001218_t1_a/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Search for the wooden street lamp with a pagoda-shaped hood that stands beside the building; once you spot it, head over there.",
+    "Type": 1,
+    "Start_Pose": [
+        -10625.851,
+        -5978.251,
+        1218.151,
+        0.0,
+        38.4,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            38.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            63.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            88.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            113.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            138.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            163.4,
+            -0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            -171.6,
+            0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            -146.6,
+            0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            -121.6,
+            0.0
+        ],
+        [
+            -10625.851,
+            -5978.251,
+            1218.151,
+            0.0,
+            -96.6,
+            0.0
+        ],
+        [
+            -10640.316,
+            -6103.276,
+            1218.151,
+            0.0,
+            -96.6,
+            0.0
+        ],
+        [
+            -10654.782,
+            -6228.301,
+            1218.151,
+            0.0,
+            -96.6,
+            0.0
+        ],
+        [
+            -10669.248,
+            -6353.326,
+            1218.151,
+            0.0,
+            -96.6,
+            0.0
+        ],
+        [
+            -10683.714,
+            -6478.351,
+            1228.092,
+            0.0,
+            -96.6,
+            0.0
+        ],
+        [
+            -10698.18,
+            -6603.376,
+            1228.092,
+            0.0,
+            -96.6,
+            0.0
+        ],
+        [
+            -10712.646,
+            -6728.4,
+            1223.007,
+            0.0,
+            -96.6,
+            0.0
+        ],
+        [
+            -10712.646,
+            -6728.4,
+            1223.007,
+            0.0,
+            -71.6,
+            0.0
+        ],
+        [
+            -10672.919,
+            -6847.825,
+            1218.151,
+            0.0,
+            -71.6,
+            0.0
+        ],
+        [
+            -10633.191,
+            -6967.25,
+            1218.151,
+            0.0,
+            -71.6,
+            0.0
+        ],
+        [
+            -10633.191,
+            -6967.25,
+            1218.151,
+            0.0,
+            -71.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From under this dark covered walkway I only see the shuttered wooden facade with paper windows, hanging red lanterns and paper parasols, and no wooden lamp post with a pagoda hood anywhere in front of me. The paved lane and brighter open ground continue off to my right, so I will turn right to begin a consistent sweep toward the more open part of the street where a standing street lamp is more likely to be placed.",
+        "The sweep has brought a curved wooden arch and a gap of daylight into view, with a red gate structure and open ground beyond it, but still no free standing lamp with a tiered pagoda hood. Since the scene keeps opening up in this direction, I will keep turning right to bring that brighter courtyard fully into view.",
+        "Through the arch I can now see a broad paved court with a multi storey hall and a red torii, yet nothing that matches a wooden lamp post capped by a small pagoda roof. Continuing the same rightward rotation should expose the rest of this courtyard and the building edges where such a lamp would normally stand.",
+        "The court is wide and mostly empty paving in front of me, with the arch and hall filling the left half and unexplored ground still hidden past the right edge. I will turn right again to keep the scan moving in one consistent direction and reveal that remaining stretch of building frontage.",
+        "Sweeping right has uncovered more of the plaza, with a long eaved hall on the left and further roofs and a lit fixture appearing near the right margin, but nothing yet clearly identifiable as the pagoda hooded lamp post. I will continue the rightward turn so that fixture and the building edge beside it come properly into view.",
+        "Now I can clearly see a tall wooden lamp post on the right of the plaza, its small tiered pagoda hood glowing above a red painted shaft, standing out on the open paving beside the buildings. I will turn right to bring this lamp closer to the center of my view before committing to an approach.",
+        "The pagoda hooded lamp now stands just right of the center of my view, with clear paving between me and it. A further right turn should settle it in front of me and open more of the building frontage it stands beside.",
+        "The pagoda hooded lamp sits at my left of center while the large hall it belongs to extends away to my right, and I can see similar lit fixtures further along that frontage. I will keep turning right to face that building frontage squarely so I have a clear straight line of paving to walk along toward the lamps beside it.",
+        "Sweeping steadily to the right, I now see the open courtyard with a tall red lamp post on the left and, along the right side, a raised wooden platform with parasol stalls where another lit lamp stands close against the timber building. That right-hand lamp beside the building matches the pagoda-hooded street lamp I am looking for, so I will keep turning right to bring it toward the center of my view.",
+        "The scan has paid off: a wooden lamp post with a small pagoda-shaped hood now stands clearly ahead of me, right against the front of the timber building beside the parasol stalls. With the target centered and the paved courtyard in front of me clear, I will walk forward to close the distance.",
+        "The lamp with the little tiled hood has grown noticeably larger and stays just right of center in front of the building's shuttered facade. The wooden deck and benches are still some distance away, so I will continue walking straight toward it.",
+        "I am now close enough to make out the lamp's carved wooden post and the glowing panel under its pagoda hood, standing beside the building's window bays. There is still open ground between me and it, so I keep advancing on the same heading.",
+        "The pagoda-hooded lamp is still ahead and slightly right, with the benches along the building wall passing by on my left as I close in. Nothing blocks the stone paving in front of me, so another step forward should bring me nearer to the target.",
+        "The lamp now fills a good part of the right side of my view, its hood clearly tiled and its post red-brown wood, planted right at the edge of the building's veranda. I am not yet beside it, so I continue forward.",
+        "Only a short stretch of paving separates me from the lit lamp standing against the building's wooden wall and paper screens. I will step forward again to draw level with it.",
+        "I have come very near the building wall, and the pagoda-hooded lamp now sits off to my right rather than straight ahead of me. Turning right should square my heading onto the lamp so the last steps take me directly to it.",
+        "The wooden lamp post with its pagoda-shaped hood and glowing lantern now sits near the center of my view, standing on the paving beside the timber building wall. The open stone ground between us looks clear, so I will walk straight ahead to close the remaining distance. Each step should make the lamp larger and confirm I am tracking the right fixture.",
+        "The lamp has grown noticeably and its carved hood and square base are now clearly resolved just ahead of me. I am close but still a short gap from standing beside it, so I will step forward once more. That should bring me right up to the lamp post at the building's edge.",
+        "The wooden pagoda-hooded lamp post now towers directly beside me against the building wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010649_y003014_z001228_t1_a/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Search for the small stall decorated with two little red lanterns and a paper umbrella; after locating it, proceed to that spot.",
+    "Type": 1,
+    "Start_Pose": [
+        -10649.346,
+        3014.162,
+        1228.118,
+        0.0,
+        -41.28,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10649.346,
+            3014.162,
+            1228.118,
+            0.0,
+            -41.28,
+            0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            -16.28,
+            0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            8.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            33.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            58.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            83.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            108.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            133.72,
+            -0.0
+        ],
+        [
+            -10649.346,
+            3014.162,
+            1228.35,
+            0.0,
+            158.72,
+            -0.0
+        ],
+        [
+            -10766.623,
+            3059.84,
+            1218.159,
+            0.0,
+            158.72,
+            -0.0
+        ],
+        [
+            -10883.901,
+            3105.517,
+            1218.159,
+            0.0,
+            158.72,
+            -0.0
+        ],
+        [
+            -11001.179,
+            3151.195,
+            1218.159,
+            0.0,
+            158.72,
+            -0.0
+        ],
+        [
+            -11001.179,
+            3151.195,
+            1218.159,
+            0.0,
+            -176.28,
+            0.0
+        ],
+        [
+            -11126.773,
+            3143.029,
+            1218.159,
+            0.0,
+            -176.28,
+            0.0
+        ],
+        [
+            -11252.366,
+            3134.863,
+            1228.123,
+            0.0,
+            -176.28,
+            0.0
+        ],
+        [
+            -11252.366,
+            3134.863,
+            1228.123,
+            0.0,
+            158.72,
+            -0.0
+        ],
+        [
+            -11369.644,
+            3180.541,
+            1228.123,
+            0.0,
+            158.72,
+            -0.0
+        ],
+        [
+            -11486.922,
+            3226.218,
+            1228.123,
+            0.0,
+            158.72,
+            -0.0
+        ],
+        [
+            -11564.703,
+            3268.679,
+            1228.25,
+            0.0,
+            158.72,
+            -0.0
+        ],
+        [
+            -11564.703,
+            3268.679,
+            1228.25,
+            0.0,
+            158.72,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, I only see a long wooden facade with sliding paper screens and a row of hanging lanterns, but no small stall with a paper umbrella. The open courtyard continues to my right, so I will turn right to begin a steady scan of the surroundings for the stall.",
+        "The rotation has brought more of the courtyard into view, and near the right edge I can make out pale umbrella shapes hanging further along the street. The target stall is still not clearly identifiable, so I will keep turning right to bring that promising area toward the center of my view.",
+        "A line of decorated umbrellas and red lanterns now stretches along the right side of the street, which is the kind of festive area where a small stall would sit. None of those umbrellas belongs to a standalone stall yet, so I will continue turning right to inspect more of that stretch.",
+        "The umbrellas I can see are mounted along the shopfronts rather than over a small independent stall with two red lanterns. Keeping a consistent scan direction, I will turn right again to check the wider plaza that is opening on that side.",
+        "Ahead I see a large main hall with lanterns, standing lamps and barrels, but still no small umbrella-topped stall. I will keep the same rightward rotation to sweep the remaining unexamined side of this junction.",
+        "This heading shows two tall buildings flanking a wide paved opening, with lanterns strung under the eaves but no stall carrying a paper umbrella. Continuing the same consistent scan, I will turn right toward the broader open area on that side.",
+        "Now a raised wooden deck appears on the right with a small covered structure hung with red lanterns and a pale umbrella beside it, which matches the stall described in my task. I will turn right once more to bring that structure toward the center of my heading before walking to it.",
+        "The small stall on its wooden platform is now clearly in view slightly right of center, with red lanterns hanging from its frame and a light umbrella above. One more short turn to the right should line my heading up with the platform so I can walk straight toward it.",
+        "Ahead of me on the raised wooden platform I can see a small open stall with a bench, a pale paper umbrella propped above it, and red lanterns hanging from its frame, which matches the stall I am looking for. It is still some distance across the courtyard, so I will walk forward to close the gap and get a clearer look at its lanterns and umbrella.",
+        "The stall with the hanging red lanterns and the open paper umbrella is now noticeably larger and centered slightly right of my heading, confirming it is the decorated stall from the task. I will keep walking forward since my heading is still pointed at it and there is clear paving between me and the platform.",
+        "The stall's wooden frame, bench, and its red lanterns under the pale umbrella are clearly resolved now, and the edge of the raised platform is just ahead of me. Another step forward should bring me close enough to step onto the platform area where the stall stands.",
+        "I am now at the near edge of the wooden platform, but the stall with its lanterns and umbrella sits a little to the right of where I am facing, and the deck extends that way. I will turn right to line my heading up with the stall before continuing forward.",
+        "After the turn the stall with the paper umbrella and its red lanterns sits closer to the center of my view, with the open deck running straight toward it. I will step forward along the planking to shorten the remaining distance to the stall.",
+        "The stall's crossbeam, bench, and two glowing red lanterns now fill much of the view, and the umbrella is visible just to the left above it. The path along the deck is still clear, so I will keep walking forward toward the stall.",
+        "I am close to the stall now, but its frame with the two red lanterns and the umbrella has drifted toward the left side of my view while the plain shoji wall sits straight ahead. I will turn left to bring the stall back to the center of my heading before closing the final distance.",
+        "The turn has re-centered the small stall, and I can clearly see its two red lanterns hanging from the beam with the pale paper umbrella above, exactly the decoration described in the task. I will walk forward across the deck to reach the stall itself.",
+        "The stall is directly in front of me now, with its two red lanterns hanging from the crossbeam and the pale paper umbrella propped at its left edge. Its bench and wooden platform still sit a short distance ahead, so I will step forward again to close the remaining gap and stand at the stall itself.",
+        "I am now under the stall's canopy, with one of its red lanterns close beside me and the serving bench and cup just ahead. A short final step forward should place me squarely at the stall rather than at its outer edge.",
+        "I am standing at the small lantern-hung stall, its bench and canopy right beside me. The target spot is reached, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010687_y-003177_z001218_t1_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Search for the small cart carrying two wooden barrels, then head over to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -10687.387,
+        -3177.279,
+        1218.151,
+        0.0,
+        11.52,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            11.52,
+            -0.0
+        ],
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            36.52,
+            -0.0
+        ],
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            61.52,
+            -0.0
+        ],
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            86.52,
+            -0.0
+        ],
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            111.52,
+            -0.0
+        ],
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            136.52,
+            -0.0
+        ],
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            161.52,
+            -0.0
+        ],
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            -173.48,
+            0.0
+        ],
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            -148.48,
+            0.0
+        ],
+        [
+            -10687.387,
+            -3177.279,
+            1218.151,
+            0.0,
+            -123.48,
+            0.0
+        ],
+        [
+            -10756.816,
+            -3282.255,
+            1218.151,
+            0.0,
+            -123.48,
+            0.0
+        ],
+        [
+            -10756.816,
+            -3282.255,
+            1218.151,
+            0.0,
+            -98.48,
+            0.0
+        ],
+        [
+            -10775.376,
+            -3406.738,
+            1218.151,
+            0.0,
+            -98.48,
+            0.0
+        ],
+        [
+            -10793.936,
+            -3531.221,
+            1218.151,
+            0.0,
+            -98.48,
+            0.0
+        ],
+        [
+            -10812.495,
+            -3655.704,
+            1218.151,
+            0.0,
+            -98.48,
+            0.0
+        ],
+        [
+            -10831.055,
+            -3780.187,
+            1218.151,
+            0.0,
+            -98.48,
+            0.0
+        ],
+        [
+            -10831.055,
+            -3780.187,
+            1218.151,
+            0.0,
+            -98.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open stone courtyard I can see wooden buildings, hanging lanterns, a large jar and a plank platform, but no small cart with two wooden barrels anywhere in front of me. Since nothing here matches the target, I will begin a steady rightward scan of the surrounding courtyard to uncover the parts of the plaza currently outside my view.",
+        "The new heading shows a railing, blossoming trees and a two-story hall across the water, still with no small barrel cart in sight. I will keep rotating right in the same direction to sweep the next slice of the courtyard rather than stopping on this empty stretch.",
+        "This part of the plaza is bounded by a wooden railing with water and blossom trees beyond it, which is not a place where a cart could stand. I will continue the same rightward sweep to reach open pavement where a cart with barrels would more plausibly be parked.",
+        "Ahead there is only the railing line, a row of cherry trees and a tall banner pole against the red building, with no small cart or barrels visible. I will hold the same rightward rotation to keep the scan consistent and bring untouched sections of the courtyard into view.",
+        "Now a red pillared gate structure and hanging banner fill much of my view, and the pavement visible past them still shows no barrel cart. I will turn right again to look past this pillar and continue checking the remaining unseen directions.",
+        "Past the red posts I can now see open paving, a plank walkway and wooden crates near the buildings on the right, which looks like a storage or working area worth inspecting. No cart with barrels is visible yet, so I will keep turning right toward that promising side of the courtyard.",
+        "The view now shows a wide paved yard with plank decking, crates, jars and lanterns along a large wooden hall, a service area where a barrel cart would plausibly sit. The cart itself is still not in sight, so I will continue the rightward turn to expose more of this building's frontage.",
+        "Along this wooden hall I see crates, jars and a lantern, and at the far right edge a curved wooden arch with what looks like the rim of a wheel appearing beyond it. I will turn right once more to bring that partly hidden object fully into view and check whether it is the small cart with barrels.",
+        "My rightward scan has brought me to a large wooden hall with crates and jars along its base, and at the far right edge I can just catch the curve of the arched gate and what looks like a wheel rim beyond it. That partial spoke shape is the strongest cue yet for a cart, so I will continue the same consistent rightward turn to bring it fully into view.",
+        "The turn has revealed a two-wheeled wooden cart with long shafts standing under the arched gateway to my right, and pale barrel-like shapes sit on its bed. The open stone courtyard ahead of me is clear, so I will walk forward to close distance before fine-tuning my heading onto it.",
+        "Stepping ahead has brought me nearer the arch, but the cart with its wheels and load still sits off to the right of my heading rather than in front of me. I will turn right to place the cart near the center of my view so a straight walk should carry me directly to it.",
+        "The cart now sits squarely in the middle of my view beneath the arch, with its two spoked wheels and drawbar clearly facing me. The paving between us is clear, so I will walk straight forward to reduce the remaining distance.",
+        "The cart has grown noticeably larger and stays centered, and I can now make out rounded pale forms resting on its bed behind the near wheel. Nothing blocks the lane, so I will keep walking straight toward it.",
+        "From here I can distinguish two large wooden barrels lying on the cart between its spoked wheels, which matches the target described in my task. I am still a few paces short of it, so I will continue forward to close in.",
+        "The cart with its pair of wooden barrels now dominates my view, the near wheel rising close in front of me. One more step forward should bring me right up beside it as the task requires.",
+        "The small cart with its two wooden barrels fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_c/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Navigate to the white ceramic jar, then proceed to the base of the red pillar.",
+    "Type": 3,
+    "Start_Pose": [
+        -10796.312,
+        -3660.454,
+        1218.151,
+        0.0,
+        168.0,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10796.312,
+            -3660.454,
+            1218.151,
+            0.0,
+            168.0,
+            -0.0
+        ],
+        [
+            -10919.42,
+            -3634.287,
+            1218.151,
+            0.0,
+            168.0,
+            -0.0
+        ],
+        [
+            -10919.42,
+            -3634.287,
+            1218.151,
+            0.0,
+            -167.0,
+            0.0
+        ],
+        [
+            -11042.053,
+            -3662.599,
+            1218.151,
+            0.0,
+            -167.0,
+            0.0
+        ],
+        [
+            -11164.687,
+            -3690.911,
+            1228.186,
+            0.0,
+            -167.0,
+            0.0
+        ],
+        [
+            -11287.32,
+            -3719.223,
+            1228.186,
+            0.0,
+            -167.0,
+            0.0
+        ],
+        [
+            -11409.953,
+            -3747.535,
+            1228.186,
+            0.0,
+            -167.0,
+            0.0
+        ],
+        [
+            -11532.586,
+            -3775.847,
+            1218.151,
+            0.0,
+            -167.0,
+            0.0
+        ],
+        [
+            -11532.586,
+            -3775.847,
+            1218.151,
+            0.0,
+            -167.0,
+            0.0
+        ],
+        [
+            -11532.586,
+            -3775.847,
+            1218.151,
+            0.0,
+            168.0,
+            -0.0
+        ],
+        [
+            -11532.586,
+            -3775.847,
+            1218.151,
+            0.0,
+            143.0,
+            -0.0
+        ],
+        [
+            -11532.586,
+            -3775.847,
+            1218.151,
+            0.0,
+            118.0,
+            -0.0
+        ],
+        [
+            -11532.586,
+            -3775.847,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11539.173,
+            -3650.161,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11545.76,
+            -3524.474,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11552.347,
+            -3398.788,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11558.934,
+            -3273.101,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11565.521,
+            -3147.415,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11572.108,
+            -3021.728,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11578.695,
+            -2896.041,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11578.695,
+            -2896.041,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The white ceramic jar with pink blossoms stands across the courtyard against the veranda of the timber hall, still far away. The flagstones between us look open, so I walk forward to begin closing that distance.",
+        "The jar now sits clearly to the right of my heading, tucked near the hall wall, while my current line would carry me past it along the wooden decking. I turn right to swing my heading onto the jar before pressing on.",
+        "The jar has come near the middle of my view, with the grey water basin beside it and the paving running straight toward both. My heading is good, so I step forward to shorten the gap.",
+        "The jar has grown noticeably and stays close to my line of travel, just in front of the hall's raised stone edge. Nothing stands between me and it, so I keep walking.",
+        "The jar and the stone basin beside it now read at close mid-range, and the eaves above are beginning to fill the top of my view as I near the building. The route stays clear, so I advance again.",
+        "The jar sits just left of center and is now large in my view, with the shoji screens looming directly behind it. A short distance remains, so I move forward to draw up to it.",
+        "The jar is only a stride or two away on my left, its painted blossoms clearly visible beside the stone lantern. I step forward once more to come level with it.",
+        "The white ceramic jar with its pink blossoms fills the near corner of my view, close enough to reach out and touch. I am standing at it. I mark reaching the jar, then turn my attention toward the tall red pillar by the bridge.",
+        "The white ceramic jar stands right at my feet on the near left, so that stop is settled and my second destination is what matters now. Ahead there is only the shrine's blank shuttered wall, no red pillar anywhere in it. I will turn left to bring the open courtyard into view and look for it.",
+        "Swinging left has opened the courtyard, with blossom trees and red painted railings appearing at the far edge of my view. No red pillar is squarely in front of me yet, so I will keep rotating left to bring that red structure further toward center.",
+        "More of the courtyard is open now, with tall buildings and red lantern-hung railings occupying the left side, but the red pillar I want is still off past the edge of my view. Another left turn should carry that red structure into the middle of my heading.",
+        "The tall red gateway and its columns have come into view on my left, above the arched bridge. My body is still angled too far right of them, so one more left turn should put that red upright straight down my path.",
+        "The red gateway now stands squarely ahead of me, its nearest column rising from the paving across the open courtyard. With my heading lined up and clear stone between us, I will walk forward to close that distance.",
+        "The red columns of the gateway have grown noticeably taller in my view, confirming the walk is closing on them. I am still several paces short of standing at the foot of one, so I will keep advancing straight ahead.",
+        "The gateway now fills the upper part of my view and its nearest red column is clearly to my left front, with its dark base still a good distance off. The paving between us is open, so I will step forward again.",
+        "The red pillar and its broad brown base are close now, standing just left of my heading with the railing and bridge behind. I am not yet at its foot, so I will walk forward once more to draw level with it.",
+        "The tall red pillar stands directly ahead of me, its wide base resting on the stone paving a few paces away. My heading is already lined up on it, so I will walk straight forward to close the remaining gap.",
+        "The pillar now looms larger and its base sits just ahead and slightly left, with clear stone underfoot between us. Another step forward should bring me right up against the foot of it.",
+        "The wide base of the red pillar now dominates the middle of my view, so only a short gap remains. I will take one more step forward to stand right at its foot.",
+        "The base of the red pillar fills my view directly in front of me, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_d/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Move to the white ceramic jar, then walk to the base of the red banner pole.",
+    "Type": 3,
+    "Start_Pose": [
+        -10796.312,
+        -3660.454,
+        1218.151,
+        0,
+        168,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10796.312,
+            -3660.454,
+            1218.151,
+            0,
+            168,
+            0
+        ],
+        [
+            -10796.312,
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
+            -167.0,
+            0.0
+        ],
+        [
+            -11409.478,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -11532.586,
+            -3775.847,
+            1218.151,
+            0.0,
+            168.0,
+            -0.0
+        ],
+        [
+            -11532.586,
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+            1218.151,
+            0.0,
+            168.0,
+            -0.0
+        ],
+        [
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+            0.0,
+            143.0,
+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
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+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11552.347,
+            -3398.788,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11558.934,
+            -3273.101,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11565.521,
+            -3147.415,
+            1218.151,
+            0.0,
+            93.0,
+            -0.0
+        ],
+        [
+            -11565.521,
+            -3147.415,
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+            0.0,
+            118.0,
+            -0.0
+        ],
+        [
+            -11624.608,
+            -3036.288,
+            1218.151,
+            0.0,
+            118.0,
+            -0.0
+        ],
+        [
+            -11624.608,
+            -3036.288,
+            1218.151,
+            0.0,
+            118.0,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The white ceramic jar with pink blossom patterning sits ahead on the stone paving beside the timber hall, but it falls right of my current heading. I will turn right so the jar sits nearer the middle of my view before I start walking.",
+        "The white jar now sits close to the center of my view, with open paving and the wooden deck between me and it. I will walk forward to cut down that distance.",
+        "The jar has grown slightly larger and stays near my heading, so my line of travel is good. I keep walking forward toward it across the planked deck.",
+        "The white jar and the grey pot beside it are clearly resolved now, and the jar still lies close to straight ahead. Another step forward should bring me appreciably nearer to it.",
+        "The jar is now large in view, sitting on the paving just short of the hall's raised edge. I continue walking forward to close the remaining gap.",
+        "The jar sits low and left of center as I near the hall wall, still a stride or two away. I step forward again to draw up beside it.",
+        "The white jar has drifted well to the left of my heading while the timber wall crowds the center. I will turn left to bring the jar back in front of me before taking the last step.",
+        "The white jar with its pink blossoms now sits squarely ahead of me, only a short gap away on the paving. I walk forward once more to stand right at it.",
+        "The white ceramic jar with its pink blossom pattern now stands directly at my feet, filling the bottom of my view beside the dark stone urn. I have reached it, so I mark arriving at this jar and now set off for the tall red banner pole out across the open courtyard.",
+        "Standing at the jar, my view is dominated by the wooden shutters and paper screens of the hall directly ahead, which leads nowhere useful. The open plaza with its banners lies off to my left, so I will turn that way to swing my heading off the building wall.",
+        "The turn has opened up the courtyard, with cherry trees, the tiered tower and a long railing now filling the view. The red gateway and its banners are still further round to my left, so I will keep rotating left to bring that area toward the center of my view.",
+        "The red torii gate and the red arched bridge have come into the left half of my view, with the hanging red banner near them. One more left turn should place that gateway and its banner pole squarely ahead so I can walk straight at it.",
+        "I am now facing the red torii gate across open flagstones, with the long red banner hanging from its dark pole just right of center. The path ahead is clear paving, so I will walk forward to close the distance to that pole.",
+        "The banner pole is larger and clearly separated from the torii pillars, its dark shaft running down to the paving ahead of me. Nothing blocks the stones between us, so I will keep walking straight toward it.",
+        "The pole with its red banner now rises tall in front of me, and the railing behind it marks how much courtyard is left to cross. I will step forward again to shorten the remaining gap to its base.",
+        "The banner pole is close now, its foot meeting the flagstones a short way ahead and slightly right of my heading. I will advance once more to bring myself up against its base.",
+        "The dark pole carrying the red banner stands just right of center and its base is still several paces off across the open flagstones. Nothing blocks the paving between me and it, so I will walk forward to close that remaining gap.",
+        "The banner pole is now close, but it sits off to the right of my heading while the stone pillar and the arched red bridge fill the center of my view. I will turn right so the pole and its base line up ahead of me.",
+        "The black pole with the red banner now hangs squarely ahead of me, though its foot is still a step or two beyond my position on the paving. I will walk forward to bring myself right up against its base.",
+        "The banner pole rises directly beside me with its base at my feet on the paving. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t5_b_pd/infos.json

@@ -0,0 +1,544 @@
+{
+    "Instruction": "Pick up the plate at the base of the red pillar, then leave it near the ceramic jar.",
+    "Type": 5,
+    "Start_Pose": [
+        -10796.312,
+        -3660.454,
+        1218.151,
+        0,
+        168,
+        0
+    ],
+    "PD_ID": 16,
+    "PD_Size": 3.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -11493.915,
+        -2925.777,
+        1168.151,
+        90,
+        -30,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10796.312,
+            -3660.454,
+            1218.151,
+            0,
+            168,
+            0
+        ],
+        [
+            -10796.312,
+            -3660.454,
+            1218.151,
+            0.0,
+            143.0,
+            -0.0
+        ],
+        [
+            -10896.827,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -10997.342,
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+            0.0,
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
+            -142.0,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -3261.73,
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+            1.87
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
+        [
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+        ]
+    ],
+    "PD_Dist_2D": [
+        1013.1,
+        1013.1,
+        889.2,
+        766.0,
+        643.7,
+        523.2,
+        523.2,
+        398.3,
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+        20.4,
+        20.2,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The white plate sits far ahead on the left side of the courtyard, near the red-pillared gallery, while my heading points more toward the wooden hall on the right. I will turn left to bring that far corner and its red pillars into the center of my view before walking. This should give me a clean straight approach line.",
+        "The red gate structure and the white plate resting at the base of the pillars are now framed ahead of me, with open paving between us. Nothing blocks the route, so I will walk forward to close the long distance to the plate.",
+        "The plate and the red pillars have grown noticeably larger, confirming my heading is carrying me toward the target. The paved lane beside the wooden decking is still clear, so I will keep walking forward.",
+        "The plate at the pillar base is holding steady in my view and the gap continues to shrink with each stride. I am still too far to reach it, so I will advance again along the same clear line.",
+        "The plate now reads clearly as a round white dish beside the dark pillar, but it remains several strides away. I will step forward again to keep closing before making any final heading adjustment.",
+        "As I have closed in, the plate has drifted toward the left half of my view rather than staying centered. I will turn left to place it squarely ahead so the remaining steps carry me straight onto it.",
+        "The plate now sits near the middle of my view, in front of the railing and the red bridge beyond. With the heading corrected and the ground clear, I will walk forward to shorten the remaining distance.",
+        "The plate is large and low in my view now, still centered slightly right of the dark pillar. It is not yet close enough to grasp, so I will take another step forward to bring it within reach.",
+        "The white plate now stands large and centered just ahead at the foot of the red pillar, but it is still a stride beyond comfortable reach. I will walk forward one more step to close that last gap before attempting a grasp.",
+        "The plate is right against me at the base of the red pillar, filling the near foreground with nothing between us. This is the target the task named, so I will attempt to pick it up now and expect it to end in my hands.",
+        "The grasp worked, since the plate is now held in my hands rather than resting on the paving. The ceramic jar sits back across the courtyard by the wooden hall, well behind my current heading, so I will begin turning right to swing around toward it.",
+        "I still face the railing, blossom trees and the red pillar, with no ceramic jar anywhere in this arc. Carrying the plate, I will keep rotating right to bring the open courtyard side into view.",
+        "The rotation has opened up the paved courtyard and a distant pavilion, yet the ceramic jar I need is not in this sector. I will continue turning right to sweep toward the wooden hall side where such jars stand.",
+        "Now the long wooden hall and its veranda occupy the right of my view, which is the kind of frontage where the jar was set. One more turn right should bring that stretch of building directly ahead of me.",
+        "I can now see the grey pot and the pink patterned ceramic jar sitting on the paving beside the wooden hall, off to my right. I will turn right once more so that route lies straight ahead before I start walking with the plate.",
+        "The ceramic jar beside the grey pot is now roughly ahead along the open paving, with no obstruction on the way. Still holding the plate, I will walk forward to cut down the remaining distance to that drop-off spot.",
+        "The plate is still in my hands, and the pink flowered ceramic jar stands ahead to the left against the raised stone step of the veranda. Walking straight would push me into that step and the stacked crates, so I turn right to line up with the open paved lane beside the boardwalk.",
+        "The paved lane under the arched passage is now clear in front of me, with the ceramic jar off to my left beside the gray pot. I step forward along this open ground to draw level with the jar before turning in toward it.",
+        "The jar has grown larger and shifted further left as I advance, so I am not yet abreast of it. I keep walking forward on the clear paving, still carrying the plate, to close the remaining offset.",
+        "The ceramic jar now sits at the very edge of my left periphery, meaning I am nearly level with it. One more step forward should place me squarely alongside it so a turn to the left can put it directly ahead.",
+        "Only a sliver of the jar remains at the bottom left of my view while the lane and arch fill the center, so my heading has carried past it. I turn left to swing the jar back into the usable part of my view before approaching.",
+        "The flowered jar is back in sight but still sits well to my left, next to the gray pot and the stone lantern. A second left turn should bring it near the center of my heading so I can walk straight at it with the plate.",
+        "The ceramic jar now stands roughly ahead of me with clear paving between us. I step forward to close that gap so the plate can be set down within reach of it.",
+        "The flowered jar fills much of the near foreground now, but there is still a stride of paving before I stand beside it. I take one more step forward so the plate can be released close enough to count as left near the jar.",
+        "The plate is still in my hands, and I have come up alongside the veranda right where the flowered ceramic jar sits just beside me. This spot is close enough to count as leaving the plate near the jar, so I will release it here and expect it to settle on the paving.",
+        "The plate is out of my hands and resting on the paving beside the ceramic jar. The task condition is satisfied, so there is nothing further to do."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t2_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Approach the leftmost wooden crate in the courtyard center.",
+    "Type": 2,
+    "Start_Pose": [
+        -10832.95,
+        -5472.367,
+        1218.151,
+        -0.017,
+        90.123,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10832.95,
+            -5472.367,
+            1218.151,
+            -0.017,
+            90.123,
+            0.0
+        ],
+        [
+            -10833.22,
+            -5346.508,
+            1218.15,
+            -0.017,
+            90.123,
+            -0.0
+        ],
+        [
+            -10833.491,
+            -5220.65,
+            1218.15,
+            -0.017,
+            90.123,
+            -0.0
+        ],
+        [
+            -10833.761,
+            -5094.791,
+            1218.15,
+            -0.017,
+            90.123,
+            -0.0
+        ],
+        [
+            -10834.031,
+            -4968.932,
+            1218.15,
+            -0.017,
+            90.123,
+            -0.0
+        ],
+        [
+            -10834.031,
+            -4968.932,
+            1218.15,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10781.086,
+            -4854.751,
+            1218.15,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10728.14,
+            -4740.571,
+            1218.15,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10675.195,
+            -4626.39,
+            1220.224,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10622.25,
+            -4512.209,
+            1228.22,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10569.304,
+            -4398.028,
+            1218.15,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10516.359,
+            -4283.847,
+            1228.238,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10516.359,
+            -4283.847,
+            1228.238,
+            -0.017,
+            65.123,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Among the crates grouped in the middle of the courtyard, the leftmost is the tall pale one standing nearest the left veranda, just beside the wheeled cart, and that is the one I am going to. The flagstones between us are clear, so I walk straight ahead to close the gap.",
+        "The pale crate by the left veranda has grown slightly larger, confirming I am heading the right way, but it is still far across the paving. I continue walking forward while the route stays open.",
+        "The crate beside the left veranda and the cart next to it are now clearly resolved a good distance ahead and slightly to my left. Plenty of open stone remains between us, so I keep stepping forward.",
+        "The pale crate at the left edge of the group is noticeably closer, sitting off to my left near the raised wooden walkway. My heading still carries me generally toward it, so another step forward is the efficient move before I correct my facing.",
+        "My straight-ahead path now points past the crates toward the gate, while the pale crate against the left veranda has drifted well off to the left side of my view. I turn left to swing my facing onto it before advancing further.",
+        "The turn worked: the tall pale crate beside the left veranda now sits near the middle of my view with the cart wheel just behind it. With the flagstones between us clear, I walk forward to close in on it.",
+        "The pale crate against the veranda edge is filling more of my view, with the darker crate stack sitting to its right. I keep walking straight at it since nothing stands in the way.",
+        "From here the crates no longer read as a neat row, but the pale one I chose is unmistakable, standing on the wooden decking right against the veranda with the darker stack to its right. It is close now, so I take another step forward to reach it.",
+        "The pale crate on the veranda decking now stands slightly left of center with a couple of paces of open planking before it. Nothing blocks that short stretch, so I step forward again to draw alongside it.",
+        "The pale crate fills much of my view now, its stacked boards clearly lit, and only a short run of decking separates us. I walk forward once more to bring it within arm's reach.",
+        "The crate's upper box now towers above my sightline and its lower boards run right across my path, so I am nearly touching it. One more short step should close the last bit of gap.",
+        "The crate's planks fill my view at arm's length. The approach is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t2_c/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Move to the first wooden crate from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -10832.95,
+        -5472.367,
+        1218.151,
+        -0.017,
+        90.123,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10832.95,
+            -5472.367,
+            1218.151,
+            -0.017,
+            90.123,
+            0.0
+        ],
+        [
+            -10832.95,
+            -5472.367,
+            1218.15,
+            -0.017,
+            115.123,
+            -0.0
+        ],
+        [
+            -10886.385,
+            -5358.415,
+            1218.15,
+            -0.017,
+            115.123,
+            -0.0
+        ],
+        [
+            -10939.82,
+            -5244.462,
+            1218.15,
+            -0.017,
+            115.123,
+            -0.0
+        ],
+        [
+            -10993.255,
+            -5130.51,
+            1218.15,
+            -0.017,
+            115.123,
+            -0.0
+        ],
+        [
+            -11046.69,
+            -5016.557,
+            1218.15,
+            -0.017,
+            115.123,
+            -0.0
+        ],
+        [
+            -11100.126,
+            -4902.604,
+            1218.15,
+            -0.017,
+            115.123,
+            -0.0
+        ],
+        [
+            -11100.126,
+            -4902.604,
+            1218.15,
+            -0.017,
+            140.123,
+            -0.0
+        ],
+        [
+            -11196.713,
+            -4821.911,
+            1218.15,
+            -0.017,
+            140.123,
+            -0.0
+        ],
+        [
+            -11293.3,
+            -4741.218,
+            1218.15,
+            -0.017,
+            140.123,
+            -0.0
+        ],
+        [
+            -11389.887,
+            -4660.524,
+            1218.15,
+            -0.017,
+            140.123,
+            -0.0
+        ],
+        [
+            -11458.482,
+            -4588.454,
+            1222.757,
+            -0.017,
+            140.123,
+            -0.0
+        ],
+        [
+            -11458.482,
+            -4588.454,
+            1222.757,
+            -0.017,
+            140.123,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Crates line both sides of this courtyard, and the run ends on my right with pale wooden stacks set against the right-hand hall, so that end stack is the one I want. My current heading points straight down the middle toward the gate, leaving it far off to the side. I will turn right so that right-hand end comes into my view to be approached.",
+        "The turn has brought the right-hand hall and the pale crates beside it into my view, though they are still far across the open paving. Nothing blocks the stone between me and them, so I will walk forward to close that distance.",
+        "The crates against the right-hand hall now read more clearly, sitting on a raised plank platform at the edge of the paving. They are still well ahead of me, so I keep walking forward along the open stone.",
+        "The pale wooden crates by the right-hand hall keep growing in my view, but I am still several strides short of them. The paving stays clear, so another step forward is the direct way to close in.",
+        "I can now make out the individual pale crates stacked on the plank veranda of the right-hand hall, with the tallest one nearest the building. That stack is what I am heading for, and it remains ahead of me, so I walk on.",
+        "The tall pale stack on the plank veranda now stands clearly at the right of my view, close but still off to the side of my path. Advancing another step should bring me level with it before I face it directly.",
+        "From here the crates no longer read as a row I can count across; the far end has slid out of my view and only the near stacks against this hall remain. The tall pale stack on the plank veranda sits to my right while my heading still runs past it, so I will turn right to put it in front of me.",
+        "The turn has set the tall pale crate stack on the plank veranda near the middle of my view, with a lower crate group behind it. Only a short stretch of paving separates us, so I step forward to reach it.",
+        "The tall pale stack sits squarely ahead on its plank platform, its boards now distinct enough to read the grain, but a couple of strides of paving still lie between us. My heading needs no correction, so I walk straight on toward it.",
+        "The stack now fills much of the right half of my view and its upper crate overhangs the lower one, so I am nearly on it. A short gap of stone remains before the platform edge, and I step forward to take it.",
+        "The pale crates loom close enough that their planks dominate my view and the darker stack behind sits well to the left. One more short step should bring me right up against this stack rather than stopping a pace short.",
+        "The pale crate's planks fill my view at arm's length. I have reached the crate this task sent me to, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t5_a_p/infos.json

@@ -0,0 +1,297 @@
+{
+    "Instruction": "Pick up the metal bucket at the leftmost wooden crate in the courtyard center.",
+    "Type": 5,
+    "Start_Pose": [
+        -10832.95,
+        -5472.367,
+        1218.151,
+        -0.017,
+        90.123,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -10446.529,
+        -4329.982,
+        1138.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10832.95,
+            -5472.367,
+            1218.151,
+            -0.017,
+            90.123,
+            0
+        ],
+        [
+            -10833.22,
+            -5346.508,
+            1218.15,
+            -0.017,
+            90.123,
+            -0.0
+        ],
+        [
+            -10833.491,
+            -5220.65,
+            1218.15,
+            -0.017,
+            90.123,
+            -0.0
+        ],
+        [
+            -10833.491,
+            -5220.65,
+            1218.15,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10780.545,
+            -5106.469,
+            1218.15,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10727.6,
+            -4992.288,
+            1218.15,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10674.655,
+            -4878.107,
+            1222.203,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10621.709,
+            -4763.926,
+            1228.244,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10568.764,
+            -4649.745,
+            1228.244,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10515.819,
+            -4535.564,
+            1228.244,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10515.819,
+            -4535.564,
+            1228.244,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10462.873,
+            -4421.383,
+            1218.15,
+            -0.017,
+            65.123,
+            -0.0
+        ],
+        [
+            -10462.873,
+            -4421.383,
+            1218.15,
+            0.0,
+            65.123,
+            -0.0
+        ],
+        [
+            -10462.873,
+            -4421.383,
+            1218.15,
+            0.0,
+            65.123,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10446.529,
+            -4329.982,
+            1138.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -10482.503,
+            -4412.954,
+            1188.257,
+            -28.202,
+            115.268,
+            1.862
+        ],
+        [
+            -10482.503,
+            -4412.954,
+            1188.257,
+            -28.202,
+            115.268,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1206.0,
+        1087.6,
+        971.1,
+        971.1,
+        845.3,
+        719.5,
+        593.7,
+        468.0,
+        342.3,
+        216.9,
+        216.9,
+        92.9,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The courtyard center is still far ahead, with the row of wooden crates and a pale metal container visible on the left side near the covered walkway. Nothing blocks the open paving in front of me, so I will walk straight ahead to cut down that distance before refining my heading.",
+        "The crates along the left walkway are noticeably larger now, confirming my heading is carrying me into the courtyard center. The bucket beside the leftmost crate is still too distant to judge precisely, so I will keep walking forward to close more ground.",
+        "Straight ahead my path leads toward the far red gate, while the crate row I want sits off to my left along the wooden veranda. A modest left turn should place that leftmost crate and its metal bucket closer to the center of my view so a straight walk reaches them.",
+        "After the turn the crate cluster and the small drum beside it now sit ahead of me, with clear paving between us. I will walk forward along this heading to close on the leftmost crate.",
+        "The crates and the pale bucket beside them keep growing in my view, so this heading is tracking the target well. I am still several strides short of grasping range, so I will continue walking forward.",
+        "The pale metal bucket sits ahead beside the wooden crates on the raised planks, still several strides off along this covered walkway. My heading already lines up with that crate cluster, so no turn is needed yet. I will keep walking forward to close the remaining gap.",
+        "The bucket and the stacked crates have grown noticeably larger, confirming my current heading is carrying me straight toward them. I am still too far to reach the bucket by hand. Another step forward should bring me into grasping range.",
+        "The metal bucket now stands clearly on the plank platform just left of the crate stack, well within my forward path. It remains beyond arm's reach from here. I will advance again to shorten that distance before attempting a grasp.",
+        "The bucket fills a good portion of the lower view now, sitting on the planks in front of the crate stack near the building's edge. A little more closing distance should put it directly at my feet for a reliable grab. I will step forward once more.",
+        "The metal bucket now stands close in front of me on the planks beside the leftmost crate stack, dominating the lower view. My hands are empty and nothing blocks the space between us. I will attempt to pick it up from here.",
+        "My hands are still empty, so that grasp attempt did not take hold. I was likely still a step too far from it for the reach to register. I will walk forward to close that last bit of distance before trying again.",
+        "The metal bucket now fills the lower right of my view, its rim within easy arm's reach beside the leftmost wooden crate. This is much closer than where my earlier reach came up empty. I will attempt the grasp again from here, and it should catch this time.",
+        "The metal bucket is now held in my hands. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010852_y-003376_z001218_t1_a/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Discover the white and pink ceramic near the yard, then reach its location.",
+    "Type": 1,
+    "Start_Pose": [
+        -10851.946,
+        -3376.289,
+        1218.151,
+        0.0,
+        -32.64,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10851.946,
+            -3376.289,
+            1218.151,
+            0.0,
+            -32.64,
+            0.0
+        ],
+        [
+            -10851.946,
+            -3376.289,
+            1218.151,
+            0.0,
+            -7.64,
+            0.0
+        ],
+        [
+            -10851.946,
+            -3376.289,
+            1218.151,
+            0.0,
+            17.36,
+            -0.0
+        ],
+        [
+            -10851.946,
+            -3376.289,
+            1218.151,
+            0.0,
+            42.36,
+            -0.0
+        ],
+        [
+            -10851.946,
+            -3376.289,
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+        ],
+        [
+            -10851.946,
+            -3376.289,
+            1218.151,
+            0.0,
+            92.36,
+            -0.0
+        ],
+        [
+            -10851.946,
+            -3376.289,
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+            0.0,
+            117.36,
+            -0.0
+        ],
+        [
+            -10851.946,
+            -3376.289,
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+            0.0,
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+        ],
+        [
+            -10851.946,
+            -3376.289,
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+            -0.0
+        ],
+        [
+            -10851.946,
+            -3376.289,
+            1218.151,
+            0.0,
+            -167.64,
+            0.0
+        ],
+        [
+            -10974.888,
+            -3403.23,
+            1218.151,
+            0.0,
+            -167.64,
+            0.0
+        ],
+        [
+            -11097.83,
+            -3430.17,
+            1218.151,
+            0.0,
+            -167.64,
+            0.0
+        ],
+        [
+            -11220.772,
+            -3457.111,
+            1228.158,
+            0.0,
+            -167.64,
+            0.0
+        ],
+        [
+            -11220.772,
+            -3457.111,
+            1228.158,
+            0.0,
+            -142.64,
+            0.0
+        ],
+        [
+            -11320.809,
+            -3533.485,
+            1228.158,
+            0.0,
+            -142.64,
+            0.0
+        ],
+        [
+            -11420.847,
+            -3609.859,
+            1228.158,
+            0.0,
+            -142.64,
+            0.0
+        ],
+        [
+            -11520.885,
+            -3686.232,
+            1218.151,
+            0.0,
+            -142.64,
+            0.0
+        ],
+        [
+            -11520.885,
+            -3686.232,
+            1218.151,
+            0.0,
+            -142.64,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot in the paved yard I only see the dark wooden hall ahead and a single dark grey jar on the plank platform to my right, so nothing matches the white and pink ceramic I need to find. I will turn right to begin a steady scan of the surrounding yard in one consistent direction.",
+        "The new heading shows the same dark jar and crate on the low deck, plus a walled edge and a larger tiered building beyond, but no white and pink ceramic anywhere in view. I will keep rotating right to bring more of the open courtyard into sight.",
+        "Turning has opened up a broader stretch of the yard with blossoming trees and railings on the right, yet the only vessel in sight is still the dark jar behind me on the left. Continuing the same rightward sweep should expose the unseen portion of the yard where a pale ceramic could stand.",
+        "This heading shows mostly blossoming trees, a fenced walkway, and the large hall across the yard, with an empty stone pavement in front of me. Since no white and pink ceramic appears here, I will continue the rightward scan rather than stop on this sector.",
+        "The view is filled with cherry trees, a banner pole, and a red pillar close on the right, and the ground near them is bare of any vessel. I will keep turning right to look past this pillar toward the yard sections I have not inspected yet.",
+        "Ahead I see the arched red bridge, tall pillars, and a hanging banner, none of which is the target, though a wooden platform is just entering the right edge of my view. Turning right again should bring that platform area and the yard beside it fully into sight.",
+        "The rotation has revealed large wooden decking on the right and a smaller building beyond it, a service-like yard corner that looks like a plausible place for standing ceramics, but none is visible from this angle. I will turn right once more to face that decked corner directly.",
+        "I am now looking across the plank decking toward the dark timber building on the right, where the shaded strip along its wall is still largely out of view. Turning right again should place that wall base and the yard beside it in front of me, where objects like ceramics would likely be set.",
+        "Sweeping steadily rightward across the courtyard has finally brought a white jar with pink floral decoration into sight, standing on the stone paving at the far right edge beside the wooden hall. It sits too close to the periphery for a clean approach, so I will continue one more step to the right to bring it toward the center of my heading. This should let me commit to the ceramic instead of extending the scan.",
+        "The white jar with pink blossoms now stands clearly ahead of me, flanked by a dark pot and a stone lantern along the base of the wooden hall. The wide plank deck and open paving between us look clear of obstacles, so I will walk forward to close the distance. Straight advancing should keep the ceramic roughly ahead while shrinking the gap.",
+        "The ceramic jar has grown noticeably larger and its pink floral pattern is now distinct between the dark pot and the stone lantern. My heading still points along the open deck toward that wall, so another walking step is the simplest way to keep closing in. The remaining ground ahead appears flat and unblocked.",
+        "The jar is clearly nearer now, sitting on the paved strip just in front of the latticed wooden facade, and it stays slightly right of my heading. There is still open stone between me and it, so I will keep walking forward. This should carry me onto the paving near the row of objects at the wall.",
+        "I am now close to the row of objects at the wall, and the white and pink jar sits off to the right of my current facing, with the dark pot and lantern beside it. A small right turn should square my heading onto the jar so the last steps run straight at it. Without that adjustment I would drift past it along the building.",
+        "The turn worked, and the white jar with pink blossoms now sits squarely ahead of me on the open paving in front of the shuttered wall. Nothing blocks the short lane between us, so I will step forward to close the last of the distance. Each stride should bring me measurably nearer to the ceramic.",
+        "The ceramic is now large and unmistakable, its pink floral sprays clear against the white glaze, and it remains directly on my path. I still have a short stretch of stone to cover before I am beside it, so I will keep walking forward. This should place me within immediate reach of the jar.",
+        "The white and pink jar now dominates the near ground just ahead and slightly left, with the stone lantern and the wooden facade behind it. One more forward step should bring me right up alongside it at the target location. The paving in front of me is still clear.",
+        "The white ceramic jar with pink blossoms stands right beside me, filling the near foreground. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Approach the stone lantern on the left side.",
+    "Type": 2,
+    "Start_Pose": [
+        -10950.87,
+        -6263.729,
+        1218.151,
+        -0.017,
+        -52.917,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -10950.87,
+            -6263.729,
+            1218.151,
+            -0.017,
+            -52.917,
+            0.0
+        ],
+        [
+            -10874.981,
+            -6364.135,
+            1218.151,
+            -0.017,
+            -52.917,
+            -0.0
+        ],
+        [
+            -10799.091,
+            -6464.54,
+            1228.234,
+            -0.017,
+            -52.917,
+            -0.0
+        ],
+        [
+            -10723.202,
+            -6564.946,
+            1228.234,
+            -0.017,
+            -52.917,
+            -0.0
+        ],
+        [
+            -10723.202,
+            -6564.946,
+            1228.234,
+            -0.017,
+            -77.917,
+            -0.0
+        ],
+        [
+            -10696.856,
+            -6688.017,
+            1228.234,
+            -0.017,
+            -77.917,
+            -0.0
+        ],
+        [
+            -10670.51,
+            -6811.087,
+            1218.151,
+            -0.017,
+            -77.917,
+            -0.0
+        ],
+        [
+            -10644.164,
+            -6934.158,
+            1218.151,
+            -0.017,
+            -77.917,
+            -0.0
+        ],
+        [
+            -10617.819,
+            -7057.228,
+            1218.151,
+            -0.017,
+            -77.917,
+            -0.0
+        ],
+        [
+            -10617.819,
+            -7057.228,
+            1218.151,
+            -0.017,
+            -77.917,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The lantern I want is the freestanding red-posted one on the left, planted on the stone paving beside the teal building and its bench, not the small paper lanterns hung under the stall canopies to the right. It stands well ahead of me across the courtyard. I will walk forward to close that distance.",
+        "The red-posted lantern has grown slightly larger and sits a little left of my heading, so my line of travel is still workable. Nothing blocks the paving between me and it. I will keep stepping forward.",
+        "The lantern is noticeably nearer now, its roof and post clearly resolved to my left front. There is still open ground before I reach it. Another step forward should continue closing the gap.",
+        "Advancing has pushed the lantern well over toward the left edge of my view while the stall canopy crowds the center. If I keep walking straight I will pass beside it rather than reach it. I will turn left to bring the lantern back in front of me.",
+        "The turn has set the red lantern near the middle of my view, with clear paving running up to it between the building wall and the stall frame. My heading now points at it directly. I will step forward along that gap.",
+        "The lantern's glowing box and red post are much larger and still centered on my path. The stall frame stays off to my right and does not obstruct the lane. I will continue walking toward the lantern.",
+        "The lantern now dominates my view, its stepped stone-style base plainly visible just ahead on the paving. A short distance still separates me from it. One more step forward should bring me alongside it.",
+        "The lantern's red post rises immediately in front of me, close enough that its head is cut off above my view. A final short step should place me right beside it. I will move forward.",
+        "The lantern's red post fills the center of my view at arm's length. I have arrived beside it, so the approach is complete and I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t3_a/infos.json

@@ -0,0 +1,246 @@
+{
+    "Instruction": "Walk to the large clay pot on the ground, then approach the wooden cart.",
+    "Type": 3,
+    "Start_Pose": [
+        -11017.248,
+        -2969.865,
+        1218.151,
+        0.0,
+        -102.72,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -11017.248,
+            -2969.865,
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+            0.0,
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
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+        ],
+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -11508.991,
+            -3582.535,
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+            0.0,
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+            0.0
+        ],
+        [
+            -11397.577,
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+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11286.163,
+            -3699.622,
+            1228.048,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11174.748,
+            -3758.165,
+            1228.048,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11063.334,
+            -3816.709,
+            1218.151,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -10955.177,
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+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
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+            -3873.656,
+            1253.954,
+            0.0,
+            -27.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the middle of the courtyard the squat clay pot sits on the paving to my left, beside the wooden building with the white shutters, while the barrel cart stands off to my right. Since the pot is where I head first, I will turn left to bring it into my forward path.",
+        "The grey clay pot and the flowered jar now sit roughly ahead of me along the base of the wooden building, still a long way off across the open paving. Nothing blocks the stone floor between us, so I will walk forward to close the gap.",
+        "The pots have grown slightly and stay near the middle of my view beside the plank walkway. My heading still points at them, so another step forward should keep shrinking the distance.",
+        "The dark clay pot and the pink-blossom jar are clearer now against the shuttered wall, but they are still several strides away. I will keep walking straight since my line to them remains clean.",
+        "The pots sit lower and larger in my view, level with the stone step of the building. The gap is still too wide to call this arrival, so I will advance again.",
+        "The wide-mouthed clay pot is now clearly the nearer of the two, drifting toward my left as I come in on it. A couple more strides should bring me alongside it, so I will keep moving forward.",
+        "The heavy clay pot has swung to my left side and the blossom jar stands just ahead, both close under the building eaves. I am nearly beside them, so one more step forward should put me right at the pot.",
+        "The big clay pot has slid to the very edge of my left view and is nearly out of sight while the blossom jar fills the center. Turning left should swing the pot back in front of me so I can judge that I am standing at it.",
+        "The heavy grey clay pot now sits close on my left, ahead of the porch step, with the painted jar beside it. One more stride along this line should bring me level with the pot rather than leaving me short of it.",
+        "The wide grey clay pot's rim is right at my feet in the corner of my view, close enough to touch. I have arrived at the pot on the ground. I mark reaching it, and now I am heading for the wooden cart with the barrel over by the archway.",
+        "Standing this tight against the pot and the porch edge leaves me almost no room to swing around toward the cart. Backing a step out into the open paving should give me clearance to turn without scraping the pot or the raised step.",
+        "With the pot now a comfortable step away and clear paving around me, I am facing the shuttered wall rather than the courtyard. Turning right starts swinging my heading back along the building toward the open plaza where the cart stands.",
+        "The view has opened along the veranda, with the stone lantern and crates leading off to the right and daylight beyond them. The cart is still further round, so I keep turning right toward that brighter opening.",
+        "The great arched beam and the lantern-hung street are now coming into the right half of my view, which is the open side of the courtyard. Another turn right should carry my heading further into that space where the cart sits.",
+        "I am now looking straight through the arch down the courtyard, but the wooden cart is not in front of me yet. Continuing to turn right should bring the near side of the plaza, where it stands, into my view.",
+        "The wooden cart with its barrel and long shafts has come into view on the right, resting on the paving under the eaves. One more turn right should put it in front of me so I can walk straight at it.",
+        "The two wheeled wooden cart with its big barrel now sits ahead of me across the flagstones, roughly centred in my view. Nothing blocks the open stone paving between us, so I will walk forward to close the gap toward it.",
+        "The cart has grown larger and its shafts and spoked wheel are clearer, confirming my heading is good. I still have several strides of open pavement before I am beside it, so I will keep walking forward.",
+        "The barrel cart now fills a good part of my view and its shafts point down toward me, but there is still distance before I am standing at it. The paving stays clear, so another step forward should bring me closer.",
+        "The cart's near wheel and the banded barrel are close enough now that I can read the individual staves. A little more ground remains between us, so I will step forward again to draw right up to it.",
+        "The barrel and the wheel rim now dominate my view, so I am nearly alongside the cart. One more short step forward should place me directly at it.",
+        "The wooden cart's barrel and wheel are right in front of me, within arm's reach. Both destinations have been reached, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t3_b/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Head toward the painted ceramic vase, then reach the wooden cart.",
+    "Type": 3,
+    "Start_Pose": [
+        -11017.248,
+        -2969.865,
+        1218.151,
+        0.0,
+        -102.72,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookDown",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        ],
+        [
+            -11031.75,
+            -3935.231,
+            1218.151,
+            0.0,
+            -2.72,
+            0.0
+        ],
+        [
+            -11031.75,
+            -3935.231,
+            1218.151,
+            0.0,
+            -2.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the small pink and white flowered vase resting on the stone paving to my left, near the plank walkway beside the wooden building. It is still far off, so I will walk forward to cut down the distance before I swing toward it.",
+        "The painted vase sits well off to my left while my heading points straight at the arch and the far pavilion. I will turn left to bring the vase and the stone strip it stands on into the center of my view before continuing.",
+        "The turn has put the flowered vase and the little stone lantern beside it roughly ahead of me, past the wooden decking. I will step forward along the open paving to close on that side of the building.",
+        "I see the painted vase growing larger ahead of me by the base of the latticed wall, with the stone lantern just beyond it. The paving in front of me is clear, so I will keep walking to shorten the gap.",
+        "The flowered vase and the dark storage jar beside it are clearly ahead along the wall, still several strides away. I will continue walking straight to bring myself alongside them.",
+        "The painted vase now stands large in front of me at the edge of the raised wooden veranda. Since I am not yet beside it, I will take another step forward along the paving.",
+        "The vase with its pink blossom pattern is close on my left, though my path still leads a little short of it. I will walk forward once more to draw level with the vase and the stone lantern.",
+        "The painted vase has slid to my lower left corner, meaning I am nearly abreast of it but not yet settled at its side. I will step forward a little more to reach a position right by it.",
+        "The painted vase with pink blossoms has slid to the very edge of my view on the left, almost out of sight past the veranda's edge. I will turn left to bring it back in front of me before continuing toward it.",
+        "The blossom-painted vase now sits squarely ahead of me on the flagstones by the shopfront, a couple of paces off. I will walk forward to close the remaining gap and stand beside it.",
+        "I am close enough that the vase has dropped below my level line of sight, leaving only the wooden lattice wall ahead. I will look down to put the vase back in view and confirm I am standing right at it.",
+        "The rounded lid of the vase with its pink cherry blossoms fills the near corner of my view, close enough to touch at my feet. I have arrived at the painted ceramic vase. I mark reaching it and now head for the wheeled wooden cart out across the courtyard.",
+        "My view is filled by the shopfront wall and the stones at my feet, with no sight of the open ground where the wheeled cart stands. Turning right should swing me off this wall and back toward the courtyard side.",
+        "The sweep has brought the veranda, the stone lantern and the wooden crates into view, but the open plaza is still only a sliver at the right edge. I will turn right again to keep bringing that open ground around in front of me.",
+        "The great wooden arch and the red parasols across the square are now entering my view on the right, so the open courtyard lies further in that direction. Another right turn should carry my heading fully onto that open ground.",
+        "The arch and the wide paved square are opening ahead, but crates and the veranda still block the right half where the wheeled cart should be standing. I will turn right once more to clear that side and set a straight line across the courtyard.",
+        "The wooden cart with its big barrel sits far to my right, near the shopfront across the paved yard, while my heading still points at the arch and the open plaza. One more turn to the right should bring the cart closer to the middle of my view before I start walking.",
+        "The cart and its barrel now sit near the center of my view, with clear paving and boardwalk between us. I will walk forward to close that gap.",
+        "The cart has grown noticeably larger and its shafts and wheel are clearer, so my line of travel is good. I keep walking forward to shorten the remaining distance.",
+        "The barrel on its wheeled frame is close enough now that I can see the individual staves and the front shafts resting on the stone. Another step forward should put me right beside it.",
+        "I am nearly level with the cart, but it has drifted toward the right side of my view as I closed in. Turning right should square me up with the barrel and its frame before I take the last steps.",
+        "The barrel and its wooden frame now sit squarely ahead of me with open paving in between. I step forward to close the last of the gap.",
+        "The cart fills much of my view and the wheel and shaft ends are only a short distance off. One more step forward should bring me right up against it.",
+        "The barrel on its wooden cart fills my view directly in front of me, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t3_c/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Approach the wooden cart, then move to the dark crate on the left.",
+    "Type": 3,
+    "Start_Pose": [
+        -11017.248,
+        -2969.865,
+        1218.151,
+        0.0,
+        -102.72,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -11017.248,
+            -2969.865,
+            1218.151,
+            0.0,
+            -102.72,
+            0.0
+        ],
+        [
+            -11017.248,
+            -2969.865,
+            1218.151,
+            0.0,
+            -77.72,
+            0.0
+        ],
+        [
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+            0.0,
+            -77.72,
+            0.0
+        ],
+        [
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+            0.0,
+            -77.72,
+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
+            -77.72,
+            0.0
+        ],
+        [
+            -10856.635,
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+            1218.151,
+            0.0,
+            -77.72,
+            0.0
+        ],
+        [
+            -10830.973,
+            -3808.977,
+            1218.151,
+            0.0,
+            -77.72,
+            0.0
+        ],
+        [
+            -10830.973,
+            -3808.977,
+            1218.151,
+            0.0,
+            -77.72,
+            0.0
+        ],
+        [
+            -10850.625,
+            -3718.691,
+            1218.151,
+            0.0,
+            -77.72,
+            0.0
+        ],
+        [
+            -10850.625,
+            -3718.691,
+            1218.151,
+            0.0,
+            -102.72,
+            0.0
+        ],
+        [
+            -10850.625,
+            -3718.691,
+            1218.151,
+            0.0,
+            -127.72,
+            0.0
+        ],
+        [
+            -10850.625,
+            -3718.691,
+            1218.151,
+            0.0,
+            -152.72,
+            0.0
+        ],
+        [
+            -10962.486,
+            -3776.378,
+            1218.151,
+            0.0,
+            -152.72,
+            0.0
+        ],
+        [
+            -11074.346,
+            -3834.064,
+            1218.151,
+            0.0,
+            -152.72,
+            0.0
+        ],
+        [
+            -11186.207,
+            -3891.75,
+            1228.045,
+            0.0,
+            -152.72,
+            0.0
+        ],
+        [
+            -11298.068,
+            -3949.436,
+            1228.045,
+            0.0,
+            -152.72,
+            0.0
+        ],
+        [
+            -11298.068,
+            -3949.436,
+            1228.045,
+            0.0,
+            -127.72,
+            0.0
+        ],
+        [
+            -11375.069,
+            -4048.992,
+            1228.045,
+            0.0,
+            -127.72,
+            0.0
+        ],
+        [
+            -11452.07,
+            -4148.547,
+            1228.045,
+            0.0,
+            -127.72,
+            0.0
+        ],
+        [
+            -11452.07,
+            -4148.547,
+            1228.045,
+            0.0,
+            -127.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The wooden cart with its big spoked wheel stands off to my right, beside the crates near the round arch, while my heading points down the empty paved court. I will turn right to bring that cart into the center of my view so I can walk straight at it.",
+        "The wooden cart now sits ahead of me under the arch, small in the distance across open flagstones. Nothing blocks the paving between us, so I will walk forward to begin closing that gap.",
+        "The cart's wheel and shafts have grown noticeably larger and remain slightly right of center, which tells me my heading is carrying me toward it. I will keep walking forward since the stone court ahead is still open.",
+        "The cart is clearly resolved now, its wheel, barrel load and long shafts laid out ahead of me, but I am still several paces short of standing beside it. Another step forward should bring me closer without needing any turn.",
+        "The cart fills more of my view and its wheel rim is becoming distinct against the crates behind it. My line to it stays straight, so I will keep advancing rather than adjust my heading.",
+        "The cart's shaft now stretches across the ground in front of me and the wheel stands nearly at my own height, so only a short distance remains. I will step forward again to draw right up alongside it.",
+        "The barrels and the spoked wheel now dominate the lower half of my view, meaning I am within a pace or two of the cart. I will move forward once more to close the last of the gap.",
+        "The wheel hub and loaded barrels are right in front of me, close enough that the cart blocks most of the ground ahead. A final short step should place me directly at its side rather than just short of it.",
+        "The cart's spoked wheel, barrels and wooden shafts now fill my view from close range, so I am standing right at the wooden cart. I have arrived at it. I mark reaching it and then set off for the dark crate over on the left side of the courtyard.",
+        "The cart's frame and barrels crowd my view at arm's length, leaving me no room to swing around cleanly. Stepping back should open enough space to rotate away from it toward the covered walkway on the left where the crates stand.",
+        "With a little clearance regained, the whole cart sits centered ahead of me and the crate I want is off beyond my left edge, out of view. I will turn left to bring that side of the courtyard into my heading.",
+        "The turn has pushed the cart toward my right and opened the long shopfront and paved walkway on my left. The dark crate lies further around that way, so I will keep turning left.",
+        "The veranda with its boxes and stone ornaments now stretches across the left of my view while the cart's wheel still crowds the right foreground. One more left turn should put that decking squarely ahead so I can walk straight toward the crate.",
+        "The cart is behind me now and the long veranda with its dark wooden crates and jars lies straight ahead across open paving. Nothing blocks the way, so I will walk forward to close the distance.",
+        "The dark crate on the raised boards is noticeably larger and sits just right of my centre, with the pale jars beside it on the left. The route stays clear, so another step forward should bring me closer.",
+        "The stacked dark crate now stands plainly ahead on the boards with the stone lantern to its left, but I am still several paces short of it. I will keep walking forward to close that remaining gap.",
+        "The dark wooden crate on the raised plank walkway is now clearly ahead and a little left of my heading, with open stone paving between us. Nothing blocks the line, so I will keep walking to cut down the remaining distance.",
+        "I am close enough now that the dark crate fills much of my view and my heading runs almost straight into the veranda edge behind it. Turning right should put the open paving beside the platform ahead of me, leaving the crate off my left shoulder as I close the last stretch.",
+        "After the turn, the paved lane along the building runs clear ahead and the dark crate sits on the plank platform to my left. I will step forward along this lane to draw level with it.",
+        "The dark crate now looms large along my left side, but I am still slightly short of standing beside it. One more step forward should bring me right up alongside it.",
+        "The dark wooden crate stands immediately at my left, within arm's reach. The task is done, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t5_a_pd/infos.json

@@ -0,0 +1,449 @@
+{
+    "Instruction": "Pick up the trash bag at the large clay pot on the ground, then drop it near the wooden cart.",
+    "Type": 5,
+    "Start_Pose": [
+        -11017.248,
+        -2969.865,
+        1218.151,
+        0,
+        -102.72,
+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -11605.023,
+        -3688.9,
+        1118.907,
+        -0.295,
+        -91.425,
+        -18.367
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -11017.248,
+            -2969.865,
+            1218.151,
+            0,
+            -102.72,
+            0
+        ],
+        [
+            -11044.961,
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -11352.964,
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+            0.0,
+            -127.72,
+            0.0
+        ],
+        [
+            -11352.964,
+            -3490.858,
+            1228.209,
+            0.0,
+            -152.72,
+            0.0
+        ],
+        [
+            -11464.825,
+            -3548.544,
+            1221.272,
+            0.0,
+            -152.72,
+            0.0
+        ],
+        [
+            -11464.825,
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+            0.0,
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+        ],
+        [
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+            0.0,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -11464.825,
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+            0.0,
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+        ],
+        [
+            -11464.825,
+            -3548.544,
+            1221.272,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11353.411,
+            -3607.088,
+            1228.197,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11241.996,
+            -3665.631,
+            1228.197,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11130.582,
+            -3724.175,
+            1227.07,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11019.168,
+            -3782.718,
+            1218.151,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -10917.207,
+            -3832.705,
+            1218.151,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -10980.944,
+            -3799.214,
+            1218.151,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -10980.944,
+            -3799.214,
+            1218.151,
+            0.0,
+            -27.72,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -11605.023,
+            -3688.9,
+            1118.907,
+            -0.295,
+            -91.425,
+            -18.367
+        ],
+        [
+            -11605.023,
+            -3688.9,
+            1118.907,
+            -0.295,
+            -91.425,
+            -18.367
+        ],
+        [
+            -11605.023,
+            -3688.9,
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+            -91.425,
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+        ],
+        [
+            -11605.023,
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+            -0.295,
+            -91.425,
+            -18.367
+        ],
+        [
+            -11605.023,
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+            -91.425,
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+        ],
+        [
+            -11605.023,
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+            -91.425,
+            -18.367
+        ],
+        [
+            -11605.023,
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+        ],
+        [
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+        ],
+        [
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+            -91.425,
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+        ],
+        [
+            -11454.495,
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+        ],
+        [
+            -11446.798,
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+        ],
+        [
+            -11442.888,
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+            1187.863,
+            -28.215,
+            -52.593,
+            1.849
+        ],
+        [
+            -11437.726,
+            -3548.241,
+            1187.916,
+            -14.092,
+            -35.376,
+            6.87
+        ],
+        [
+            -11448.009,
+            -3535.194,
+            1187.933,
+            -28.208,
+            -2.578,
+            1.851
+        ],
+        [
+            -11454.82,
+            -3528.374,
+            1188.6,
+            -28.198,
+            22.426,
+            1.867
+        ],
+        [
+            -11343.93,
+            -3587.944,
+            1198.17,
+            -28.198,
+            22.426,
+            1.862
+        ],
+        [
+            -11232.337,
+            -3646.584,
+            1197.783,
+            -28.202,
+            22.422,
+            1.86
+        ],
+        [
+            -11120.957,
+            -3705.107,
+            1187.798,
+            -28.201,
+            22.425,
+            1.857
+        ],
+        [
+            -11009.766,
+            -3763.539,
+            1188.176,
+            -28.206,
+            22.419,
+            1.858
+        ],
+        [
+            -10908.199,
+            -3813.318,
+            1188.869,
+            -28.202,
+            22.422,
+            1.863
+        ],
+        [
+            -10918.978,
+            -3831.775,
+            1178.151,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -10918.978,
+            -3831.775,
+            1178.151,
+            0.0,
+            -27.72,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        928.7,
+        818.0,
+        818.0,
+        692.9,
+        568.0,
+        443.7,
+        320.6,
+        320.6,
+        198.4,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.5,
+        22.5,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The task target is the trash bag by the large clay pot, and I can see the pots with a dark bundle beside them far ahead on the left edge of the courtyard. The open paved area in front of me is clear, so I will walk forward to close that long distance before refining my heading.",
+        "My heading points down the courtyard toward the arch, while the clay pots and the dark bag sit well off to my left along the veranda. Walking straight would carry me past them, so I will turn left to put that pot cluster nearer the center of my view.",
+        "The turn brought the clay pots and the dark bag beside them into view ahead, near the base of the wooden building. The route across the stone paving looks open, so I will walk forward to shorten the remaining distance to the pot.",
+        "The grey clay pot and the dark trash bag slumped next to it are growing larger and stay roughly ahead of me. Nothing blocks the paved lane along the building, so I will keep walking forward to reach grasping range.",
+        "The large clay pot and the dark bag beside it are now clearly distinguishable from the decorative white jar and stone lantern nearby. I am still several strides away, so I will continue walking forward toward them.",
+        "The trash bag and the large clay pot fill more of my view but remain beyond arm's reach on the paving ahead. I will take another step forward to close the gap before attempting the pick.",
+        "I am close to the pot cluster, but the clay pot and the trash bag sit left of my view center while my heading runs along the building wall. I will turn left to square up with the bag so a straight step brings it directly in front of me.",
+        "The turn placed the large clay pot and the dark trash bag near the middle of my view, with clear paving between us. I will step forward to bring the bag within reach so a grasp attempt becomes possible.",
+        "The dark trash bag is now directly in front of me, slumped on the flagstones beside the large clay pot, close enough to fill the lower part of my view. Nothing stands between us and my hands are empty, so I will attempt the grasp from here rather than shuffle closer.",
+        "The bag is off the paving and riding with me now, so the grasp took hold. The wooden cart sits back out in the open courtyard, well around from this shop corner, so I will turn right to start swinging my heading toward that side.",
+        "I am still holding the trash bag, but my view faces the shop's paper screens, the clay pot and the stone lantern, with no cart anywhere ahead. Another right turn should keep rotating me toward the open courtyard where the cart stands.",
+        "The tall archway and the plaza beyond are now entering the right side of my view, which means the open courtyard is that way. The cart is still not in front of me, so I will turn right again to bring more of that open ground forward.",
+        "The archway and the lantern-hung stalls are centered now, and a wooden cart with a barrel shows at the right edge of my view. Carrying the bag, I will turn right once more so that cart moves toward the middle of my heading.",
+        "The barrel cart now stands clearly in the right half of my view across the paving. One more right turn should place it near the center of my heading so I can walk straight to it with the bag.",
+        "The wooden cart with its barrel now sits ahead of me, just left of center, with clear paving in between. Still carrying the trash bag, I will walk forward to close that gap.",
+        "The cart has grown noticeably larger and its shafts and wheel are clearly resolved, so the last step brought me closer along a clear line. I am still too far to set the bag beside it, so I will keep walking forward.",
+        "The trash bag is still held with me, so I can keep carrying it toward the wooden cart ahead. The cart with its large barrel now fills much of my view but I am still a few steps short of it. I will step forward again to close that gap.",
+        "The cart's barrel and spoked wheel are close on my left front, confirming I am nearly beside it while still carrying the bag. A little more distance remains before I am truly alongside the cart. I will advance one more step to reach a suitable release position.",
+        "The barrel and wheel now loom directly at my left side, so I am drawing level with the cart while the bag stays in hand. One further step should place me right next to the cart bed where the bag can be set down close by. I will move forward again.",
+        "I am now immediately beside the cart, with its wheel and barrel filling my near view and the bag still in my hands. This is close enough to satisfy leaving the trash bag near the wooden cart. I will release it here and expect it to settle on the paving beside the cart.",
+        "The trash bag now rests on the ground right beside the wooden cart, no longer in my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t5_b_pd/infos.json

@@ -0,0 +1,392 @@
+{
+    "Instruction": "Lift the candelabra beside the painted ceramic vase, then set it down near the wooden cart.",
+    "Type": 5,
+    "Start_Pose": [
+        -11017.248,
+        -2969.865,
+        1218.151,
+        0,
+        -102.72,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -11536.926,
+        -3732.46,
+        1143.151,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -11017.248,
+            -2969.865,
+            1218.151,
+            0,
+            -102.72,
+            0
+        ],
+        [
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+            -3092.635,
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
+            -102.72,
+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
+            -127.72,
+            0.0
+        ],
+        [
+            -11380.677,
+            -3613.628,
+            1228.026,
+            0.0,
+            -127.72,
+            0.0
+        ],
+        [
+            -11380.677,
+            -3613.628,
+            1228.026,
+            0.0,
+            -127.72,
+            0.0
+        ],
+        [
+            -11380.677,
+            -3613.628,
+            1228.026,
+            0.0,
+            -102.72,
+            0.0
+        ],
+        [
+            -11380.677,
+            -3613.628,
+            1228.026,
+            0.0,
+            -77.72,
+            0.0
+        ],
+        [
+            -11380.677,
+            -3613.628,
+            1228.026,
+            0.0,
+            -52.72,
+            0.0
+        ],
+        [
+            -11380.677,
+            -3613.628,
+            1228.026,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11269.262,
+            -3672.172,
+            1228.026,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11157.848,
+            -3730.715,
+            1228.026,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -11046.434,
+            -3789.259,
+            1218.151,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -10935.796,
+            -3836.068,
+            1218.151,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -10999.533,
+            -3802.577,
+            1218.151,
+            0.0,
+            -27.72,
+            0.0
+        ],
+        [
+            -10999.533,
+            -3802.577,
+            1218.151,
+            0.0,
+            -27.72,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -11536.926,
+            -3732.46,
+            1143.151,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -11536.926,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -11536.926,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -11536.926,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -11536.926,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -11536.926,
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+            1143.151,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -11536.926,
+            -3732.46,
+            1143.151,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -11536.926,
+            -3732.46,
+            1143.151,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -11363.412,
+            -3626.21,
+            1198.357,
+            -28.202,
+            -77.575,
+            1.862
+        ],
+        [
+            -11358.776,
+            -3617.939,
+            1198.629,
+            -28.189,
+            -52.563,
+            1.872
+        ],
+        [
+            -11358.636,
+            -3608.988,
+            1197.962,
+            -28.215,
+            -27.593,
+            1.849
+        ],
+        [
+            -11356.245,
+            -3601.901,
+            1198.016,
+            -14.092,
+            -10.376,
+            6.87
+        ],
+        [
+            -11371.078,
+            -3594.422,
+            1198.032,
+            -28.208,
+            22.422,
+            1.851
+        ],
+        [
+            -11259.945,
+            -3652.938,
+            1198.453,
+            -28.189,
+            22.438,
+            1.869
+        ],
+        [
+            -11148.779,
+            -3711.362,
+            1198.836,
+            -28.205,
+            22.415,
+            1.859
+        ],
+        [
+            -11037.402,
+            -3769.877,
+            1188.89,
+            -28.191,
+            22.43,
+            1.872
+        ],
+        [
+            -10926.537,
+            -3816.817,
+            1188.518,
+            -28.206,
+            22.419,
+            1.863
+        ],
+        [
+            -10937.566,
+            -3835.138,
+            1188.151,
+            0.0,
+            -97.72,
+            0.0
+        ],
+        [
+            -10937.566,
+            -3835.138,
+            1188.151,
+            0.0,
+            -97.72,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        922.8,
+        807.1,
+        694.9,
+        694.9,
+        569.4,
+        444.2,
+        319.5,
+        196.3,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.5,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "I can see the painted ceramic vase and the dark candelabra standing together at the far left edge of the courtyard, well beyond the wooden walkway. They are too distant for any interaction from here, so I will step forward to shorten the gap before refining my heading.",
+        "The vase and candelabra have grown slightly larger on the left, confirming I am closing on them rather than drifting past. They remain far outside reach, so another forward step is the simplest way to keep gaining ground before I swing my heading toward them.",
+        "The candelabra and the painted vase now sit clearly off to my left, near the shopfront wall, while my heading points straight down the courtyard toward the arch. Continuing forward would carry me past them, so I will turn left to bring the pair into the center of my view.",
+        "After turning, the vase and candelabra sit near the middle of my view against the building's front. The heading now points at them, so I will walk forward to close the remaining distance along the paving.",
+        "The candelabra and the pink vase are noticeably nearer and still aligned with my heading, with the large dark jar to their left as a landmark. Nothing blocks the stone paving in front of me, so I will keep walking toward them.",
+        "The candelabra's three candles are now clearly resolved beside the painted vase, but the pair is still several paces away and slightly left of center. I will advance again to bring the candelabra within grasping range.",
+        "The candelabra stands just ahead in the lower part of my view with the painted vase immediately to its left, matching the object the task names. It is close but likely still a step short of reach, so I will move forward once more before attempting to lift it.",
+        "The candelabra now fills the near foreground directly in front of me, with the painted ceramic vase alongside it, so I am within grasping distance of the correct object. My hands are empty, so I will attempt to pick it up now.",
+        "The grasp worked: the candelabra is now in my hands, its candles held in front of me, and it is no longer standing beside the painted vase. The wooden cart is not in this narrow forward view, so I will turn right to sweep the open courtyard toward the archway where carts were parked.",
+        "Facing back along the shopfront I see the stone lantern, crates and the archway, but no wooden cart yet. Carrying the candelabra, I will keep rotating right to bring the open plaza past the arch into view.",
+        "Now I am looking straight down the plank walkway through the archway, and only the edge of a barrel appears at the far right of my view. Another turn right should place that cart area properly in front of me before I start walking.",
+        "The wooden cart with its large barrel is now visible, but it sits right of my heading against the building. One more turn right should center it so I can walk straight to it while carrying the candelabra.",
+        "The cart with its barrel and shafts now sits ahead of me, roughly centered under the shopfront eaves. With the candelabra still in hand, I will step forward to close the remaining distance toward it.",
+        "The cart has grown noticeably larger and its wheel and shafts are clearer, so my heading is good. I am still too far to set the candelabra beside it, so I will keep walking forward.",
+        "The cart now fills much of the lower left of my view, with its wheel and drawbars plainly visible on the paving. A further step should bring me close enough alongside it to place the candelabra I am carrying.",
+        "The barrel and the cart wheel are only a step away, dominating the left side of my view. I will move forward once more to stand right beside the cart so the candelabra can be set down near it.",
+        "The candelabra is still in my hands from the pickup, and the wooden cart with its barrel and spoked wheel now fills the near view directly ahead of me. This is close enough to count as beside the cart, so I will release the candelabra here and it should settle on the stone paving.",
+        "The candelabra now stands on the paving right beside the wooden cart, no longer held. The task condition is met, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011150_y-003763_z001228_t1_a/infos.json

@@ -0,0 +1,216 @@
+{
+    "Instruction": "Discover the entrance to the large red bridge, identifiable by two standing flags nearby, and reach that location.",
+    "Type": 1,
+    "Start_Pose": [
+        -11149.511,
+        -3762.645,
+        1228.028,
+        0.0,
+        -124.8,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -11149.511,
+            -3762.645,
+            1228.028,
+            0.0,
+            -124.8,
+            0.0
+        ],
+        [
+            -11149.511,
+            -3762.645,
+            1228.25,
+            0.0,
+            -99.8,
+            0.0
+        ],
+        [
+            -11149.511,
+            -3762.645,
+            1228.25,
+            0.0,
+            -74.8,
+            0.0
+        ],
+        [
+            -11149.511,
+            -3762.645,
+            1228.25,
+            0.0,
+            -49.8,
+            0.0
+        ],
+        [
+            -11149.511,
+            -3762.645,
+            1228.25,
+            0.0,
+            -24.8,
+            0.0
+        ],
+        [
+            -11149.511,
+            -3762.645,
+            1228.25,
+            0.0,
+            0.2,
+            -0.0
+        ],
+        [
+            -11149.511,
+            -3762.645,
+            1228.25,
+            0.0,
+            25.2,
+            -0.0
+        ],
+        [
+            -11149.511,
+            -3762.645,
+            1228.25,
+            0.0,
+            50.2,
+            -0.0
+        ],
+        [
+            -11149.511,
+            -3762.645,
+            1228.25,
+            0.0,
+            75.2,
+            -0.0
+        ],
+        [
+            -11149.511,
+            -3762.645,
+            1228.25,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11171.798,
+            -3638.775,
+            1228.25,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11194.086,
+            -3514.905,
+            1228.25,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11216.374,
+            -3391.035,
+            1228.25,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11238.662,
+            -3267.165,
+            1228.25,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11260.949,
+            -3143.296,
+            1225.372,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11283.237,
+            -3019.426,
+            1218.151,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11305.525,
+            -2895.556,
+            1218.151,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11327.812,
+            -2771.686,
+            1218.151,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11350.1,
+            -2647.816,
+            1218.151,
+            0.0,
+            100.2,
+            -0.0
+        ],
+        [
+            -11350.1,
+            -2647.816,
+            1218.151,
+            0.0,
+            100.2,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, my view is filled with dark wooden eaves, shuttered panels, a stone lantern and crates, with no red bridge or standing flags anywhere in sight. Since the target is not visible from this heading, I will turn right to begin a steady scan of the surrounding courtyard.",
+        "The large wooden arch now frames an open plaza with a distant gate and red parasols, but I still see no red bridge and no pair of standing flags. Continuing the same rightward sweep should keep uncovering new sectors of this courtyard without backtracking over what I have already checked.",
+        "The plaza under the arch is still ordinary courtyard, and on my right a wooden cart with a barrel marks a service area rather than any bridge approach. I will keep rotating right in the same direction to bring the unseen portion of the square into view.",
+        "The cart and barrel now dominate the center of my view against a long shuttered facade, so this side clearly holds nothing resembling a red bridge entrance. Another right turn should carry my gaze past this building toward the more open ground beyond it.",
+        "Past the cart the courtyard opens onto a stone wall with a taller lantern-lit structure and red lamps rising beyond it, which hints at a more decorated district in that direction. I will continue turning right to keep swinging my view toward that brighter area and check it for the bridge and its flags.",
+        "Cherry blossoms and a strip of red banner have appeared at the right edge of my view above the paved yard, a strong sign that the ornate area lies just beyond my current heading. Turning right again should bring that decorated frontage fully into view.",
+        "A tall red banner and red pillars now stand among the blossoming trees on the right side of my view, exactly the kind of marker described near the bridge entrance. I will turn right once more to place that structure and any second flag in front of me.",
+        "The red torii and its hanging banner are now close on my right, and through the gap I can make out a red railed span with lantern light behind it, likely the bridge I am seeking. One more right turn should center that opening so I can walk straight toward it.",
+        "Ahead and slightly right I can now see a red torii gate with a tall red banner standing beside it, and beyond the railing there is a red arched bridge lit by lanterns. The target area is still off to the right of my heading, so I will turn right once more to bring the gate and bridge approach into the center of my view.",
+        "The red bridge is now centered between the torii pillars, with a tall standing banner on each side matching the two flags described in the task. My heading is aligned with that entrance, so I will walk forward across the open stone plaza toward it.",
+        "The pair of standing banners and the red bridge behind them have grown larger and remain centered in my path. Nothing blocks the paved stretch in front of me, so I will keep walking straight toward the bridge entrance.",
+        "I am now close enough that the torii pillars frame the red bridge and its railing directly ahead, with the flanking banners at the edges of my view. Continuing straight should carry me under the gate and closer to the bridge entrance.",
+        "The arched red bridge and its steps are clearly visible between the two dark pillars, still straight along my heading. I will step forward again to close the remaining distance to the bridge foot.",
+        "The bridge now fills the center of my view with its red railings and rising deck, and the cherry trees mark its entrance on both sides. Another step forward should bring me nearly to the base of the bridge.",
+        "Only a short stretch of paving separates me from the foot of the red bridge, which is directly ahead and well aligned. I will keep moving forward to reach its entrance.",
+        "I am standing right at the stone edge where the red bridge begins, with its arched deck and railings rising just in front of me. I will step forward to move onto the bridge entrance itself.",
+        "The red bridge entrance is directly ahead of me, with its arched railings and stone-capped end posts framing the ramp squarely in front of my feet. I am still a step short of standing on the bridge deck itself, so I will walk forward along this centered heading to close the last of the gap.",
+        "I am now on the red planking at the bridge entrance, with the curved railings running away on both sides and the torii gate lined up straight ahead. One more forward step should settle me firmly onto the bridge crossing rather than at its very lip.",
+        "I am standing on the large red bridge with its two tall flag poles and railings at the entrance behind me. The task location is reached, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011396_y003702_z001218_t1_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Search for a group of four ceramic jars clustered together, then navigate to the red and white one among them.",
+    "Type": 1,
+    "Start_Pose": [
+        -11395.784,
+        3702.059,
+        1218.151,
+        0.0,
+        -9.6,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "LookDown",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -11395.784,
+            3702.059,
+            1218.151,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -11395.784,
+            3702.059,
+            1218.151,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -11395.784,
+            3702.059,
+            1218.151,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -11395.784,
+            3702.059,
+            1218.151,
+            0.0,
+            65.4,
+            -0.0
+        ],
+        [
+            -11395.784,
+            3702.059,
+            1218.151,
+            0.0,
+            90.4,
+            -0.0
+        ],
+        [
+            -11395.784,
+            3702.059,
+            1218.151,
+            0.0,
+            115.4,
+            -0.0
+        ],
+        [
+            -11449.77,
+            3815.752,
+            1218.151,
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+            115.4,
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
+            115.4,
+            -0.0
+        ],
+        [
+            -11719.696,
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+            0.0,
+            115.4,
+            -0.0
+        ],
+        [
+            -11759.521,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -11759.521,
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+            1242.875,
+            0.0,
+            115.4,
+            -0.0
+        ],
+        [
+            -11759.521,
+            4496.853,
+            1242.875,
+            0.0,
+            115.4,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot the paved street stretches ahead between lantern-hung shopfronts, and I see no cluster of ceramic jars anywhere in view. I will turn right to begin a steady scan of the surrounding stalls and verandas, since jars are more likely set beside a shop front than in the open lane.",
+        "The view now favors the wooden building on my right, but its lit paper panels and a single dark barrel are all I can make out along its base. No group of four jars has appeared yet, so I will keep rotating right in the same direction to bring more of that frontage and the ground beside it into view.",
+        "A large timber pillar and the near corner of the building now block most of my forward view, leaving only a small dark pot beside the wall rather than a jar cluster. I will continue the same rightward scan to look past this corner into the space beyond it.",
+        "Turning has opened up a bright courtyard with a torii gate and a raised veranda running off to the right, which looks like a plausible place for objects set out along a building edge. I still cannot resolve any jar cluster, so I will turn right once more to sweep that veranda side into the center of my view.",
+        "At the right edge of my view I can now pick out several pale ceramic jars standing together on the platform beside the building, next to a dark pot. I will turn right once more to bring that small cluster toward the center of my heading before I start walking to it.",
+        "The cluster of jars is now roughly ahead of me, sitting along the base of the wooden building past the torii gate, but it is still far off and their patterns are unreadable at this distance. The stone courtyard between us is open and clear, so I will walk forward to close that gap.",
+        "The group of jars beside the veranda has grown noticeably larger and stays in my forward path, confirming my heading is good. The paving ahead remains unobstructed, so I will keep walking toward them to get close enough to tell the individual jars apart.",
+        "I am close enough now to see the clustered jars distinctly, with a blue and white one on each side and a paler jar with reddish pink markings between them. I will continue walking forward to reach that red and white jar rather than stopping at this distance.",
+        "The cluster of four ceramic jars is now clearly lined up along the raised wooden veranda ahead of me, with a dark jar and blue ones flanking a pale red and white one. Since the group matches the target description and lies straight along my heading, I will keep walking forward to close the remaining distance.",
+        "The jars have grown noticeably larger and the red and white one sits in the middle of the group, slightly right of my heading. The open boardwalk in front of me is unobstructed, so I will step forward again to continue closing in on that jar.",
+        "I am now on the veranda level with the four jars close on my right side, and the red and white one with pink blossom patterning is clearly identifiable among them. I still have some distance to cover, so I will advance another step toward it.",
+        "The red and white blossom jar is almost within arm's reach, sitting between the two blue jars along the wall on my right. One more short step should bring me directly beside it rather than leaving me short of it.",
+        "I am standing right beside the cluster and the pale red and white jar is so close that only its upper dome shows at the bottom edge of my sight. Tilting my head down should bring the whole jar into clear sight and confirm I am positioned at it.",
+        "The red and white blossom jar stands directly before me within arm's reach, beside its blue companion in the cluster. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t3_a/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Walk to the barrel beside the bench, then approach the rightmost vase.",
+    "Type": 3,
+    "Start_Pose": [
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+        1218.15,
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+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
+            -11772.899,
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+            0.0,
+            63.24,
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+        ],
+        [
+            -11772.899,
+            4241.273,
+            1225.677,
+            0.0,
+            88.24,
+            -0.0
+        ],
+        [
+            -11769.034,
+            4367.073,
+            1236.274,
+            0.0,
+            88.24,
+            -0.0
+        ],
+        [
+            -11769.034,
+            4367.073,
+            1236.274,
+            0.0,
+            113.24,
+            -0.0
+        ],
+        [
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+            0.0,
+            113.24,
+            -0.0
+        ],
+        [
+            -11789.41,
+            4432.097,
+            1242.302,
+            0.0,
+            113.24,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I need the barrel standing beside the benches, and I can see pale wooden casks resting near the low benches along the far side of this building. The open stone courtyard ahead is clear, so I will walk forward to close the gap before sorting out my heading.",
+        "The casks and the benches beside them sit off to my right, along the covered walkway that runs down the side of this hall. Facing straight ahead would carry me past that row, so I will turn right to put the walkway and its barrels in front of me.",
+        "The turn has opened the long lantern-hung passage, with the benches and the pale barrel next to them lined up on my left ahead. The paving between me and them is empty, so I will walk forward down this passage to close on the barrel.",
+        "The barrel beside the benches has grown noticeably larger on my left, but it is still several strides off. My path down the middle of the passage remains unobstructed, so I will keep walking forward to shorten the remaining distance.",
+        "The pair of light wooden barrels standing at the edge of the raised platform beside the benches is now clearly ahead on my left, though not yet alongside me. Nothing blocks the stone floor in front, so I will step forward again to draw level with them.",
+        "The pair of wooden barrels and the stacked crates by the benches are now clearly ahead on my left, but still several paces down the covered walkway. The paved lane in front of me is open, so I will keep walking straight to close that remaining gap.",
+        "The barrels have grown much larger in my left foreground, yet I am still a step or two short of standing level with them and the bench behind. The lane stays clear, so one more step forward should bring me alongside them.",
+        "The wooden barrels are right at my side now, with the low bench on the raised platform just behind them. I have come to the barrel beside the bench. I mark reaching it, and turn my attention to the porcelain vases standing back along the far side of this hall.",
+        "Standing this tight against the barrels leaves me almost no room to swing around toward the vases, which lie back the way I came rather than ahead. Backing up a step should open enough clearance from the barrel and the platform edge before I reorient.",
+        "With a little space now between me and the barrels, nothing on this heading shows the porcelain vases, which sit back along the other face of the hall. I will begin rotating left to swing my view off this walkway and back toward that side.",
+        "The barrel beside the bench is right in front of me and I have already reached it, so nothing more is needed here. My view is still filled with the plank wall, stacked crates and benches, with no vases anywhere in it. I turn left again to swing my heading off this wall and toward the open ground where porcelain vases stood.",
+        "Facing this way I see only shuttered panels, two low benches and the barrel edge crowding my right, which is a dead end for finding vases. The sweep has not yet uncovered the open courtyard, so my heading is still wrong. I keep turning left to bring more of the open side into view.",
+        "The turn has finally opened the left side of my view, where lanterns, a torii and blossoming trees frame the courtyard, and a blue and white vase sits on the raised wooden walkway there. That walkway is where I need to go, but it lies well off my current heading. I turn left again to bring it nearer the middle of my view.",
+        "The vase on the raised deck is now near the centre of my view, but the building corner still juts into my path on the right and the clear paving lies further left. Turning left once more should put the open courtyard route straight ahead of me before I set off. I make that adjustment now.",
+        "My heading is now clear of the wall, with open paving stretching ahead under the lanterns and the blue and white vase standing on the raised veranda to my right. Nothing blocks the ground in front of me, so walking forward should carry me toward that row of vases. I step ahead.",
+        "A blue and white vase sits at the far right on the raised wooden veranda, while the rest of that row stays hidden behind the building corner. Having marked the barrel by the bench, I now want the porcelain, so I will walk further across the open courtyard toward that veranda.",
+        "My forward walk has carried the vase out of view past my right shoulder, leaving only the empty wooden deck and the courtyard ahead. Turning right should swing that veranda and its porcelain back into the middle of my view where I can head toward it.",
+        "The blue and white vase is back in sight, standing on the deck against the wooden wall, but still well off to my right rather than in front of me. Another right turn should bring it onto my heading so I can walk straight at it.",
+        "The vase now sits almost straight ahead on the deck beside the timber wall, with clear paving between it and me. I will step forward to close that gap and get near enough to judge where this vase sits within its row.",
+        "The vase has grown noticeably larger and sits just ahead on the deck, though the corner of the timber wall now crowds my right side. I will take another step forward to draw level with the porcelain and see whether more vases stand further along that wall.",
+        "My last step forward gained almost nothing, since the wooden wall corner sits squarely in front of me and pinches the gap beside the vase. Turning left should swing me off that blocked line and onto the open planked walkway. From there I may be able to keep closing on the vases along this building.",
+        "With the wall corner no longer straight ahead, the raised wooden deck now runs clear in front of me and the blue and white vase stands at its right edge. I will step forward along this open lane to draw level with the vases rather than press against the wall again.",
+        "Moving up the deck has revealed a whole row of lidded vases lined along the building wall on my right, not just the single one. I will turn right to bring that row into the center of my view so I can pick out its far end and walk straight at it.",
+        "The row of vases now sits ahead and slightly right along the wall, with clear planking between me and them. I will walk forward down this veranda to close the remaining distance toward the far end of that row.",
+        "I am now among the vases, but the ones at the far right of the row are crowding the edge of my view while my heading still points down the walkway. Turning right should center that rightmost vase so I can step in on it directly.",
+        "The row of lidded porcelain jars now runs along the veranda to my right, and the blue and white one at the far right end sits just ahead of my heading. A short step forward should bring me right up beside it.",
+        "The rightmost vase in the row stands immediately beside me, close enough to touch. The task is complete, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t3_b/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Head toward the rightmost vase, then move to the wooden barrel.",
+    "Type": 3,
+    "Start_Pose": [
+        -11416.465,
+        3769.534,
+        1218.15,
+        0.0,
+        138.24,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -11416.465,
+            3769.534,
+            1218.15,
+            0.0,
+            138.24,
+            -0.0
+        ],
+        [
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+        ],
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+        ],
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+        ],
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
+        [
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+            0.0
+        ],
+        [
+            -11810.298,
+            4243.748,
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+        ],
+        [
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+            0.0,
+            -146.76,
+            0.0
+        ],
+        [
+            -11915.565,
+            4174.759,
+            1218.151,
+            0.0,
+            -171.76,
+            0.0
+        ],
+        [
+            -12040.124,
+            4156.721,
+            1218.151,
+            0.0,
+            -171.76,
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+        ],
+        [
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+        ],
+        [
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+            4138.931,
+            1218.151,
+            0.0,
+            -171.76,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The row of porcelain vases stands against the wooden hall well ahead and slightly to my left, past the corner of the building. The paved courtyard in front of me is open, so I will walk straight ahead to cut down that distance before refining my heading.",
+        "From here the vases sit off to my left while my body still faces along the building's front toward the far courtyard. A modest turn to the left should place the vase row nearer the center of my view so I can close on it in a straight line.",
+        "The three vases now sit near the middle of my view, lined up along the raised wooden deck of the hall. With the heading settled, walking forward is the direct way to shorten the remaining gap.",
+        "The vases have grown noticeably larger and stay roughly in line with my heading, so my aim is still good. I will keep walking forward toward them rather than spend a step correcting direction.",
+        "I can now pick out the individual jars, the dark one and the three painted porcelain vases, resting on the wooden decking just ahead. Another stride forward should bring me alongside that row.",
+        "The vases occupy much of the frame now, with the blue and white one at the end of the row closest to me on the right. I am not yet beside them, so I will step forward again to draw level.",
+        "The painted jars are close in front of me along the deck, but the nearest blue and white vase at the right end of the row is still a stride away. One more step forward should put me right beside it.",
+        "The blue and white vase at the right end of the row is directly beside me, filling the near corner of my view with the other jars just past it. I have reached the vases, so I mark arriving here before setting off along the walkway toward the wooden barrel.",
+        "The row of porcelain jars is crowding the bottom of my view and the plank wall is almost against my shoulder, so I have no room to swing around here. I will step back along the veranda to open some space before changing heading toward the wooden barrel out in the courtyard.",
+        "The jars have dropped back a little but still sit close in front of me, and the wall keeps my turning arc tight. Another step backward should give me enough clearance to rotate cleanly away from this porch line.",
+        "I now have clear planking behind me and the jars are set off to my left front. Turning right should swing my view off this wall and toward the open paved yard where I can look for the wooden barrel.",
+        "The corner post of the building still blocks most of my view, though stone paving and a bench are opening up on the right. I will keep rotating right to bring the courtyard fully in front of me.",
+        "The covered walkway now runs ahead of me and I can pick out a pale hooped barrel standing beside the crates further down the yard. One more turn to the right should place that barrel closer to the middle of my path so I can walk straight at it.",
+        "The hooped wooden barrel now sits ahead of me beside the stacked crate, with clear paving between us. I will walk forward to close that distance.",
+        "The barrel is close now, but it is tucked against the crate and a low bench right where I am walking, so a straight approach would run me into that clutter. Turning right should put the open courtyard in front of me and let me come alongside the barrel on clear ground.",
+        "The barrel is now off my left front with wide clear paving straight ahead. I will step forward to draw level with it rather than squeeze past the crates.",
+        "The wooden barrel with its metal hoops now sits at the far left edge of my view, clipped by the frame while the open courtyard fills the center. I will turn left to bring it back into the middle of my heading so I can walk straight at it.",
+        "The hooped wooden barrel now stands ahead of me along the covered walkway, roughly in line with my heading and with clear paving between us. I will step forward to close that remaining gap.",
+        "The barrel now looms large just ahead and slightly left, its rim below my eye level and the path to it still clear. One more step forward should bring me right up beside it.",
+        "The wooden barrel is directly beside me, its lid and hoops filling the near foreground at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t3_c/infos.json

@@ -0,0 +1,326 @@
+{
+    "Instruction": "Navigate to the wooden barrel, then proceed to the leftmost vase.",
+    "Type": 3,
+    "Start_Pose": [
+        -11416.465,
+        3769.534,
+        1218.15,
+        0.0,
+        138.24,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -11416.465,
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+        ],
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+        ],
+        [
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+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -11721.377,
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+        ],
+        [
+            -11721.377,
+            4220.231,
+            1218.151,
+            0.0,
+            88.24,
+            -0.0
+        ],
+        [
+            -11717.511,
+            4346.03,
+            1218.151,
+            0.0,
+            88.24,
+            -0.0
+        ],
+        [
+            -11713.646,
+            4471.83,
+            1242.897,
+            0.0,
+            88.24,
+            -0.0
+        ],
+        [
+            -11709.78,
+            4597.629,
+            1242.897,
+            0.0,
+            88.24,
+            -0.0
+        ],
+        [
+            -11709.78,
+            4597.629,
+            1242.897,
+            0.0,
+            113.24,
+            -0.0
+        ],
+        [
+            -11752.182,
+            4713.932,
+            1242.312,
+            0.0,
+            113.24,
+            -0.0
+        ],
+        [
+            -11754.902,
+            4767.216,
+            1242.884,
+            0.0,
+            113.24,
+            -0.0
+        ],
+        [
+            -11754.902,
+            4767.216,
+            1242.884,
+            0.0,
+            113.24,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the building corner blocks most of the courtyard, and the open ground with stored goods lies off to my right past that eave. I will turn right to swing my heading into that open lane so I can spot a wooden barrel to head for.",
+        "The long paved lane between the two wings is now open in front of me, with crates and a barrel on a cart down on the right and more stored casks along the left veranda. The stone floor ahead is clear, so I will walk forward to close on those barrels.",
+        "A pale wooden barrel beside the crates on the left veranda is now distinct, and it is still well down the lane. Nothing obstructs the paving in front of me, so I keep walking straight to shorten that gap.",
+        "The barrel by the crates on my left has grown noticeably and now sits roughly abreast of the lantern line, but it remains several paces off. My heading still points down the open lane, so another step forward should bring me nearer to it.",
+        "Two wooden barrels are now clearly set against the crates on the left side of the walkway, close enough to make out their hoops. I will advance again to draw level with them rather than turning while they are still ahead of me.",
+        "The two barrels fill much of my left foreground now, yet they still sit slightly ahead of my line rather than beside me. One more step forward should put me right alongside them before I turn to face them.",
+        "I am nearly level with the barrels, with one crowding the left edge of my view and the other just past it against the crates. Walking one more step should place me squarely beside them on the open paving.",
+        "I have drawn even with the wooden barrels, but they now sit off the left edge of my view while I face straight down the empty lane. Turning left should bring them squarely in front of me so I can close the last short distance to them.",
+        "The pale wooden barrel now stands just ahead of me at the edge of the raised platform, with a second one beside the stacked crates. It is still a stride or two out of close range, so I will walk forward to close that last gap and stand beside it.",
+        "The wooden barrel fills the near right of my view, its open rim within arm's reach beside the stacked crates. I have arrived at the barrel, so I mark reaching it here. Now I turn my attention to the porcelain vases lining the veranda and set off for the leftmost of them.",
+        "Standing this tight against the barrel and the crate stack leaves me almost nothing to swing through. Backing up a step should pull me clear of the barrel and open enough room to turn about toward the vases along the veranda.",
+        "With a little clearance from the barrel now, my heading still points into the crates and the shuttered shopfront. I will turn left to begin swinging away from this corner and back toward the open courtyard where the vases stand.",
+        "The barrels and the paper screen wall still occupy nearly my whole view, so I have not yet cleared this storage corner. Another left turn should keep rotating me toward the open ground.",
+        "The bench and the lit paper wall are ahead of me, but at the far left edge I can see a torii and open paving beyond the building. I will turn left again to bring that opening in front of me.",
+        "The wall and bench still take up the right half of my view while the courtyard with its crates and lantern posts is only entering on the left. Turning left once more should center that open route for me.",
+        "The lantern-hung plaza now lies to my left while the shopfront wall still crowds my right side. One more left turn should point me squarely down the open paving so I can walk toward the vases on the veranda.",
+        "With the barrels behind me, I am now facing a wide paved courtyard framed by lantern-hung halls, and no porcelain vase is visible from here. The stone ground ahead is clear of crates and benches, so I will walk forward to bring the covered walkways into better view.",
+        "The buildings on either side are opening up as I advance, but the vases I want are still not in sight along this stretch. The paving continues unobstructed, so another step forward should let me see past the crates stacked by the near hall.",
+        "Straight ahead the courtyard just runs off toward distant halls, while a raised wooden veranda edges into the lower right of my view and I have not yet checked what stands on it. I will turn right to face that platform and the buildings beside it.",
+        "Turning has put a blue and white porcelain vase on the raised wooden deck to my right, which is the kind of piece I am looking for. I will walk forward to close the gap and see whether more of them stand in a row along that deck.",
+        "The wooden deck now runs along my right, though its near edge hides whatever sits farther back on it. Another step forward along the paving should carry me level with the deck so the pieces resting there come into view.",
+        "I am now beside the raised wooden platform, and continuing straight would take me past it toward the far gate. I will turn right so the length of the deck, and the vases standing on it, come in front of me.",
+        "Two porcelain vases have appeared at the right edge of my view on the veranda, but they sit too far to the side for a straight approach. One more turn right should place the deck and its row of vases squarely ahead of me.",
+        "The row of porcelain vases now stands clearly ahead on the wooden veranda to my right, with the plank walkway open in front of me. I will step forward along it to reach the row and judge which vase sits at its left end.",
+        "Porcelain vases line the veranda on my right, and the row continues past them to a darker wide-mouthed jar farther down the boards. I am still level with the near ones, so I will walk forward along the walkway toward the far end of that row.",
+        "Only one blue vase is still beside me, and the grey wide jar that ends the row stands ahead against the panelled wall. I will keep walking down the boards to close the remaining gap to it.",
+        "The grey end jar of the vase row is now close on my right against the panelled wall, but my heading still runs straight down the walkway past it. I will turn right so it sits in front of me rather than off my shoulder.",
+        "The turn brought the wide grey vase in front of me, with the blue vases now behind at the right edge. A short walk forward should carry me up to it.",
+        "The wide vase now fills the lower centre of my view, only a step away on the boards. I will take one more short step forward to stand directly beside it.",
+        "The end vase of the row stands directly at my feet, its rim right below me. My destination is reached, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-012423_y-006811_z001218_t1_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Locate the wooden cart with large spoked wheels and open sides without any side panels; navigate to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -12423.411,
+        -6811.051,
+        1218.15,
+        0.0,
+        -149.76,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -12423.411,
+            -6811.051,
+            1218.15,
+            0.0,
+            -149.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            -124.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            -99.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            -74.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            -49.76,
+            0.0
+        ],
+        [
+            -12342.107,
+            -6907.125,
+            1218.151,
+            0.0,
+            -49.76,
+            0.0
+        ],
+        [
+            -12342.107,
+            -6907.125,
+            1218.151,
+            0.0,
+            -24.76,
+            0.0
+        ],
+        [
+            -12227.819,
+            -6959.837,
+            1218.151,
+            0.0,
+            -24.76,
+            0.0
+        ],
+        [
+            -12113.53,
+            -7012.549,
+            1218.151,
+            0.0,
+            -24.76,
+            0.0
+        ],
+        [
+            -11999.241,
+            -7065.261,
+            1218.151,
+            0.0,
+            -24.76,
+            0.0
+        ],
+        [
+            -11884.952,
+            -7117.973,
+            1218.151,
+            0.0,
+            -24.76,
+            0.0
+        ],
+        [
+            -11849.177,
+            -7130.282,
+            1218.151,
+            0.0,
+            -24.76,
+            0.0
+        ],
+        [
+            -11849.177,
+            -7130.282,
+            1218.151,
+            0.0,
+            -24.76,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this starting spot I only see a long timber hall with paper screens, a paved courtyard and a strip of lawn, and no wooden cart anywhere in view. I will turn right to begin a steady scan of the courtyard in one consistent direction. Open paving to the right suggests more of the yard, and possibly stored objects, lies that way.",
+        "The new heading brings a large tree and more of the grass plot into view, but still nothing resembling a cart with large spoked wheels. Nothing here justifies stopping the sweep, so I will keep rotating right by the same amount. Continuing in one direction should reveal the courtyard sides I have not yet inspected.",
+        "Ahead I now see the far side of the courtyard with more shuttered halls and a bright gap between buildings, yet no cart stands in the open paving. The scan has not yet covered the ground to my right where taller structures rise. I will turn right again to keep uncovering unseen parts of the yard.",
+        "This heading shows the corner where a low roofed wing meets a taller multi story hall, but the target cart is still not in sight. The remaining unseen sector lies just further right, past that tall building's base. I will continue the same rightward rotation to bring that area into view.",
+        "The scan has paid off: near the base of the tall hall on my right I can make out a wooden cart with two large spoked wheels and open sides, standing beside a barrel. It is still far across the paving, so I will walk forward to close that distance. The stone yard between us looks clear of obstacles.",
+        "The cart with its big spoked wheels is now clearly closer, but it sits to the right of my heading rather than straight ahead. I will turn right to bring it toward the center of my view before walking on. That should keep my approach path aimed directly at it.",
+        "After the turn the cart with its two large spoked wheels and open frame sits near the middle of my view, flanked by a barrel and a jar. The heading looks good, so I will step forward along the open paving toward it. It should grow noticeably nearer with this advance.",
+        "The cart is larger in view now, with both spoked wheels and the bare open bed clearly visible against the building wall, and it stays close to my line of travel. I am still several paces away, too far to count as having reached it. I will keep walking forward to close the remaining gap.",
+        "The wooden cart with its two large spoked wheels and completely open flatbed sides sits ahead of me against the teal timber wall, clearly matching the target described in my task. It is still several paces away and small in my view, so I will keep walking straight toward it along the open paving.",
+        "The cart has grown noticeably larger and I can now make out its bare wooden frame, exposed shaft poles, and the absence of any side panels, confirming it is the object I am looking for. I am still slightly short of it, so I continue walking forward to close the remaining gap.",
+        "The open-framed cart now fills the lower center of my view with its wheel and shaft poles close in front of me. A short final step forward should place me directly beside it rather than just short of it.",
+        "The open-sided cart with its large spoked wheels stands directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-012423_y-006811_z001218_t1_c/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Look for the wooden cart fitted with raised side boards forming a cargo bed, and after finding it, walk to its location.",
+    "Type": 1,
+    "Start_Pose": [
+        -12423.411,
+        -6811.051,
+        1218.15,
+        0.0,
+        -149.76,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -12423.411,
+            -6811.051,
+            1218.15,
+            0.0,
+            -149.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            -124.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            -99.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            -74.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            -49.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            -24.76,
+            0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            0.24,
+            -0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            25.24,
+            -0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            50.24,
+            -0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            75.24,
+            -0.0
+        ],
+        [
+            -12423.411,
+            -6811.051,
+            1218.151,
+            0.0,
+            100.24,
+            -0.0
+        ],
+        [
+            -12445.785,
+            -6687.196,
+            1218.151,
+            0.0,
+            100.24,
+            -0.0
+        ],
+        [
+            -12468.16,
+            -6563.342,
+            1218.151,
+            0.0,
+            100.24,
+            -0.0
+        ],
+        [
+            -12490.534,
+            -6439.488,
+            1218.151,
+            0.0,
+            100.24,
+            -0.0
+        ],
+        [
+            -12512.908,
+            -6315.634,
+            1218.151,
+            0.0,
+            100.24,
+            -0.0
+        ],
+        [
+            -12535.282,
+            -6191.779,
+            1218.151,
+            0.0,
+            100.24,
+            -0.0
+        ],
+        [
+            -12557.656,
+            -6067.925,
+            1218.151,
+            0.0,
+            100.24,
+            -0.0
+        ],
+        [
+            -12557.656,
+            -6067.925,
+            1218.151,
+            0.0,
+            100.24,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From where I stand, the view is filled by the long wooden hall and its sliding paper panels, with only paved stone and a strip of lawn in the open ground, and no cart of any kind. Since nothing here matches a wooden cart with raised side boards, I will turn right to begin a steady scan of the surrounding courtyard.",
+        "The rotation has brought a large tree and more of the same building frontage into view, but the paving around it is still bare of any wheeled object. I will keep turning right in the same direction so the scan stays consistent and uncovers the parts of the courtyard still hidden behind me.",
+        "Ahead I now see the far side of the courtyard with a lit corridor and a bright gap between buildings, yet no cart stands on the open stone. Continuing the same rightward sweep should reveal the next unseen sector rather than repeating ground I have just checked.",
+        "The view has swung toward a taller hall and a shaded veranda, but the ground in front of it is still empty pavement and lawn edging. I will turn right again to keep the search moving toward the parts of the plaza I have not yet inspected.",
+        "Two spoked wheeled handcarts and a barrel are now visible against the green-trimmed hall on the right, but they read as low flat frames without the raised side boards that would form a cargo bed. Because neither clearly matches the described cart, I will continue the rightward scan to check the rest of the plaza before committing.",
+        "The flat handcart and barrels sit close on my left now, and I still cannot see any raised boarding that would make a cargo bed on them. Turning right again should open the wide market street and the far side of the square, where a better matching cart may be parked.",
+        "The barrels and the low cart have slipped to the far left edge, and the space in front of me is a broad open plaza with lantern posts and a timber archway, with no boarded cart on it. I will keep rotating right to bring the still unseen ground beyond that archway into view.",
+        "Under the arch I see decorated stalls and a long shuttered wooden wall, and a spoked wheel is just appearing at the right edge near that wall. I will turn right once more to bring that partly hidden object fully into view and judge whether it has the raised side boards I am looking for.",
+        "The open plaza ahead shows only the great arched hall and lantern-lit stalls, with no cart in the clear paving in front of me. At the far right edge of my view I can just make out a spoked wooden wheel beside the building wall, so I will keep rotating right in the same direction to bring that object fully into view.",
+        "The rotation has brought a wooden two-wheeled cart with tall planked side boards into view, standing against the wall of the hall ahead. It still sits right of my heading, so one more right turn should place it close to the center of my path before I start walking.",
+        "The wooden cart with its raised planked cargo bed now sits roughly ahead of me beside the hall, matching the target description. The paving between us is open and flat, so I will walk forward to close the distance.",
+        "The cart has grown noticeably larger and its wheel and boarded sides are clearer, confirming I am closing in on the right object. The ground ahead remains unobstructed, so I will continue walking straight toward it.",
+        "The cart's boarded cargo bed and long shafts are now distinctly visible against the wooden wall, slightly left of my heading. I am still several paces away, so I will keep stepping forward toward it.",
+        "The cart now occupies a large part of my left-forward view, with its rusted wheel and raised side panels close by. A few more steps should bring me right up beside it, so I will advance again.",
+        "The cart is very close now, its planked sides and wheel dominating the left side of my view. I will take another step forward to draw level with it rather than stopping short.",
+        "The wooden cart's raised board sides and large wheel are directly beside me at arm's length on the left. One final short step should put me squarely at its location.",
+        "The wooden cart with raised plank side boards and its spoked wheel now fills the left of my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-012652_y005091_z001238_t3_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Walk to the wooden cart with large wheels, then approach the wooden barrels beside the stall.",
+    "Type": 3,
+    "Start_Pose": [
+        -12651.868,
+        5090.941,
+        1238.251,
+        0.0,
+        69.12,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -12651.868,
+            5090.941,
+            1238.251,
+            0.0,
+            69.12,
+            -0.0
+        ],
+        [
+            -12651.868,
+            5090.941,
+            1238.251,
+            0.0,
+            94.12,
+            -0.0
+        ],
+        [
+            -12660.911,
+            5216.475,
+            1238.251,
+            0.0,
+            94.12,
+            -0.0
+        ],
+        [
+            -12669.953,
+            5342.008,
+            1218.15,
+            0.0,
+            94.12,
+            -0.0
+        ],
+        [
+            -12678.995,
+            5467.542,
+            1218.15,
+            0.0,
+            94.12,
+            -0.0
+        ],
+        [
+            -12688.038,
+            5593.076,
+            1218.15,
+            0.0,
+            94.12,
+            -0.0
+        ],
+        [
+            -12697.08,
+            5718.61,
+            1218.15,
+            0.0,
+            94.12,
+            -0.0
+        ],
+        [
+            -12697.08,
+            5718.61,
+            1218.15,
+            0.0,
+            94.12,
+            -0.0
+        ],
+        [
+            -12690.442,
+            5626.448,
+            1218.15,
+            0.0,
+            94.12,
+            -0.0
+        ],
+        [
+            -12690.442,
+            5626.448,
+            1218.15,
+            0.0,
+            69.12,
+            -0.0
+        ],
+        [
+            -12690.442,
+            5626.448,
+            1218.15,
+            0.0,
+            44.12,
+            -0.0
+        ],
+        [
+            -12690.442,
+            5626.448,
+            1218.15,
+            0.0,
+            19.12,
+            -0.0
+        ],
+        [
+            -12571.526,
+            5667.673,
+            1218.15,
+            0.0,
+            19.12,
+            -0.0
+        ],
+        [
+            -12452.61,
+            5708.898,
+            1218.15,
+            0.0,
+            19.12,
+            -0.0
+        ],
+        [
+            -12452.61,
+            5708.898,
+            1218.15,
+            0.0,
+            -5.88,
+            0.0
+        ],
+        [
+            -12327.413,
+            5696.004,
+            1228.041,
+            0.0,
+            -5.88,
+            0.0
+        ],
+        [
+            -12327.413,
+            5696.004,
+            1228.041,
+            0.0,
+            -5.88,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The wooden cart with the big spoked wheels sits well off to my right across the paved square, while my body faces the lanterns and stall straight ahead. Turning right should bring that cart into the middle of my view so I can walk a straight line to it.",
+        "The wooden cart with its large spoked wheel now sits near the center of my view, with clear open paving between me and it. I will walk forward to close that gap.",
+        "The cart has grown noticeably larger and its shafts now rest across the stones ahead of me, so my heading is good. Nothing blocks the paved stretch between us, so I keep walking forward.",
+        "The cart's plank bed and wheel hub are clearly detailed now, but I am still several paces short of standing beside it. I continue forward on the same line.",
+        "The cart now dominates the view, its tall side boards rising above the wooden platform to my left. A couple more strides should put me right alongside it, so I step forward again.",
+        "The wheel rim and side planks fill much of my view and the cart is nearly within arm's reach. One more step forward should bring me fully up against it.",
+        "The curved rim, the spokes and the bolted side planks fill my whole view at arm's length, so I am standing right at the wooden cart with the large wheels. I have arrived at it. I mark that arrival and turn my attention to the wooden barrels beside the stall.",
+        "Pressed this close, the cart's planks and wheel block almost everything, and I cannot see the stall platform where the barrels stand. Backing up a step should open enough space and view for me to head toward those barrels.",
+        "The wooden cart and its big spoked wheel still fill most of my view, and I have already marked reaching it. The stalls with their timber platform and hanging lanterns lie off to my left, so I will turn that way to bring the barrel area into view.",
+        "The cart has swung to my right edge and the covered stall with its green canopy, jars and red lantern is now ahead-left. I still cannot see any barrels, so I will keep rotating left to sweep more of the stall frontage into view.",
+        "Pale wooden barrels have appeared at the far left edge of my view, resting on the planked deck near the stall benches. They are too far off to the side to walk toward directly, so another left turn should bring them nearer the middle of my view.",
+        "The stacked wooden barrels now sit ahead of me on the raised plank deck, with the stall counter and lantern just to their right. My heading points down the open stone lane toward them, so I will walk forward to close the gap.",
+        "The barrels have grown noticeably larger and the stall's jars and bench are clear on my right, confirming my line is good. Still several paces of open decking separate us, so I will keep walking forward.",
+        "The barrels are now close, but they have drifted to my left and the upright one is being clipped by the edge of my view. A left turn should square me onto them before I take the last step.",
+        "The upright barrel and the one lying on its side are centered ahead of me on the plank decking, with the stall's bench and basket just to their right. One more step forward should bring me right up beside them.",
+        "The wooden barrels are directly in front of me on the stall's plank decking, within arm's reach. The task is complete, so there is no reason to move further."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-012652_y005091_z001238_t3_b/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Head toward the wooden barrels beside the stall, then move to the wooden cart.",
+    "Type": 3,
+    "Start_Pose": [
+        -12651.868,
+        5090.941,
+        1238.251,
+        0.0,
+        69.12,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -12651.868,
+            5090.941,
+            1238.251,
+            0.0,
+            69.12,
+            -0.0
+        ],
+        [
+            -12607.011,
+            5208.535,
+            1238.251,
+            0.0,
+            69.12,
+            -0.0
+        ],
+        [
+            -12607.011,
+            5208.535,
+            1238.251,
+            0.0,
+            44.12,
+            -0.0
+        ],
+        [
+            -12516.658,
+            5296.153,
+            1218.15,
+            0.0,
+            44.12,
+            -0.0
+        ],
+        [
+            -12426.306,
+            5383.772,
+            1218.15,
+            0.0,
+            44.12,
+            -0.0
+        ],
+        [
+            -12335.954,
+            5471.39,
+            1218.15,
+            0.0,
+            44.12,
+            -0.0
+        ],
+        [
+            -12245.602,
+            5559.008,
+            1225.223,
+            0.0,
+            44.12,
+            -0.0
+        ],
+        [
+            -12245.602,
+            5559.008,
+            1225.223,
+            0.0,
+            44.12,
+            -0.0
+        ],
+        [
+            -12245.602,
+            5559.008,
+            1225.223,
+            0.0,
+            69.12,
+            -0.0
+        ],
+        [
+            -12245.602,
+            5559.008,
+            1225.223,
+            0.0,
+            94.12,
+            -0.0
+        ],
+        [
+            -12245.602,
+            5559.008,
+            1225.223,
+            0.0,
+            119.12,
+            -0.0
+        ],
+        [
+            -12306.85,
+            5668.959,
+            1228.08,
+            0.0,
+            119.12,
+            -0.0
+        ],
+        [
+            -12306.85,
+            5668.959,
+            1228.08,
+            0.0,
+            144.12,
+            -0.0
+        ],
+        [
+            -12408.827,
+            5742.724,
+            1218.15,
+            0.0,
+            144.12,
+            -0.0
+        ],
+        [
+            -12408.827,
+            5742.724,
+            1218.15,
+            0.0,
+            169.12,
+            -0.0
+        ],
+        [
+            -12532.424,
+            5766.48,
+            1218.15,
+            0.0,
+            169.12,
+            -0.0
+        ],
+        [
+            -12630.357,
+            5785.765,
+            1218.15,
+            0.0,
+            169.12,
+            -0.0
+        ],
+        [
+            -12630.357,
+            5785.765,
+            1218.15,
+            0.0,
+            169.12,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I can see the pair of wooden barrels standing on the planked platform beside the covered stall, off to my left, with the wooden cart parked further right against the stone wall. The barrels are my first stop, so I will walk forward across the open paving to close the gap before adjusting my heading.",
+        "The barrels beside the stall now sit left of my centre line, so walking straight would carry me past them toward the cart instead. I will turn left to bring the barrels and their plank deck squarely in front of me.",
+        "The turn has placed the barrels and the stall's plank platform ahead of me, with clear stone paving in between. I will step forward to cut down the remaining distance to the barrels.",
+        "The two barrels are noticeably larger now and sit just right of centre on the raised planking, so my line is good. I will keep walking forward to draw up beside them.",
+        "The barrels now fill much of the middle of my view and the deck boards run right up toward my feet. A further step forward should bring me alongside them rather than leaving me short.",
+        "I am nearly level with the barrels, their staves and rims clearly visible just ahead on the platform. One more step forward should put me right at them beside the stall.",
+        "The two wooden barrels loom directly in front of me at arm's reach on the stall's plank deck, with the stall counter and its lanterns right beside them. I have arrived at the barrels beside the stall. I mark reaching them and now set off for the wooden cart parked along the stone wall.",
+        "Standing at the barrels, my view is filled by them and the stall, and the wooden cart is not in front of me; it lies further along the stone wall to my right. I will turn right to swing my heading toward that side of the courtyard.",
+        "The barrels are right beside me at the stall decking, so my remaining destination is the wooden cart, which is not in this view of the stone wall and benches. I will keep pivoting right to sweep the open paving on that side for it.",
+        "This heading still shows only the stall bench, hanging lantern and the grey wall, with the barrels sliding off to my left. The cart has not come into view yet, so I will turn right once more to continue scanning toward the open courtyard.",
+        "The wooden cart with its large spoked wheel is now visible ahead on the right, standing on the paving beyond the stall decking. The way across the stones looks clear, so I will walk forward to close the gap toward it.",
+        "After stepping forward the cart sits well off to my right, partly cut by the edge of my view, while the stall post and lantern block the center. Turning right should bring the cart into the middle of my path before I advance again.",
+        "The cart now stands clearly ahead of me, its bed and wheel unobstructed across open flagstones. I will step forward to shorten the distance to it.",
+        "The cart has grown much larger but sits right of my centerline, with the stall decking taking up the left of my view. A small pivot to the right should square me onto the cart for a straight final approach.",
+        "The cart is centered ahead of me now, its wheel and side boards filling much of my view with clear ground in between. I will walk forward to come up beside it.",
+        "The cart's plank side and wheel now dominate my view, so only a short gap of paving remains. I will take one more step forward to stand right at it.",
+        "The wooden cart's wheel and plank bed fill my view at arm's length. I am at the cart, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-012683_y005050_z001246_t0_b/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Head toward the wooden barrel under the market shelter.",
+    "Type": 0,
+    "Start_Pose": [
+        -12683.434,
+        5050.017,
+        1245.624,
+        0.0,
+        78.72,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -12683.434,
+            5050.017,
+            1245.624,
+            0.0,
+            78.72,
+            -0.0
+        ],
+        [
+            -12683.434,
+            5050.017,
+            1245.624,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            -12608.959,
+            5151.476,
+            1238.251,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            -12534.484,
+            5252.936,
+            1237.964,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            -12460.009,
+            5354.395,
+            1218.15,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            -12385.534,
+            5455.854,
+            1218.15,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            -12311.06,
+            5557.314,
+            1224.498,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            -12252.809,
+            5639.264,
+            1228.25,
+            0.0,
+            53.72,
+            -0.0
+        ],
+        [
+            -12252.809,
+            5639.264,
+            1228.25,
+            0.0,
+            53.72,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the pair of wooden barrels sitting on the planked platform beneath the market shelter, off to the left of my current heading while the handcart sits ahead on the right. I will turn left so the barrels move toward the middle of my view and give me a straight approach lane.",
+        "The barrels now sit near the center of my view under the lanterned shelter, with clear stone paving between me and them. I will move forward along this heading to start closing the gap.",
+        "The barrels and the wooden platform edge have grown larger and stay ahead of me, so my heading is still good. I will continue forward since the paving in front remains clear.",
+        "The barrels are clearly resolved on the planked deck and the shelter posts frame them, confirming I am on the right line. Another forward step should bring me close to the platform edge without needing a turn.",
+        "The wooden deck now fills the lower part of my view and the two barrels stand just beyond it at close range. I will keep advancing to reach the barrels themselves.",
+        "I am now on the planking with both barrels standing directly in front of me at nearly full height. One more forward step should place me right at the barrels under the shelter.",
+        "The two barrels loom immediately ahead, filling the lower center of my view, so only a short final step remains. I will advance once more to close that last bit of distance before stopping.",
+        "A wooden barrel lid is directly at my feet under the market shelter roof. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-012895_y001344_z001224_t1_a/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Discover the red lantern hanging from the open shed structure rather than from the building eaves, then reach that lantern.",
+    "Type": 1,
+    "Start_Pose": [
+        -12894.851,
+        1343.743,
+        1223.786,
+        0.0,
+        151.68,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "LookUp",
+        "TurnLeft",
+        "LookUp",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -12894.851,
+            1343.743,
+            1223.786,
+            0.0,
+            151.68,
+            -0.0
+        ],
+        [
+            -12894.851,
+            1343.743,
+            1223.824,
+            0.0,
+            176.68,
+            -0.0
+        ],
+        [
+            -12894.851,
+            1343.743,
+            1223.824,
+            0.0,
+            -158.32,
+            0.0
+        ],
+        [
+            -12894.851,
+            1343.743,
+            1223.824,
+            0.0,
+            -133.32,
+            0.0
+        ],
+        [
+            -12894.851,
+            1343.743,
+            1223.824,
+            0.0,
+            -108.32,
+            0.0
+        ],
+        [
+            -12934.411,
+            1224.263,
+            1218.015,
+            0.0,
+            -108.32,
+            0.0
+        ],
+        [
+            -12973.972,
+            1104.783,
+            1224.243,
+            0.0,
+            -108.32,
+            0.0
+        ],
+        [
+            -13013.532,
+            985.303,
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+            0.0,
+            -108.32,
+            0.0
+        ],
+        [
+            -13053.093,
+            865.823,
+            1218.151,
+            0.0,
+            -108.32,
+            0.0
+        ],
+        [
+            -13053.093,
+            865.823,
+            1218.151,
+            0.0,
+            -83.32,
+            0.0
+        ],
+        [
+            -13038.452,
+            740.819,
+            1218.151,
+            0.0,
+            -83.32,
+            0.0
+        ],
+        [
+            -13023.812,
+            615.814,
+            1218.625,
+            0.0,
+            -83.32,
+            0.0
+        ],
+        [
+            -13023.812,
+            615.814,
+            1218.625,
+            0.0,
+            -83.32,
+            0.0
+        ],
+        [
+            -13023.812,
+            615.814,
+            1218.625,
+            0.0,
+            -108.32,
+            0.0
+        ],
+        [
+            -13023.812,
+            615.814,
+            1218.625,
+            0.0,
+            -108.32,
+            0.0
+        ],
+        [
+            -13023.812,
+            615.814,
+            1218.625,
+            0.0,
+            -108.32,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see a shuttered shoji wall ahead and a few small lanterns tucked under the building eaves to my left, which the task explicitly tells me to rule out. No open timber shed is in view, so I will turn right to begin a steady scan of the surrounding courtyard.",
+        "The wall still blocks most of my view, but an opening on the right now shows a blossoming tree and a railed courtyard beyond, which is a more promising area for a freestanding shed. I will keep turning right in the same direction to bring that open space fully into view.",
+        "The courtyard with its red pillars and railing is now mostly open in front of me, and I can just catch warm lantern glow along the right edge of my view. I will continue the same rightward scan to see what is hanging over there.",
+        "On the right I can now see a large red lantern hanging beneath a separate open timber frame set over a raised deck with crates, clearly distinct from the smaller lanterns strung along the building eaves above it. I will turn right once more to bring that shed structure toward the center of my heading.",
+        "The open shed with its crates and the single large red lantern hanging from its frame is now roughly ahead of me, well clear of the eave lanterns strung along the building. I will walk forward across the paving to close the distance to that lantern.",
+        "The shed lantern has grown noticeably larger and brighter ahead of me, confirming I am closing on the right target rather than the small eave lights. The ground ahead is still open paving, so I will keep walking forward.",
+        "The open shed frame, its raised deck and the hanging red lantern now fill much of the right half of my view, but I am still several paces short of standing beneath it. I will continue walking forward to reach the structure.",
+        "I am nearly at the edge of the shed's wooden deck, with the large red lantern hanging just ahead and slightly right beneath the open frame. One more step forward should bring me right under the structure holding it.",
+        "The large glowing lantern hanging beneath the open timber shed sits slightly right of my heading, clearly separate from the small lanterns strung along the building eaves. I will turn right to put that shed structure and its lantern squarely in front of me before closing the distance.",
+        "The shed frame with its wooden posts, crates and the big red lantern now fills the view directly ahead of me. I will walk forward to close the remaining gap toward the lantern hanging under that open structure.",
+        "The lantern now looms large at my upper left, so I am nearly beneath the shed's raised wooden deck and canopy. I will step forward again to move fully under the structure and right up to the lantern.",
+        "At this distance the crates and deck fill my forward view while the lantern has risen above my line of sight, with only a small lantern visible high on the right. I will raise my gaze to bring the shed's hanging lantern back into view overhead.",
+        "Looking up shows the dark shed roof beams with only the red fabric edge of the big lantern clipped at the far left of my view. I will turn left to swing that lantern back toward the center of my view so I can confirm I am beside it.",
+        "With my heading corrected, the lantern's red cloth hangs at the upper left just above my level view under the shed roof. I will look up again to see the whole lantern and its suspension from the shed beam directly overhead.",
+        "The glowing red lantern hangs directly overhead from the open shed's beam, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t0_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Walk to the golden lion statue.",
+    "Type": 0,
+    "Start_Pose": [
+        -13013.809,
+        4958.143,
+        1245.624,
+        0.0,
+        -34.56,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -13013.809,
+            4958.143,
+            1245.624,
+            0.0,
+            -34.56,
+            0.0
+        ],
+        [
+            -12910.16,
+            4886.747,
+            1245.624,
+            0.0,
+            -34.56,
+            0.0
+        ],
+        [
+            -12910.16,
+            4886.747,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12786.048,
+            4865.844,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12661.937,
+            4844.942,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12537.826,
+            4824.039,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12413.715,
+            4803.136,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12289.604,
+            4782.234,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12175.522,
+            4763.221,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12175.522,
+            4763.221,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this corner of the tatami hall I can already spot the golden lion statue sitting against the far paper-screened wall, well to the right of my heading. The open floor straight ahead is clear, so I will step forward to begin closing the large gap before refining my heading.",
+        "The statue still sits off to the right side of my view rather than in front of me, so walking straight would carry me past it. I will turn right to bring the golden lion toward the center of my heading.",
+        "The golden lion now sits close to the middle of my view with the weapon rack beside it, so my heading is pointed at the target. The mat floor between us is empty, so I will advance straight to shorten the distance.",
+        "The statue has grown noticeably larger and stays centered ahead of me, confirming the heading is good. I will keep stepping forward since nothing blocks the mats between me and it.",
+        "I can now see the lion's face and paws clearly, with the dark stacked slabs to its left and the rack to its right, so I am still on line. I will continue forward because I am not yet close enough to be at the statue.",
+        "The golden lion fills more of my view directly ahead and the seam in the mats runs straight to it. I will take another step forward to keep closing the last stretch.",
+        "The statue is now large in front of me, its head near my eye level and its paws close to the floor edge of my view. I will move forward once more to reach standing distance beside it.",
+        "The golden lion is right in front of me and nearly fills my view, but there is still a small step of floor between us. I will advance a final short step to stand directly at the statue.",
+        "The golden lion statue fills the lower left of my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t0_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Approach the wooden rack displaying three polearm blades beside the golden statue.",
+    "Type": 0,
+    "Start_Pose": [
+        -13013.809,
+        4958.143,
+        1245.624,
+        0.0,
+        -34.56,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -13013.809,
+            4958.143,
+            1245.624,
+            0.0,
+            -34.56,
+            0.0
+        ],
+        [
+            -13013.809,
+            4958.143,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12889.697,
+            4937.24,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12765.586,
+            4916.338,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12641.475,
+            4895.435,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12517.364,
+            4874.532,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12393.253,
+            4853.63,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12393.253,
+            4853.63,
+            1245.624,
+            0.0,
+            15.44,
+            -0.0
+        ],
+        [
+            -12271.936,
+            4887.137,
+            1245.624,
+            0.0,
+            15.44,
+            -0.0
+        ],
+        [
+            -12150.62,
+            4920.644,
+            1245.624,
+            0.0,
+            15.44,
+            -0.0
+        ],
+        [
+            -12055.865,
+            4954.528,
+            1245.624,
+            0.0,
+            15.44,
+            -0.0
+        ],
+        [
+            -12055.865,
+            4954.528,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12055.865,
+            4954.528,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the doorway end of this tatami hall I can see the golden lion statue far ahead on the right side of the room, with the wooden rack of three polearms standing just beside it. My current heading points too far toward the left corridor and open sliding doors, so the target sits off to my right. I will turn right to bring the statue and its adjacent weapon rack closer to the center of my view before walking.",
+        "The statue and the wooden rack holding three polearms now sit near the middle of my view, so my heading is usable for a straight approach. The floor between me and them is open tatami with no obstruction, so I will walk forward to start closing the long distance.",
+        "The statue and the rack of three polearms have grown slightly larger and remain ahead of me, confirming the previous step closed distance in the right direction. They are still far across the hall, so I will keep walking forward along the same clear line.",
+        "The wooden rack with its three blades and the golden statue beside it are now clearly resolved against the far paper wall, but they remain several strides away. Nothing blocks the tatami between us, so I will continue advancing straight toward them.",
+        "The statue and the polearm rack fill more of my view and the dark floor mats to their left are now visible, so I am steadily closing on the alcove. I still have room before reaching them, so I will take another step forward.",
+        "The golden statue and the three mounted polearms are close enough that I can see the individual blades and their stand legs, but I am not yet at a comfortable viewing distance. The tatami directly ahead is still clear, so I will walk forward again to shorten the gap.",
+        "I am now near the far end of the hall, with the golden statue looming just left of center and the three polearm blades on their wooden rack sitting to its right. Since the rack itself is my target and it lies right of my current heading, I will turn right to place the rack squarely in front of me.",
+        "The turn worked, and the wooden rack with its three polearm blades now stands centered in my view with the statue pushed to the left edge. A short stretch of tatami still separates me from the stand, so I will step forward to finish closing on it.",
+        "The wooden rack with its three polearm blades now stands squarely ahead of me against the paper screens, with only a short stretch of tatami between us. My heading is already centered on it, so I will step forward again to close that remaining gap.",
+        "The rack's crossbar and the three mounted blades now loom large just to my left front, so I am nearly at the display. One more short step forward should bring me right up beside the stand rather than leaving me a pace short of it.",
+        "I am now right at the stand, but the near upright post fills the middle of my view and the blades have slipped to the far left edge. Turning left should swing my heading back onto the three polearms so the display sits properly in front of me.",
+        "The wooden rack's mounted polearm blade stands directly before me at arm's length. The approach task is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t5_a_p/infos.json

@@ -0,0 +1,221 @@
+{
+    "Instruction": "Lift the candelabra at the golden lion statue.",
+    "Type": 5,
+    "Start_Pose": [
+        -13013.809,
+        4958.143,
+        1245.624,
+        0,
+        -34.56,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -12141.861,
+        4688.037,
+        1170.598,
+        0,
+        90,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -13013.809,
+            4958.143,
+            1245.624,
+            0,
+            -34.56,
+            0
+        ],
+        [
+            -12910.16,
+            4886.747,
+            1245.624,
+            0.0,
+            -34.56,
+            0.0
+        ],
+        [
+            -12806.511,
+            4815.351,
+            1245.624,
+            0.0,
+            -34.56,
+            0.0
+        ],
+        [
+            -12806.511,
+            4815.351,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12682.4,
+            4794.449,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12558.288,
+            4773.546,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12434.177,
+            4752.643,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12310.066,
+            4731.74,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12310.066,
+            4731.74,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ],
+        [
+            -12310.066,
+            4731.74,
+            1245.624,
+            0.0,
+            -9.56,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -12141.861,
+            4688.037,
+            1170.598,
+            0.0,
+            90.0,
+            -0.0
+        ],
+        [
+            -12141.861,
+            4688.037,
+            1170.598,
+            0.0,
+            90.0,
+            -0.0
+        ],
+        [
+            -12141.861,
+            4688.037,
+            1170.598,
+            0.0,
+            90.0,
+            -0.0
+        ],
+        [
+            -12141.861,
+            4688.037,
+            1170.598,
+            0.0,
+            90.0,
+            -0.0
+        ],
+        [
+            -12141.861,
+            4688.037,
+            1170.598,
+            0.0,
+            90.0,
+            -0.0
+        ],
+        [
+            -12141.861,
+            4688.037,
+            1170.598,
+            0.0,
+            90.0,
+            -0.0
+        ],
+        [
+            -12141.861,
+            4688.037,
+            1170.598,
+            0.0,
+            90.0,
+            -0.0
+        ],
+        [
+            -12141.861,
+            4688.037,
+            1170.598,
+            0.0,
+            90.0,
+            -0.0
+        ],
+        [
+            -12307.121,
+            4752.899,
+            1215.731,
+            -28.202,
+            40.584,
+            1.862
+        ],
+        [
+            -12307.121,
+            4752.899,
+            1215.731,
+            -28.202,
+            40.584,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        912.8,
+        793.6,
+        676.7,
+        676.7,
+        550.9,
+        425.1,
+        299.4,
+        173.8,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the golden lion statue across the tatami room on the right side, with a small candelabra standing beside it. It is far away, so I will walk forward to close distance before worrying about fine alignment.",
+        "The lion statue and the candelabra beside it have grown slightly larger, confirming my heading is bringing me nearer. I will keep walking straight since the tatami ahead is clear of obstacles.",
+        "The lion statue and its candelabra now sit well to the right of my forward heading, so continuing straight would carry me past them. I will turn right to place the target near the center of my view before advancing again.",
+        "The turn has put the golden lion and the candelabra near the middle of my view, with the tatami path running straight toward them. I will walk forward along this heading to shorten the remaining distance.",
+        "The statue and the candlestand at its left are noticeably closer and remain centered, so my heading needs no correction. I will continue walking forward toward them.",
+        "The candelabra beside the golden lion is now clearly resolved with its three candles, but it is still beyond arm's reach. I will step forward again to get close enough to attempt a grasp.",
+        "The candelabra stands just in front of the lion statue's paws and is nearly within reach. I will take one more step forward to bring it close enough for a reliable pick.",
+        "The candelabra now fills the lower center of my view directly at the golden lion statue, close enough that its candles are at arm's length. I will attempt to pick it up so it should end in my hands.",
+        "The candelabra from the golden lion statue is now held in my hands, no longer resting on the floor. The lift is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_b/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Head toward the wooden bench, then move to the base of the red pillar.",
+    "Type": 3,
+    "Start_Pose": [
+        -13155.493,
+        5378.026,
+        1218.15,
+        0.0,
+        158.4,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -13155.493,
+            5378.026,
+            1218.15,
+            0.0,
+            158.4,
+            -0.0
+        ],
+        [
+            -13155.493,
+            5378.026,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13241.969,
+            5469.472,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13328.445,
+            5560.918,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13414.922,
+            5652.364,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13501.398,
+            5743.81,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13587.874,
+            5835.256,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13674.35,
+            5926.702,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13760.826,
+            6018.148,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13760.826,
+            6018.148,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13760.826,
+            6018.148,
+            1218.15,
+            0.0,
+            158.4,
+            -0.0
+        ],
+        [
+            -13760.826,
+            6018.148,
+            1218.15,
+            0.0,
+            -176.6,
+            0.0
+        ],
+        [
+            -13760.826,
+            6018.148,
+            1218.15,
+            0.0,
+            -151.6,
+            0.0
+        ],
+        [
+            -13760.826,
+            6018.148,
+            1218.15,
+            0.0,
+            -126.6,
+            0.0
+        ],
+        [
+            -13760.826,
+            6018.148,
+            1218.15,
+            0.0,
+            -101.6,
+            0.0
+        ],
+        [
+            -13786.134,
+            5894.859,
+            1218.15,
+            0.0,
+            -101.6,
+            0.0
+        ],
+        [
+            -13811.441,
+            5771.571,
+            1218.15,
+            0.0,
+            -101.6,
+            0.0
+        ],
+        [
+            -13836.749,
+            5648.283,
+            1218.15,
+            0.0,
+            -101.6,
+            0.0
+        ],
+        [
+            -13836.749,
+            5648.283,
+            1218.15,
+            0.0,
+            -76.6,
+            0.0
+        ],
+        [
+            -13807.581,
+            5525.85,
+            1218.15,
+            0.0,
+            -76.6,
+            0.0
+        ],
+        [
+            -13778.414,
+            5403.417,
+            1218.15,
+            0.0,
+            -76.6,
+            0.0
+        ],
+        [
+            -13778.414,
+            5403.417,
+            1218.15,
+            0.0,
+            -101.6,
+            0.0
+        ],
+        [
+            -13803.373,
+            5283.039,
+            1218.15,
+            0.0,
+            -101.6,
+            0.0
+        ],
+        [
+            -13803.373,
+            5283.039,
+            1218.15,
+            0.0,
+            -101.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The wooden bench sits far over on my left, tucked against the grey stone wall, while my heading points across the open courtyard toward the cherry tree and the red railings. I will turn left so the bench comes into the middle of my view and I can walk straight at it.",
+        "The wooden benches along the grey wall now sit ahead and slightly left of me, with clear paving stones between us. Nothing blocks the way, so I will step forward to close the distance.",
+        "The benches and the wall behind them have grown larger, confirming my heading is carrying me toward them. The paving ahead is still open, so I will keep walking forward.",
+        "The bench near the middle of my view, standing beside the wooden post against the stone wall, is clearly the one I can reach on this heading. I will advance again to shorten the gap.",
+        "The bench is now roughly centred in front of me and its carved backrest is becoming distinct, so my line of travel is good. I will take another step forward rather than adjust my heading.",
+        "The bench fills much more of my view and the wall stones behind it are large and detailed, so only a short stretch of paving remains. I will keep moving forward toward it.",
+        "The bench is directly in front of me with its armrests and seat plainly visible, but there is still a little paving between us. Another step forward should bring me right up beside it.",
+        "The bench now dominates the lower half of my view and the wooden post beside it rises close on my left, so I am nearly at arm's reach. One more step forward should place me right at the bench.",
+        "The wooden bench now fills the bottom of my view, its lattice back and armrest close enough to touch against the grey wall. I have arrived at the bench. I mark reaching it, and now I set off for the red pillar.",
+        "I am standing right at the bench with the stone wall and its post blocking everything in front of me, so there is nothing to walk toward on this heading. The open paving and red railings lie off to my right, so I turn that way to start looking for the red pillar.",
+        "The bench has swung to my left and more of the paved yard is open in front of me, but I still see only grey walling and the red railing, no standing column. I turn right again to bring further parts of the courtyard into view.",
+        "The blossoming tree and the long red balustrade dominate what I can see, and no free standing red pillar has appeared yet. Another turn to the right should carry my gaze further around the open yard.",
+        "Straight ahead there is only railing, the tree and distant halls across the courtyard, nothing I could call a red pillar. I keep rotating right toward the darker roofed side, where supporting columns are more likely to stand.",
+        "Under the deep eaves on my right I can now make out red columns rising from the paving beside the wooden hall. One more turn in that direction should put the nearest of them in front of me so I can walk straight at it.",
+        "The red pillar now stands ahead of me beneath the lantern-hung eaves of the wooden hall, and the flagstones between us are clear. I walk forward to close that distance.",
+        "The red column has grown noticeably larger and still sits just ahead and slightly to my right, with open stone paving in between. I keep stepping forward to bring myself closer to its base.",
+        "The red pillar under the deep eave is now clearly ahead of me and growing with each step, with open stone paving between us. I will keep walking forward to cut down that remaining distance toward its base.",
+        "The red pillar is close now, but my current heading runs straight into its shaft and the wall behind it rather than to the open ground at its foot. I will turn right to swing onto the clear paving in front of the building, which should give me a workable line to its base.",
+        "With the pillar standing off to my left, the paving ahead along the building front is clear of obstacles. I will step forward to draw level with the pillar rather than stopping short of it.",
+        "The pillar has grown much larger on my left and its foot is nearly beside me, but I am still a pace short of being level with it. I will advance once more along the paving to close that last bit of distance.",
+        "The red pillar now fills the left edge of my view while I am facing the wooden panelled wall instead. I will turn left so the pillar and the ground at its foot come to the middle of my view for a straight approach.",
+        "The red pillar is squarely in front of me now, its flared base resting on the paving a short walk away. I will step forward to bring myself right up against its foot.",
+        "The red pillar's flared base stands directly in front of me, within arm's reach on the paving. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_c/infos.json

@@ -0,0 +1,236 @@
+{
+    "Instruction": "Approach the base of the red pillar, then reach the courtyard cherry tree trunk.",
+    "Type": 3,
+    "Start_Pose": [
+        -13155.493,
+        5378.026,
+        1218.15,
+        0,
+        158.4,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -13155.493,
+            5378.026,
+            1218.15,
+            0,
+            158.4,
+            0
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+        [
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+            0.0
+        ],
+        [
+            -13768.755,
+            5288.307,
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+            0.0
+        ],
+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
+            -13779.101,
+            5357.029,
+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -13865.577,
+            5448.475,
+            1218.15,
+            0.0,
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+            -0.0
+        ],
+        [
+            -13952.053,
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+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
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+            1218.15,
+            0.0,
+            133.4,
+            -0.0
+        ],
+        [
+            -14038.529,
+            5631.366,
+            1218.15,
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The stout red columns of the covered walkway sit at the right edge of my view, while the blossoming tree stands off to my left. Since the pillar is my first destination, I will turn right to bring that colonnade in front of me before walking.",
+        "The red pillar under the tiled eave now stands ahead of me across open flagstones, with nothing blocking the way. I will walk forward to close that distance.",
+        "The red column and the wooden wall beside it have grown larger, so my heading is carrying me toward the pillar. The paving between us is still empty, so I will keep walking forward.",
+        "The red pillar ahead is thickening in my view and the low step at its base is becoming visible. I am still several strides short of standing at that base, so I will continue forward.",
+        "The nearest red column now rises tall on my right and the railing line spreads across the court ahead. Another stride should bring me level with the pillared walkway rather than leaving me out on the open paving.",
+        "I have come up level with the railing, and the red column I want is now at the right edge of my view rather than in front of me. I will turn right so its base sits ahead of my path.",
+        "The red column now stands squarely ahead with its round stone footing plainly visible on the paving. The floor between us is clear, so I will step forward to reach its base.",
+        "The pillar has drifted to the right side of my view as I closed on it, its shaft now huge and close. I will turn right to face it directly so I finish standing squarely at its base.",
+        "The tall red pillar now rises directly in front of me, its shaft filling the middle of my view and its foot just a short stride away on the covered walkway. I will take one short step forward to bring myself right up against its base.",
+        "The red pillar stands immediately beside me, its broad base and lower shaft filling the right of my view at arm's length. I have arrived at the base of the red pillar. I mark reaching it before setting off toward the blossoming cherry tree standing in the open courtyard behind me.",
+        "Standing this tight against the pillar leaves me almost no room to swing around toward the courtyard, since the shaft blocks most of my forward view. I will step back along the walkway to open clearance from the pillar before turning to face the cherry tree.",
+        "With a little space regained from the pillar, the blossoming courtyard tree lies well off to my left, out of view past the red railing. I will turn left to begin swinging my heading back toward it.",
+        "My heading has swung far enough that the pillar sits at the frame edge and pale blossoms are just appearing at the upper left. I will keep turning left to bring the cherry tree fully into my forward view.",
+        "The view is now dominated by the grey wall and red railing across the courtyard, with the blossoming canopy still off beyond my left shoulder. Another left turn should carry my heading further around toward that tree.",
+        "The cherry tree's pale trunk and heavy pink canopy now sit at the left of my view, rooted in its stone planter beside the railing. One more left turn should place that trunk squarely ahead so I can walk straight at it.",
+        "The cherry tree now stands centered ahead, its trunk rising from the square planter with blossoms spreading overhead. The paving between us is clear, so I will walk forward to close the distance to its trunk.",
+        "The blossoming cherry tree stands just ahead in the open courtyard, its pale trunk rising from a low stone planter slightly left of my heading. The paving between us is clear, so I will walk forward to close that remaining gap.",
+        "The trunk and its grassy planter now fill much more of my view, so only a short stretch of paving separates me from the tree. I will step forward again to bring myself up against its base.",
+        "The cherry trunk has slid well over to the left edge of my view as I closed in, leaving my heading pointed at the red railing instead. Turning left should swing the trunk back in front of me for a straight final approach.",
+        "The thick cherry trunk is now centered directly in front of me with its mossy planter at its foot only a step or two away. I will walk forward to bring myself right up to the trunk.",
+        "The cherry trunk's bark fills my view at arm's length, with its planter directly at my feet. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_d/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Proceed to the courtyard cherry tree base, then navigate to the red pillar base.",
+    "Type": 3,
+    "Start_Pose": [
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+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+            1218.15,
+            0.0,
+            -101.6,
+            0.0
+        ],
+        [
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+            5702.348,
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+            0.0
+        ],
+        [
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+        ],
+        [
+            -13916.303,
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+            0.0,
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+        ],
+        [
+            -13887.136,
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0
+        ],
+        [
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+            5282.881,
+            1218.15,
+            0.0,
+            -76.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The blossoming cherry tree stands ahead of me across the open stone courtyard, its pale trunk rising near the red railing. My heading already lines up with that trunk, so nothing needs correcting yet. I will walk forward to begin closing the distance to its base.",
+        "The tree's canopy and trunk now sit slightly larger in my view, which tells me the previous step brought me nearer. The paving between me and the planter is clear and unobstructed. I will keep walking straight toward the trunk.",
+        "The trunk is growing in my view and the small stone planter around its base has become visible against the red railing. My path remains straight and unblocked. I will step forward again to keep closing on the tree base.",
+        "The cherry tree now dominates the middle of my view with its planter clearly set in the paving just ahead. I am still several strides short of standing at the trunk. I will continue walking straight toward it.",
+        "The trunk and its grassy planter are close now, filling much of the courtyard ahead, and the branches spread overhead. There is still a gap of open paving before I stand at the base. I will move forward once more.",
+        "The mossy planter and the thick pale trunk are only a short walk ahead, with the red railing directly behind them. Nothing blocks the remaining stretch of stone. I will advance again to reach the foot of the tree.",
+        "The trunk now rises large just beyond the raised planter kerb, close enough that its bark detail is sharp. One more stride should place me right against the tree base. I will step forward to close that last gap.",
+        "The cherry tree's trunk fills my view directly in front of me, with its mossy planter at my feet. I have reached the base of the courtyard cherry tree. I mark arriving here, and now I turn my attention to the red pillar and its base.",
+        "I am right at the cherry tree's mossy planter, its trunk filling my view, so nothing more is needed here. The lacquered red railing and courtyard walls ahead show no standing red pillar, so I turn right to sweep the covered galleries for one.",
+        "Swinging right has cleared the trunk and brought the long red balustrade and the tiled hall roof into view, but still no upright red pillar standing on the pavement. I continue turning right to bring more of the courtyard's far side into view.",
+        "The arched bridge and tiered pavilions have come around into view, and the pavement opens to my right where a veranda seems to run. Another right turn should carry my gaze onto that walkway where pillars would stand.",
+        "At the right edge of my view a deep eaved gallery appears, with a red pillar rising from the stone floor beneath it. I keep turning right to bring that pillar and its base toward the middle of my view so I can walk straight at it.",
+        "A tall red pillar with a hanging lantern now stands clearly to the right of my heading, planted on the walkway beside the timber wall. One more turn right should put its base directly in front of me before I close the gap.",
+        "The red pillar and the stone floor at its foot now sit ahead of me under the dark eaves, with unobstructed paving between us. I walk forward to close the distance toward its base.",
+        "The pillar has grown noticeably and its foot on the paving is now plainly visible ahead of me. Several paces of clear stone still separate us, so I keep walking forward.",
+        "The red pillar now fills much of my view with its flared base sitting just a short stretch of paving away. I advance again to bring myself right up to that base.",
+        "The red lacquered pillar now fills the center of my view with its widened base and stone footing just ahead of me. A short step is all that remains to stand right at that base, so I will advance once more and expect to close the last bit of gap.",
+        "The red pillar's base stands directly in front of me, within arm's reach on the walkway. The task is complete, so there is no reason to move further."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t5_a_pd/infos.json

@@ -0,0 +1,354 @@
+{
+    "Instruction": "Lift the wicker basket at the base of the courtyard cherry tree, then leave it near the wooden bench.",
+    "Type": 5,
+    "Start_Pose": [
+        -13155.493,
+        5378.026,
+        1218.15,
+        0,
+        158.4,
+        0
+    ],
+    "PD_ID": 7,
+    "PD_Size": 2.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -14123.732,
+        5732.02,
+        1173.641,
+        90,
+        158.4,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+            0,
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+            0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
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+        ],
+        [
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+        ],
+        [
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+            158.4,
+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
+            -13938.366,
+            6024.39,
+            1183.15,
+            90.0,
+            83.4,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        1030.9,
+        905.1,
+        779.3,
+        653.6,
+        527.8,
+        402.2,
+        276.8,
+        152.0,
+        21.4,
+        20.4,
+        20.2,
+        27.5,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "I can see the cherry tree across the courtyard with a pale wicker basket leaning against its base, and the wooden bench sits off to the left along the wall. The paved ground between me and the tree is clear, so I will walk forward to close that distance before I can reach the basket.",
+        "The tree and the basket at its base now fill more of my view, confirming my heading is correct. The basket is still far beyond arm's reach, so I will keep walking straight toward it.",
+        "The basket propped at the foot of the cherry tree is clearly in front of me and slightly right of the trunk, but still too distant to grasp. I will continue advancing along this straight line to shorten the gap.",
+        "The trunk and the round wicker basket are noticeably closer and my heading still points at them, so no turn is needed. I will take another step forward to keep closing on the basket.",
+        "The basket rests against the raised planter edge at the tree base, now large in my view but still a couple of paces away. I will walk forward again to bring it within reach.",
+        "The wicker basket is now close and centered slightly right of the trunk, its woven face clearly visible. It is still not near enough to lift, so I will step forward once more.",
+        "I am nearly at the tree, with the basket filling the lower right of my view just past the grass border. I will take one more step so the basket sits directly in front of me and within grasping range.",
+        "The wicker basket is now directly before me at the base of the cherry tree, filling the lower part of my view within arm's reach. My hands are empty, so I will attempt to grasp and lift it, which should let me carry it toward the bench.",
+        "The pick succeeded: the wicker basket is now in my hands instead of resting on the grass strip at the tree base. The wooden bench sits along the far left side of this courtyard, well off my current heading. I will turn left to swing my heading toward that side.",
+        "I am carrying the basket, but my view still shows the cherry trunk and the red railing rather than the bench. The bench lies further around to my left, so one turn was not enough. I will turn left again to keep bringing that side of the courtyard into view.",
+        "The wooden bench has now come into view against the grey stone wall, but it sits far to my left edge while the trunk crowds the right. Another left turn should center the bench so I can walk straight to it with the basket.",
+        "The bench is now squarely ahead of me against the stone wall, with clear open paving between us. Holding the basket, I will walk forward to close that gap before setting it down.",
+        "The bench has grown larger and remains directly in front of me, so my heading is good but I am still a few paces short. I will step forward again to get close enough that releasing the basket leaves it beside the bench.",
+        "I am nearly at the bench now, its carved back and armrest filling the lower left of my view against the wall. One more short step should put me right alongside it, close enough to release the basket at its side.",
+        "I am standing right against the bench, with its back rail and armrest immediately in front of me and the wall just beyond. This is close enough that releasing the basket here should leave it resting near the bench as the task requires.",
+        "The wicker basket now sits on the paving beside the wooden bench and my hands are empty. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_a/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Walk to the standing lamp post, then approach the wooden cart.",
+    "Type": 3,
+    "Start_Pose": [
+        -13227.742,
+        4005.779,
+        1218.151,
+        0.0,
+        -24.96,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -13227.742,
+            4005.779,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -13113.638,
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+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12999.534,
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+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12885.43,
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
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+        ],
+        [
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+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            0.0,
+            0.04,
+            -0.0
+        ],
+        [
+            -12507.853,
+            3846.711,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12393.749,
+            3793.6,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12279.645,
+            3740.489,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12165.541,
+            3687.379,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12051.437,
+            3634.268,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12051.437,
+            3634.268,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12051.437,
+            3634.268,
+            1218.151,
+            0.0,
+            -49.96,
+            0.0
+        ],
+        [
+            -12051.437,
+            3634.268,
+            1218.151,
+            0.0,
+            -74.96,
+            0.0
+        ],
+        [
+            -12051.437,
+            3634.268,
+            1218.151,
+            0.0,
+            -99.96,
+            0.0
+        ],
+        [
+            -12051.437,
+            3634.268,
+            1218.151,
+            0.0,
+            -124.96,
+            0.0
+        ],
+        [
+            -12051.437,
+            3634.268,
+            1218.151,
+            0.0,
+            -149.96,
+            0.0
+        ],
+        [
+            -12051.437,
+            3634.268,
+            1218.151,
+            0.0,
+            -174.96,
+            0.0
+        ],
+        [
+            -12176.809,
+            3623.211,
+            1218.151,
+            0.0,
+            -174.96,
+            0.0
+        ],
+        [
+            -12302.181,
+            3612.154,
+            1218.151,
+            0.0,
+            -174.96,
+            0.0
+        ],
+        [
+            -12421.373,
+            3600.756,
+            1228.222,
+            0.0,
+            -174.96,
+            0.0
+        ],
+        [
+            -12421.373,
+            3600.756,
+            1228.222,
+            0.0,
+            -174.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The tall red standing lamp post is visible down the street ahead of me, past the barrel cart parked at the left arcade. Since it is my first destination, I will walk forward along the open paving to close the gap.",
+        "The lamp post and the lanterns strung above it now sit slightly larger in my view, so my heading down this street is good. Nothing blocks the paving ahead of me, so I will keep walking toward it.",
+        "The barrel cart along the left colonnade has swollen in my view, confirming steady progress up the street, while the lamp post still stands well ahead. The lane in front of me remains clear, so I will advance again.",
+        "The barrel cart and its long shafts now crowd the left side of my view, right against the line I would walk. I will turn a little to the right to put the open middle of the street in front of me and keep clear of the cart while continuing toward the lamp post.",
+        "The cart has slid to my left edge and the broad street now runs straight ahead of me with the red lamp post standing to the left of my path. With a clear lane, I will walk forward to gain ground on it.",
+        "The lamp post with its lit red column is noticeably larger on my left as I come up the street, and the paving ahead stays empty. I will step forward again to draw level with it.",
+        "The lamp post and the awning beside it have grown further on my left, so I am still short of it. The open lane in front of me lets me keep advancing, so I will take another step forward.",
+        "The standing lamp post has drifted out toward the left of my view as I moved up the middle of the street, so walking straight would carry me past it. I will turn left to bring it back in front of me before closing the last of the distance.",
+        "The tall red standing lamp post is clearly ahead of me on the left side of the street, with open paving between us. Nothing blocks the lane, so I walk forward to cut down that remaining distance.",
+        "The lamp post has grown noticeably larger and sits just left of my heading, so I am closing on it correctly. The paving in front of me stays clear, so another step forward should bring me nearer without any turn.",
+        "The lamp post now looms near the middle-left of my view, its lantern head at eye height, which means I am only a short walk away. I keep my heading and step forward again.",
+        "The red post fills much of the left foreground and its base is nearly level with me, so I am almost beside it. One more step should bring me right alongside the standing lamp post.",
+        "The red standing lamp post rises directly beside me at arm's reach, its shaft filling the near left of my view. I have reached the standing lamp post. I mark arriving here and now head for the wooden cart with the barrel on it.",
+        "Standing at the lamp post, I see only the raised wooden deck, benches and shopfronts ahead, with no cart in this direction. I turn left to swing my view across the covered walkway behind me and find the wooden cart.",
+        "The swing has brought a thick pillar and the shuttered wall across my view, and the cart is still not showing. I continue turning left so the sweep carries on past this frontage.",
+        "Now I face a barrel against the shopfront wall with the pillar close on my right, so I am still aimed at the building rather than the open street. I keep turning left to bring the rest of the walkway into view.",
+        "Facing this shuttered shopfront and its lone barrel, I have no sight of any wooden cart, so this heading is useless to me. I will keep swinging left to sweep the open walkway back into view where a cart would plausibly stand.",
+        "The turn has opened the lantern-lit colonnade on my left, and something with a dark wheel edges into the far left of my view. Another left turn should bring that partly hidden object fully in front of me so I can confirm it is the wooden cart.",
+        "The wooden cart with its pale load now stands clearly to my left under the covered walkway, but a pillar splits my view and the cart sits well off my heading. One more left turn should center it so I can walk straight at it.",
+        "The cart is now squarely ahead of me down the open walkway with clear paving between us. I will walk forward to close that gap.",
+        "The cart has grown larger and stays centered in my path, so my heading needs no adjustment. I will take another step forward to reach it.",
+        "The cart's barrel and both wheels now fill much of my view, so I am only a short step away. I will advance once more to stand right at it.",
+        "The wooden cart's barrel and frame are right in front of me, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Head toward the barrel on the wooden cart, then navigate to the standing lamp post.",
+    "Type": 3,
+    "Start_Pose": [
+        -13227.742,
+        4005.779,
+        1218.151,
+        0.0,
+        -24.96,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -13227.742,
+            4005.779,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -13113.638,
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12885.43,
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+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12771.326,
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+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12771.326,
+            3793.336,
+            1218.151,
+            0.0,
+            -49.96,
+            0.0
+        ],
+        [
+            -12691.555,
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+            0.0,
+            -49.96,
+            0.0
+        ],
+        [
+            -12691.555,
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+            0.0,
+            -49.96,
+            0.0
+        ],
+        [
+            -12750.998,
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+            1218.151,
+            0.0,
+            -49.96,
+            0.0
+        ],
+        [
+            -12750.998,
+            3771.062,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12750.998,
+            3771.062,
+            1218.151,
+            0.0,
+            0.04,
+            -0.0
+        ],
+        [
+            -12625.139,
+            3771.15,
+            1218.151,
+            0.0,
+            0.04,
+            -0.0
+        ],
+        [
+            -12499.28,
+            3771.238,
+            1218.151,
+            0.0,
+            0.04,
+            -0.0
+        ],
+        [
+            -12373.421,
+            3771.326,
+            1218.151,
+            0.0,
+            0.04,
+            -0.0
+        ],
+        [
+            -12373.421,
+            3771.326,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12259.317,
+            3718.215,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12145.213,
+            3665.104,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12035.269,
+            3621.965,
+            1217.435,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12035.269,
+            3621.965,
+            1217.435,
+            0.0,
+            -24.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The wooden cart with the large barrel sits ahead on the left side of the covered street, still some distance off. I will walk forward along the open paving to close that gap before dealing with the lamp post further down the lane.",
+        "The barrel and its cart wheel have grown larger and drifted slightly leftward, confirming my heading is bringing me nearer. Nothing blocks the stone paving between us, so I will keep walking straight ahead.",
+        "The barrel cart now stands close on my left, its shafts reaching out toward my path. I am still short of it, so another step forward should bring me alongside the barrel.",
+        "The cart's wheel and barrel dominate the left edge of my view, meaning I am nearly level with it. I will advance once more to draw even with the barrel rather than passing it too soon.",
+        "The barrels on the cart now sit off to my left while my body still faces down the open street. I will turn left so the cart lies straight ahead of me and my next step should carry me right up to it.",
+        "With the turn done, the barrels and the cart wheel are centered in front of me and only a short gap remains. I will step forward to close that last distance and stand at the barrel on the cart.",
+        "The barrels and the cart's wheel fill my view at arm's length, close enough to touch the staves. I have arrived at the barrel on the wooden cart. I mark reaching it, and now I set off for the standing lamp post further along the street.",
+        "Standing this close, the barrels block almost everything and I cannot see the street or the lamp post standing beyond the cart. I will step back to open up room and bring the lane back into view before turning toward that lamp.",
+        "The barrel on the wooden cart is right beside me and already reached, so my remaining goal is the tall standing lamp post out along the open street. That street opens away to my right while the cart and shopfront block everything ahead. I will turn right to swing my heading off the cart and toward the open lane.",
+        "The cart has slid to the left edge and the lantern-lined street now stretches ahead, but my heading still leans toward the shopfront rather than down the lane. Another right turn should square me with the paved corridor where the standing lamp posts rise. I will turn right again.",
+        "I am now looking straight down the open paved street, with only the cart wheel clipping the far left. A red standing lamp post rises ahead on the left side of the lane, and the ground between us is clear. I will walk forward to close that distance.",
+        "The standing lamp post ahead on the left has grown noticeably larger, confirming my heading is carrying me toward it. The lane stays open with nothing crossing my path. I will keep walking forward.",
+        "The red lamp post now stands tall at the left of my view, close enough to make out its lantern housing and stepped base. Another stride down the open lane should bring me alongside it. I will move forward.",
+        "My forward heading is running past the standing lamp post, which has drifted well toward the left edge of my view. Turning left should bring the post back into the center of my path so I can walk straight at it. I will turn left.",
+        "The standing lamp post is now squarely in front of me with open paving between us. Walking straight ahead should carry me directly to its base. I will move forward.",
+        "The lamp post looms large just ahead of me, its lantern nearly at eye level and its stone base clearly visible. I am close but not yet standing at it. I will step forward again to finish closing on it.",
+        "The tall red lamp post now fills the left of my view, its lantern head close overhead and its base just ahead of my shoulder. One more short step should bring me level with its stone footing rather than leaving it slightly ahead of me.",
+        "I am standing right beside the red standing lamp post, its pedestal at my side. The task is complete, so there is no reason to move further."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_d/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Proceed to the standing lamp post, then reach the barrel beside the wooden boxes.",
+    "Type": 3,
+    "Start_Pose": [
+        -13227.742,
+        4005.779,
+        1218.151,
+        0.0,
+        -24.96,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "LookUp",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -13227.742,
+            4005.779,
+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -13113.638,
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+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12999.534,
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+            1218.151,
+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12885.43,
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12204.945,
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+            0.0,
+            -24.96,
+            0.0
+        ],
+        [
+            -12090.841,
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+            0.0,
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+            0.0
+        ],
+        [
+            -12090.841,
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+            0.0,
+            0.04,
+            -0.0
+        ],
+        [
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+            0.0,
+            0.04,
+            -0.0
+        ],
+        [
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+            0.0,
+            0.04,
+            -0.0
+        ],
+        [
+            -12090.841,
+            3537.35,
+            1218.375,
+            0.0,
+            25.04,
+            -0.0
+        ],
+        [
+            -12090.841,
+            3537.35,
+            1218.375,
+            0.0,
+            50.04,
+            -0.0
+        ],
+        [
+            -12090.841,
+            3537.35,
+            1218.375,
+            0.0,
+            75.04,
+            -0.0
+        ],
+        [
+            -12090.841,
+            3537.35,
+            1218.375,
+            0.0,
+            100.04,
+            -0.0
+        ],
+        [
+            -12112.782,
+            3661.281,
+            1218.375,
+            0.0,
+            100.04,
+            -0.0
+        ],
+        [
+            -12134.724,
+            3785.213,
+            1218.375,
+            0.0,
+            100.04,
+            -0.0
+        ],
+        [
+            -12134.724,
+            3785.213,
+            1218.375,
+            0.0,
+            125.04,
+            -0.0
+        ],
+        [
+            -12206.986,
+            3888.26,
+            1218.375,
+            0.0,
+            125.04,
+            -0.0
+        ],
+        [
+            -12279.247,
+            3991.308,
+            1218.375,
+            0.0,
+            125.04,
+            -0.0
+        ],
+        [
+            -12279.247,
+            3991.308,
+            1218.375,
+            0.0,
+            125.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Down this covered street I can pick out a standing lamp post with a lit lantern head partway along the left side, past the barrel cart. The paving straight ahead is open and wide enough to walk. I will step forward along the street to close that distance.",
+        "The lamp post ahead has grown slightly larger and stays just left of my heading, so my current direction is serving me well. Nothing blocks the stone lane in front of me. I will keep walking forward toward it.",
+        "The barrel cart is now beside me on the left and the lamp post stands further along the same side, still some distance off. My heading needs no correction yet since the post sits near the center of my view. I will continue advancing.",
+        "The lamp post's lantern box is clearer now, sitting ahead at the edge of the raised wooden walkway on my left. The open lane keeps running straight toward it. Another step forward should bring me appreciably nearer.",
+        "The lamp post has grown noticeably and its glow now reads plainly against the darker shopfronts ahead on the left. I am still several strides short of standing beside it. I will walk forward again.",
+        "The lamp post now rises well above the shop eaves in front of me, confirming I am closing on it steadily. The pillar on my left stays clear of my path along the open stone. I will keep moving straight ahead.",
+        "The lamp post stands just ahead and slightly left, its red base and lantern head now large in my view beside the yellow awning. A couple more strides should put me level with it rather than short of it. I will step forward.",
+        "The lamp post is close now, its glowing lantern filling the upper left of my view, but I am still a stride or two behind its base. The paving in front of me stays open. I will advance to draw level with it.",
+        "The tall red lamp post with its lit lantern box stands ahead of me at the edge of the raised walkway, still a few paces off. The paving between us is open and clear, so I will keep walking forward to close that gap.",
+        "The lamp post now rises very close on my right, its glowing lantern nearly level with my head, though I am not yet beside its base. Another step forward should carry me level with the post itself.",
+        "Walking straight has brought me level with the lamp post, and its red shaft has slipped off the right edge of my view while the open courtyard fills the rest. I will turn right to swing the post back in front of me and judge how close I stand.",
+        "The thick red shaft of the lamp post now fills the middle of my view at arm's length, but its lantern head is cut off above the top of my sight. I will look up to see the lamp itself and confirm I am standing right at it.",
+        "Tilted upward, I see the glowing lantern crowning the red post directly over me, its bracket arms within reach. I am at the standing lamp post. I mark reaching it and turn my attention to the barrel beside the wooden boxes.",
+        "My view is still filled by the lamp post and the eaves above it, and no barrel or crate stack appears in this narrow upward slice. I will turn right to sweep my sight across the wider street and begin looking for the wooden boxes.",
+        "The rotation has brought the open courtyard back into view, and I can make out pale stacked crates far over on the right against a building front. A barrel would likely sit alongside that kind of stack, so I will turn right again to bring it nearer my heading.",
+        "Facing further right, I see the shaded walkway along the building with storage goods set against it, but no barrel is squarely in front of me yet. I will continue turning right to bring that stacked storage into the centre of my view.",
+        "The pair of wooden barrels stacked with crates sits on the right edge of my view, against the shopfront under the lanterns. I will turn right again to bring that cluster nearer the center of my heading before walking toward it.",
+        "The barrels and the stacked wooden boxes now sit squarely ahead of me beside the bench and the sliding paper doors. The stone pavement between us is clear, so I will walk forward to cut the distance.",
+        "The barrels beside the boxes have grown noticeably larger and the crate stack is clearly resolved, but I am still several paces short of them. I will keep walking forward along the open stone to close in.",
+        "The barrels and crates are close now, but they sit tight against the raised wooden platform directly in my path. I will turn right to face the open stone strip running along the building so I can come up beside them rather than into the platform edge.",
+        "From this heading the two barrels and their stack of boxes stand ahead and slightly left, with clear paving running alongside the porch. I will step forward along that lane to draw level with them.",
+        "The nearer barrel and the wooden boxes behind it now fill the left of my view, so only a short gap remains. I will advance one more step to stand right beside the barrel.",
+        "The barrel stands directly before me at arm's length, hard against the stacked wooden boxes. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t5_a_pd/infos.json

@@ -0,0 +1,468 @@
+{
+    "Instruction": "Pick up the trash bag by the standing lamp post, then set it down beside the wooden cart.",
+    "Type": 5,
+    "Start_Pose": [
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+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
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+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
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+    "PD_Dist_2D": [
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+    "Rationale": [
+        "From this end of the courtyard I can see a small dark bundle resting on the paving far ahead, next to the red standing lamp post. That matches the trash bag I need to collect, and the open lane between the cart and the shopfronts is clear. I will walk forward to close that long gap.",
+        "The lamp post and the dark bundle beside it have grown slightly larger, confirming my heading is taking me toward the target. Nothing blocks the stretch of paving in front of me. I will keep walking forward.",
+        "The wooden cart with its barrel is now passing close on my left while the trash bag still lies ahead near the lamp post. I am still far from grasping range. Another step forward should keep shrinking that distance.",
+        "The cart shaft now crowds the left half of my view, and the dark bag sits off to the right of my current heading rather than straight ahead. Walking on as I am aimed would drift me toward the shopfront wall. I will turn right to put the open lane and the bag in front of me.",
+        "With the new heading the wide paved lane runs straight ahead and the dark bag is near the middle of my view, just beyond the red lamp post area. The cart is behind my left shoulder and no longer in my way. I will advance along this lane.",
+        "The bag is clearer now, a low dark shape on the stones ahead and slightly left, with the standing lamp post beside it. Barrels and crates stay well to my right, so my path is unobstructed. I will step forward again.",
+        "The target now reads plainly as a tied trash bag sitting on the paving to my left front, under the red lantern post. It is still several strides away, too far to reach. I will continue forward to close in on it.",
+        "The trash bag is large in my view now, resting on the stones ahead and to my left beside the standing lamp post. I am not yet close enough for a reliable grasp. Another step forward should bring it within reach.",
+        "The dark trash bag sits on the paving ahead and slightly to my left, just short of the tall standing lamp post. It is still a few paces off, too far to reach for. I will keep walking forward to close that remaining gap before I commit to a grasp.",
+        "The bag has slid down to the lower left edge of my view and is nearly out of sight, because my heading runs past it down the open street. Stepping forward on this line would carry me alongside it rather than up to it. I will turn left to bring the bag back in front of me.",
+        "The trash bag now sits squarely ahead of me at the foot of the standing lamp post, large in view but still a step beyond arm's reach. My heading is lined up on it. I will walk forward once more to come close enough for a grasp.",
+        "The bag is right at my feet by the base of the lamp post, filling the near corner of my view, so no further approach is needed. This is the target the task names. I will attempt to pick it up now.",
+        "The grasp took hold and the trash bag is now carried with me instead of resting on the pavement. The wooden cart I need is not in front of me from this heading; it stands back along the covered walkway behind my left shoulder. I will turn left to begin swinging my heading toward it.",
+        "Carrying the bag, my view has come around to the lamp post and the shopfront beside it, but the wooden cart is still not in sight. I have not rotated far enough toward the walkway where it stands. I will turn left again to keep sweeping my heading around.",
+        "My view now faces the wooden wall and a small barrel under the eaves, and the cart is still outside my field of view. The rotation needs to continue in the same direction to reach the stretch of walkway where the cart is parked. I will turn left once more.",
+        "The paper screens, the pillar and a bench under the roof are ahead of me, but the wooden cart with its barrel has not yet appeared. Continuing the same leftward sweep should bring the covered walkway further along into view. I will turn left again while holding the bag.",
+        "The trash bag is in my hands, so the remaining job is to carry it to the wooden cart. That cart with its barrel sits at the far left edge of my view, still too far off my heading to walk straight at. I will turn left again to bring it toward the center before advancing.",
+        "The wooden cart with its barrel now sits ahead of me under the covered walkway, roughly centered in my path. Carrying the bag, I still have several paces of open paving between us. I will step forward to close that gap.",
+        "The cart has grown noticeably larger and its shafts and wheels are clearly ahead of me, so my heading is good. I am not yet close enough to set the bag down right beside it. Another step forward should bring me alongside the cart.",
+        "The barrel and cart frame now fill much of my view, with the wheel just to my left front. I want to be right at the cart's side so the bag lands beside it rather than short of it. I will take one more short step in.",
+        "I am now right up against the wooden cart, with the barrel and its frame directly before me and no gap left to cover. This is the spot the task asks for, immediately beside the cart. I will release the trash bag here.",
+        "The trash bag now rests on the ground right beside the wooden cart and my hands are empty. The task is complete, so there is nothing further to do."
+    ]
+}