diff --git a/dataset/trajectory/AsianMedivalCity/task_x-003126_y-006703_z001248_t2_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-003126_y-006703_z001248_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0341ef19d69d829f8464327f84772c1c7e05dbc1 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-003126_y-006703_z001248_t2_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-003126_y-006703_z001248_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5dc51482eb1588ccd92beb489ceaf49258a72a84 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-003140_y-006634_z001248_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-003140_y-006634_z001248_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e7c2a62a26edc75c6d2f208d2370d089a0b49881 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-006481_y000943_z001218_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-006481_y000943_z001218_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f155624a2e048e8b3d7d0bb37cec427eab6741 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-006810_y-001394_z001628_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-006810_y-001394_z001628_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..674fb2776c302732a1282072a42b0ee768df4432 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-006810_y-001394_z001628_t1_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-006810_y-001394_z001628_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af948e413ce1fec3df466ccb9ba28ab3cc9c9e79 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-007270_y-006022_z001218_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-007270_y-006022_z001218_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a0482ccc9617de142174d96ffebc7074c6ac5944 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-007270_y-006022_z001218_t1_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-007270_y-006022_z001218_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bd3a663980e0ca1b3933c38822db7c9d4a335483 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-007270_y-006022_z001218_t1_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-007270_y-006022_z001218_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1b68fb29edd11d6f7333c3a69a39d5cc2fd564db --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-008552_y006239_z001228_t1_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-008552_y006239_z001228_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cdde233ad7a70fe7ad180f268f3ebc56d0335fc0 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010455_y003378_z001228_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010455_y003378_z001228_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..15719c864fd05128850e9c5a3176e1ed94246376 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010455_y003378_z001228_t1_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010455_y003378_z001228_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..47a3fef32f5737a70ba94d2d880e501df78756c0 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010626_y-005978_z001218_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010626_y-005978_z001218_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c11a07bd02a59b92797c6967a520eaa59b5bac89 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010649_y003014_z001228_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010649_y003014_z001228_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c71d54d8d9f7f8b57f3894f32368321885d350a7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010687_y-003177_z001218_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010687_y-003177_z001218_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60cef6da17c8f9c16a6b0746ac653a70470bce57 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eaf2fc1f240fde51c14fc59984c9b5f4fba7b0ef --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_d/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..544493ba879ce90f82a128a91dd94b2d968f20df --- /dev/null +++ b/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, + -3660.454, + 1218.151, + 0.0, + -167.0, + 0.0 + ], + [ + -10918.945, + -3688.766, + 1218.151, + 0.0, + -167.0, + 0.0 + ], + [ + -11041.578, + -3717.078, + 1218.151, + 0.0, + -167.0, + 0.0 + ], + [ + -11164.211, + -3745.39, + 1228.158, + 0.0, + -167.0, + 0.0 + ], + [ + -11286.845, + -3773.703, + 1228.158, + 0.0, + -167.0, + 0.0 + ], + [ + -11409.478, + -3802.015, + 1228.158, + 0.0, + -167.0, + 0.0 + ], + [ + -11409.478, + -3802.015, + 1228.158, + 0.0, + 168.0, + -0.0 + ], + [ + -11532.586, + -3775.847, + 1218.151, + 0.0, + 168.0, + -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 + ], + [ + -11565.521, + -3147.415, + 1218.151, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t5_b_pd/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010796_y-003660_z001218_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d1d3971a6b32e57aea1fb27453ace26feb0c6a9e --- /dev/null +++ b/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, + -3584.71, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -10997.342, + -3508.966, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11097.858, + -3433.223, + 1218.151, + 0.0, + 143.0, + -0.0 + ], + [ + -11198.373, + -3357.479, + 1228.208, + 0.0, + 143.0, + -0.0 + ], + [ + -11198.373, + -3357.479, + 1228.208, + 0.0, + 118.0, + -0.0 + ], + [ + -11257.461, + -3246.352, + 1228.208, + 0.0, + 118.0, + -0.0 + ], + [ + -11316.548, + -3135.225, + 1221.161, + 0.0, + 118.0, + -0.0 + ], + [ + -11375.635, + -3024.098, + 1218.151, + 0.0, + 118.0, + -0.0 + ], + [ + -11375.635, + -3024.098, + 1218.151, + 0.0, + 118.0, 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1187.914, + -28.203, + -91.86, + 1.856 + ], + [ + -11638.118, + -3670.418, + 1188.151, + 90.0, + -142.0, + 0.0 + ], + [ + -11638.118, + -3670.418, + 1188.151, + 90.0, + -142.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1013.1, + 1013.1, + 889.2, + 766.0, + 643.7, + 523.2, + 523.2, + 398.3, + 274.5, + 153.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 22.4, + 21.4, + 21.4, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t2_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..222d29aa4ed0191b9e3020d663f7c842a2e66b66 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t2_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..37485f0365418f11aca6be6a92998845297ac308 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010833_y-005472_z001218_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3d71d851993ee73ec4b9768658d34b1ca2a79630 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010852_y-003376_z001218_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010852_y-003376_z001218_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a88c8fa7bfabf6f24726279e67bed621e6c8b85 --- /dev/null +++ b/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, + 1218.151, + 0.0, + 67.36, + -0.0 + ], + [ + -10851.946, + -3376.289, + 1218.151, + 0.0, + 92.36, + -0.0 + ], + [ + -10851.946, + -3376.289, + 1218.151, + 0.0, + 117.36, + -0.0 + ], + [ + -10851.946, + -3376.289, + 1218.151, + 0.0, + 142.36, + -0.0 + ], + [ + -10851.946, + -3376.289, + 1218.151, + 0.0, + 167.36, + -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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-010951_y-006264_z001218_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..673b9b4b40f7be369f5d58c42d57dbd22989ab6a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t3_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9493ef8f7d902b47ad78054d55547146be2aa389 --- /dev/null +++ b/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, + 1218.151, + 0.0, + -102.72, + 0.0 + ], + [ + -11017.248, + -2969.865, + 1218.151, + 0.0, + -127.72, + 0.0 + ], + [ + -11094.249, + -3069.421, + 1218.151, + 0.0, + -127.72, + 0.0 + ], + [ + -11171.25, + -3168.976, + 1228.138, + 0.0, + -127.72, + 0.0 + ], + [ + -11248.251, + -3268.532, + 1228.138, + 0.0, + -127.72, + 0.0 + ], + [ + -11325.252, + -3368.088, + 1228.138, + 0.0, + -127.72, + 0.0 + ], + [ + -11402.253, + -3467.644, + 1228.138, + 0.0, + -127.72, + 0.0 + ], + [ + -11479.254, + -3567.199, + 1218.259, + 0.0, + -127.72, + 0.0 + ], + [ + -11479.254, + -3567.199, + 1218.259, + 0.0, + -152.72, + 0.0 + ], + [ + -11591.114, + -3624.886, + 1218.259, + 0.0, + -152.72, + 0.0 + ], + [ + -11591.114, + -3624.886, + 1218.259, + 0.0, + -152.72, + 0.0 + ], + [ + -11508.991, + -3582.535, + 1218.259, + 0.0, + -152.72, + 0.0 + ], + [ + -11508.991, + -3582.535, + 1218.259, + 0.0, + -127.72, + 0.0 + ], + [ + -11508.991, + -3582.535, + 1218.259, + 0.0, + -102.72, + 0.0 + ], + [ + -11508.991, + -3582.535, + 1218.259, + 0.0, + -77.72, + 0.0 + ], + [ + -11508.991, + -3582.535, + 1218.259, + 0.0, + -52.72, + 0.0 + ], + [ + -11508.991, + -3582.535, + 1218.259, + 0.0, + -27.72, + 0.0 + ], + [ + -11397.577, + -3641.078, + 1228.048, + 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, + -3873.656, + 1253.954, + 0.0, + -27.72, + 0.0 + ], + [ + -10955.177, + -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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t3_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..37529fbd9b95b6dec1cc5abb8cd5b975841cc568 --- /dev/null +++ b/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": [ + [ + -11017.248, + -2969.865, + 1218.151, + 0.0, + -102.72, + 0.0 + ], + [ + -11044.961, + -3092.635, + 1218.151, + 0.0, + -102.72, + 0.0 + ], + [ + -11044.961, + -3092.635, + 1218.151, + 0.0, + -127.72, + 0.0 + ], + [ + -11121.961, + -3192.191, + 1223.953, + 0.0, + -127.72, + 0.0 + ], + [ + -11198.962, + -3291.747, + 1228.209, + 0.0, + -127.72, + 0.0 + ], + [ + -11275.963, + -3391.302, + 1228.209, + 0.0, + -127.72, + 0.0 + ], + [ + -11352.964, + -3490.858, + 1228.209, + 0.0, + -127.72, + 0.0 + ], + [ + -11429.965, + -3590.414, + 1228.209, + 0.0, + -127.72, + 0.0 + ], + [ + -11506.966, + -3689.97, + 1218.151, + 0.0, + -127.72, + 0.0 + ], + [ + -11506.966, + -3689.97, + 1218.151, + 0.0, + -152.72, + 0.0 + ], + [ + -11617.427, + -3747.656, + 1218.151, + 0.0, + -152.72, + 0.0 + ], + [ + -11617.427, + -3747.656, + 1218.151, + 0.0, + -152.72, + 0.0 + ], + [ + -11617.427, + -3747.656, + 1218.151, + 0.0, + -152.72, + 0.0 + ], + [ + -11617.427, + -3747.656, + 1218.151, + 0.0, + -127.72, + 0.0 + ], + [ + -11617.427, + -3747.656, + 1218.151, + 0.0, + -102.72, + 0.0 + ], + [ + -11617.427, + -3747.656, + 1218.151, + 0.0, + -77.72, + 0.0 + ], + [ + -11617.427, + -3747.656, + 1218.151, + 0.0, + -52.72, + 0.0 + ], + [ + -11617.427, + -3747.656, + 1218.151, + 0.0, + -27.72, + 0.0 + ], + [ + -11506.013, + -3806.199, + 1218.151, + 0.0, + -27.72, + 0.0 + ], + [ + -11394.599, + -3864.743, + 1228.045, + 0.0, + -27.72, + 0.0 + ], + [ + -11283.184, + -3923.286, + 1228.045, + 0.0, + -27.72, + 0.0 + ], + [ + -11283.184, + -3923.286, + 1228.045, + 0.0, + -2.72, + 0.0 + ], + [ + -11157.467, + -3929.259, + 1228.045, + 0.0, + -2.72, + 0.0 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t3_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00ebb22603c02a2f753759405235b5cef656ee74 --- /dev/null +++ b/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 + ], + [ + -10990.479, + -3092.844, + 1218.151, + 0.0, + -77.72, + 0.0 + ], + [ + -10963.71, + -3215.824, + 1218.151, + 0.0, + -77.72, + 0.0 + ], + [ + -10936.941, + -3338.803, + 1218.151, + 0.0, + -77.72, + 0.0 + ], + [ + -10910.173, + -3461.782, + 1218.151, + 0.0, + -77.72, + 0.0 + ], + [ + -10883.404, + -3584.762, + 1218.151, + 0.0, + -77.72, + 0.0 + ], + [ + -10856.635, + -3707.741, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t5_a_pd/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..deade2e316012fefdef83d962e93e1797aaef4df --- /dev/null +++ b/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, + -3092.635, + 1218.151, + 0.0, + -102.72, + 0.0 + ], + [ + -11044.961, + -3092.635, + 1218.151, + 0.0, + -127.72, + 0.0 + ], + [ + -11121.961, + -3192.191, + 1223.953, + 0.0, + -127.72, + 0.0 + ], + [ + -11198.962, + -3291.747, + 1228.209, + 0.0, + -127.72, + 0.0 + ], + [ + -11275.963, + -3391.302, + 1228.209, + 0.0, + -127.72, + 0.0 + ], + [ + -11352.964, + -3490.858, + 1228.209, + 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, + -3548.544, + 1221.272, + 0.0, + -152.72, + 0.0 + ], + [ + -11464.825, + -3548.544, + 1221.272, + 0.0, + -127.72, + 0.0 + ], + [ + -11464.825, + -3548.544, + 1221.272, + 0.0, + -102.72, + 0.0 + ], + [ + -11464.825, + -3548.544, + 1221.272, + 0.0, + -77.72, + 0.0 + ], + [ + -11464.825, + -3548.544, + 1221.272, + 0.0, + -52.72, + 0.0 + ], + [ + -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, + 1118.907, + -0.295, + -91.425, + -18.367 + ], + [ + -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, + 1118.907, + -0.295, + -91.425, + -18.367 + ], + [ + -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, + 1118.907, + -0.295, + -91.425, + -18.367 + ], + [ + -11454.495, + -3567.243, + 1188.257, + -28.202, + -102.575, + 1.862 + ], + [ + -11446.798, + -3561.707, + 1188.53, + -28.189, + -77.563, + 1.872 + ], + [ + -11442.888, + -3553.653, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t5_b_pd/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011017_y-002970_z001218_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..787aba65232eb0f876651b250a130f9472f1106d --- /dev/null +++ b/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 + ], + [ + -11044.961, + -3092.635, + 1218.151, + 0.0, + -102.72, + 0.0 + ], + [ + -11072.673, + -3215.405, + 1218.151, + 0.0, + -102.72, + 0.0 + ], + [ + -11072.673, + -3215.405, + 1218.151, + 0.0, + -127.72, + 0.0 + ], + [ + -11149.674, + -3314.961, + 1228.026, + 0.0, + -127.72, + 0.0 + ], + [ + -11226.675, + -3414.517, + 1228.026, + 0.0, + -127.72, + 0.0 + ], + [ + -11303.676, + -3514.072, + 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, + -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, + -3732.46, + 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 + ], + [ + -11536.926, + -3732.46, + 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 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011150_y-003763_z001228_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011150_y-003763_z001228_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..45c4c75b4409691440dfc312ef0c113746e92ade --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011396_y003702_z001218_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011396_y003702_z001218_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c0594023d92b557139cc7165c1972bf6016fa23b --- /dev/null +++ b/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, + 0.0, + 115.4, + -0.0 + ], + [ + -11503.755, + 3929.445, + 1218.151, + 0.0, + 115.4, + -0.0 + ], + [ + -11557.74, + 4043.138, + 1218.151, + 0.0, + 115.4, + -0.0 + ], + [ + -11611.726, + 4156.831, + 1218.151, + 0.0, + 115.4, + -0.0 + ], + [ + -11665.711, + 4270.523, + 1218.151, + 0.0, + 115.4, + -0.0 + ], + [ + -11719.696, + 4384.216, + 1220.862, + 0.0, + 115.4, + -0.0 + ], + [ + -11759.521, + 4496.853, + 1242.875, + 0.0, + 115.4, + -0.0 + ], + [ + -11759.521, + 4496.853, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t3_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7c9e026fcbc726cb5a1b328a0c7377b36772f8b --- /dev/null +++ b/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": [ + -11416.465, + 3769.534, + 1218.15, + 0.0, + 138.24, + -0.0 + ], + "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": [ + [ + -11416.465, + 3769.534, + 1218.15, + 0.0, + 138.24, + -0.0 + ], + [ + -11510.348, + 3853.358, + 1218.151, + 0.0, + 138.24, + -0.0 + ], + [ + -11510.348, + 3853.358, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11630.861, + 3889.651, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11751.374, + 3925.944, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11871.886, + 3962.237, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11992.399, + 3998.53, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -12112.912, + 4034.823, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -12112.912, + 4034.823, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -12024.437, + 4008.178, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -12024.437, + 4008.178, + 1218.151, + 0.0, + 138.24, + -0.0 + ], + [ + -12024.437, + 4008.178, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -12024.437, + 4008.178, + 1218.151, + 0.0, + 88.24, + -0.0 + ], + [ + -12024.437, + 4008.178, + 1218.151, + 0.0, + 63.24, + -0.0 + ], + [ + -12024.437, + 4008.178, + 1218.151, + 0.0, + 38.24, + -0.0 + ], + [ + -11925.584, + 4086.08, + 1218.151, + 0.0, + 38.24, + -0.0 + ], + [ + -11826.731, + 4163.981, + 1218.151, + 0.0, + 38.24, + -0.0 + ], + [ + -11826.731, + 4163.981, + 1218.151, + 0.0, + 63.24, + -0.0 + ], + [ + -11826.731, + 4163.981, + 1218.151, + 0.0, + 88.24, + -0.0 + ], + [ + -11823.357, + 4235.147, + 1218.151, + 0.0, + 88.24, + -0.0 + ], + [ + -11820.476, + 4235.147, + 1218.151, + 0.0, + 88.24, + -0.0 + ], + [ + -11820.476, + 4235.147, + 1218.151, + 0.0, + 63.24, + -0.0 + ], + [ + -11772.899, + 4241.273, + 1225.677, + 0.0, + 63.24, + -0.0 + ], + [ + -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 + ], + [ + -11789.41, + 4432.097, + 1242.302, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t3_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..365375ac2225899fe0cb2e6d255714d9a00eccaf --- /dev/null +++ b/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 + ], + [ + -11510.348, + 3853.358, + 1218.151, + 0.0, + 138.24, + -0.0 + ], + [ + -11510.348, + 3853.358, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -11560.01, + 3969.004, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -11609.672, + 4084.651, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -11659.334, + 4200.298, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -11708.996, + 4315.945, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -11758.658, + 4431.592, + 1242.63, + 0.0, + 113.24, + -0.0 + ], + [ + -11758.658, + 4431.592, + 1242.63, + 0.0, + 113.24, + -0.0 + ], + [ + -11722.198, + 4346.689, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -11685.739, + 4261.786, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -11685.739, + 4261.786, + 1218.151, + 0.0, + 138.24, + -0.0 + ], + [ + -11685.739, + 4261.786, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11685.739, + 4261.786, + 1218.151, + 0.0, + -171.76, + 0.0 + ], + [ + -11810.298, + 4243.748, + 1229.252, + 0.0, + -171.76, + 0.0 + ], + [ + -11810.298, + 4243.748, + 1229.252, + 0.0, + -146.76, + 0.0 + ], + [ + -11915.565, + 4174.759, + 1218.151, + 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, + 0.0 + ], + [ + -12138.382, + 4138.931, + 1218.151, + 0.0, + -171.76, + 0.0 + ], + [ + -12138.382, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t3_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-011416_y003770_z001218_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fdd050b749819c24faad7736df7ff703a8b0ab6d --- /dev/null +++ b/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, + 3769.534, + 1218.15, + 0.0, + 138.24, + -0.0 + ], + [ + -11416.465, + 3769.534, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11536.977, + 3805.827, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11657.49, + 3842.12, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11778.003, + 3878.413, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -11898.515, + 3914.706, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -12019.028, + 3951.0, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -12139.541, + 3987.293, + 1218.151, + 0.0, + 163.24, + -0.0 + ], + [ + -12139.541, + 3987.293, + 1218.151, + 0.0, + 138.24, + -0.0 + ], + [ + -12233.035, + 4068.316, + 1218.151, + 0.0, + 138.24, + -0.0 + ], + [ + -12233.035, + 4068.316, + 1218.151, + 0.0, + 138.24, + -0.0 + ], + [ + -12164.11, + 4006.777, + 1218.151, + 0.0, + 138.24, + -0.0 + ], + [ + -12164.11, + 4006.777, + 1218.151, + 0.0, + 113.24, + -0.0 + ], + [ + -12164.11, + 4006.777, + 1218.151, + 0.0, + 88.24, + -0.0 + ], + [ + -12164.11, + 4006.777, + 1218.151, + 0.0, + 63.24, + -0.0 + ], + [ + -12164.11, + 4006.777, + 1218.151, + 0.0, + 38.24, + -0.0 + ], + [ + -12164.11, + 4006.777, + 1218.151, + 0.0, + 13.24, + -0.0 + ], + [ + -12041.596, + 4035.602, + 1218.151, + 0.0, + 13.24, + -0.0 + ], + [ + -11919.082, + 4064.428, + 1218.151, + 0.0, + 13.24, + -0.0 + ], + [ + -11919.082, + 4064.428, + 1218.151, + 0.0, + 38.24, + -0.0 + ], + [ + -11820.23, + 4142.329, + 1218.151, + 0.0, + 38.24, + -0.0 + ], + [ + -11721.377, + 4220.231, + 1218.151, + 0.0, + 38.24, + -0.0 + ], + [ + -11721.377, + 4220.231, + 1218.151, + 0.0, + 63.24, + -0.0 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012423_y-006811_z001218_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012423_y-006811_z001218_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd60dd3f0636150483ccc727ebbe2756b10f2309 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012423_y-006811_z001218_t1_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012423_y-006811_z001218_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3dee35410917ffe833587630fbdf48fc975a940b --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012652_y005091_z001238_t3_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012652_y005091_z001238_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f3e610d1dc11dc90bfe6c932f4eaae7e5236e861 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012652_y005091_z001238_t3_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012652_y005091_z001238_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb1a98f9c6d7c9b4e549890a9b2cdd4d713d962 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012683_y005050_z001246_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012683_y005050_z001246_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4482c2f086aff00d1687c954418809f72748a5b9 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-012895_y001344_z001224_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-012895_y001344_z001224_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..79c359ae680699f3708416bb8c443bf9a8324da3 --- /dev/null +++ b/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, + 1218.151, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a2dc5758cea06c6452c8d1e9ccefd8d45c3aca4 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..efc0750014e2a3de41d5b577274d05d6ea3c4a82 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013014_y004958_z001246_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6157321eb3ed45b8d9523467b2f614ad7de95a8a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d327db4d01dc4aab135d765eb11807d6d1071044 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..06c01c910b8b91b7b4c5b1ebbccf7cd115e8de75 --- /dev/null +++ b/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 + ], + [ + -13155.493, + 5378.026, + 1218.15, + 0.0, + -176.6, + 0.0 + ], + [ + -13281.131, + 5370.562, + 1218.15, + 0.0, + -176.6, + 0.0 + ], + [ + -13406.768, + 5363.097, + 1218.15, + 0.0, + -176.6, + 0.0 + ], + [ + -13532.406, + 5355.633, + 1218.15, + 0.0, + -176.6, + 0.0 + ], + [ + -13658.043, + 5348.169, + 1218.15, + 0.0, + -176.6, + 0.0 + ], + [ + -13658.043, + 5348.169, + 1218.15, + 0.0, + -151.6, + 0.0 + ], + [ + -13768.755, + 5288.307, + 1218.15, + 0.0, + -151.6, + 0.0 + ], + [ + -13768.755, + 5288.307, + 1218.15, + 0.0, + -126.6, + 0.0 + ], + [ + -13834.192, + 5282.848, + 1218.15, + 0.0, + -126.6, + 0.0 + ], + [ + -13834.192, + 5282.848, + 1218.15, + 0.0, + -126.6, + 0.0 + ], + [ + -13779.101, + 5357.029, + 1218.15, + 0.0, + -126.6, + 0.0 + ], + [ + -13779.101, + 5357.029, + 1218.15, + 0.0, + -151.6, + 0.0 + ], + [ + -13779.101, + 5357.029, + 1218.15, + 0.0, + -176.6, + 0.0 + ], + [ + -13779.101, + 5357.029, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13779.101, + 5357.029, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13865.577, + 5448.475, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13952.053, + 5539.92, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -14038.529, + 5631.366, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -14038.529, + 5631.366, + 1218.15, + 0.0, + 108.4, + -0.0 + ], + [ + -14078.257, + 5750.791, + 1231.469, + 0.0, + 108.4, + -0.0 + ], + [ + -14078.257, + 5750.791, + 1231.469, + 0.0, + 108.4, + -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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_d/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2951d5b08af67f7d29f9b9fdd7e753a8cd9923a0 --- /dev/null +++ b/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": [ + -13155.493, + 5378.026, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13155.493, + 5378.026, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13272.514, + 5424.358, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13389.535, + 5470.689, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13506.555, + 5517.021, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13623.576, + 5563.353, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13740.597, + 5609.685, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13857.618, + 5656.017, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + -176.6, + 0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + -151.6, + 0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + -126.6, + 0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + -101.6, + 0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + -76.6, + 0.0 + ], + [ + -13945.471, + 5579.916, + 1218.15, + 0.0, + -76.6, + 0.0 + ], + [ + -13916.303, + 5457.483, + 1218.15, + 0.0, + -76.6, + 0.0 + ], + [ + -13887.136, + 5335.051, + 1218.15, + 0.0, + -76.6, + 0.0 + ], + [ + -13861.452, + 5282.881, + 1218.15, + 0.0, + -76.6, + 0.0 + ], + [ + -13861.452, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t5_a_pd/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013155_y005378_z001218_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d89f19c30cbee55531927efc4ec97c78b3e7388a --- /dev/null +++ b/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": [ + [ + -13155.493, + 5378.026, + 1218.15, + 0, + 158.4, + 0 + ], + [ + -13272.514, + 5424.358, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13389.535, + 5470.689, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13506.555, + 5517.021, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13623.576, + 5563.353, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13740.597, + 5609.685, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13857.618, + 5656.017, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 158.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 133.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 108.4, + -0.0 + ], + [ + -13974.638, + 5702.348, + 1218.15, + 0.0, + 83.4, + -0.0 + ], + [ + -13960.173, + 5827.373, + 1218.15, + 0.0, + 83.4, + -0.0 + ], + [ + -13945.708, + 5952.398, + 1218.15, + 0.0, + 83.4, + -0.0 + ], + [ + -13938.137, + 6026.377, + 1218.15, + 0.0, + 83.4, + -0.0 + ], + [ + -13946.412, + 5954.854, + 1218.15, + 0.0, + 83.4, + -0.0 + ], + [ + -13946.412, + 5954.854, + 1218.15, + 0.0, + 83.4, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -14123.732, + 5732.02, + 1173.641, + 90.0, + 158.4, + 0.0 + ], + [ + -14123.732, + 5732.02, + 1173.641, + 90.0, + 158.4, + 0.0 + ], + [ + -14123.732, + 5732.02, + 1173.641, + 90.0, + 158.4, + 0.0 + ], + [ + -14123.732, + 5732.02, + 1173.641, + 90.0, + 158.4, + 0.0 + ], + [ + -14123.732, + 5732.02, + 1173.641, + 90.0, + 158.4, + 0.0 + ], + [ + -14123.732, + 5732.02, + 1173.641, + 90.0, + 158.4, + 0.0 + ], + [ + -14123.732, + 5732.02, + 1173.641, + 90.0, + 158.4, + 0.0 + ], + [ + -14123.732, + 5732.02, + 1173.641, + 90.0, + 158.4, + 0.0 + ], + [ + -13981.932, + 5682.269, + 1188.257, + -28.202, + -151.455, + 1.862 + ], + [ + -13989.039, + 5687.884, + 1188.529, + -28.189, + -176.443, + 1.872 + ], + [ + -13993.83, + 5696.129, + 1187.862, + -28.215, + 158.528, + 1.849 + ], + [ + -14000.807, + 5710.839, + 1188.043, + -14.175, + 125.593, + 6.959 + ], + [ + -13981.47, + 5829.104, + 1188.483, + -28.198, + 133.546, + 1.865 + ], + [ + -13966.974, + 5954.423, + 1187.945, + -28.191, + 133.559, + 1.871 + ], + [ + -13959.414, + 6028.266, + 1188.139, + -28.202, + 133.542, + 1.86 + ], + [ + -13938.366, + 6024.39, + 1183.15, + 90.0, + 83.4, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..379f6bd2f5e222a44c6066ce10d508d633584e30 --- /dev/null +++ b/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, + 3952.668, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12999.534, + 3899.558, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12885.43, + 3846.447, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12885.43, + 3846.447, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12759.571, + 3846.535, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12633.712, + 3846.623, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12507.853, + 3846.711, + 1218.151, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..011d7540a37c84e96a133b40b562f7dd401a676a --- /dev/null +++ b/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, + 3952.668, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12999.534, + 3899.558, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12885.43, + 3846.447, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12771.326, + 3793.336, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12771.326, + 3793.336, + 1218.151, + 0.0, + -49.96, + 0.0 + ], + [ + -12691.555, + 3700.321, + 1218.151, + 0.0, + -49.96, + 0.0 + ], + [ + -12691.555, + 3700.321, + 1218.151, + 0.0, + -49.96, + 0.0 + ], + [ + -12750.998, + 3771.062, + 1218.151, + 0.0, + -49.96, + 0.0 + ], + [ + -12750.998, + 3771.062, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12750.998, + 3771.062, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_d/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a31050af7680666119ec01e28fb77f364371c79c --- /dev/null +++ b/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, + 3952.668, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12999.534, + 3899.558, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12885.43, + 3846.447, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12771.326, + 3793.336, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12657.222, + 3740.226, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12545.473, + 3717.255, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12433.153, + 3696.682, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12319.049, + 3643.571, + 1220.011, + 0.0, + -24.96, + 0.0 + ], + [ + -12204.945, + 3590.461, + 1218.375, + 0.0, + -24.96, + 0.0 + ], + [ + -12090.841, + 3537.35, + 1218.375, + 0.0, + -24.96, + 0.0 + ], + [ + -12090.841, + 3537.35, + 1218.375, + 0.0, + 0.04, + -0.0 + ], + [ + -12090.841, + 3537.35, + 1218.375, + 0.0, + 0.04, + -0.0 + ], + [ + -12090.841, + 3537.35, + 1218.375, + 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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t5_a_pd/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd90de0897d30fe6525e5afbe0f3f2f199c37f6e --- /dev/null +++ b/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": [ + -13227.742, + 4005.779, + 1218.151, + 0, + -24.96, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -12069.475, + 3709.388, + 1138.239, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13227.742, + 4005.779, + 1218.151, + 0, + -24.96, + 0 + ], + [ + -13113.638, + 3952.668, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12999.534, + 3899.558, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12885.43, + 3846.447, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12885.43, + 3846.447, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12759.571, + 3846.535, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12633.712, + 3846.623, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12507.853, + 3846.711, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12381.994, + 3846.799, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12256.135, + 3846.886, + 1218.151, + 0.0, + 0.04, + -0.0 + ], + [ + -12256.135, + 3846.886, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12142.031, + 3793.776, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12142.031, + 3793.776, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12142.031, + 3793.776, + 1218.151, + 0.0, + -49.96, + 0.0 + ], + [ + -12142.031, + 3793.776, + 1218.151, + 0.0, + -74.96, + 0.0 + ], + [ + -12142.031, + 3793.776, + 1218.151, + 0.0, + -99.96, + 0.0 + ], + [ + -12142.031, + 3793.776, + 1218.151, + 0.0, + -124.96, + 0.0 + ], + [ + -12142.031, + 3793.776, + 1218.151, + 0.0, + -149.96, + 0.0 + ], + [ + -12250.984, + 3730.77, + 1218.151, + 0.0, + -149.96, + 0.0 + ], + [ + -12359.937, + 3667.764, + 1218.151, + 0.0, + -149.96, + 0.0 + ], + [ + -12421.105, + 3604.303, + 1228.222, + 0.0, + -149.96, + 0.0 + ], + [ + -12358.777, + 3640.347, + 1227.68, + 0.0, + -149.96, + 0.0 + ], + [ + -12358.777, + 3640.347, + 1227.68, + 0.0, + -149.96, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12069.475, + 3709.388, + 1138.239, + 0.0, + 0.0, + 0.0 + ], + [ + -12133.573, + 3813.393, + 1188.257, + -28.202, + 25.185, + 1.862 + ], + [ + -12126.807, + 3807.372, + 1188.53, + -28.189, + 0.197, + 1.872 + ], + [ + -12122.507, + 3798.86, + 1187.863, + -28.215, + -24.832, + 1.849 + ], + [ + -12116.405, + 3783.766, + 1188.044, + -14.175, + -57.768, + 6.959 + ], + [ + -12124.603, + 3782.072, + 1187.933, + -28.208, + -74.817, + 1.851 + ], + [ + -12131.798, + 3776.733, + 1188.6, + -28.198, + -99.814, + 1.867 + ], + [ + -12239.849, + 3712.538, + 1188.07, + -28.198, + -99.814, + 1.862 + ], + [ + -12348.979, + 3649.433, + 1187.683, + -28.202, + -99.818, + 1.86 + ], + [ + -12409.85, + 3586.138, + 1198.363, + -28.187, + -99.802, + 1.873 + ], + [ + -12419.374, + 3605.305, + 1187.68, + 0.0, + -149.96, + 0.0 + ], + [ + -12419.374, + 3605.305, + 1187.68, + 0.0, + -149.96, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1195.6, + 1072.1, + 949.3, + 827.4, + 827.4, + 703.6, + 580.7, + 459.4, + 341.4, + 231.8, + 231.8, + 111.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "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." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t5_b_pd/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19b88c411290b9cf692759e901b67bd6096ec328 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013228_y004006_z001218_t5_b_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the plate beside the barrel on the wooden cart, then place it near the standing lamp post.", + "Type": 5, + "Start_Pose": [ + -13227.742, + 4005.779, + 1218.151, + 0, + -24.96, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -12690.089, + 3748.595, + 1168.151, + 90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13227.742, + 4005.779, + 1218.151, + 0, + -24.96, + 0 + ], + [ + -13113.638, + 3952.668, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12999.534, + 3899.558, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12885.43, + 3846.447, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12771.326, + 3793.336, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12771.326, + 3793.336, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12657.222, + 3740.225, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12545.474, + 3717.256, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12433.155, + 3696.682, + 1218.151, + 0.0, + -24.96, + 0.0 + ], + [ + -12319.051, + 3643.57, + 1220.013, + 0.0, + -24.96, + 0.0 + ], + [ + -12204.948, + 3590.459, + 1218.377, + 0.0, + -24.96, + 0.0 + ], + [ + -12204.948, + 3590.459, + 1218.377, + 0.0, + 0.04, + -0.0 + ], + [ + -12079.089, + 3590.546, + 1218.377, + 0.0, + 0.04, + -0.0 + ], + [ + -12151.089, + 3590.496, + 1218.377, + 0.0, + 0.04, + -0.0 + ], + [ + -12151.089, + 3590.496, + 1218.377, + 0.0, + 0.04, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -12690.089, + 3748.595, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -12690.089, + 3748.595, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -12690.089, + 3748.595, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -12690.089, + 3748.595, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -12690.089, + 3748.595, + 1168.151, + 90.0, + 0.0, + 0.0 + ], + [ + -12762.868, + 3812.953, + 1188.257, + -28.202, + 25.184, + 1.862 + ], + [ + -12648.528, + 3759.738, + 1187.769, + -28.195, + 25.187, + 1.862 + ], + [ + -12536.827, + 3736.785, + 1187.887, + -28.2, + 25.179, + 1.858 + ], + [ + -12424.931, + 3716.409, + 1188.588, + -28.199, + 25.184, + 1.863 + ], + [ + -12310.991, + 3663.367, + 1188.864, + -28.206, + 25.18, + 1.861 + ], + [ + -12196.78, + 3610.215, + 1188.805, + -28.188, + 25.197, + 1.877 + ], + [ + -12205.279, + 3612.507, + 1187.995, + -28.207, + 50.176, + 1.854 + ], + [ + -12079.879, + 3611.895, + 1188.423, + -28.212, + 50.176, + 1.852 + ], + [ + -12081.089, + 3590.545, + 1188.377, + 90.0, + 0.04, + 0.0 + ], + [ + -12081.089, + 3590.545, + 1188.377, + 90.0, + 0.04, + 0.0 + ] + ], + "PD_Dist_2D": [ + 596.0, + 470.1, + 344.3, + 218.5, + 92.7, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 22.1, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate is propped against the wooden cart holding the barrel, ahead and slightly left along the street. It is still far too distant to reach, so I will walk straight forward to close that gap.", + "The plate and the barrel cart now sit noticeably larger in front of me, confirming my heading is good. I will keep walking forward since the plate remains beyond arm's reach.", + "The cart's barrel and the plate fill more of my view and the wheel is now clearly visible, so I am closing steadily. The paved lane in front is clear, so another step forward should bring me near grasping range.", + "The plate now dominates the lower left of my view right beside the cart's wheel, but it is still a stride away from a comfortable grasp. I will step forward once more to stand directly over it before reaching.", + "I am standing right at the cart, with the plate immediately in front of me beside the barrel, filling the near part of my view. This is close enough to reach it, so I will attempt to pick up the plate.", + "The plate is now in my hands rather than resting by the cart, so the grasp succeeded. The lit lamp post stands further down the street ahead, so I will start walking forward to carry the plate toward it.", + "I am still carrying the plate, and the tall red lamp post with its glowing lantern is clearly ahead beside the raised wooden platform. I will continue walking forward to shorten the distance to it.", + "The lamp post has grown larger and now stands just left of my path, but I am not yet beside its base. Carrying the plate, I will keep stepping forward along the clear lane to reach it.", + "The plate is still secured in my hands, so I only need to carry it toward the tall standing lamp post that rises ahead beside the wooden veranda. I will keep walking straight along the open paving to close that remaining distance.", + "The lamp post with its lit lantern head is now much larger and close on my left front, so I am nearly at the intended placement area. Another step forward should bring me level with its base before I set the plate down.", + "I am right up against the lamp post and the raised wooden platform crowds my left, leaving little room to stop beside the post on this heading. I will turn slightly right so my path opens onto the free paving next to the post base.", + "With the heading shifted, the lamp post stands just beside my line of travel and the paving ahead is clear. I will step forward once to settle alongside its base, a suitable spot to release the plate.", + "I am standing on the open paving immediately beside the standing lamp post, which is the destination named in the task. I will release the plate here so it comes to rest next to the post.", + "The plate is resting on the paving right beside the standing lamp post. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0df3921686a1aeb96e31dc0af127342d7603efb9 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the wooden cart with large wheels.", + "Type": 0, + "Start_Pose": [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -67.2, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -67.2, + 0.0 + ], + [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -42.2, + 0.0 + ], + [ + -13296.939, + 4170.975, + 1222.843, + 0.0, + -42.2, + 0.0 + ], + [ + -13203.702, + 4086.433, + 1218.151, + 0.0, + -42.2, + 0.0 + ], + [ + -13110.465, + 4001.891, + 1218.151, + 0.0, + -42.2, + 0.0 + ], + [ + -13017.228, + 3917.349, + 1218.151, + 0.0, + -42.2, + 0.0 + ], + [ + -12923.991, + 3832.807, + 1218.151, + 0.0, + -42.2, + 0.0 + ], + [ + -12830.754, + 3748.265, + 1218.151, + 0.0, + -42.2, + 0.0 + ], + [ + -12737.517, + 3663.723, + 1249.703, + 0.0, + -42.2, + 0.0 + ], + [ + -12737.517, + 3663.723, + 1249.703, + 0.0, + -42.2, + 0.0 + ] + ], + "Rationale": [ + "I can see the wooden cart with its large spoked wheel and barrel load sitting off to the right side of the covered courtyard, well away from my current heading. I will turn right so that the cart moves toward the center of my view and my body faces the open paved path leading to it.", + "After the turn, the barrel cart with its large wheel is ahead of me near the shuttered wall, with clear stone paving between us. I will move forward along this open lane to begin closing the distance.", + "The cart appears larger now and remains roughly ahead of me along the row of paper-screen doors, so my heading is still good. I will keep moving forward without adjusting direction.", + "The barrel and its wheel are clearly resolved ahead of me and the wooden shafts resting on the ground are now visible, confirming I am tracking the right object. The open stone floor still gives me room, so I continue straight forward.", + "The cart now occupies a good part of the lower center of my view, though there is still several paces of paving between us. I will step forward again to keep closing in on it.", + "I am close enough now to see the individual barrel staves and the wheel hub just ahead and slightly left. Another forward step should bring me right up beside the cart.", + "The cart and its large wheel now dominate the near field of my view, only a step or two of paving away. I will advance once more to reach a position directly at the cart.", + "The barrel body and the front wheel are immediately in front of me, filling much of my view under the lantern-hung eaves. One final short step forward should place me right at the cart, close enough to consider the approach finished.", + "The wooden cart's barrel now fills the lower view directly in front of me, within arm's reach. The task is complete, so I stop here rather than push into it." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_d/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..edfb85166aa3c84d1481c2838fa1d57343117102 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t0_d/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Proceed to the base of the dark wooden column near the cart with large wheels.", + "Type": 0, + "Start_Pose": [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -67.2, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -67.2, + 0.0 + ], + [ + -13390.176, + 4255.517, + 1235.683, + 0.0, + -42.2, + 0.0 + ], + [ + -13296.939, + 4170.975, + 1222.843, + 0.0, + -42.2, + 0.0 + ], + [ + -13203.702, + 4086.433, + 1218.151, + 0.0, + -42.2, + 0.0 + ], + [ + -13110.465, + 4001.891, + 1218.151, + 0.0, + -42.2, + 0.0 + ], + [ + -13110.465, + 4001.891, + 1218.151, + 0.0, + -17.2, + 0.0 + ], + [ + -12990.235, + 3964.673, + 1218.151, + 0.0, + -17.2, + 0.0 + ], + [ + -12870.004, + 3927.456, + 1218.151, + 0.0, + -17.2, + 0.0 + ], + [ + -12749.774, + 3890.238, + 1218.151, + 0.0, + -17.2, + 0.0 + ], + [ + -12629.543, + 3853.021, + 1218.151, + 0.0, + -17.2, + 0.0 + ], + [ + -12509.313, + 3815.803, + 1218.151, + 0.0, + -17.2, + 0.0 + ], + [ + -12509.313, + 3815.803, + 1218.151, + 0.0, + -42.2, + 0.0 + ], + [ + -12416.076, + 3731.261, + 1218.151, + 0.0, + -42.2, + 0.0 + ], + [ + -12322.839, + 3646.719, + 1221.018, + 0.0, + -42.2, + 0.0 + ], + [ + -12322.839, + 3646.719, + 1221.018, + 0.0, + -67.2, + 0.0 + ], + [ + -12322.839, + 3646.719, + 1221.018, + 0.0, + -67.2, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the cart with the large spoked wheels sitting to the right along the veranda, with the dark wooden columns of that covered walkway lined up beside it. My current heading points too far along the sliding paper doors, so I will turn right to bring the cart and its neighboring column into the center of my view and open the corridor ahead.", + "The cart with the barrel and large wheels now sits ahead and slightly left, with the veranda columns beside it, and the paved courtyard in front of me is clear. I will move forward to close distance along this open lane toward that column area.", + "The cart appears larger and the column line beside it is more distinct, confirming I am closing in on the right region. The stone paving ahead is still unobstructed, so another forward step should continue shrinking the gap.", + "I am now close enough that the cart's wheel and shafts are clearly resolved just ahead on my left, with a tall dark column rising beside the veranda edge. I will continue forward, since the direct route toward that column base remains open.", + "The cart is now very close on my left, and the wide street beyond it continues to the right past more of the covered walkway and its columns. I will turn right to face down that open lane so I can keep advancing along the colonnade instead of pressing into the cart and the door facade.", + "With the lane now stretching straight ahead between the buildings, the cart sits at the left edge and a run of dark columns lines the raised veranda on that side. I will move forward along this open street to reach the column standing nearest the cart's stretch of walkway.", + "The cart has slid further toward the left foreground as I advance, and the veranda columns ahead on the left are growing taller in view. The paved lane remains clear, so I will keep moving forward to bring one of those column bases within reach.", + "The cart's wheel is now large at my left shoulder and a stout dark column of the walkway stands just ahead on that side. I will take another step forward to draw level with that column base rather than stopping short beside the cart.", + "The cart with the large spoked wheels sits close on my left, and the dark wooden columns of the veranda continue along that same side ahead of me. Since the column base I want is still off to my side rather than in front, I will keep moving forward down the open lane to draw level with it before turning in.", + "The cart has slipped behind my left shoulder and a tall dark column of the veranda now stands at the left edge of my view with its stone base just visible. One more step forward along the lane should place me beside that column so a left turn faces it directly.", + "I am now roughly level with the dark column, so continuing straight would only carry me past it down the street. Turning left should swing the column and its base into the center of my view for a direct approach.", + "The turn brought the dark wooden column into view ahead on my left, with the lantern post and veranda edge framing it. I will step forward to close the remaining gap toward its base.", + "The column now fills much of the left side of my view and its rounded stone footing is clearly visible, but I am still a short distance out on the paving. Another forward step should bring me right up against its base.", + "I am standing right at the veranda edge and the dark column has drifted to the far left margin of my view. A small left turn should center the column base in front of me so my stopping pose clearly faces the target.", + "The dark wooden column fills the center of my view with its base and footing directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5fdf75b932cc54accde03c414326177fb5e3aa99 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013390_y004256_z001236_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the trash bag beside the large clay pot near the building entrance.", + "Type": 5, + "Start_Pose": [ + -13390.176, + 4255.517, + 1235.683, + 0, + -67.2, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -13087.665, + 3535.872, + 1138.151, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13390.176, + 4255.517, + 1235.683, + 0, + -67.2, + 0 + ], + [ + -13341.403, + 4139.492, + 1222.912, + 0.0, + -67.2, + 0.0 + ], + [ + -13292.631, + 4023.468, + 1221.805, + 0.0, + -67.2, + 0.0 + ], + [ + -13243.859, + 3907.443, + 1218.221, + 0.0, + -67.2, + 0.0 + ], + [ + -13195.086, + 3791.418, + 1218.221, + 0.0, + -67.2, + 0.0 + ], + [ + -13146.314, + 3675.393, + 1225.588, + 0.0, + -67.2, + 0.0 + ], + [ + -13146.314, + 3675.393, + 1225.588, + 0.0, + -67.2, + 0.0 + ], + [ + -13146.314, + 3675.393, + 1225.588, + 0.0, + -67.2, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -13087.665, + 3535.872, + 1138.151, + 0.0, + 0.0, + 0.0 + ], + [ + -13087.665, + 3535.872, + 1138.151, + 0.0, + 0.0, + 0.0 + ], + [ + -13087.665, + 3535.872, + 1138.151, + 0.0, + 0.0, + 0.0 + ], + [ + -13087.665, + 3535.872, + 1138.151, + 0.0, + 0.0, + 0.0 + ], + [ + -13087.665, + 3535.872, + 1138.151, + 0.0, + 0.0, + 0.0 + ], + [ + -13087.665, + 3535.872, + 1138.151, + 0.0, + 0.0, + 0.0 + ], + [ + -13126.865, + 3684.231, + 1188.257, + -28.202, + -17.056, + 1.862 + ], + [ + -13126.865, + 3684.231, + 1188.257, + -28.202, + -17.056, + 1.862 + ] + ], + "PD_Dist_2D": [ + 780.6, + 654.8, + 528.9, + 403.1, + 277.2, + 151.3, + 21.4, + 21.4 + ], + "Rationale": [ + "From the courtyard I can see the covered walkway ahead with the large clay pots set against the entrance doors, and a sack-like bundle resting on the ground beside them. That bundle matches the trash bag I need to grab, but it is far across the paving. I will walk straight forward to close that distance.", + "The pots and the sack beside them are noticeably larger in view, so my heading is carrying me toward the entrance. Nothing blocks the paved stretch between me and them. I will keep walking forward.", + "The dark round bag now sits clearly to the right of the two clay pots along the entrance platform, still several strides away. My current line leads directly at it with only flat stone slabs underfoot. I will continue advancing.", + "The entrance doors, the plum-patterned jar and the plain clay pot fill much more of my view, and the trash bag is close to the center of it. I am still too far to reach the bag. Another step forward should bring it within grasping range.", + "The bag is now large and directly ahead of me, just off the raised step next to the clay pots. I need to stand right over it before I can take hold. I will step forward once more to close the last of the gap.", + "The trash bag is directly in front of me at the base of the entrance platform, right beside the large clay pot, filling the near part of my view. My hands are empty and nothing stands between us. I will attempt to pick it up now.", + "The trash bag is now held in my hands rather than resting by the pot. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013426_y002309_z001218_t1_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013426_y002309_z001218_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5589ea2fa9afb356124659f1fce88802558897f2 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013426_y002309_z001218_t1_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Locate the four-wheeled wooden cart in this traditional courtyard and navigate over to it.", + "Type": 1, + "Start_Pose": [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 137.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 137.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 162.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -172.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -147.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -122.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -97.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -72.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -47.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -22.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 2.28, + -0.0 + ], + [ + -13299.903, + 2314.302, + 1218.15, + 0.0, + 2.28, + -0.0 + ], + [ + -13174.143, + 2319.309, + 1218.15, + 0.0, + 2.28, + -0.0 + ], + [ + -13048.384, + 2324.316, + 1218.15, + 0.0, + 2.28, + -0.0 + ], + [ + -12922.625, + 2329.323, + 1225.736, + 0.0, + 2.28, + -0.0 + ], + [ + -12796.865, + 2334.33, + 1228.083, + 0.0, + 2.28, + -0.0 + ], + [ + -12671.106, + 2339.337, + 1228.083, + 0.0, + 2.28, + -0.0 + ], + [ + -12545.347, + 2344.344, + 1225.802, + 0.0, + 2.28, + -0.0 + ], + [ + -12419.587, + 2349.351, + 1223.547, + 0.0, + 2.28, + -0.0 + ], + [ + -12293.828, + 2354.358, + 1228.186, + 0.0, + 2.28, + -0.0 + ], + [ + -12223.668, + 2358.733, + 1228.186, + 0.0, + 2.28, + -0.0 + ], + [ + -12223.668, + 2358.733, + 1228.186, + 0.0, + 2.28, + -0.0 + ] + ], + "Rationale": [ + "From this covered walkway I can only see a paper-screened wall on my left and a railing with red lanterns ahead, and no wooden cart is anywhere in view. I will turn right to begin a steady scan of the courtyard and open the darker portion of the veranda to my right.", + "The scan has brought more of the lantern-lit upper structures and railing into view, but still no four-wheeled cart on the stone paving. I will keep turning right in the same direction to sweep further along the courtyard edge.", + "Ahead I see a red railing, a tiered lantern-hung hall and a wooden deck section on the right, but nothing resembling a wheeled cart. Continuing the same rightward rotation should reveal the courtyard area currently hidden behind the building corner.", + "The right side of my view is now filled by the timber and shoji facade of the near building, which blocks any sight of the ground beyond it. I will turn right again to pass this wall and keep the scan moving toward unseen parts of the courtyard.", + "Right now I am facing an almost blank stretch of paper screens and porch boards with very little open ground visible. Turning right again should carry my gaze past this facade toward the more open courtyard I expect on the other side.", + "A lit stone-style lantern and a stretch of paved ground have appeared on the right, which suggests the open courtyard lies further in that direction. I will continue the rightward turn to bring that paved area fully into view.", + "The courtyard is opening up ahead with a lantern post, grass strip and a long paved corridor between the halls, but the cart is still not in sight. I will keep turning right to uncover the remaining stretch of this corridor.", + "Further right I can now make out barrels, a jar and what looks like a low wooden platform under the blossom tree, which is the kind of storage area where a cart would be kept. I will turn right once more to face that promising part of the courtyard squarely.", + "Continuing my steady rightward scan, I now see the courtyard opening up past the corner building, with raised wooden decking and a dark low object sitting on it further down the lane. Nothing in view is yet confirmed as the four-wheeled cart, so I will turn right once more to bring that open passage and the object on the decking toward the center of my view.", + "My heading is now down the open covered lane between the two buildings, with wooden platforms laid along the paving and a dark, low, boxy object resting on the decking further ahead. That shape is the most plausible candidate for the wooden cart, so I will stop scanning and walk forward to close distance and confirm it.", + "The lane ahead stays clear, with jars and barrels to my left and shuttered panels to my right, and the object on the raised decking has grown slightly larger and more distinct. I will keep walking straight to bring it close enough to read its wheels and frame.", + "The dark object on the decking beyond the near wooden platform is resolving into a squat body with round shapes at its sides, which fits a wheeled cart. Since my heading is already aimed at it, another straight step forward should continue closing the gap.", + "I am now stepping along the plank platform with the lantern-lit passage still open in front of me and the candidate object holding steady in the center of my view. No turn is needed, so I will simply advance again to reduce the remaining distance.", + "The object ahead now clearly shows a pair of dark circular wheels flanking a boxy wooden body, so I am confident this is the cart I was asked to find. I will keep walking straight toward it along the open decking.", + "The cart's wheels and slatted body are plainly visible on the raised decking just ahead, confirming the target. I am still a few paces short of it, so I will continue forward without adjusting my heading.", + "The wooden cart with its wheels and long shafts is now close in front of me on the plank platform, directly on my line of travel. I will take another step forward to bring myself right up beside it.", + "The wooden cart is now clearly ahead of me on the raised plank platform, with its dark spoked wheels and slatted body centered in my path. It is still several body lengths away, so I will keep walking straight along the boards toward it without changing heading.", + "The cart has grown noticeably larger and both wheels and the loading pole are now distinct, confirming I am closing on it along a clear stretch of decking. Nothing blocks the boards in front of me, so another straight step should bring me closer to the cart.", + "The cart now fills much of my view, with its side wheels spread to either side and its slatted bed just in front of me. One more short step forward should place me right at the cart, close enough to count as reaching it.", + "The wooden cart's plank body and wheel stand directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013426_y002309_z001218_t1_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013426_y002309_z001218_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4daac2af8260ab8958ef5f3ecf579d167598f98b --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013426_y002309_z001218_t1_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Search for the wooden barrels stored around the premises; once found, make your way to them.", + "Type": 1, + "Start_Pose": [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 137.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 137.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 162.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -172.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -147.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -122.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -97.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -72.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -47.72, + 0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -22.72, + 0.0 + ], + [ + -13309.569, + 2260.685, + 1218.15, + 0.0, + -22.72, + 0.0 + ], + [ + -13193.477, + 2212.074, + 1218.15, + 0.0, + -22.72, + 0.0 + ], + [ + -13193.477, + 2212.074, + 1218.15, + 0.0, + 2.28, + -0.0 + ], + [ + -13067.717, + 2217.081, + 1218.15, + 0.0, + 2.28, + -0.0 + ], + [ + -12941.958, + 2222.088, + 1218.15, + 0.0, + 2.28, + -0.0 + ], + [ + -12816.198, + 2227.095, + 1228.211, + 0.0, + 2.28, + -0.0 + ], + [ + -12690.439, + 2232.103, + 1228.211, + 0.0, + 2.28, + -0.0 + ], + [ + -12690.439, + 2232.103, + 1228.211, + 0.0, + -22.72, + 0.0 + ], + [ + -12690.439, + 2232.103, + 1228.211, + 0.0, + -47.72, + 0.0 + ], + [ + -12605.767, + 2138.984, + 1218.15, + 0.0, + -47.72, + 0.0 + ], + [ + -12605.767, + 2138.984, + 1218.15, + 0.0, + -47.72, + 0.0 + ] + ], + "Rationale": [ + "I am standing under a covered walkway with a blank paper-screen wall filling most of my view, and I see no wooden barrels anywhere in front of me. Since the open courtyard and railing lie off to my right, I will turn right to begin a steady scan of the more promising open ground.", + "The rotation has opened up more of the courtyard with red railings and lantern-strung buildings, but I still cannot spot any barrels. I will keep turning right in the same direction to continue sweeping the surroundings without breaking my scan.", + "I see more of the courtyard with hanging lanterns and a wooden deck to my right, yet no barrels appear anywhere in this stretch. I will continue turning right, keeping one consistent sweep direction so I cover the premises without missing a sector.", + "My view is now filled mostly by the timber building front and its wooden veranda, with only paper screens and columns visible. Nothing resembling a barrel is here, so I will turn right again to bring fresh ground into view.", + "I am facing a long dark wall of sliding screens and raised wooden flooring, which offers no sign of stored barrels. Turning right once more should carry my scan past this blank facade toward the next open area.", + "A red stone lantern and a passage between buildings have come into view on my right, suggesting a wider yard beyond, but no barrels are visible yet. I will keep turning right to open up that passage and check what is stored there.", + "The lantern post and an inner courtyard with grass are now ahead, and the space clearly widens to my right toward more of the premises. I will continue the same rightward sweep to inspect that unexamined stretch of yard.", + "Past the red pillar I can now make out a pale wooden barrel-like container beside a large dark jar near the grass strip on the right side of the courtyard. I will turn right once more to bring that cluster closer to the center of my view before heading toward it.", + "Scanning around the courtyard has brought a promising cluster into view ahead and slightly left, where pale wooden slatted containers sit beside a large dark jar against the building wall. They are still far off and partly shadowed, so I will walk forward across the open stone paving to close distance and confirm they are the barrels I am looking for.", + "The banded wooden containers next to the tall dark jar are noticeably larger now, which supports my reading of them as the stored barrels. The paving between us is still clear, so I will keep walking forward to shorten the remaining gap.", + "From here the courtyard opens into a lane running between the buildings, and the barrels sit along its left side while my current heading points into the corner of the near building. I will turn right to face down that open lane so I have a clear walking corridor toward them.", + "The lane now runs straight ahead with the wooden platforms on the right and the barrels and jar along the left wall. The way is clear, so I will walk forward down this corridor to draw level with them.", + "The slatted wooden barrels beside the large jar on my left are clearly resolved now and still ahead of my position. I will continue walking forward along the lane to bring them alongside me.", + "The barrels on my left are much closer and their staves and hoops are plainly visible, but they are still slightly forward of me. I will take another step forward so I end up beside them rather than behind them.", + "Two barrels now sit low and near at the left edge of my view, meaning I am almost level with them. One more forward step should place me directly abreast of the group before I turn to face it.", + "I am now level with the barrel group, but it has slipped to the far left edge of my view while I face down the lane. I will turn left to bring the barrels squarely in front of me and complete the approach.", + "The pair of wooden barrels stands against the building wall on my left, still off to the side of my heading rather than in front of me. I will turn left again to bring them toward the center of my view so I can walk straight at them.", + "The two wooden barrels are now roughly centered ahead of me, sitting beside the large storage jars along the wall, with clear paved ground between us. I will step forward to close the remaining short gap and stand beside them.", + "The two wooden barrels now fill the near foreground directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-013426_y002309_z001218_t1_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-013426_y002309_z001218_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1921afd64d4ba4cc603c95ad5d2dd42addecc64 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-013426_y002309_z001218_t1_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Determine where the ceramic jars are placed within this area, then proceed to that spot.", + "Type": 1, + "Start_Pose": [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 137.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 137.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 112.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 87.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 62.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 37.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + 12.28, + -0.0 + ], + [ + -13425.662, + 2309.295, + 1218.15, + 0.0, + -12.72, + 0.0 + ], + [ + -13302.892, + 2281.582, + 1218.15, + 0.0, + -12.72, + 0.0 + ], + [ + -13180.122, + 2253.87, + 1218.15, + 0.0, + -12.72, + 0.0 + ], + [ + -13057.352, + 2226.157, + 1218.15, + 0.0, + -12.72, + 0.0 + ], + [ + -12934.582, + 2198.445, + 1218.15, + 0.0, + -12.72, + 0.0 + ], + [ + -12934.582, + 2198.445, + 1218.15, + 0.0, + -37.72, + 0.0 + ], + [ + -12835.026, + 2121.444, + 1218.15, + 0.0, + -37.72, + 0.0 + ], + [ + -12735.47, + 2044.443, + 1218.15, + 0.0, + -37.72, + 0.0 + ], + [ + -12735.47, + 2044.443, + 1218.15, + 0.0, + -12.72, + 0.0 + ], + [ + -12735.47, + 2044.443, + 1218.15, + 0.0, + -12.72, + 0.0 + ] + ], + "Rationale": [ + "From under this covered walkway I only see paper screen walls close ahead and a railed veranda opening to the right, with no ceramic jars anywhere in view. I will turn left to begin a consistent scan of this area and reveal the parts of the courtyard the building currently hides.", + "The new heading shows only a long stretch of shoji panels and wooden siding, with the ground bare of any containers. Since nothing jar-like has appeared, I will keep rotating left in the same direction to continue the sweep.", + "This heading is even darker and shows another flat run of screens and a raised stone step, again without any pots or jars. I will continue the left rotation to keep uncovering new area rather than stopping on a blank wall.", + "A wooden pillar and a receding line of lit screens are all that this direction offers, and the walkway floor beside them is empty. I will turn left again, since the sweep is starting to open toward the exterior where storage items are more likely to sit.", + "The scan has now reached the open edge of the building, with lanterns, a blossoming tree and a lit street visible past the columns on the left. That exterior yard is a far more plausible place for ceramic jars than these interior screens, so I will keep turning left toward it.", + "Across the courtyard on the left I can make out a dark rounded vessel standing beside stacked wooden barrels against the far building. One more left turn should bring that storage cluster nearer the center of my heading before I start walking.", + "The courtyard now opens straight ahead, and the tall rounded jar beside the barrels sits along the left building at a comfortable angle from my heading. The paved lane in front of me looks clear, so I will walk forward to close distance on that spot.", + "The ceramic jar beside the barrels has grown noticeably larger and is clearly the target I identified, but it is still some distance down the lane. I will keep walking forward along the open paving to get closer to it.", + "The stacked ceramic jars stand ahead on the left side of the courtyard, next to the wooden barrels along the building wall. They are still some distance away, so I will keep walking forward along the open stone path to close the gap.", + "The ceramic jars have grown noticeably larger in view, confirming I am heading toward them, but they still sit off to my left front rather than within reach. I will step forward again to keep shortening the distance before adjusting my heading.", + "The jars are now clearly to my left, close to the building corner, while my current heading points down the lane past them. I will turn left to place the jars squarely in front of me so my remaining approach is straight.", + "The stacked ceramic jars are now centered ahead of me beside the barrels at the corner of the building. The paving between us is clear, so I will walk forward to reach their spot.", + "The jars fill much more of my view now, so only a short gap remains between me and them. I will take one more step forward to stand right at their location.", + "I am now standing right beside the ceramic jars, but they crowd the right edge of my view while the shoji wall dominates the rest. I will turn right to face the jars directly and confirm I have reached their spot.", + "The stacked ceramic jars stand directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-015862_y-009180_z001428_t0_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-015862_y-009180_z001428_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ceb1246e8b68108df05006c086c456d6dd7cb9c2 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-015862_y-009180_z001428_t0_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Approach the wooden door with cream-colored panels.", + "Type": 0, + "Start_Pose": [ + -15862.34, + -9179.901, + 1428.151, + -0.017, + 125.643, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15862.34, + -9179.901, + 1428.151, + -0.017, + 125.643, + 0.0 + ], + [ + -15935.682, + -9077.62, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16009.024, + -8975.339, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16082.366, + -8873.058, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16082.366, + -8873.058, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16105.611, + -8749.364, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16128.856, + -8625.671, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16152.101, + -8501.977, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16175.345, + -8378.283, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16198.59, + -8254.589, + 1441.686, + -0.017, + 100.643, + 0.0 + ], + [ + -16221.835, + -8130.895, + 1441.686, + -0.017, + 100.643, + 0.0 + ], + [ + -16245.08, + -8007.201, + 1441.686, + -0.017, + 100.643, + 0.0 + ], + [ + -16268.325, + -7883.507, + 1428.151, + -0.017, + 100.643, + 0.0 + ], + [ + -16291.569, + -7759.814, + 1428.151, + -0.017, + 100.643, + 0.0 + ], + [ + -16314.814, + -7636.12, + 1437.635, + -0.017, + 100.643, + 0.0 + ], + [ + -16338.059, + -7512.426, + 1437.635, + -0.017, + 100.643, + 0.0 + ], + [ + -16338.059, + -7512.426, + 1437.635, + -0.017, + 100.643, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the stone courtyard I can see the timber building on my left, with cream-colored paneled doors under the eaves and red lanterns hanging in front of them. The paving ahead is open, so I will move forward to begin closing the large gap toward that door frontage.", + "The paneled doors and lanterns now sit slightly larger and further to my left, confirming I am closing distance along the courtyard. Nothing blocks the pavement in front of me, so I will keep advancing before refining my heading.", + "The tree with the lantern strings and the raised planter bed at the building's front are becoming prominent, so the target facade is clearly nearer. I will continue straight to gain more ground before turning to face the door directly.", + "The cream paneled door sits well off to my left while my heading still points across the courtyard toward the tall stone wall. I will turn left to bring that door group into the center of my view so my remaining approach can run straight at it.", + "The turn has brought the building's cream-paneled sliding doors near the middle of my view, framed by lanterns and the shading eaves. With my heading now aligned, I will move forward to shorten the remaining distance across the planter area.", + "The paneled doors and the porch beneath the eaves keep growing as I advance on this heading, so my alignment is holding. I will step forward again to continue closing on the door.", + "The central cream door panels are now clearly distinguishable from the flanking window panels, and the tree trunk stands slightly right of my path rather than in it. I will keep moving forward toward the door.", + "The porch platform and the wooden door with its cream panels fill more of my view, but I am still out on the courtyard side of the raised step. I will advance again to bring myself up close to the doorway.", + "The wooden door with cream-colored panels sits centered ahead under the lantern-hung eave, with the tree trunk safely off to my right side. The paved strip in front of me is clear, so I will keep moving forward to close the remaining distance.", + "The door panels now fill more of my view and the eave beams have risen above my line of sight, confirming I am closing in on the target. The ground ahead is still unobstructed, so another forward step should bring me nearer the doorway.", + "I am close enough that the cream sliding panels and their dark wooden frame dominate the view, but the raised porch edge still lies between me and the door. I will step forward again to reach the platform in front of the doorway.", + "The wooden decking in front of the cream-paneled door is now directly ahead and level with my path, with nothing blocking the approach. Continuing forward should place me right at the door.", + "The door's latticed cream panels and its yellow-patterned lintel are close and clearly centered slightly left of my heading. A further forward step should bring me to within arm's reach of the panels.", + "The four cream panels of the wooden door now occupy most of my view at close range, so only a short remaining gap separates me from it. I will advance once more to finish closing that gap.", + "The cream panels and their wooden mullions fill nearly the entire view, showing I am almost against the door. One last short step forward should settle me directly in front of it.", + "The wooden door's cream panels and frame fill my view at arm's length directly ahead. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-015862_y-009180_z001428_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-015862_y-009180_z001428_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1300b418e62dae2507b77004cbfe321f09a6c899 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-015862_y-009180_z001428_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Lift the green bell pepper beside the courtyard tree trunk.", + "Type": 5, + "Start_Pose": [ + -15862.34, + -9179.901, + 1428.151, + -0.017, + 125.643, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -16286.818, + -8350.531, + 1383.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15862.34, + -9179.901, + 1428.151, + -0.017, + 125.643, + 0 + ], + [ + -15935.682, + -9077.62, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16009.024, + -8975.339, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16082.366, + -8873.058, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16155.709, + -8770.777, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16229.051, + -8668.496, + 1428.15, + -0.017, + 125.643, + 0.0 + ], + [ + -16229.051, + -8668.496, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16252.296, + -8544.802, + 1428.15, + -0.017, + 100.643, + 0.0 + ], + [ + -16252.296, + -8544.802, + 1428.15, + 0.0, + 100.643, + -0.0 + ], + [ + -16252.296, + -8544.802, + 1428.15, + 0.0, + 100.643, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -16286.818, + -8350.531, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -16286.818, + -8350.531, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -16286.818, + -8350.531, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -16286.818, + -8350.531, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -16286.818, + -8350.531, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -16286.818, + -8350.531, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -16286.818, + -8350.531, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -16286.818, + -8350.531, + 1383.15, + 0.0, + 0.0, + 0.0 + ], + [ + -16273.169, + -8549.346, + 1398.257, + -28.202, + 150.788, + 1.862 + ], + [ + -16273.169, + -8549.346, + 1398.257, + -28.202, + 150.788, + 1.862 + ] + ], + "PD_Dist_2D": [ + 931.7, + 807.4, + 683.8, + 561.1, + 440.2, + 323.2, + 323.2, + 197.3, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the green bell pepper resting at the base of the courtyard tree, well ahead across the paved yard. It is far too distant to reach, so I will walk forward to close the gap.", + "The pepper by the tree trunk is slightly larger in view now, but still well out of arm's reach. I will keep walking straight since the paved courtyard ahead is clear.", + "The tree and the green pepper beside its trunk keep growing in my view, confirming my heading is good. I will continue advancing across the open paving to shorten the remaining distance.", + "The pepper sits on the dark planter edge at the trunk, now clearly closer but still several paces away. Another step forward should bring me near enough to consider reaching for it.", + "The pepper is drifting toward the left edge of my view as I close in, but the way ahead is still open. I will take another step forward before correcting my heading.", + "The bell pepper now sits low on the left side of my view, off my current heading, so walking straight would carry me past it. I will turn left to bring it in front of me before closing the last distance.", + "The pepper is now centered directly ahead at the foot of the tree trunk, so my heading is correct. It still looks a couple of paces away, so I will step forward to get within reach.", + "The green bell pepper fills the lower center of my view right at the planter edge, close enough that my hands should reach it. I will attempt to pick it up now.", + "The green bell pepper is now held in my hands, no longer resting by the tree. The lift is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f893c79d3130ff72360889170f1a2c02f85bba5 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the base of the leftmost tree.", + "Type": 2, + "Start_Pose": [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + [ + -15875.983, + -8585.539, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15774.631, + -8510.918, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15774.631, + -8510.918, + 1428.15, + -0.017, + 11.363, + 0.0 + ], + [ + -15651.239, + -8486.121, + 1428.15, + -0.017, + 11.363, + 0.0 + ], + [ + -15527.847, + -8461.323, + 1428.15, + -0.017, + 11.363, + 0.0 + ], + [ + -15404.455, + -8436.526, + 1428.15, + -0.017, + 11.363, + 0.0 + ], + [ + -15281.063, + -8411.729, + 1428.15, + -0.017, + 11.363, + 0.0 + ], + [ + -15281.063, + -8411.729, + 1428.15, + -0.017, + -13.637, + -0.0 + ], + [ + -15158.752, + -8441.402, + 1440.875, + -0.017, + -13.637, + -0.0 + ], + [ + -15158.752, + -8441.402, + 1440.875, + -0.017, + -13.637, + -0.0 + ] + ], + "Rationale": [ + "Scanning the row of trees along this courtyard, the one at the far left end stands with a pale mottled trunk rising from the narrow planting strip beside the red railing, so that trunk is my target from here on. It is still far across the open paving. I will walk forward to close that distance.", + "The pale-trunked tree at the left has grown noticeably larger and its base by the planting strip is now clearer, so my heading is still useful. The paving between us remains clear. I will keep walking forward to shorten the gap before adjusting my heading.", + "My target tree with the pale trunk now sits well off to my left, near the edge of my view, while walking straight would carry me past it along the hall. I need it centered before I advance further. I will turn left to swing my heading onto it.", + "The turn has brought the pale trunk near the middle of my view, rising from the raised planting bed in front of the railed veranda. The paving between me and it is open. I will walk forward along this heading to close on its base.", + "The trunk is thicker in my view and its foot on the planting bed is easier to read, confirming I am closing correctly. Nothing blocks the paving ahead. I will step forward again to keep shrinking the remaining distance.", + "The mottled trunk now fills a good part of my view and the mossy bed it grows from spreads across the ground in front of me. I am close but not yet at its foot. I will advance again to reach the base.", + "The trunk towers close on my left and the mossy bed it stands in now occupies the near ground, so only a short gap remains. The railing behind it marks how near the veranda I am. I will take another step forward to draw level with the tree.", + "The trunk has drifted to the left edge of my view as I closed in, so walking straight now would carry me past it rather than to its foot. I need it back in front of me for the final step. I will turn left to face the trunk squarely.", + "The turn has put the mottled trunk squarely in the middle of my view, with only a short strip of the mossy bed still separating me from its foot. Nothing stands between us. I will step forward once more to arrive at the base.", + "The trunk fills my view directly ahead, its base within arm's reach. I am at the tree, so the task is complete and there is no reason to move further." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_b/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6589436df6e1c2a83db4c4fb020e71f241112057 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Head toward the base of the second tree from left.", + "Type": 2, + "Start_Pose": [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + [ + -15875.983, + -8585.539, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15875.983, + -8585.539, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15815.664, + -8475.076, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15755.345, + -8364.613, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15695.026, + -8254.15, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15634.707, + -8143.687, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15574.388, + -8033.224, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15514.068, + -7922.761, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15453.749, + -7812.298, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15393.43, + -7701.834, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15333.111, + -7591.371, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15272.792, + -7480.908, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15212.473, + -7370.445, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15212.473, + -7370.445, + 1428.15, + -0.017, + 61.363, + 0.0 + ] + ], + "Rationale": [ + "Counting the trees standing along the veranda, the leftmost one rises close on my left, and my target is the next along, the tall ginkgo whose trunk sits in the planter strip beside the red railing. It is far off across the open flagstones, so I walk forward to close that gap.", + "Straight ahead my path runs into the veranda railing, while the open paved lane that passes my ginkgo leads off to the right. I turn right so that lane lies ahead of me and the tree row stays along my left side.", + "The turn has opened the corridor between the railed veranda on my left and the lantern-hung building on my right. My ginkgo stands partway down it in the planter, so I step forward along the clear stone.", + "Nothing blocks the lane and the ginkgo I am heading for is still well down on my left, its trunk rising from the long planter beside the red railing. I keep walking forward to cut the remaining distance.", + "The far end of the row I originally counted from has slipped out of my view, so I simply hold to the trunk in the planter that I picked out, now larger off to my left. The lane in front stays open, so I continue forward.", + "My tree still stands ahead on the left with its trunk set in the raised planter, and it reads noticeably nearer than before. Sunlit stone runs unobstructed between me and it, so I take another step forward.", + "The trunk I am heading for now rises close on my left, though I am not yet level with its base in the planter. The lane remains clear of obstacles, so I keep advancing.", + "Another trunk further down the walkway has come into view, but the one I am tracking is the nearer one growing from the planter on my left. Its base is still a few steps ahead, so I move forward again.", + "The ginkgo's trunk now fills a good part of my left view, but its base in the planter strip still sits ahead of my shoulder line. The paving between me and it is empty, so I press on.", + "Its lower trunk and the grass-edged planter it grows from are clearly resolved on my left, yet I am still a little short of standing level with the roots. Another stride along the open stone should bring me alongside.", + "The trunk has grown thick and pale close on my left, with the low kerb of its bed running beside my feet. I keep walking to bring myself even with the base rather than stopping behind it.", + "The bark now reads in detail at arm's length off my left side, though the root flare is still slightly ahead of me. A short step more should put me squarely beside the base.", + "The trunk stands right at the edge of my view on the left, the water channel and planter kerb running past it. One last stride should place me level with where it meets the ground.", + "The ginkgo's trunk rises immediately beside me on the left, its base level with where I stand. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00b53f6b35410212987eb0caf14ad0added00591 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-015977_y-008660_z001428_t2_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Approach the base of the second tree from right.", + "Type": 2, + "Start_Pose": [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15977.334, + -8660.161, + 1428.15, + -0.017, + 36.363, + 0.0 + ], + [ + -15875.983, + -8585.539, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15774.631, + -8510.918, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15673.28, + -8436.296, + 1428.15, + -0.017, + 36.363, + -0.0 + ], + [ + -15673.28, + -8436.296, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15612.961, + -8325.833, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15552.642, + -8215.37, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15492.323, + -8104.907, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15432.004, + -7994.444, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15371.685, + -7883.98, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15311.366, + -7773.517, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15251.047, + -7663.054, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15190.728, + -7552.591, + 1428.15, + -0.017, + 61.363, + 0.0 + ], + [ + -15130.409, + -7442.128, + 1443.299, + -0.017, + 61.363, + 0.0 + ], + [ + -15130.409, + -7442.128, + 1443.299, + -0.017, + 61.363, + 0.0 + ] + ], + "Rationale": [ + "Counting the trees along this courtyard from the right, my target is the second one, the pale straight trunk rising from the planter strip in front of the red railed veranda, with only the lantern-side tree beyond it. It stands well ahead across the open flagstones. I step forward to close that distance.", + "The pale-trunked tree I chose is growing larger ahead and slightly right, and the paving between us is still clear. Nothing blocks my line, so another step forward is the direct way to shorten the gap.", + "The veranda railing and the planter beds are noticeably closer, and my tree still sits ahead on the right side of my view. I keep walking straight to gain more ground before adjusting my heading.", + "The building wall now dominates my view and the trunk I am heading for has slid out toward the right edge, so walking straight would carry me past it along the veranda. A modest turn to the right should bring that tree back near the center of my path.", + "The lane ahead has opened up and my target trunk now stands squarely in front of me above its planter bed. More trees are visible farther down this lane, so I hold onto this particular pale trunk beside the red railing rather than recounting the row. I walk forward along the open paving.", + "The trunk I am following is directly ahead and its canopy is spreading wider across my view. The stone lane in front of me is unobstructed, so I continue straight toward its base.", + "My tree is clearly nearer, its planter curb now readable at the left of the lane. I am still several strides short of standing at its base, so I keep moving forward.", + "The pale trunk now rises through most of my view with its base and surrounding planter bed plainly in sight just ahead and slightly left. A few more steps should put me right at that base, so I advance again.", + "The trunk stands just left of my heading with its planter curb clearly edged in front of me, but I am still a couple of body lengths short of it. The paving between us is empty, so I press on.", + "The mossy planter strip beside the veranda now runs close along my left and the trunk rises tall right at its edge. I have not yet drawn level with its base, so another stride is warranted.", + "My tree's roots and the green bed around them are only a short step ahead on the left, with the lower branches already arcing over my head. I keep advancing to bring myself level with the trunk itself.", + "The trunk fills a broad band of my view and the grassy bed it grows from lies right beside my path. A little more forward motion should place me squarely at its foot.", + "The bark texture is now readable at arm's-length scale and the base sits just forward of me at the curb. One final step should bring me flush with the foot of this tree.", + "The trunk fills my view at arm's reach, its base in the bed beside me. I am at the tree's base, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-016055_y-013142_z001428_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-016055_y-013142_z001428_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ee424cdfb5c2dc3c0aaa7bb8a437788f83ee04cb --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-016055_y-013142_z001428_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the trunk of the tree growing from the rectangular soil bed.", + "Type": 0, + "Start_Pose": [ + -16054.577, + -13142.345, + 1428.151, + -0.017, + -115.317, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -16054.577, + -13142.345, + 1428.151, + -0.017, + -115.317, + 0.0 + ], + [ + -16108.398, + -13256.116, + 1428.151, + -0.017, + -115.317, + -0.0 + ], + [ + -16162.218, + -13369.887, + 1428.151, + -0.017, + -115.317, + -0.0 + ], + [ + -16162.218, + -13369.887, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16259.078, + -13450.253, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16355.938, + -13530.619, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16452.797, + -13610.984, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16549.657, + -13691.35, + 1428.151, + -0.017, + -140.317, + -0.0 + ], + [ + -16646.517, + -13771.716, + 1441.604, + -0.017, + -140.317, + -0.0 + ], + [ + -16743.377, + -13852.082, + 1441.604, + -0.017, + -140.317, + -0.0 + ], + [ + -16840.236, + -13932.448, + 1441.604, + -0.017, + -140.317, + -0.0 + ], + [ + -16840.236, + -13932.448, + 1441.604, + -0.017, + -140.317, + -0.0 + ] + ], + "Rationale": [ + "Ahead and to my left I can see a tree rising from a rectangular soil bed edged with stone, set against the dark courtyard wall. Since it is still far across the open paving, I will move forward to close some of that distance before refining my heading.", + "The tree in its rectangular bed is now noticeably larger in my view, confirming that forward motion is closing the gap. The paved ground between us is still clear, so I will continue straight before turning to face the trunk directly.", + "The rectangular soil bed and its tree sit clearly to my left while my heading still points toward the pavilion ahead. I will turn left to bring the trunk toward the center of my view so I can advance straight at it.", + "The turn has put the rectangular soil bed and its tree trunk near the middle of my view, so my heading now points at the target. I will move forward along this line to shorten the remaining distance across the paving.", + "The soil bed's stone border is growing wider in my view and the trunk stays centered, so my alignment remains good. I will keep moving forward to continue closing on the trunk.", + "The bed now fills much of the lower view and the trunk is directly ahead, though still several steps away. I will advance again to keep reducing the gap without changing heading.", + "The near edge of the soil bed is close beneath me and the trunk rises straight ahead, its bark now clearly visible. I will step forward again to reach a position right at the trunk.", + "I am now over the soil bed with the trunk filling the center of my view, but there is still a short gap to close. I will move forward once more to stand right beside the trunk.", + "The trunk rising from the rectangular soil bed stands just left of my view center, and the bed's dark surface now spans the whole lower part of my view. My heading is still lined up on that trunk, so I will step forward again to keep closing the remaining short gap.", + "The trunk now fills a tall band in front of me with its bark texture clearly resolved, so I am nearly at it but still a short step short of standing beside it. I will move forward once more to finish closing that last bit of distance.", + "The trunk of the tree in the rectangular soil bed is directly beside me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-017629_y004015_z001218_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-017629_y004015_z001218_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11fb65a9c8d4e111ba8d95c218ce327a8f43aba2 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-017629_y004015_z001218_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the tomato near the stack of wooden crates in the courtyard.", + "Type": 5, + "Start_Pose": [ + -17629.306, + 4015.237, + 1218.151, + 0, + 44.16, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -17046.711, + 4385.644, + 1153.809, + -45.401, + 100.254, + 86.48 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -17629.306, + 4015.237, + 1218.151, + 0, + 44.16, + 0 + ], + [ + -17540.277, + 4066.888, + 1220.831, + 0.0, + 44.16, + -0.0 + ], + [ + -17449.986, + 4154.57, + 1218.151, + 0.0, + 44.16, + -0.0 + ], + [ + -17359.695, + 4242.251, + 1218.151, + 0.0, + 44.16, + -0.0 + ], + [ + -17359.695, + 4242.251, + 1218.151, + 0.0, + 19.16, + -0.0 + ], + [ + -17240.808, + 4283.559, + 1223.348, + 0.0, + 19.16, + -0.0 + ], + [ + -17121.921, + 4324.867, + 1218.151, + 0.0, + 19.16, + -0.0 + ], + [ + -17121.921, + 4324.867, + 1218.151, + 0.0, + 19.16, + -0.0 + ], + [ + -17121.921, + 4324.867, + 1218.151, + 0.0, + 19.16, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -17046.711, + 4385.644, + 1153.809, + -45.401, + 100.254, + 86.48 + ], + [ + -17046.711, + 4385.644, + 1153.809, + -45.401, + 100.254, + 86.48 + ], + [ + -17046.711, + 4385.644, + 1153.809, + -45.401, + 100.254, + 86.48 + ], + [ + -17046.711, + 4385.644, + 1153.809, + -45.401, + 100.254, + 86.48 + ], + [ + -17046.711, + 4385.644, + 1153.809, + -45.401, + 100.254, + 86.48 + ], + [ + -17046.711, + 4385.644, + 1153.809, + -45.401, + 100.254, + 86.48 + ], + [ + -17046.711, + 4385.644, + 1153.809, + -45.401, + 100.254, + 86.48 + ], + [ + -17129.506, + 4344.838, + 1188.257, + -28.202, + 69.304, + 1.862 + ], + [ + -17129.506, + 4344.838, + 1188.257, + -28.202, + 69.304, + 1.862 + ] + ], + "PD_Dist_2D": [ + 690.4, + 587.5, + 464.8, + 344.3, + 344.3, + 219.3, + 96.7, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the red tomato resting at the foot of the stacked wooden crates ahead in the courtyard, but it is still far across the paving. Walking straight forward should close a good portion of that distance while keeping the crates in view.", + "The crate stack and the tomato beside it have grown larger, confirming my heading is carrying me toward the target. The ground between us is still clear, so I continue walking forward to keep shrinking the gap.", + "The tomato now reads clearly as a large red fruit propped against the crate stack slightly left of my heading. It remains several strides away, too far to reach, so I step forward again to get within grasping range.", + "The tomato and its crate stack now sit well off to the left edge of my view while my body still faces the stone wall of the hall. Turning left should bring the fruit back toward the center of my heading before I close the last stretch.", + "The crate stack with the tomato at its base is now centered in front of me, so my heading is good. I walk forward to cover the remaining open paving toward the fruit.", + "The tomato fills much of the lower center of my view, yet it is still a step or so beyond comfortable reach. One more stride forward should place me close enough to attempt the grasp.", + "The tomato is right at my feet against the crate stack, its red surface filling the bottom of my view at arm's length. My hands are empty and nothing blocks the fruit, so I will attempt to pick it up now.", + "My hand is closed around the tomato and it is lifted off the courtyard paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-018608_y003635_z001221_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-018608_y003635_z001221_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..13f8138acd40038d591447a3f92347c919f4db23 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-018608_y003635_z001221_t0_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the small wooden lantern structure in the field.", + "Type": 0, + "Start_Pose": [ + -18607.851, + 3635.238, + 1221.147, + 0.0, + -133.44, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -18607.851, + 3635.238, + 1221.147, + 0.0, + -133.44, + 0.0 + ], + [ + -18607.852, + 3635.238, + 1221.128, + 0.0, + -158.44, + 0.0 + ], + [ + -18724.905, + 3588.988, + 1225.121, + 0.0, + -158.44, + 0.0 + ], + [ + -18841.958, + 3542.738, + 1228.059, + 0.0, + -158.44, + 0.0 + ], + [ + -18841.958, + 3542.738, + 1228.059, + 0.0, + 176.56, + -0.0 + ], + [ + -18967.59, + 3550.29, + 1230.871, + 0.0, + 176.56, + -0.0 + ], + [ + -19093.222, + 3557.842, + 1232.423, + 0.0, + 176.56, + -0.0 + ], + [ + -19218.854, + 3565.394, + 1232.681, + 0.0, + 176.56, + -0.0 + ], + [ + -19344.487, + 3572.946, + 1233.651, + 0.0, + 176.56, + -0.0 + ], + [ + -19470.119, + 3580.498, + 1234.448, + 0.0, + 176.56, + -0.0 + ], + [ + -19595.751, + 3588.05, + 1234.448, + 0.0, + 176.56, + -0.0 + ], + [ + -19721.383, + 3595.602, + 1234.448, + 0.0, + 176.56, + -0.0 + ], + [ + -19721.383, + 3595.602, + 1234.448, + 0.0, + -158.44, + 0.0 + ], + [ + -19838.436, + 3549.351, + 1234.448, + 0.0, + -158.44, + 0.0 + ], + [ + -19838.436, + 3549.351, + 1234.448, + 0.0, + -133.44, + 0.0 + ], + [ + -19838.436, + 3549.351, + 1234.448, + 0.0, + -108.44, + 0.0 + ], + [ + -19878.247, + 3429.955, + 1234.448, + 0.0, + -108.44, + 0.0 + ], + [ + -19878.247, + 3429.955, + 1234.448, + 0.0, + -83.44, + 0.0 + ], + [ + -19863.868, + 3304.92, + 1234.448, + 0.0, + -83.44, + 0.0 + ], + [ + -19849.49, + 3179.885, + 1232.863, + 0.0, + -83.44, + 0.0 + ], + [ + -19849.49, + 3179.885, + 1232.863, + 0.0, + -83.44, + 0.0 + ] + ], + "Rationale": [ + "I can see a small wooden lantern standing out in the grassy field, but a railing fence and the tall building on my right block any straight approach from here. I will turn left to bring the open dirt path and the gateway into the center of my view, which should give me a route out of this enclosed corner.", + "The dirt path now runs clearly ahead of me between the red gate posts, with the lantern still standing beyond the fence to my right. I will move forward along this open ground to close distance and get past the fence line that separates me from the field.", + "The red gate pillar has grown larger on my left and the lantern in the field is still separated from me by the long railing, so I have not yet reached a point where I can cut into the grass. I will keep moving forward along the packed dirt to continue past the gate and the fence.", + "The red pillar is now filling the middle of my view and the fence continues to my right, so my current heading points into structure rather than open ground. I will turn left to line up with the wide dirt trail that leads out under the gate into the open field.", + "The trail now runs straight out between the gate posts toward the open grassland and trees, with a hanging lantern on the left and a lantern structure off to my right. I will move forward along this corridor to leave the built-up area and get out into the field.", + "The gate structures are sliding past on both sides and the trail ahead remains clear as it opens onto the grassy slope. I will continue forward to keep closing distance toward the field where the lantern structure stands.", + "I am now beside the last of the wooden posts, with the trail running out into open grass and a small roofed lantern visible off to my right. I will press forward along the trail, since more distance out into the field should let me swing toward that structure without the posts in the way.", + "The path ahead is completely open across the field with only the post structure at my right shoulder. I will keep moving forward to gain clearance from those posts before turning toward the lantern.", + "The dirt path ahead of me is clear and opens out into the grassy field, with the tall red posts of the gateway passing on my right. Since the small lantern structure sits out in that open field rather than behind me, I will keep pushing forward along this track to close distance.", + "I have drawn nearly level with the last red pillar, and a small wooden structure is now showing beyond it on my right side of the field. The path in front of me remains unobstructed, so another step forward should bring me out of the gateway and closer to that part of the field.", + "The gateway posts have fallen behind to my right and the broad dirt path now runs uninterrupted toward the trees and open grass. The lantern structure I need is still somewhere out in this field, so I will continue straight to get well clear of the entrance before searching to the sides.", + "Straight ahead there is now only the path, distant trees and empty hillside, with nothing resembling the lantern in the center of my view. The wooden structures I glimpsed a moment ago lay off to my right, so I will turn right to bring that side of the field into view.", + "Turning has put a small wooden cart-like structure into my right foreground, confirming that the built features of this field lie on this side. Moving forward should carry me further into the field so I can see whether the lantern stands beyond it.", + "The wooden cart is close on my right and the ground straight ahead is just open grass, so the lantern must be still further around to that side. I will turn right again to sweep my view past the cart and toward whatever stands beyond it.", + "A lit lantern on a wooden post has just appeared at the far top right corner of my view, next to the plastered building wall. That is the small wooden lantern structure I am looking for, so another right turn should bring it nearer the center of my heading.", + "The lantern on its wooden post now stands clearly in the right half of my view, raised beside the building wall with open grass between us. With the heading roughly onto it and nothing blocking the way, I will step forward to close the remaining distance.", + "The wooden lantern on its post now sits well to the right of my heading, near the wall, while the cart occupies the left of my view. I will turn right to bring the lantern toward the center of my view so I can walk straight at it.", + "The lantern structure is now centered ahead of me with clear grass between us, so my heading is good. I will move forward to close the remaining distance toward it.", + "The lantern now fills much of the upper center of my view, so I am close but not yet standing at its base. One more step forward should bring me right up beside the post.", + "The lantern post stands directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-018656_y003584_z001223_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-018656_y003584_z001223_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..adc5301ec2da54a84d9b8b2a3d864bb6e264ea87 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-018656_y003584_z001223_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the stacked crates by the railing and the wall.", + "Type": 0, + "Start_Pose": [ + -18656.377, + 3583.995, + 1223.079, + 0.0, + -79.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -18656.377, + 3583.995, + 1223.079, + 0.0, + -79.68, + 0.0 + ], + [ + -18633.83, + 3460.172, + 1221.467, + 0.0, + -79.68, + 0.0 + ], + [ + -18611.283, + 3336.349, + 1221.038, + 0.0, + -79.68, + 0.0 + ], + [ + -18611.283, + 3336.349, + 1221.038, + 0.0, + -54.68, + 0.0 + ], + [ + -18538.518, + 3233.656, + 1218.092, + 0.0, + -54.68, + 0.0 + ], + [ + -18465.754, + 3130.964, + 1218.092, + 0.0, + -54.68, + 0.0 + ], + [ + -18392.989, + 3028.271, + 1218.092, + 0.0, + -54.68, + 0.0 + ], + [ + -18320.225, + 2925.578, + 1218.092, + 0.0, + -54.68, + 0.0 + ], + [ + -18247.461, + 2822.885, + 1218.092, + 0.0, + -54.68, + 0.0 + ], + [ + -18175.736, + 2723.674, + 1218.085, + 0.0, + -54.68, + 0.0 + ], + [ + -18175.736, + 2723.674, + 1218.085, + 0.0, + -54.68, + 0.0 + ] + ], + "Rationale": [ + "I can see the stacked wooden crates ahead, sitting against the plaster wall right beside the dark wooden railing on the right. They are still far off across the grass and stone paving, so I will move forward to begin closing that gap.", + "The crate stack by the railing has grown slightly larger in view, confirming my heading is roughly toward it. There is still clear paving ahead with no obstruction, so I will continue forward.", + "The crates sit slightly right of my heading, near the corner where the wall meets the railing, and my current course would carry me past them along the wall. I will turn right to bring the crate stack closer to the center of my view before advancing further.", + "After the turn the crates and the railing beside them sit more centrally in front of me, with open paving in between. I will move forward along this corrected heading to close distance.", + "The crates are clearly bigger now and still lined up ahead against the wall next to the railing. Nothing blocks the path, so I keep advancing to shorten the remaining distance.", + "The stacked crates now fill a good part of my view where the wall meets the railing, but I am not yet close enough to count as arrived. I will step forward again to tighten the approach.", + "The crates are now large and directly ahead, with the plaster wall behind them and the railing just to their right. A little more distance remains, so I will continue forward toward them.", + "The crate stack now dominates the left of my view at close range, its planks clearly detailed, with the railing right beside it. One more forward step should bring me right up alongside the crates by the railing and the wall.", + "The stacked crates now fill the left half of my view, wedged between the plaster wall and the wooden railing on my right. Only a short gap of paving remains before them, so I will advance once more to close that last bit of distance and stand right at the stack.", + "The stacked crates are directly beside me, between the wall and the railing. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-018656_y003584_z001223_t5_a_p/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-018656_y003584_z001223_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c33a865732298871e6260260fefe52b53a2e2f6 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-018656_y003584_z001223_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the jerry can near the stacked crates by the railing and wall.", + "Type": 5, + "Start_Pose": [ + -18656.377, + 3583.995, + 1223.079, + 0, + -79.68, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -18352.531, + 2688.593, + 1138.15, + 0, + -30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -18656.377, + 3583.995, + 1223.079, + 0, + -79.68, + 0 + ], + [ + -18633.83, + 3460.172, + 1221.467, + 0.0, + -79.68, + 0.0 + ], + [ + -18611.283, + 3336.349, + 1221.038, + 0.0, + -79.68, + 0.0 + ], + [ + -18588.736, + 3212.526, + 1229.362, + 0.0, + -79.68, + 0.0 + ], + [ + -18566.189, + 3088.703, + 1232.237, + 0.0, + -79.68, + 0.0 + ], + [ + -18566.189, + 3088.703, + 1232.237, + 0.0, + -54.68, + 0.0 + ], + [ + -18493.424, + 2986.011, + 1232.45, + 0.0, + -54.68, + 0.0 + ], + [ + -18420.66, + 2883.318, + 1218.15, + 0.0, + -54.68, + 0.0 + ], + [ + -18420.66, + 2883.318, + 1218.15, + 0.0, + -54.679, + 0.0 + ], + [ + -18420.66, + 2883.318, + 1218.15, + 0.0, + -54.679, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -18352.531, + 2688.593, + 1138.15, + 0.0, + -30.0, + 0.0 + ], + [ + -18352.531, + 2688.593, + 1138.15, + 0.0, + -30.0, + 0.0 + ], + [ + -18352.531, + 2688.593, + 1138.15, + 0.0, + -30.0, + 0.0 + ], + [ + -18352.531, + 2688.593, + 1138.15, + 0.0, + -30.0, + 0.0 + ], + [ + -18352.531, + 2688.593, + 1138.15, + 0.0, + -30.0, + 0.0 + ], + [ + -18352.531, + 2688.593, + 1138.15, + 0.0, + -30.0, + 0.0 + ], + [ + -18352.531, + 2688.593, + 1138.15, + 0.0, + -30.0, + 0.0 + ], + [ + -18352.531, + 2688.593, + 1138.15, + 0.0, + -30.0, + 0.0 + ], + [ + -18403.589, + 2896.161, + 1188.257, + -28.202, + -4.535, + 1.862 + ], + [ + -18403.589, + 2896.161, + 1188.257, + -28.202, + -4.535, + 1.862 + ] + ], + "PD_Dist_2D": [ + 945.6, + 821.3, + 697.5, + 574.7, + 453.6, + 453.6, + 329.1, + 206.3, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the small red jerry can sitting against the pale wall beside the stacked wooden crates, but it is still far across the grass and paving. Nothing blocks the open ground between us, so I will walk straight ahead to close that distance.", + "The jerry can and the crates beside it have grown slightly larger ahead of me, confirming my heading points at the target. The paved strip in front stays clear, so I will keep walking forward.", + "The red can beside the crate stack is clearly resolved now but still well beyond arm's reach at the foot of the wall. My current heading keeps it in view, so another step forward should continue shrinking the gap.", + "The crates and the jerry can occupy a good part of my view, yet I am not yet close enough to reach down and grasp the handle. The stone and grass ahead remain passable, so I will advance again.", + "The jerry can and the crate stack now sit off to the right of my heading, while the plain wall fills the ground directly in front of me. Turning right should swing my facing onto the can so that further steps carry me straight to it.", + "After the turn the red jerry can and the crates beside it sit near the middle of my view with open paving leading to them. I will step forward along this heading to close the remaining distance.", + "The jerry can stands out large and low ahead of me against the wall, but it is still a couple of paces away rather than at my feet. One more forward step should bring it into reach for a grasp.", + "The red jerry can is now directly in front of me at the near edge of my view, its handle plainly visible beside the stacked crates. This is close enough to reach it, so I will attempt to pick it up.", + "The red jerry can is now held in my hands rather than resting by the crates. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x-020466_y003639_z001234_t0_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x-020466_y003639_z001234_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53aae7a61f314568b6312e7139037a02430db821 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x-020466_y003639_z001234_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the small wooden lantern stand.", + "Type": 0, + "Start_Pose": [ + -20465.531, + 3638.905, + 1234.462, + 0.0, + 27.84, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -20465.531, + 3638.905, + 1234.462, + 0.0, + 27.84, + -0.0 + ], + [ + -20354.24, + 3697.682, + 1234.462, + 0.0, + 27.84, + -0.0 + ], + [ + -20354.24, + 3697.682, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -20278.216, + 3797.985, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -20202.191, + 3898.289, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -20126.167, + 3998.592, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -20050.143, + 4098.896, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -19974.119, + 4199.2, + 1234.462, + 0.0, + 52.84, + -0.0 + ], + [ + -19917.118, + 4285.045, + 1234.228, + 0.0, + 52.84, + -0.0 + ], + [ + -19917.118, + 4285.045, + 1234.228, + 0.0, + 52.84, + -0.0 + ] + ], + "Rationale": [ + "I can see the small wooden lantern stand standing in the tall grass to the right of the torii path, next to the plastered building wall. The open dirt ground in front of me is clear, so I will move forward to begin closing the gap toward it.", + "The lantern stand sits off to my right side rather than straight ahead, so continuing on this heading would carry me past it toward the torii gates. I will turn right to bring the lantern closer to the center of my view before pressing on.", + "After turning, the lantern stand now sits near the middle of my view against the building wall, with grass and open dirt between us. My heading looks right, so I will move forward to shorten the remaining distance.", + "The lantern stand has grown noticeably larger and stays near the center of my view, confirming I am tracking straight toward it. I will keep moving forward since nothing blocks the grassy ground ahead.", + "The lantern's roof and post are now clearly detailed just left of center, so I am still well aligned but not yet close enough to stand beside it. Another forward step should continue closing that distance.", + "The lantern now fills a good portion of my view with its glass panels visible, yet its base is still ahead of me in the grass. I will advance again to bring myself right up to the stand.", + "The lantern stand towers in front of me now, close enough that its wooden frame dominates the upper part of my view. A further step forward should place me directly at its base.", + "I am almost touching the lantern stand, with its post filling the left of my view and the grass at its footing just in front of me. One more short forward step should settle me right beside it.", + "The lantern stand's wooden post fills the near left of my view, within arm's reach. The task is complete, so I stop here rather than moving past it." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_a/infos.json b/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f16ca50108d3f92258897941ff1991557fea4f59 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Approach the leftmost ground-floor window panel on the left building.", + "Type": 2, + "Start_Pose": [ + 3990.454, + -10937.574, + 1218.151, + -0.006, + -31.719, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3990.454, + -10937.574, + 1218.151, + -0.006, + -31.719, + 0.0 + ], + [ + 3990.454, + -10937.574, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4059.519, + -11042.791, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4128.583, + -11148.008, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4197.648, + -11253.225, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4266.712, + -11358.441, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4335.777, + -11463.658, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4404.842, + -11568.875, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4473.906, + -11674.092, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4473.906, + -11674.092, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4492.033, + -11798.639, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4510.161, + -11923.185, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4528.288, + -12047.732, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4546.415, + -12172.279, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4564.542, + -12296.826, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4582.67, + -12421.372, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4600.797, + -12545.919, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4618.924, + -12670.466, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4637.051, + -12795.013, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4655.178, + -12919.559, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4673.306, + -13044.106, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4691.433, + -13168.653, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4709.56, + -13293.2, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4727.687, + -13417.746, + 1218.15, + -0.006, + -81.719, + -0.0 + ], + [ + 4727.687, + -13417.746, + 1218.15, + -0.006, + -56.719, + -0.0 + ], + [ + 4796.752, + -13522.963, + 1218.15, + -0.006, + -56.719, + -0.0 + ], + [ + 4850.394, + -13627.928, + 1218.15, + -0.006, + -56.719, + -0.0 + ], + [ + 4850.394, + -13627.928, + 1218.15, + -0.006, + -56.719, + -0.0 + ] + ], + "Rationale": [ + "The building on my left carries a run of ground-floor panels that continues away toward its far end, where the row meets the pale plastered corner beside the stone wall, and that end panel is what I want. My present heading aims across the open courtyard rather than at it. I turn left to put that end of the run in front of me.", + "After the turn, the panelled ground floor of the left building lies ahead and slightly to my left, its run continuing toward the plastered corner by the stone wall. A wide stretch of bare paving separates me from it with nothing in the way. I walk forward to start closing that gap.", + "The panel I am heading for sits far off under deep eaves at the end of the ground-floor run, still too distant to stand beside. The paving in front of me remains empty. I take another step forward along the same line.", + "The left building has grown noticeably larger and its lower panels are easier to read, but I am still out in the open middle of the courtyard. My line still leads toward the far end of that ground-floor run. I continue walking forward.", + "The overhanging eaves of the left building now loom above its lower panels ahead of me, yet the end of that run still lies well beyond reach. Ground between remains flat and clear. I press forward again.", + "More of the lower panel row on the left building is opening up as I close in, with the plastered corner and stone facing marking where it ends. That end is where I intend to stand. Another forward step should bring me nearer.", + "The panelled ground floor is much closer now, though the projecting corner and columns ahead still stand between me and the end of the run. The courtyard in front stays open. I keep advancing.", + "I am nearly under the eaves of the left building, with its lower panels running away ahead of me toward the pale corner by the stone wall. The distance to that end of the run is still more than a step or two. I move forward once more.", + "Holding this heading would send me across the frontage instead of along it, since the end of the ground-floor run, where the panels meet the pale plastered corner beside the stone wall, lies off to my left. I turn left to put that far stretch back on my line of travel.", + "With the new heading the panelled bays run away along my right, and the plastered corner with the stone wall behind it now sits ahead where that run ends. Open paving stretches between me and it. I walk forward along the frontage.", + "The tall plastered corner block ahead is filling more of my view while the lit panel bays slide past on my right. I am still well short of the end bay I want to stand at. Another step forward.", + "Sunlight now falls across the lower panels beside me, and the shaded ground under the eaves shows how far the frontage still extends. Nothing stands on the paving in my path. I keep walking along the building.", + "The projecting corner with its pale plaster panel now stands close on my left, and the frontage beside me continues past it toward the end of the run. That end bay remains several strides off. I advance again.", + "The heavy eaves overhead have swallowed most of the upper storey from my view, leaving the lower bays and their timber sills as what I steer by. The stone wall closing the far side confirms I am still tracking the right direction. Forward once more.", + "From this close the frontage no longer reads as a countable row, so I hold to the plastered corner and the stone wall as the mark for where my end bay sits. The paving ahead stays open along the building. I step forward.", + "The nearest panel bays now loom at arm's reach height on my right, their frames catching low sun, while the corner I am steering past sits just left of my path. I have not yet drawn level with the last bay of the run. Another stride forward.", + "The projecting corner post of the frontage sits close on my right with the panelled bays receding behind it, and the plastered gable and stone wall on my left still mark the far end of the run. Clear paving continues along the building line. I step forward to keep working toward that end bay.", + "The nearest bay now blocks a good part of my right side, but past its corner the frontage keeps going toward the plastered gable I am using as my marker. Nothing on the stones ahead interrupts my line. Another stride along the wall.", + "Deep shadow under the eaves has taken over the top of my view, so the lit lower panels and the pale gable across the yard are what keep me oriented. The end of the run still lies further along than I have come. I walk on.", + "A vertical corner post stands right beside me and the bays beyond it run on, which tells me I have not yet come level with the last of them. The ground under the overhang stays open. Forward again along the same line.", + "From this close the wall is just a band of lattice panels and boarded skirt, no longer a row I could count, so the plastered gable and stone wall opposite hold the end bay's place for me. That mark is still off to my left front. I keep moving.", + "The panels beside me are sliding past steadily and the corner of the building has not yet appeared in my path. Until that corner shows, the end bay lies further along. I take another step.", + "The wall on my right is beginning to break toward its termination while the stone wall across the yard has drawn much nearer. One more stride should bring me abreast of the last bay in the run. I advance.", + "I have come level with the end of the frontage, and the bay I want now lies square to my right rather than ahead of me. Continuing straight would carry me past the building entirely. I turn right so the panel faces me and I can close the last of the gap.", + "The turn has brought the end bay square in front of me, its paper panels and boarded skirt filling the right half of my view with the building's terminating post at its edge. A short strip of paving still separates me from the sill. I step forward to close it.", + "The panel now dominates my view and its lattice and boarding read clearly at close range, but the base still sits a stride beyond comfortable reach. One more short step should put me right at the front of this end bay.", + "The end panel of the ground-floor run stands directly before me, close enough to touch its frame and boarding. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_c/infos.json b/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4299f510383bbe168ee3566029a57a77686a2118 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the rightmost ground-floor door of the right building.", + "Type": 2, + "Start_Pose": [ + 3990.454, + -10937.574, + 1218.151, + -0.006, + -31.719, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3990.454, + -10937.574, + 1218.151, + -0.006, + -31.719, + 0.0 + ], + [ + 3990.454, + -10937.574, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 4115.449, + -10952.3, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 4240.443, + -10967.025, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 4365.438, + -10981.751, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 4490.432, + -10996.476, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 4615.427, + -11011.202, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 4740.422, + -11025.927, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 4740.422, + -11025.927, + 1218.15, + -0.006, + 18.281, + 0.0 + ], + [ + 4859.929, + -10986.448, + 1218.15, + -0.006, + 18.281, + 0.0 + ], + [ + 4979.435, + -10946.969, + 1218.15, + -0.006, + 18.281, + 0.0 + ], + [ + 5098.942, + -10907.49, + 1218.15, + -0.006, + 18.281, + 0.0 + ], + [ + 5218.449, + -10868.011, + 1218.15, + -0.006, + 18.281, + 0.0 + ], + [ + 5337.956, + -10828.532, + 1218.15, + -0.006, + 18.281, + 0.0 + ], + [ + 5457.463, + -10789.052, + 1218.15, + -0.006, + 18.281, + 0.0 + ], + [ + 5457.463, + -10789.052, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 5582.457, + -10803.778, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 5707.452, + -10818.503, + 1218.15, + -0.006, + -6.719, + 0.0 + ], + [ + 5707.452, + -10818.503, + 1218.15, + -0.006, + -6.719, + 0.0 + ] + ], + "Rationale": [ + "The right building's ground floor carries a run of identical paper doors that continues past my right edge. Since the panels look alike, I fix my target as the last door at the far right end of that run. I turn right to bring that end into view.", + "The turn has squared me onto the building's ground-floor door row, with open courtyard paving stretching between me and the wall. My target door lies far along that run, so I walk forward to cut down the distance to the facade first.", + "The lower doors have grown slightly larger, but I am still well out in the open courtyard. The paving in front of me is clear, so I keep walking straight toward the building front.", + "The facade now takes up more of my view and its upper eaves are climbing overhead, which tells me I am closing but still short of the wall. I step forward again across the open stone.", + "The ground-floor doorframes are clearly resolved now, yet several paces of courtyard remain between me and the building. I continue forward to reach the facade before working along the row toward my target door.", + "The overhanging gallery now cuts across the top of my view and the doors sit low and near, so I am nearly at the wall. Nothing obstructs the paving, so I walk forward once more.", + "I am close to the facade, and the panels straight ahead are plainly mid-run rather than the end I want. One more step forward should bring me alongside the ground floor, in position to travel along the row.", + "From this close the door run keeps going off past my right edge, so the panels directly in front of me are not the end of it. I turn right to face along the wall toward the far end where my target door stands.", + "Squared along the facade, the ground-floor bays now recede away toward the junction where this wall meets the next stretch. The stone beside the building is open, so I walk forward to work my way down toward that far end.", + "The nearest panels are already sliding off my left edge, which tells me the bays I am abreast of are not the last ones. I keep walking along the wall to reach the far end of the run.", + "The wall now looms tall on my left, and past the screened bays ahead the facade changes into plainer panelling where it terminates. That change marks the end I am aiming for, so I advance again rather than stopping at these panels.", + "From this close the bays no longer read as a countable row, so I steer by the end of the wall itself and keep the last door before that termination as my target. The paving stays clear, so I step forward once more.", + "Only a short stretch of facade remains beyond the screens filling my view, so the door I want is nearly abreast of me. I walk forward again to bring myself level with it.", + "The wide screened panel and the plainer bay beyond it now dominate everything ahead, so I am almost at the termination of this wall. One more step should put me alongside the final door.", + "The run of screened doors stops where the plainer panelled bays begin on my right, so the screened door standing against that junction is the last one. It now lies to the left of my heading, so I turn left to face it head on.", + "The end door is centered ahead now, its tall screens framed by the heavy post beside the plainer bay. A little clear stone still separates me from it, so I step forward to close that gap.", + "The screened panels of the end door fill nearly my whole view, with the corner post and the plainer bay still showing at my right edge to confirm this is the one against the wall's end. A narrow band of paving is left at the threshold, so I step forward to stand right at it.", + "The end door's screens and frame fill my view at arm's length. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_d/infos.json b/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f684d2b11762ab7e84321911171d2a047cb0aa60 --- /dev/null +++ b/dataset/trajectory/AsianMedivalCity/task_x003990_y-010938_z001218_t2_d/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Move to the base of the second column from the left.", + "Type": 2, + "Start_Pose": [ + 3990.454, + -10937.574, + 1218.151, + -0.006, + -31.719, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3990.454, + -10937.574, + 1218.151, + -0.006, + -31.719, + 0.0 + ], + [ + 4097.514, + -11003.745, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4204.575, + -11069.916, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4311.635, + -11136.087, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4418.695, + -11202.258, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4525.756, + -11268.428, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4632.816, + -11334.599, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4739.876, + -11400.77, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 4739.876, + -11400.77, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4808.941, + -11505.987, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4878.005, + -11611.204, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 4947.07, + -11716.421, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5016.135, + -11821.637, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5085.199, + -11926.854, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5154.264, + -12032.071, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5223.328, + -12137.288, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 5223.328, + -12137.288, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5330.389, + -12203.459, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5437.449, + -12269.629, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5544.509, + -12335.8, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5651.569, + -12401.971, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5758.63, + -12468.142, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5865.69, + -12534.313, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 5972.75, + -12600.484, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 6079.811, + -12666.654, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 6186.871, + -12732.825, + 1218.15, + -0.006, + -31.719, + 0.0 + ], + [ + 6186.871, + -12732.825, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 6255.936, + -12838.042, + 1218.15, + -0.006, + -56.719, + 0.0 + ], + [ + 6255.936, + -12838.042, + 1218.15, + -0.006, + -56.719, + 0.0 + ] + ], + "Rationale": [ + "A run of pale columns carries the open gallery straight ahead where the two wings meet, and since those shafts all look alike I fix on the one standing just inboard of the left end of that run. It lies far across the empty flagstones, so I start walking forward to close the gap.", + "The colonnade beneath the gallery is still small in front of me and the paving between us is empty. Walking straight on is the direct way to reduce that distance.", + "The gallery and the supports under it grow slightly with each step, which tells me my heading still points at the column I chose. Nothing interrupts the stone ahead, so I keep walking.", + "Only distance now separates me from the column near the left end of that run. The courtyard remains open in front of me, so I continue straight forward.", + "The eaves of both wings are opening out and the slender shafts under the raised gallery read more distinctly. My chosen column is still well out of reach, so I advance again.", + "The supports are separating into individual shafts as I close in, yet I am still out in the middle of the open courtyard. Another forward step keeps shortening the approach.", + "Posts belonging to the nearer wing on my right are now entering my view beside the gallery's supports, so I hold to the column I already picked at the left end of that run instead of recounting from here. The paving ahead stays clear, so I step forward again.", + "Holding this heading would carry me past the near side of the colonnade, while the end of the run where my column stands lies off to my left, beside the wing on that side. I turn left to swing my line of travel onto that end of the row.", + "The swing has set the end of the colonnade ahead of me, slightly to the right, with unbroken flagstones between us. I walk forward to carry this new heading toward the shaft I picked.", + "The pale shafts under the gallery are rising higher in my view and the gaps between them are widening, so this line is genuinely closing on the row. I keep walking.", + "Green hills are now showing through the gap beneath the gallery, which means the far edge of the courtyard is opening up as I near the colonnade. Distance is still the only thing left to spend, so I step forward.", + "The nearest shafts are broad enough now to read their bases, and the eaves overhead have swung above me. Nothing blocks the stone, so another forward stride should bring me deeper toward the row.", + "From this close the colonnade no longer reads as a countable row, since the nearest shafts crowd my view and hide the ones behind them. I hold to the same column beside the corner of the wing and continue forward.", + "The screened wall on my left is sliding past at close range, telling me I am running well inside the courtyard now. The shafts I want still lie further along, so I keep walking.", + "I am nearly abreast of the first heavy shafts, but the part of the run I am aiming for stretches deeper under the gallery. One more stride forward should bring me level with that lane.", + "Held any longer, this line would push me into the wing wall close on my left instead of along the colonnade. The run of shafts opens away to my right, so I turn right to put that lane straight in front of me.", + "The turn has laid the lane of shafts out ahead of me, running under the gallery with daylight showing between them and the far roof beyond. The one I want stands deeper along this row, so I walk forward into the lane.", + "The nearest shaft has swelled to fill the middle of my view, which tells me this heading truly runs down the row rather than across it. Nothing stands on the paving between the bases, so I keep walking.", + "Bases and their flared collars are plain at this range, and the screened wall stays a steady distance off my left shoulder. My shaft lies further along toward the corner, so I keep striding down the lane.", + "One heavy shaft is passing close on my right while another slides by to my left, so I am threading between them rather than heading into either. The run continues past them, and I walk on.", + "The shaft at my right hand is close enough to show every groove in its surface, and beyond it the courtyard opens toward the hills. Fewer supports stand between me and the corner now, so another stride is worth taking.", + "The row has thinned to a couple of standing shafts ahead, with the wide gap between the two roofs framing the valley beyond. That thinning means the corner is near, so I press on along the wall.", + "A single shaft now stands ahead against the screened wall, and it sits where the corner of this wing meets the open end of the run. That matches the one I set out for, so I keep closing on it.", + "That shaft reads clearly now, its base resting on the flagstones a little left of my heading. I am still several paces short of standing at its foot, so I advance again.", + "The fluted shaft rises just left of my centerline with its collar and base plainly resting on the flagstones. A stride or so of open paving still lies between me and its foot, so I walk forward again.", + "The base now sits low and off to my left, so holding this heading would carry me past its foot rather than onto it. Swinging left should bring the shaft square in front of me for the final approach.", + "The turn has set the fluted shaft directly ahead, its wide base sitting on the stones barely a pace away. One more step forward should bring me right up against its foot.", + "The shaft fills my view with its base at my feet. I stand at the column's base, so the task is complete." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_a/000.jpg b/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_a/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..fb5798601e3982134ea3d7f3f292091d91f8c87b --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_a/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6adbac17085c21c7035dfe0e01ad0ef602b43dd0994fccf0772698b7cc410271 +size 137079 diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_a/001.jpg b/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..5cf84bac90130f32ea2ddf406ca683951b0fb70c --- /dev/null +++ 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"MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8.725, + 1262.999, + 200.086, + 0, + -73.92, + 0 + ], + [ + 26.135, + 1142.064, + 200.086, + 0.0, + -73.92, + 0.0 + ], + [ + 60.996, + 1021.129, + 200.086, + 0.0, + -73.92, + 0.0 + ], + [ + 60.996, + 1021.129, + 200.086, + 0.0, + -48.92, + 0.0 + ], + [ + 143.699, + 926.258, + 200.086, + 0.0, + -48.92, + 0.0 + ], + [ + 226.403, + 831.386, + 200.086, + 0.0, + -48.92, + 0.0 + ], + [ + 309.106, + 736.514, + 200.086, + 0.0, + -48.92, + 0.0 + ], + [ + 391.81, + 641.643, + 200.086, + 0.0, + -48.92, + 0.0 + ], + [ + 474.513, + 546.771, + 200.086, + 0.0, + -48.92, + 0.0 + ], + [ + 557.217, + 451.9, + 200.086, + 0.0, + -48.92, + 0.0 + ], + [ + 557.217, + 451.9, + 200.086, + 0.0, + -48.92, + 0.0 + ] + ], + "Rationale": [ + "I can see a dark sedan parked along the right curb some distance ahead of me, which matches the target I need to reach. The road ahead of me is clear and open, so I will move forward to begin closing that gap.", + "The sedan has grown slightly larger in my view and remains ahead and to my right, confirming I am closing on it. The pavement in front of me is still clear, so another forward step should continue reducing the distance.", + "The parked sedan now sits noticeably right of my heading, so moving straight would carry me past it down the street. I will turn right to bring the car closer to the center of my view before continuing.", + "After the turn, the sedan sits much closer to the middle of my view with clear road between us. I will move forward along this corrected heading to keep closing the distance.", + "The sedan's rear end fills more of my view now, but I am still several car lengths away from it. Another forward step should bring me nearer to a proper stopping position beside its rear.", + "I can now make out the sedan's tail lights and wheels distinctly, so I am approaching but not yet adjacent to it. The path along the curb line stays clear, so I will continue forward.", + "The parked sedan's rear now occupies a large portion of the left side of my view, indicating I am close but still short of standing at the car. I will take another step forward to finish closing that remaining gap.", + "The license plate on the sedan's rear is legible right in front of me, so only a short distance remains. I will move forward once more to come up directly beside the parked car.", + "The sedan's rear bumper and license plate now fill the left half of my view, so only a small gap remains between me and the parked car. I will move forward once more to close that last bit of distance and stand directly beside the vehicle.", + "The parked sedan's rear panel is directly in front of me, filling the view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000221_y003790_z000200_t0_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000221_y003790_z000200_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..164996780fd22be709ea8732898339393c3f7019 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000221_y003790_z000200_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the beige sedan parked in the driveway.", + "Type": 0, + "Start_Pose": [ + -221.485, + 3790.11, + 200.085, + 0.0, + -127.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -221.485, + 3790.11, + 200.085, + 0.0, + -127.68, + 0.0 + ], + [ + -298.416, + 3690.501, + 200.086, + 0.0, + -127.68, + 0.0 + ], + [ + -375.348, + 3590.891, + 200.086, + 0.0, + -127.68, + 0.0 + ], + [ + -452.279, + 3491.282, + 200.086, + 0.0, + -127.68, + 0.0 + ], + [ + -529.211, + 3391.672, + 200.086, + 0.0, + -127.68, + 0.0 + ], + [ + -529.211, + 3391.672, + 200.086, + 0.0, + -152.68, + 0.0 + ], + [ + -641.031, + 3333.908, + 201.641, + 0.0, + -152.68, + 0.0 + ], + [ + -752.851, + 3276.144, + 214.685, + 0.0, + -152.68, + 0.0 + ], + [ + -864.672, + 3218.38, + 227.729, + 0.0, + -152.68, + 0.0 + ], + [ + -864.672, + 3218.38, + 227.729, + 0.0, + -152.68, + 0.0 + ] + ], + "Rationale": [ + "From the foot of the driveway I can already see the beige sedan parked ahead on the left, in front of the garage. It is still far off across the paved apron, so I will move forward along the driveway to begin closing that distance.", + "The sedan has grown slightly larger in my view and remains ahead and to the left with nothing blocking the pavement between us. I will continue straight forward since this heading keeps steadily reducing the gap.", + "The parked sedan now fills more of the left half of my view and its body panels and wheels are clearly resolvable. Distance is still too great to call this an arrival, so I will keep advancing forward across the driveway.", + "The sedan is noticeably closer, its front end angled toward me on the left side of my view, and the paving ahead is unobstructed. I will take another step forward to keep tightening the approach before adjusting my heading.", + "At this range the sedan sits off to my left and my current heading points past its front toward the hedge and street on the right. I will turn left so my heading follows the open driveway lane toward the car, which should place it squarely in front of me for the final approach.", + "After the turn the sedan sits squarely ahead in my view with the garage bays visible beyond it, confirming my heading now points into the parking area. I will move forward along this line to close the remaining gap to the car.", + "The sedan now dominates the right portion of my view and I can see its hood and front wheel from close range, but I am not yet alongside it. I will advance once more to bring myself directly beside the vehicle.", + "I am nearly at the sedan, with its front fender and door filling the right side of my view and only a short strip of pavement remaining. One more step forward should place me immediately beside the parked car.", + "The beige sedan's door and mirror fill my view at arm's length in the driveway. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000221_y003790_z000200_t0_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000221_y003790_z000200_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..82e86bd85e4a2d41356a2234a8953a9b25c32639 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000221_y003790_z000200_t0_b/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Walk to the garage door nearest the white picket fence.", + "Type": 0, + "Start_Pose": [ + -221.485, + 3790.11, + 200.085, + 0.0, + -127.68, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -221.485, + 3790.11, + 200.085, + 0.0, + -127.68, + 0.0 + ], + [ + -298.416, + 3690.501, + 200.086, + 0.0, + -127.68, + 0.0 + ], + [ + -298.416, + 3690.501, + 200.086, + 0.0, + -152.68, + 0.0 + ], + [ + -410.237, + 3632.736, + 200.086, + 0.0, + -152.68, + 0.0 + ], + [ + -522.057, + 3574.972, + 200.086, + 0.0, + -152.68, + 0.0 + ], + [ + -633.877, + 3517.208, + 199.787, + 0.0, + -152.68, + 0.0 + ], + [ + -745.698, + 3459.444, + 212.831, + 0.0, + -152.68, + 0.0 + ], + [ + -857.518, + 3401.68, + 225.875, + 0.0, + -152.68, + 0.0 + ], + [ + -969.338, + 3343.915, + 238.919, + 0.0, + -152.68, + 0.0 + ], + [ + -1081.159, + 3286.151, + 251.963, + 0.0, + -152.68, + 0.0 + ], + [ + -1192.979, + 3228.387, + 263.953, + 0.0, + -152.68, + 0.0 + ], + [ + -1192.979, + 3228.387, + 263.953, + 0.0, + -177.68, + 0.0 + ], + [ + -1318.735, + 3223.292, + 276.757, + 0.0, + -177.68, + 0.0 + ], + [ + -1444.491, + 3218.197, + 289.56, + 0.0, + -177.68, + 0.0 + ], + [ + -1570.247, + 3213.102, + 302.364, + 0.0, + -177.68, + 0.0 + ], + [ + -1696.002, + 3208.008, + 312.5, + 0.0, + -177.68, + 0.0 + ], + [ + -1821.758, + 3202.913, + 316.159, + 0.0, + -177.68, + 0.0 + ], + [ + -1947.514, + 3197.818, + 319.567, + 0.0, + -177.68, + 0.0 + ], + [ + -1947.514, + 3197.818, + 319.567, + 0.0, + -152.68, + 0.0 + ], + [ + -2059.334, + 3140.054, + 322.523, + 0.0, + -152.68, + 0.0 + ], + [ + -2171.155, + 3082.289, + 325.48, + 0.0, + -152.68, + 0.0 + ], + [ + -2282.975, + 3024.525, + 328.436, + 0.0, + -152.68, + 0.0 + ], + [ + -2282.975, + 3024.525, + 328.436, + 0.0, + -177.68, + 0.0 + ], + [ + -2408.731, + 3019.43, + 331.844, + 0.0, + -177.68, + 0.0 + ], + [ + -2534.487, + 3014.336, + 335.252, + 0.0, + -177.68, + 0.0 + ], + [ + -2534.487, + 3014.336, + 335.252, + 0.0, + -177.68, + 0.0 + ] + ], + "Rationale": [ + "The white picket fence runs along the right side of the yard, while a pair of garage doors sits far off to my left across the paved drive. Of that pair, the right-hand door is the one closer to the fence, so that is what I am heading for. I walk forward onto the drive to begin closing the distance.", + "Straight ahead of me is only open pavement and the cobbled street edge, with the garage pushed to the far left margin of my view. Walking on this heading would carry me past the garage rather than toward it. I turn left to bring the garage front into the middle of my view.", + "The turn has opened up the garage ahead of me, both doors now visible under the dormered roof with the picket fence off to the right past the parked car. The right-hand door of the two remains my target. The pavement between us is clear, so I walk forward to close the distance.", + "The garage doors are noticeably larger and better centred than a step ago, so this heading is carrying me the right way. The parked car sits off to my right and leaves the lane in front of me open. I keep walking forward to shorten the remaining stretch of driveway.", + "The two garage doors sit ahead and slightly left, still a good stretch of paving away, and the car has slid further toward the right of my view as I gain on it. Nothing stands in the lane I am walking. I advance again to keep closing on the door beside the fence.", + "The car now looms large along my right, but the paving to its left stays wide open, so its bulk is no barrier on this line. The pair of doors under the twin dormers still sits well back and toward my left. I keep going to eat into that gap.", + "I am drawing level with the car's front end, and it clears my shoulder on the right without crowding the lane I am walking. The garage stands off to my left, its doors still small against the siding. Another step forward should bring me under that roofline sooner.", + "The car's flank slides past me on the right with room to spare, and the fence line shows beyond it near the tree. My destination, the door on the fence side of the pair, has drifted further into the left half of my view as I gain ground. I press on across the open paving.", + "I am alongside the car's rear door now, with nothing between me and the garage frontage. The two doors have slipped noticeably leftward, which tells me my heading runs a little wide of them. Ground is still worth gaining, so I take another step before worrying about that offset.", + "The car's tail is nearly behind me and the driveway ahead opens completely. The garage now reads clearly, its right-hand door standing beside the picket fence and the bin, though both doors sit off to my left rather than in front of me. I walk on to close the last open stretch.", + "Both doors are jammed against the left edge of my view while the car's tail crowds the right, so my line has been running wide of the garage frontage rather than into it. Continuing straight would only widen that offset. I turn left to swing the pair back in front of me.", + "The garage now sits squarely ahead, both doors under their dormers, with the picket fence running away to the right just past the nearer of the two. That fence-side door stays my destination. The paving between us is empty, so I walk on.", + "The frontage is taking up more of my view and my heading now runs into it instead of past it, which tells me the correction held. Fence rails still show beyond the right-hand door, so my target is unambiguous. I step forward again.", + "The hoop mounted between the dormers is clearly readable now, and the fence still runs off from the corner beside my chosen door. A good stretch of paving remains before I would be standing at it. I keep walking.", + "My door reads at close to full width with the bin sitting at its outer corner where the fence begins, yet several strides of paving still separate me from it. The lane stays clear of anything I would have to skirt. I advance to cut that remaining gap.", + "Both doors and the hoop between the dormers now fill much of my view, and the fence rails and bin still mark the outer corner of the one I want. Only a short run of paving lies between me and the frontage, with nothing on it. I walk on to keep shrinking that gap.", + "The siding and the door panels are close enough now that I can pick out the seams, so the last step gained real ground. My destination sits just right of straight ahead, beside the fence, and the paving in front of it is empty. I take another stride toward it.", + "From here the frame is split between the two doors, with mine sitting off to the right of my heading and the neighbouring one taking the middle. Walking straight would carry me toward the wrong half of the frontage. I turn right so the fence-side door comes in front of me.", + "The swing worked: the other door has dropped out to my left edge and the one beside the fence now stands ahead, with the bin and the white rails running off past its corner. A few strides of paving still separate me from its face. I walk forward.", + "The door panel is broad and detailed now, sitting a touch left of my line with the fence and hedge filling my right side. There is still open paving between my feet and the threshold. I step ahead to close it.", + "Only a short run of paving separates me from the panel, though my line reads a little to its right, with the bin and rails taking that side of my view. Nothing on the ground blocks the approach. I step ahead to keep shrinking that last gap.", + "My heading has crept past the door: its panel is now squeezed against the left edge while blank siding, the downpipe and the bin occupy the centre. Carrying on straight would set me at the wall beside the opening rather than at it. I turn left to bring the door back before me.", + "That swing did its job: the panel and its whole frame now sit centred, with the bin and rails displaced to the right. A last stretch of clear paving lies between my feet and the threshold. I walk on.", + "The panel now takes up nearly my entire view, its timber surround and lower edge plainly visible. Only a slab or two of paving remains before I would be standing against it. I take one more stride.", + "The panel fills my view edge to edge with its threshold immediately in front of me. I have reached the garage door beside the picket fence, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t5_a_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..75705cfc2ee6f5e2a8ba857b31c78d132609ba14 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t5_a_p/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the ceramic vase at the silver car on the left driveway.", + "Type": 5, + "Start_Pose": [ + -250.837, + 4177.165, + 209.76, + 0, + -91.2, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -709.079, + 3090.034, + 140.086, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -250.837, + 4177.165, + 209.76, + 0, + -91.2, + 0 + ], + [ + -253.473, + 4051.334, + 209.76, + 0.0, + -91.2, + 0.0 + ], + [ + -256.109, + 3925.502, + 208.587, + 0.0, + -91.2, + 0.0 + ], + [ + -258.744, + 3799.671, + 200.086, + 0.0, + -91.2, + 0.0 + ], + [ + -258.744, + 3799.671, + 200.086, + 0.0, + -116.2, + 0.0 + ], + [ + -314.312, + 3686.743, + 200.086, + 0.0, + -116.2, + 0.0 + ], + [ + -369.879, + 3573.815, + 200.086, + 0.0, + -116.2, + 0.0 + ], + [ + -425.447, + 3460.887, + 200.086, + 0.0, + -116.2, + 0.0 + ], + [ + -481.014, + 3347.959, + 200.086, + 0.0, + -116.2, + 0.0 + ], + [ + -536.582, + 3235.031, + 200.086, + 0.0, + -116.2, + 0.0 + ], + [ + -536.582, + 3235.031, + 200.086, + 0.0, + -116.2, + 0.0 + ], + [ + -536.582, + 3235.031, + 200.086, + 0.0, + -141.2, + 0.0 + ], + [ + -634.668, + 3156.167, + 201.927, + 0.0, + -141.2, + 0.0 + ], + [ + -634.668, + 3156.167, + 201.927, + 0.0, + -141.2, + 0.0 + ], + [ + -634.668, + 3156.167, + 201.927, + 0.0, + -141.2, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -709.079, + 3090.034, + 140.086, + 0.0, + 0.0, + 0.0 + ], + [ + -620.812, + 3139.907, + 170.208, + -28.202, + -91.055, + 1.862 + ], + [ + -620.812, + 3139.907, + 170.208, + -28.202, + -91.055, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1179.8, + 1063.8, + 950.4, + 840.5, + 840.5, + 715.5, + 590.8, + 466.9, + 344.3, + 225.3, + 225.3, + 225.3, + 99.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The silver car sits on the paved driveway well ahead on my left, and the ceramic vase is still too far off to resolve from here. Walking straight along the street is the quickest way to close that distance before I commit to a turn.", + "The silver car and its driveway have grown noticeably nearer on my left, so my heading is still useful. I will keep stepping forward to reach the point where the driveway opens up beside me.", + "I am now level with the near edge of the paved driveway, but the silver car is still off to my left and no vase is distinguishable yet. Another step forward should bring me onto the wider apron where I can turn in toward the car.", + "Continuing straight would carry me past the driveway, since the silver car has slid to the far left edge of my view and is almost out of sight. I will turn left to swing the driveway and the parked car into the center of my view before advancing again.", + "The turn worked: the silver car and its driveway now sit clearly ahead of me with an open paved path leading to them. I will walk forward along that path to get close enough to spot the ceramic vase beside the car.", + "The silver car sits on the paved driveway ahead to my left, and a slim pale ceramic form stands just off its front bumper near the low post. Nothing blocks the open paving between me and it, so I will keep walking straight to close the remaining gap.", + "The parked silver car now fills much more of my left view and the pale slender vase beside its front end is clearly distinct from the surrounding hedge. I am still several paces short of grabbing range, so another step forward should bring the vase closer to my reach.", + "The ceramic vase is now plainly resolved as a tall light column standing on the paving just in front of the silver car. It still sits well ahead of my hands, so I continue advancing to shorten that distance before trying to lift it.", + "The vase, with its faint floral markings, now stands close in front of me beside the silver car's bumper, though it is still a stride beyond comfortable reach. One more step forward should place it directly at my hands for the grasp.", + "The ceramic vase now stands large in my near view on the driveway paving beside the silver car, and my hands are empty. This looks close enough to take hold of it, so I will attempt the grasp now rather than step nearer.", + "My grasp attempt did not take hold, since my hands are empty and nothing is carried. My heading has drifted off the vase beside the silver car, so I will turn left to bring it back in front of me for another attempt.", + "The ceramic vase is now squarely in front of me on the paved driveway beside the silver car, but it still sits several paces away. My earlier grasp attempt from that distance came up empty, so I will step forward to close the gap before reaching for it again.", + "The vase now fills the near foreground, close enough that its painted flowers are clearly visible, with the silver car right behind it. This is much tighter than my earlier reach, so I will attempt the pick again and expect my hands to close on the ceramic body this time.", + "The ceramic vase is now held in my hands, no longer resting on the driveway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f54403f2d6198f8b549e34fba13174911435f035 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the front open door, then head toward the garage door.", + "Type": 3, + "Start_Pose": [ + -552.411, + -6751.185, + 200.247, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -552.411, + -6751.185, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -678.23, + -6748.022, + 200.086, + 0.0, + 178.56, + -0.0 + ], + [ + -804.05, + -6744.859, + 200.086, + 0.0, + 178.56, + -0.0 + ], + [ + -929.869, + -6741.696, + 200.086, + 0.0, + 178.56, + -0.0 + ], + [ + -1055.688, + -6738.534, + 200.086, + 0.0, + 178.56, + -0.0 + ], + [ + -1181.507, + -6735.371, + 200.086, + 0.0, + 178.56, + -0.0 + ], + [ + -1307.327, + -6732.208, + 200.086, + 0.0, + 178.56, + -0.0 + ], + [ + -1433.146, + -6729.045, + 200.086, + 0.0, + 178.56, + -0.0 + ], + [ + -1433.146, + -6729.045, + 200.086, + 0.0, + 178.56, + -0.0 + ], + [ + -1433.146, + -6729.045, + 200.086, + 0.0, + 153.56, + -0.0 + ], + [ + -1433.146, + -6729.045, + 200.086, + 0.0, + 128.56, + -0.0 + ], + [ + -1433.146, + -6729.045, + 200.086, + 0.0, + 103.56, + -0.0 + ], + [ + -1462.655, + -6606.694, + 200.086, + 0.0, + 103.56, + -0.0 + ], + [ + -1492.164, + -6484.344, + 200.086, + 0.0, + 103.56, + -0.0 + ], + [ + -1521.674, + -6361.993, + 200.086, + 0.0, + 103.56, + -0.0 + ], + [ + -1521.674, + -6361.993, + 200.086, + 0.0, + 128.56, + -0.0 + ], + [ + -1600.126, + -6263.577, + 200.086, + 0.0, + 128.56, + -0.0 + ], + [ + -1600.126, + -6263.577, + 200.086, + 0.0, + 153.56, + -0.0 + ], + [ + -1712.82, + -6207.537, + 200.086, + 0.0, + 153.56, + -0.0 + ], + [ + -1825.515, + -6151.497, + 199.382, + 0.0, + 153.56, + -0.0 + ], + [ + -1825.515, + -6151.497, + 199.382, + 0.0, + 153.56, + -0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the house ahead, with the open front door standing in the middle of the facade and the pale garage door under the overhang to its left. The doorway is far off, so I will walk straight ahead across the concrete to close that distance.", + "The open door and its swung-out white panel are noticeably larger than before, confirming my heading runs straight at the entrance. The pavement in front of me is clear, so I will keep walking forward.", + "I can now make out the green interior wall through the doorway, so the entrance is still well ahead of me. Nothing blocks the driveway, so another step forward should keep shrinking the gap.", + "The doorway is roughly centered in my view and the chair beside it is now clearly distinct, but I am still out on the open drive. I will advance again to bring myself up to the entrance.", + "The open door panel and the ladder-like frame inside the entry now fill a large part of my view, so I am getting close. I will continue straight ahead toward that opening.", + "The doorframe and the chair to its right are close enough that details of the panel and handle are sharp, yet I am not yet standing at the threshold. Another step forward should bring me right up to the entrance.", + "The open door now dominates my view and I can see straight down the hallway to the far interior door. One more step should put me squarely at the front entrance.", + "The open front door stands right in front of me, its handle within arm's reach and the hallway beyond clearly visible past the threshold. I have arrived at this entrance. I mark reaching it and now turn my attention to the garage door along the covered side of the house.", + "I am standing right at the open front door, with its panel and the green hallway filling my view, so nothing more is needed here. The wide garage bay lies away to my left along the paved drive, out of my current view. I will turn left to begin bringing that side of the house in front of me.", + "The open door has swung to the right edge of my view and I can now see the covered porch, its posts and the pale driveway opening up to the left. My heading still points across the house front rather than down the drive. Another left turn should carry my facing further toward that open paved run.", + "The porch posts and the long stretch of driveway now dominate my view, with the green room and its door slipping behind on the right. I still need a bit more rotation so the open pavement runs straight ahead of me instead of angling across. One more left turn should set that heading.", + "My facing now runs down the clear concrete drive, with the siding and support post of the house wing on my right and the low brick wall on my left. Nothing blocks the pavement in front of me. I will walk forward to close on the garage side of the building.", + "The last step brought the support post and the darker recess under the eaves nearer on my right, and the drive is still open ahead. I am not yet beside the wide garage bay. I will keep walking forward along the pavement.", + "A dark bay opening is now showing along the wall to my right, but I am still short of it and slightly ahead of its center line. The driveway in front of me remains clear. Another step forward should bring me level with that opening.", + "I have drawn level with the recessed bay, whose deep shadow and frame sit at the right edge while my heading still runs down the drive toward the brick wall and the neighbouring roof. Continuing straight would carry me past it. I will turn right to bring the garage front into view ahead of me.", + "The turn worked, and the broad paneled garage door is now visible ahead on my right, set back under its dark frame. Open concrete apron lies between me and it. I will step forward to close that gap.", + "The wide sectional garage door now fills the right edge of my view while my heading still runs parallel along the driveway past it. I will turn right to bring that door face squarely in front of me so my remaining approach can be a straight walk.", + "The garage door is now centered ahead within its dark frame, with open driveway between me and it. I will walk straight forward to close that gap.", + "The garage door panel now dominates almost the whole view and its side jamb is close on my left, so only a short stretch of driveway remains. I will step forward again to finish closing on it.", + "The garage door panel fills my entire view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11db21da94884355c1820151b4ea1ecdb9ac8df7 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_b/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Approach the red-brown trellis on the white building, then move to the front door.", + "Type": 3, + "Start_Pose": [ + -552.411, + -6751.185, + 200.247, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -552.411, + -6751.185, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -552.411, + -6751.185, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -667.779, + -6801.492, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -783.146, + -6851.799, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -898.514, + -6902.106, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -898.514, + -6902.106, + 200.086, + 0.0, + -131.44, + 0.0 + ], + [ + -981.812, + -6996.456, + 198.15, + 0.0, + -131.44, + 0.0 + ], + [ + -1065.11, + -7090.806, + 198.15, + 0.0, + -131.44, + 0.0 + ], + [ + -1148.408, + -7185.156, + 198.15, + 0.0, + -131.44, + 0.0 + ], + [ + -1231.706, + -7279.506, + 198.15, + 0.0, + -131.44, + 0.0 + ], + [ + -1231.706, + -7279.506, + 198.15, + 0.0, + -156.44, + 0.0 + ], + [ + -1347.073, + -7329.813, + 198.15, + 0.0, + -156.44, + 0.0 + ], + [ + -1462.441, + -7380.12, + 198.15, + 0.0, + -156.44, + 0.0 + ], + [ + -1462.441, + -7380.12, + 198.15, + 0.0, + -156.44, + 0.0 + ], + [ + -1377.743, + -7343.187, + 198.15, + 0.0, + -156.44, + 0.0 + ], + [ + -1377.743, + -7343.187, + 198.15, + 0.0, + 178.56, + -0.0 + ], + [ + -1377.743, + -7343.187, + 198.15, + 0.0, + 153.56, + -0.0 + ], + [ + -1377.743, + -7343.187, + 198.15, + 0.0, + 128.56, + -0.0 + ], + [ + -1377.743, + -7343.187, + 198.15, + 0.0, + 103.56, + -0.0 + ], + [ + -1407.253, + -7220.837, + 198.15, + 0.0, + 103.56, + -0.0 + ], + [ + -1436.762, + -7098.486, + 198.15, + 0.0, + 103.56, + -0.0 + ], + [ + -1466.271, + -6976.135, + 198.15, + 0.0, + 103.56, + -0.0 + ], + [ + -1495.781, + -6853.785, + 200.211, + 0.0, + 103.56, + -0.0 + ], + [ + -1495.781, + -6853.785, + 200.211, + 0.0, + 128.56, + -0.0 + ], + [ + -1495.781, + -6853.785, + 200.211, + 0.0, + 128.56, + -0.0 + ] + ], + "Rationale": [ + "The red-brown lattice trellis is mounted on the pale stucco wing off to my right, while my heading points at the middle of the darker sided house. I will turn right so the white building and its trellis come into the centre of my view before I start walking.", + "The white stucco wing with its red-brown trellis now sits ahead of me, but it is still well across the open driveway. The paving in front is clear, so I will walk forward to cut down that distance.", + "The trellis and the windows it frames have grown noticeably larger, confirming my heading leads straight at the white wall. Nothing blocks the concrete ahead, so I keep walking forward to close in.", + "The lattice work on the white wall is now clearly resolved, though I am still out on the driveway rather than beside it. Another step forward should bring me near enough to work along the wall toward it.", + "Walking straight on would take me into the corner of the stucco wall at an awkward angle rather than up beside the trellis. Turning right swings my heading along the open strip that runs down this side of the white building, keeping the trellis in view to my left.", + "My heading now runs along the flank of the white building, with the red-brown trellis on the wall to my left and clear grass and gravel ahead. I will walk forward along this line to draw level with the trellis.", + "The trellis has swung further toward the left edge and is filling more of the wall, so I am gaining on it. The ground beside the building stays open, so I continue forward.", + "The lattice is close enough now that its individual crossbars and the window behind them stand out plainly. I am not yet alongside it, so I will step forward again to bring myself right up to it.", + "The red-brown lattice trellis on the white stucco wall is now clearly on my left, but I am still several paces short of it along this side path. I will keep walking straight ahead on the open strip beside the planting to close the remaining distance.", + "The trellis has slid to the far left edge of my view as I have advanced past its line, so walking straight would carry me beyond it. I will turn left to bring the lattice back in front of me before continuing.", + "The lattice panel now sits ahead of me on the wall rather than off to the side, so my heading is good. I will step forward across the narrow grass border to bring myself close to it.", + "The wooden lattice and the barred window behind it are much larger now, filling the left half of my view, yet I am not yet standing at the wall. Another step forward should put me right up against the trellis.", + "The red-brown wooden lattice fills my view at arm's length, its slats and the window behind them plainly in front of me on the white stucco. I am standing at the trellis on the white building. I mark reaching it and now set off for the front door of this house.", + "I am pressed right up against the stucco with the lattice filling my view, far too close to swing around toward the entrance without scraping the wall. I will step back to open up room and let the wall line reappear so I can pick my heading.", + "With a little clearance from the wall regained, the trellis and window are still filling my view and the entrance lies back along this facade behind me. I will turn left to begin swinging my heading away from the wall toward the front of the house.", + "I am still looking at blank stucco with the lattice off to my right, so I have not yet come around far enough to see the way to the entrance. I will turn left again to keep rotating toward the open side of the building.", + "The latticed trellis panel has slipped to the far right edge of my view and only blank stucco and small windows face me now, so I am done with that wall. To reach the entrance I need the paved side of the house, so I will turn left again to bring that open ground into view.", + "Rotating further has opened up the wide concrete forecourt, and a dark doorway stands open in the blue siding just ahead of me. One more left turn should set that walkway and the entrance in front of me before I start walking.", + "The paved walk now runs clear along the base of the wall with the open entrance set into the siding ahead on my right and nothing blocking the way. I will walk forward to close the distance to that door.", + "The doorway has grown noticeably larger and its swung-open leaf now reads clearly against the siding on my right. The pavement ahead is still clear, so another stride forward should bring me closer to the threshold.", + "I can now pick out the door handle and the folding chair beside the entrance, but the opening is still a few paces ahead of me rather than beside me. I will keep walking forward along the concrete toward it.", + "The open door panel now takes up much of my right side and the chair beside it is nearly level with me, yet the threshold itself still sits slightly ahead. One more step forward should put me right at the entrance.", + "I have drawn level with the entrance, but the open door and its recessed opening lie edge-on to my right instead of facing me. Turning right should square me up with the doorway.", + "The open front door stands directly before me, its handle and threshold within arm's reach. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..493dc21982b9a436ed60de8532a646cc60b684b7 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_d/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Navigate to the red-brown trellis on the white building, then walk to the garage opening.", + "Type": 3, + "Start_Pose": [ + -552.411, + -6751.185, + 200.247, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -552.411, + -6751.185, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -552.411, + -6751.185, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -667.779, + -6801.492, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -783.146, + -6851.799, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -898.514, + -6902.106, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -1013.882, + -6952.413, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1013.882, + -6952.413, + 198.193, + 0.0, + -131.44, + 0.0 + ], + [ + -1097.18, + -7046.763, + 198.193, + 0.0, + -131.44, + 0.0 + ], + [ + -1180.478, + -7141.113, + 198.193, + 0.0, + -131.44, + 0.0 + ], + [ + -1263.775, + -7235.463, + 198.193, + 0.0, + -131.44, + 0.0 + ], + [ + -1347.073, + -7329.813, + 198.193, + 0.0, + -131.44, + 0.0 + ], + [ + -1347.073, + -7329.813, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1462.441, + -7380.12, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1462.441, + -7380.12, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1377.743, + -7343.187, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1377.743, + -7343.187, + 198.193, + 0.0, + 178.56, + -0.0 + ], + [ + -1377.743, + -7343.187, + 198.193, + 0.0, + 153.56, + -0.0 + ], + [ + -1377.743, + -7343.187, + 198.193, + 0.0, + 128.56, + -0.0 + ], + [ + -1377.743, + -7343.187, + 198.193, + 0.0, + 103.56, + -0.0 + ], + [ + -1377.743, + -7343.187, + 198.193, + 0.0, + 78.56, + -0.0 + ], + [ + -1352.78, + -7219.829, + 198.193, + 0.0, + 78.56, + -0.0 + ], + [ + -1327.817, + -7096.47, + 198.193, + 0.0, + 78.56, + -0.0 + ], + [ + -1327.817, + -7096.47, + 198.193, + 0.0, + 103.56, + -0.0 + ], + [ + -1357.327, + -6974.12, + 198.193, + 0.0, + 103.56, + -0.0 + ], + [ + -1386.836, + -6851.769, + 200.071, + 0.0, + 103.56, + -0.0 + ], + [ + -1416.345, + -6729.418, + 200.071, + 0.0, + 103.56, + -0.0 + ], + [ + -1445.855, + -6607.067, + 200.071, + 0.0, + 103.56, + -0.0 + ], + [ + -1475.364, + -6484.717, + 200.071, + 0.0, + 103.56, + -0.0 + ], + [ + -1504.873, + -6362.366, + 200.071, + 0.0, + 103.56, + -0.0 + ], + [ + -1504.873, + -6362.366, + 200.071, + 0.0, + 128.56, + -0.0 + ], + [ + -1583.325, + -6263.95, + 200.071, + 0.0, + 128.56, + -0.0 + ], + [ + -1583.325, + -6263.95, + 200.071, + 0.0, + 153.56, + -0.0 + ], + [ + -1696.02, + -6207.91, + 200.071, + 0.0, + 153.56, + -0.0 + ], + [ + -1808.714, + -6151.87, + 199.392, + 0.0, + 153.56, + -0.0 + ], + [ + -1808.714, + -6151.87, + 199.392, + 0.0, + 153.56, + -0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the pale stucco wing on the right side of the house, and the reddish-brown lattice trellis is fixed to its front wall. My body is aimed at the middle of the house instead of that wing, so I will turn right to put the trellis wall ahead of me before walking.", + "The white stucco wall with its reddish-brown lattice now sits ahead of me across the open concrete, with nothing blocking the way. I will walk forward to close the distance to that trellis.", + "The lattice on the pale wall has grown noticeably larger, so my last step gained real ground toward it. The paving still runs on unobstructed, so I will keep walking forward.", + "The stucco face and its reddish-brown lattice fill more of my view, but I am still several strides short of standing at it. The ground ahead remains flat and clear, so I will advance again.", + "The lattice is now clearly framed against the white wall a short way off, its wooden bars distinct. I will step forward once more to bring myself up beside it.", + "I have come close enough that the stucco wall spans my whole view, and the trellis sits just left of center while the wall itself runs away to my right. Walking straight would take me into the wall, so I will turn right to line up with the open strip of ground running along the building.", + "Now I am facing along the flank of the white building, with the reddish-brown lattice on the wall to my left and a strip of gravel and grass leading past it. I will walk forward along that strip to draw level with the trellis.", + "That step carried me further along the wall, and the wooden lattice on my left is noticeably nearer and larger. The ground beside the building stays open, so I will keep walking to bring myself right up to the trellis.", + "The red-brown lattice on the white stucco wall is now large on my left, but I am still short of standing beside it. Walking forward along the gravel edge should carry me level with that trellis panel.", + "The trellis and its window have swung further left and grown as I close on the white wall, so a little more distance remains before I am directly at it. I will step forward again to draw alongside the lattice.", + "The red-brown lattice has slid to the far left of my view and is nearly out of sight while my heading runs past it down the wall. Turning left should bring the trellis back in front of me so I can face it squarely.", + "The wooden lattice over the window now sits ahead of me on the white stucco, close but still a step off. Moving forward should put me right at the trellis on this white building.", + "The red-brown wooden lattice fills my view against the white stucco, close enough to touch its slats and the window behind them. I am standing at the trellis on the white building. I mark reaching it, then set off for the garage opening.", + "Pressed this close, the lattice and stucco block nearly everything, leaving me no sight line toward the driveway and the garage. Backing up a step should open enough space to see past the wall and swing my heading around.", + "With a little clearance regained, I can see the trellis and the two windows along the white wall, but the driveway side of the house is behind my shoulder. Turning left should begin swinging my heading away from this wall toward the open paving where the garage sits.", + "The stucco wall with its lattice still occupies the whole frame, so my heading has not yet cleared the building. Another left turn should keep rotating me toward the open drive where the garage opening lies.", + "The lattice work is now off at the right edge and my view is filled with blank stucco, so there is nothing more to gain facing this wall. Off to the left the pavement and the corner of the garage side of the house are opening up. I will keep turning left to bring that open driveway in front of me.", + "Swinging left has already brought the broad concrete driveway and the open side door of the house into view, but my heading still hugs the stucco wall on the right. A further left turn should put the open pavement squarely ahead so I can walk out along it. I turn left again.", + "The driveway now runs across most of my view with the house siding to my right, yet my heading is still angled slightly into the wall. One more step of left rotation should point me straight down the open pavement beside the building. I turn left.", + "I am now facing clear open concrete with the house frontage running along my right and no obstacle in the way. Walking straight ahead should carry me out from the narrow strip beside the wall onto the main drive. I step forward.", + "The open drive still stretches ahead of me and the building corner with its overhang is drawing nearer on the right. Another stride outward gives me room to swing toward the vehicle side of the house rather than scraping along the wall. I keep walking forward.", + "I have moved far enough into the open that the house frontage now lies off to my right, and continuing straight would only take me toward the low brick wall and trees. Turning right should aim me back along the building, where the wide bay for vehicles sits. I turn right.", + "The turn has put the siding wall and its open side door ahead and to my right, with clear concrete between me and it. Advancing along this apron should bring me closer to the recessed bay further down the building. I walk forward.", + "Ahead on my right the wall breaks into a deep recess beside the open door, which looks like the sheltered entry where a car would pull in. The pavement in front of me is still clear, so another stride should close that gap. I move forward again.", + "The trellised stucco wall is behind me now and I am walking along the open driveway that runs beside the dark siding on my right. Ahead on that side the wall steps back under a deep overhang, which is where a garage bay should sit. I will keep walking forward to bring that recess into view.", + "A support column now stands at the edge of the covered area on my right, and behind it the wall opens into a shadowed bay. I am still several paces short of that opening. Another step forward should close the gap and clear the column from my line of sight.", + "The recessed bay on my right is clearer now, with a broad flat panel set back under the roof overhang. I am still travelling parallel to it rather than facing it. Walking on should carry me level with that opening before I swing toward it.", + "The overhang and the dark bay are now close on my right, but my heading still carries me past them along the driveway. The pavement in front is clear apart from the downspout post to my left. I will step forward once more to reach the apron directly outside the bay.", + "I am now standing on the apron with the recessed bay off to my right rather than in front of me. Continuing straight would take me past the building. Turning right should swing my heading toward that shadowed opening.", + "The turn brought the dark garage bay into the right half of my view, its wide panel set back beneath the overhang. I am still out on the open apron, a few paces short of it. Walking forward should bring me under the overhang and closer to the opening.", + "The garage panel fills the right side of my view but I am still angled across it rather than facing it squarely. A further turn to the right should centre the opening ahead of me. That will give me a straight line into the bay.", + "The framed garage opening now sits squarely in front of me with its recessed panel and dark surround. Nothing blocks the concrete between us. I will walk forward to close the remaining distance to the opening.", + "The wide garage opening now fills most of my view, its frame just ahead and slightly left, with only a short stretch of concrete apron left between me and it. One more step should bring me right up into the opening under the overhang.", + "The garage opening's panel fills my whole view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t5_b_pd/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11c6095890225849c54506e6ec54113711fe7f0c --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t5_b_pd/infos.json @@ -0,0 +1,449 @@ +{ + "Instruction": "Pick up the plate beside the red-brown trellis on the white building, then place it near the front door.", + "Type": 5, + "Start_Pose": [ + -552.411, + -6751.185, + 200.247, + 0, + 178.56, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1419.249, + -7200.919, + 140.201, + 90, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -552.411, + -6751.185, + 200.247, + 0, + 178.56, + 0 + ], + [ + -552.411, + -6751.185, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -667.779, + -6801.492, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -783.146, + -6851.799, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -898.514, + -6902.106, + 200.086, + 0.0, + -156.44, + 0.0 + ], + [ + -1013.882, + -6952.413, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1129.249, + -7002.72, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1244.617, + -7053.027, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1244.617, + -7053.027, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1244.617, + -7053.027, + 198.193, + 0.0, + -131.44, + 0.0 + ], + [ + -1327.915, + -7147.377, + 198.193, + 0.0, + -131.44, + 0.0 + ], + [ + -1327.915, + -7147.377, + 198.193, + 0.0, + -131.44, + 0.0 + ], + [ + -1327.915, + -7147.377, + 198.193, + 0.0, + -156.44, + 0.0 + ], + [ + -1327.915, + -7147.377, + 198.193, + 0.0, + 178.56, + -0.0 + ], + [ + -1327.915, + -7147.377, + 198.193, + 0.0, + 153.56, + -0.0 + ], + [ + -1327.915, + -7147.377, + 198.193, + 0.0, + 128.56, + -0.0 + ], + [ + -1406.367, + -7048.961, + 198.193, + 0.0, + 128.56, + -0.0 + ], + [ + -1484.819, + -6950.544, + 198.193, + 0.0, + 128.56, + -0.0 + ], + [ + -1563.271, + -6852.128, + 200.247, + 0.0, + 128.56, + -0.0 + ], + [ + -1598.134, + -6772.252, + 200.247, + 0.0, + 128.56, + -0.0 + ], + [ + -1553.254, + -6828.553, + 200.247, + 0.0, + 128.56, + -0.0 + ], + [ + -1553.254, + -6828.553, + 200.247, + 0.0, + 128.56, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1419.249, + -7200.919, + 140.201, + 90.0, + 0.0, + 0.0 + ], + [ + -1311.503, + -7161.052, + 168.256, + -28.202, + -81.296, + 1.862 + ], + [ + -1319.196, + -7165.832, + 168.529, + -28.189, + -106.283, + 1.872 + ], + [ + -1328.578, + -7167.541, + 167.862, + -28.215, + -131.313, + 1.849 + ], + [ + -1344.783, + -7169.111, + 168.043, + -14.175, + -164.248, + 6.959 + ], + [ + -1344.082, + -7160.769, + 167.932, + -28.208, + 178.702, + 1.851 + ], + [ + -1422.635, + -7062.821, + 168.353, + -28.189, + 178.718, + 1.869 + ], + [ + -1500.907, + -6964.614, + 168.736, + -28.205, + 178.695, + 1.859 + ], + [ + -1579.336, + -6866.239, + 170.986, + -28.191, + 178.71, + 1.872 + ], + [ + -1614.629, + -6785.832, + 169.853, + -28.188, + 178.712, + 1.866 + ], + [ + -1596.887, + -6773.816, + 170.247, + 90.0, + 128.56, + 0.0 + ], + [ + -1596.887, + -6773.816, + 170.247, + 90.0, + 128.56, + 0.0 + ] + ], + "PD_Dist_2D": [ + 976.6, + 976.6, + 851.0, + 725.6, + 600.4, + 475.5, + 351.3, + 228.8, + 228.8, + 228.8, + 105.9, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the driveway I can see the white stucco building with its red-brown trellis sitting off to my right edge, while my heading points at the darker sided house straight ahead. Turning right should bring that trellis wall and the plate area near it into the center of my view before I start walking.", + "The white stucco wall with the red-brown trellis is now roughly centered ahead of me, and a pale round object rests at its base by the shrubs. It is still far across the driveway, so I will walk straight forward to close that distance.", + "The trellis wall has grown noticeably larger and the round white item beside it is clearer against the stucco, confirming my heading is good. Nothing blocks the paved strip in front of me, so I continue walking straight toward it.", + "The plate is now plainly visible as a round white disc leaning at the foot of the wall just left of the red-brown trellis. I am still several strides away and cannot reach it, so I keep advancing along the clear paving.", + "The stucco wall and its trellis now dominate my view, with the plate resting low near the shrub edge slightly right of my center. It remains beyond arm's reach, so another step forward should put me close enough to attempt a grasp.", + "The white plate is now clearly visible leaning against the pale stucco wall just left of the red-brown trellis, but it is still several strides off along the gravel edge. Nothing blocks the walkway ahead of me, so I keep walking straight toward it to close the gap before any grasp is possible.", + "The plate has grown much larger in the lower right of my view, propped against the wall directly beneath the trellis, yet it is still beyond comfortable arm's reach. I take another step forward along the same heading to bring it close enough for a grasp attempt.", + "The plate now fills much of the lower right of my view, resting on the gravel against the white wall beside the trellis. This looks near enough to reach, so I attempt to pick it up rather than crowd it further.", + "My hands are still empty, so that grasp did not take hold. It was sitting off toward my right along the gravel border rather than straight ahead, so I turn right to square up on it before trying again.", + "The plate is back in view low and slightly left of center, leaning on the gravel below the trellis, and my hands are still empty after the failed grab. Since the reach likely fell short, I step forward once more to stand right beside it before attempting the pick again.", + "My hands are still empty and the plate sits right at the base of the wall directly in front of me, since my earlier grasp attempt from further back left it untouched. Now that I have closed the remaining distance and it fills the near edge of my view, I will try the pick again from this contact range.", + "The plate is now held in my hands, so this grasp took hold where the previous attempt failed. The front door lies back along the building to my left, behind the corner I walked past, so I will rotate left to start swinging my heading around toward it.", + "I am carrying the plate and currently facing the stucco wall with its trellis, which is not the direction of the entrance. Another left rotation should keep sweeping my heading along the facade toward the corner where the doorway sits.", + "The plate is still in my hands, but my view shows only blank wall and two windows, with no sign of the entry. I will turn left again to continue bringing the porch side of the house into view.", + "The open front door with the wooden chair beside it has come into view toward the left of my heading, still off center. One more left rotation should place the doorway more squarely ahead so I can walk straight to it with the plate.", + "The plate is in my hands and my heading now faces the open front door and the porch ahead. I will walk forward along the concrete to close the remaining distance to that doorway before setting the plate down.", + "The doorway and the wooden chair beside it are noticeably larger and nearer than before, so my carried plate is moving toward the intended drop area. I will step forward again on the open porch surface to get within placing range of the door.", + "The open door panel and its handle now dominate the near view, confirming I am nearly at the entrance with the plate still in hand. One more step forward should bring me close enough beside the door for a controlled placement.", + "I am right at the doorway, with the door leaf on my left and the siding wall immediately right, and the plate is still carried. I will take a short step forward to settle into the spot directly beside the front door before releasing it.", + "I am standing immediately beside the open front door, with the door panel on my left and the wall on my right, and the plate is still in my hands. This position satisfies the requested placement near the front door, so I will release the plate here.", + "The plate now rests on the ground right beside the open front door, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000642_y-006749_z000200_t0_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000642_y-006749_z000200_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dcd93889e0f124c289fe565e846e61950a1a4020 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000642_y-006749_z000200_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the open white front door.", + "Type": 0, + "Start_Pose": [ + -642.349, + -6748.924, + 200.247, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -642.349, + -6748.924, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -768.168, + -6745.761, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -893.988, + -6742.598, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1019.807, + -6739.435, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1145.626, + -6736.272, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1271.445, + -6733.11, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1397.265, + -6729.947, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1397.265, + -6729.947, + 200.247, + 0.0, + 178.56, + -0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the house entrance ahead with a white door standing open just right of center, its dark interior opening visible. My heading is already lined up with that entryway, so no turn is needed and I will move forward to begin closing the long distance across the pavement.", + "The open white door is slightly larger in view now and remains near the center of my heading, so my line of travel is still correct. I will keep moving forward since a lot of open driveway still separates me from the doorway.", + "The doorway is now clearly resolved, with the swung-open white door panel and the green hallway behind it, and it sits comfortably in the middle of my view. The paved approach ahead is unobstructed, so another forward step should continue shrinking the gap.", + "I can now see details inside the entry, including the floor and the wall of the corridor, which tells me I am getting close but still short of the doorway. The wooden chair sits off to the right of the opening and does not block my line, so I will continue straight forward.", + "The doorway and its open white panel now fill much of the view and I am nearly at the threshold, though a short stretch of paving still remains. I will take another step forward to arrive directly in front of the open door.", + "The open white door now dominates the view with the doorknob and hinges plainly visible, so I am only a short step from the entrance. One more forward move should place me right at the doorway rather than leaving me hovering just outside it.", + "The open white front door and its interior threshold are directly in front of me at arm's length. The task is complete, so I stop here rather than moving further." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000642_y-006749_z000200_t0_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000642_y-006749_z000200_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d7a70062fd13fb9f84ff51d61e5b85c1e19dc3fa --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000642_y-006749_z000200_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the ground-floor window with the metal grille.", + "Type": 0, + "Start_Pose": [ + -642.349, + -6748.924, + 200.247, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -642.349, + -6748.924, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -642.349, + -6748.924, + 200.247, + 0.0, + -156.44, + 0.0 + ], + [ + -757.717, + -6799.231, + 200.247, + 0.0, + -156.44, + 0.0 + ], + [ + -873.084, + -6849.538, + 200.247, + 0.0, + -156.44, + 0.0 + ], + [ + -988.452, + -6899.845, + 200.247, + 0.0, + -156.44, + 0.0 + ], + [ + -1103.82, + -6950.152, + 198.15, + 0.0, + -156.44, + 0.0 + ], + [ + -1219.187, + -7000.459, + 198.15, + 0.0, + -156.44, + 0.0 + ], + [ + -1219.187, + -7000.459, + 198.15, + 0.0, + -131.44, + 0.0 + ], + [ + -1302.485, + -7094.809, + 198.15, + 0.0, + -131.44, + 0.0 + ], + [ + -1385.783, + -7189.159, + 198.15, + 0.0, + -131.44, + 0.0 + ], + [ + -1469.081, + -7283.509, + 198.15, + 0.0, + -131.44, + 0.0 + ], + [ + -1469.081, + -7283.509, + 198.15, + 0.0, + -131.44, + 0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the pale stucco wing on the right side of the house, where a ground-floor window is covered by a rusty metal grille. My current heading points at the porch and garage instead, so I will turn right to bring that grilled window closer to the center of my view.", + "The grille-covered ground-floor window now sits ahead of me on the stucco wall, roughly along my heading. The open concrete driveway in front looks clear, so I will move forward to close the distance toward it.", + "The grilled window is noticeably larger than a moment ago, confirming my heading is carrying me toward it. The pavement ahead remains open, so I will keep moving forward to shorten the remaining gap.", + "The stucco wall and its barred window continue to fill more of my view as I advance, so my approach line is still good. I will continue forward, since I am not yet close enough to treat this as arrival.", + "I am now near the corner of the stucco wing, with the grilled window clearly visible slightly right of my heading. The paved strip along the wall is still passable, so I will move forward again to keep closing in.", + "The grille and its window are large in front of me but still a few steps off to my right along the wall. I will take another step forward to draw level with that part of the facade.", + "The barred window has drifted toward the right portion of my view as I moved along the wall, so my heading is now angled past it. I will turn right to place the grille back near the center of my view before continuing.", + "With the grille-covered ground-floor window now centered ahead of me, my heading is aimed straight at the target. The gravel and paving in front look clear, so I will move forward to close the last of the distance.", + "The grille-covered ground-floor window is now clearly centered on the pale stucco wall ahead of me, its metal lattice framing the glass. I am still a few paces off along the gravel strip, so I will keep moving forward to close the remaining gap to it.", + "The grated window has grown noticeably larger and sits just to my left front, with the bars and sill now distinct against the wall. One more step forward should bring me right up beside the grille at a proper stopping distance.", + "The barred ground-floor window fills my view at arm's length, its metal grille directly beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000642_y-006749_z000200_t0_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000642_y-006749_z000200_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e65289a8135c3468ae01d8715108f04384ce1b4e --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000642_y-006749_z000200_t0_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Move to the wooden chair beside the open doorway.", + "Type": 0, + "Start_Pose": [ + -642.349, + -6748.924, + 200.247, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -642.349, + -6748.924, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -768.168, + -6745.761, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -893.988, + -6742.598, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1019.807, + -6739.435, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1145.626, + -6736.272, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1271.445, + -6733.11, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1397.265, + -6729.947, + 200.247, + 0.0, + 178.56, + -0.0 + ], + [ + -1397.265, + -6729.947, + 200.247, + 0.0, + -156.44, + 0.0 + ], + [ + -1512.632, + -6780.254, + 200.247, + 0.0, + -156.44, + 0.0 + ], + [ + -1512.632, + -6780.254, + 200.247, + 0.0, + -156.44, + 0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the open doorway in the middle of the blue clapboard house, with a small dark wooden chair standing just to its right against the siding. That chair is my target, and it is still far across the open pavement. I will step forward along the driveway to begin closing the distance.", + "The doorway and the wooden chair beside it have grown slightly larger, so my heading is carrying me toward the target. The pavement ahead is clear of obstacles. I will continue forward to keep closing the gap.", + "The open door panel and the wooden chair to its right are now clearly distinguishable, and the green interior wall is visible through the doorway. My current heading points slightly left of the chair but still keeps it well within view. Another step forward should bring me substantially nearer.", + "The house facade now fills much of my view, and the folding wooden chair sits on the concrete just right of the open door. There is still several steps of open pavement between me and it. I will keep moving forward toward the recessed entry area.", + "I am close enough now to see the slats of the wooden chair and the door handle beside it. The chair sits in the sheltered corner to the right of the doorway, and the ground in front is unobstructed. I will advance again to reach that corner.", + "The doorway and the chair now dominate my view, but my heading is still centered on the door panel rather than the chair. One more forward step should bring me right into the entry alcove where the chair stands. I will move forward before adjusting my heading.", + "I am now at the entry alcove, but the open door panel sits directly in front of me while the wooden chair rests off to my right against the siding. Turning right should place the chair squarely ahead so I can step the last distance to it. I will rotate right to align my heading with the chair.", + "After the turn the wooden chair is centered ahead of me in the sheltered corner beside the open door, with clear concrete underfoot. Only a short step separates me from standing beside it. I will move forward to reach the chair.", + "The wooden chair beside the doorway is right in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000994_y004001_z000249_t3_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000994_y004001_z000249_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7b40f50cfaf76bf2444da849bcab69ecafcf77e7 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000994_y004001_z000249_t3_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Walk to the silver parked car, then head toward the white garage door.", + "Type": 3, + "Start_Pose": [ + -994.314, + 4000.888, + 248.563, + 0.0, + -127.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -994.314, + 4000.888, + 248.563, + 0.0, + -127.68, + 0.0 + ], + [ + -1071.245, + 3901.278, + 254.991, + 0.0, + -127.68, + 0.0 + ], + [ + -1148.177, + 3801.669, + 261.897, + 0.0, + -127.68, + 0.0 + ], + [ + -1148.177, + 3801.669, + 261.897, + 0.0, + -102.68, + 0.0 + ], + [ + -1175.804, + 3678.88, + 262.682, + 0.0, + -102.68, + 0.0 + ], + [ + -1203.43, + 3556.09, + 265.533, + 0.0, + -102.68, + 0.0 + ], + [ + -1231.057, + 3433.301, + 268.098, + 0.0, + -102.68, + 0.0 + ], + [ + -1258.684, + 3310.511, + 271.311, + 0.0, + -102.68, + 0.0 + ], + [ + -1297.589, + 3192.365, + 274.581, + 0.0, + -102.68, + 0.0 + ], + [ + -1297.589, + 3192.365, + 274.581, + 0.0, + -102.68, + 0.0 + ], + [ + -1297.589, + 3192.365, + 274.581, + 0.0, + -127.68, + 0.0 + ], + [ + -1297.589, + 3192.365, + 274.581, + 0.0, + -152.68, + 0.0 + ], + [ + -1409.409, + 3134.601, + 285.65, + 0.0, + -152.68, + 0.0 + ], + [ + -1521.23, + 3076.836, + 296.72, + 0.0, + -152.68, + 0.0 + ], + [ + -1521.23, + 3076.836, + 296.72, + 0.0, + -177.68, + 0.0 + ], + [ + -1646.986, + 3071.742, + 309.524, + 0.0, + -177.68, + 0.0 + ], + [ + -1772.741, + 3066.647, + 314.591, + 0.0, + -177.68, + 0.0 + ], + [ + -1898.497, + 3061.552, + 317.999, + 0.0, + -177.68, + 0.0 + ], + [ + -2024.253, + 3056.457, + 321.407, + 0.0, + -177.68, + 0.0 + ], + [ + -2150.009, + 3051.362, + 324.814, + 0.0, + -177.68, + 0.0 + ], + [ + -2275.765, + 3046.267, + 328.222, + 0.0, + -177.68, + 0.0 + ], + [ + -2401.521, + 3041.172, + 331.63, + 0.0, + -177.68, + 0.0 + ], + [ + -2527.276, + 3036.078, + 335.038, + 0.0, + -177.68, + 0.0 + ], + [ + -2653.032, + 3030.983, + 338.446, + 0.0, + -177.68, + 0.0 + ], + [ + -2653.032, + 3030.983, + 338.446, + 0.0, + -177.68, + 0.0 + ] + ], + "Rationale": [ + "The silver car is parked at the far right edge of the paved driveway, and the pale garage doors sit off to the left beside the house. I am still on the grass verge at the driveway's near edge, so I will step forward onto the pavement to begin closing on the car.", + "The parked silver car has grown slightly larger at the right of my view, confirming that walking straight ahead is shrinking the gap. There is open paving in front of me, so I will keep advancing before adjusting my heading.", + "The silver car sits well off to my right, near the fence line, while my heading points across the empty driveway toward the garages. I will turn right to bring the car into the center of my view so I can walk straight at it.", + "The turn has put the silver car roughly ahead of me, its side facing me across clear paving. Nothing blocks the route, so I will walk forward to close the remaining distance.", + "The car's body now spans a wider part of my view, so the previous step clearly reduced the gap. I am still several paces short of it, so I will continue walking straight toward it.", + "The silver car's flank and wheels now fill the right half of my view, showing I am only a short distance from it. The paving ahead stays clear, so I will step forward again.", + "I can now see the car's rear quarter and taillight clearly, so I am nearly beside the parked vehicle. One more step forward should bring me right up against it.", + "The car's rear bumper and red taillight are now directly in front of me at close range, filling the right of my view. I will take one more short step to stand right at the parked silver car.", + "The silver sedan's rear bumper and taillight fill the right of my view, close enough to touch. I have arrived at the parked car. I mark reaching it and now set off across the driveway toward the white garage door.", + "Standing this close to the car, its bodywork blocks most of my forward view and the garage doors lie well off to my left across the open paving. I will turn left to swing my heading away from the sedan and back toward the open driveway.", + "The turn has cleared most of the car from my view and I can now see the paved yard with a garage roof just appearing at the far left edge. One more left turn should bring those garage doors properly in front of me before I walk.", + "The pale garage doors under the gabled roof now sit ahead on my left, with unbroken paving stretching between us. My heading is usable, so I will walk forward to close that distance.", + "The garage front is noticeably larger now and the basketball hoop above it is clearer, so my line of travel is carrying me toward it. Nothing blocks the paving in front of me, so I keep walking forward.", + "The garage doors still sit toward the left half of my view while my path is drifting past them toward the fence line on the right. A left turn should place the white doors squarely ahead before I continue.", + "Both pale garage doors now sit centered ahead of me with the hoop between them, so my heading points straight at the target. I will walk forward over the open paving to close in on the white door.", + "The garage facade has grown and the white doors remain centered, confirming I am tracking straight toward them. With clear paving underfoot, I will keep stepping forward.", + "The pale garage doors on the outbuilding stand straight ahead across open paving, with the right-hand one roughly centered in my view. Nothing blocks the flat driveway between us, so I will keep walking forward to close the remaining distance.", + "The garage front now fills more of my view and the doors sit noticeably larger, so my heading is carrying me straight at them. I will step forward again to keep shrinking the gap across the clear paving.", + "The right-hand pale door is squarely ahead and its frame and siding are resolving in detail, confirming I am tracking toward it. The driveway remains empty, so another step forward should bring me closer.", + "The white door panel now dominates the center of my view, with the trash bin and fence off to the right rather than in my path. I will continue forward toward the door.", + "I am close enough that the door's wooden surround and the weathered siding beside it fill much of my view, and the paving right up to the threshold is clear. Another step forward should bring me nearly to the door face.", + "The white door now spans almost my whole view with only a sliver of siding and paving at the edges, so I am standing just short of it. I will take one more step to close in on its face.", + "The smooth white panels of the door occupy nearly everything in front of me, with just the door edge and jamb at the left. A final short step forward should place me right at the door.", + "The white garage door fills my view directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000994_y004001_z000249_t3_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000994_y004001_z000249_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e3363ed4593d08a31ed12081fd9f8057c05b06d --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000994_y004001_z000249_t3_b/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Navigate to the garage door, then walk to the silver parked car.", + "Type": 3, + "Start_Pose": [ + -994.314, + 4000.888, + 248.563, + 0.0, + -127.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -994.314, + 4000.888, + 248.563, + 0.0, + -127.68, + 0.0 + ], + [ + -1071.245, + 3901.278, + 254.991, + 0.0, + -127.68, + 0.0 + ], + [ + -1148.177, + 3801.669, + 261.897, + 0.0, + -127.68, + 0.0 + ], + [ + -1225.108, + 3702.06, + 275.921, + 0.0, + -127.68, + 0.0 + ], + [ + -1225.108, + 3702.06, + 275.921, + 0.0, + -152.68, + 0.0 + ], + [ + -1336.929, + 3644.295, + 280.716, + 0.0, + -152.68, + 0.0 + ], + [ + -1448.749, + 3586.531, + 291.953, + 0.0, + -152.68, + 0.0 + ], + [ + -1560.569, + 3528.767, + 303.276, + 0.0, + -152.68, + 0.0 + ], + [ + -1672.39, + 3471.003, + 312.59, + 0.0, + -152.68, + 0.0 + ], + [ + -1784.21, + 3413.238, + 315.546, + 0.0, + -152.68, + 0.0 + ], + [ + -1896.03, + 3355.474, + 318.503, + 0.0, + -152.68, + 0.0 + ], + [ + -2007.851, + 3297.71, + 321.459, + 0.0, + -152.68, + 0.0 + ], + [ + -2119.671, + 3239.946, + 324.416, + 0.0, + -152.68, + 0.0 + ], + [ + -2231.491, + 3182.182, + 327.372, + 0.0, + -152.68, + 0.0 + ], + [ + -2343.312, + 3124.417, + 330.329, + 0.0, + -152.68, + 0.0 + ], + [ + -2455.132, + 3066.653, + 333.285, + 0.0, + -152.68, + 0.0 + ], + [ + -2566.952, + 3008.889, + 336.241, + 0.0, + -152.68, + 0.0 + ], + [ + -2566.952, + 3008.889, + 336.241, + 0.0, + -152.68, + 0.0 + ], + [ + -2566.952, + 3008.889, + 336.241, + 0.0, + -127.68, + 0.0 + ], + [ + -2566.952, + 3008.889, + 336.241, + 0.0, + -102.68, + 0.0 + ], + [ + -2566.952, + 3008.889, + 336.241, + 0.0, + -77.68, + 0.0 + ], + [ + -2566.952, + 3008.889, + 336.241, + 0.0, + -52.68, + 0.0 + ], + [ + -2566.952, + 3008.889, + 336.241, + 0.0, + -27.68, + 0.0 + ], + [ + -2566.952, + 3008.889, + 336.241, + 0.0, + -2.68, + 0.0 + ], + [ + -2441.231, + 3003.004, + 332.819, + 0.0, + -2.68, + 0.0 + ], + [ + -2315.509, + 2997.119, + 329.397, + 0.0, + -2.68, + 0.0 + ], + [ + -2189.788, + 2991.234, + 325.975, + 0.0, + -2.68, + 0.0 + ], + [ + -2064.067, + 2985.349, + 322.553, + 0.0, + -2.68, + 0.0 + ], + [ + -1938.345, + 2979.465, + 319.131, + 0.0, + -2.68, + 0.0 + ], + [ + -1812.624, + 2973.58, + 315.709, + 0.0, + -2.68, + 0.0 + ], + [ + -1686.903, + 2967.695, + 312.286, + 0.0, + -2.68, + 0.0 + ], + [ + -1561.181, + 2961.81, + 300.186, + 0.0, + -2.68, + 0.0 + ], + [ + -1561.181, + 2961.81, + 300.186, + 0.0, + 22.32, + -0.0 + ], + [ + -1444.752, + 3009.608, + 288.588, + 0.0, + 22.32, + -0.0 + ], + [ + -1444.752, + 3009.608, + 288.588, + 0.0, + 22.32, + -0.0 + ] + ], + "Rationale": [ + "From the edge of the paved drive I can see the pale garage door set into the outbuilding off to my left, with the silver car parked to my right along the fence. The garage door is the destination I want first, so I walk forward onto the open paving to cut down that distance.", + "The garage door has grown noticeably larger on the left side of my view, confirming my heading is closing on it. The paving in front of me stays clear, so I continue walking forward.", + "Now a second garage door has come into view beside the first, both close along the left-hand building. I still have several strides of clear paving between me and them, so I keep advancing.", + "The garage doors are sitting well over toward the left margin of my view while my body still points across the open driveway. I turn left so the doors move toward the center of my heading and I can walk straight at them.", + "The turn has brought both garage doors into the left-center of my view with clear paving running toward them. With the heading now usable, I walk forward to close on the doors.", + "The pair of garage doors and the basketball hoop above them keep filling more of my view, so my line of travel is good. Nothing blocks the paving, so I take another step forward.", + "I am close enough now to make out the panel seams and the trim around each garage door. There is still a good gap of paving before I reach the doors, so I continue walking forward.", + "The two garage doors now dominate the left half of my view and the fence line runs off to my right, so my approach is on track. I press forward again to bring myself right up to the doors.", + "The pair of pale garage doors on the wooden outbuilding sits ahead and slightly left, and the paved driveway between me and them is clear and open. I will keep walking straight to cut down that remaining distance toward the doors.", + "The garage doors have grown noticeably wider in view, so my straight heading is carrying me in cleanly. Nothing blocks the paving in front of me, so another step forward should shorten the gap further.", + "The nearer garage door with its white panels now sits close to the center of my view, with the basketball hoop above and to the left of it. My line is good, so I keep advancing rather than adjusting my heading.", + "The right-hand door is clearly the one I am lined up on, and its frame now fills a good part of the view. The pavement in front stays open, so I continue straight toward it.", + "The door's panel seams and the timber surround are now distinct, which tells me I am within a few strides of it. I press forward to close the last of that distance.", + "The garage door now spans much of my view and the paving runs right up to its base without obstruction. Another step should bring me almost against it.", + "The door face is very close now, with the corner of the siding and the drainpipe standing at its right edge. I take one more step to draw right up to it.", + "The pale door panel now covers most of what I can see, with only the corner post and the bin visible to the right. A final short step should place me directly at the door.", + "The wide pale panel of the garage door now fills my view from only a step away, with its frame and the siding beside it at arm's reach. I have arrived at the garage door. I mark reaching it, then set off for the silver car parked out on the drive.", + "Pressed this close to the garage door, the flat panel blocks almost everything and I can see no parked car from here. I will turn right to swing my heading off the wall and start opening up the driveway on that side.", + "The corner siding, a bin and the white fence line have come into view on the right, but the parked car is still hidden. I will keep turning right to bring more of the open pavement into sight.", + "The neighboring house and its fenced garden now dominate the view while the garage wall slides to my left edge. Nothing resembling a silver car has appeared yet, so I will continue rotating right across the yard.", + "My heading is now clear of the garage entirely, showing fence, hedge and the house across the way, but no parked car. Another right turn should carry my view further toward the open paving on that side.", + "The paved drive is opening up at the right of my view beyond the brick edging and trees, which is where a car would be standing. I will turn right again to swing that open ground into the middle of my view.", + "A silver car is now standing on the pavement ahead to my right, near the trees at the far end of the drive. One more turn right should place it squarely in front of me so I can walk straight at it.", + "The silver car sits centered in my view at the far end of the flat paved drive, with nothing blocking the stretch between us. I will walk forward along this open surface to close the distance to it.", + "The silver sedan parked at the far end of this paving stands just left of my heading, still small in view. The paved surface between us is open, so I will keep walking straight to close the gap.", + "The sedan has grown noticeably larger since my last step, confirming my heading points at it. Nothing blocks the pavement, so another walking step should bring me closer.", + "The rear of the silver car is now clearly resolved, its tail lights and bumper distinct near the center of my view. The distance is still too large to count as arriving beside it, so I will advance again.", + "My heading stays true on the parked sedan, which keeps expanding in the middle of my view with each step. The paving ahead is flat and clear, so I will continue straight rather than adjust.", + "The silver car now fills a good part of the view and its licence plate is becoming legible, but I am still short of standing at it. I will step forward once more to keep closing.", + "The sedan's rear is close enough that I can read its plate clearly, yet a short stretch of paving still separates us. Another step should bring me right up alongside the vehicle.", + "The silver car dominates my view now and sits slightly right of my heading, close but not yet at arm's reach. I will take one more forward step to finish closing the remaining gap.", + "I am right beside the silver sedan, but it has drifted into the right half of my view with its trunk cut off at the frame edge. Turning right should bring the car back to the middle of my heading.", + "The silver sedan's rear now sits squarely ahead of me after the slight turn, with clear paving between us. One more step should close the last bit of gap and bring me right up beside its bumper.", + "The silver car's rear bumper and plate fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000994_y004001_z000249_t5_a_pd/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000994_y004001_z000249_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b3b2936b623f22f3047393bf687d2865de3bcc14 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-000994_y004001_z000249_t5_a_pd/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Lift the ceramic pot at the silver parked car, then leave it near the white garage door.", + "Type": 5, + "Start_Pose": [ + -994.314, + 4000.888, + 248.563, + 0, + -127.68, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1371.187, + 3218.95, + 194.539, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -994.314, + 4000.888, + 248.563, + 0, + -127.68, + 0 + ], + [ + -1071.245, + 3901.278, + 254.991, + 0.0, + -127.68, + 0.0 + ], + [ + -1148.177, + 3801.669, + 261.897, + 0.0, + -127.68, + 0.0 + ], + [ + -1225.108, + 3702.06, + 275.921, + 0.0, + -127.68, + 0.0 + ], + [ + -1302.04, + 3602.45, + 276.709, + 0.0, + -127.68, + 0.0 + ], + [ + -1302.04, + 3602.45, + 276.709, + 0.0, + -102.68, + 0.0 + ], + [ + -1329.666, + 3479.661, + 278.888, + 0.0, + -102.68, + 0.0 + ], + [ + -1357.293, + 3356.871, + 281.499, + 0.0, + -102.68, + 0.0 + ], + [ + -1357.293, + 3356.871, + 281.499, + 0.0, + -102.68, + 0.0 + ], + [ + -1357.293, + 3356.871, + 281.499, + 0.0, + -127.68, + 0.0 + ], + [ + -1434.224, + 3257.261, + 288.76, + 0.0, + -127.68, + 0.0 + ], + [ + -1434.224, + 3257.261, + 288.76, + 0.0, + -152.68, + 0.0 + ], + [ + -1546.044, + 3199.497, + 299.829, + 0.0, + -152.68, + 0.0 + ], + [ + -1657.864, + 3141.732, + 310.899, + 0.0, + -152.68, + 0.0 + ], + [ + -1769.685, + 3083.967, + 314.732, + 0.0, + -152.68, + 0.0 + ], + [ + -1881.505, + 3026.203, + 317.688, + 0.0, + -152.68, + 0.0 + ], + [ + -1993.325, + 2968.438, + 320.644, + 0.0, + -152.68, + 0.0 + ], + [ + -1993.325, + 2968.438, + 320.644, + 0.0, + -177.68, + 0.0 + ], + [ + -2119.081, + 2963.343, + 324.052, + 0.0, + -177.68, + 0.0 + ], + [ + -2244.836, + 2958.247, + 327.46, + 0.0, + -177.68, + 0.0 + ], + [ + -2370.592, + 2953.152, + 330.868, + 0.0, + -177.68, + 0.0 + ], + [ + -2496.348, + 2948.057, + 334.276, + 0.0, + -177.68, + 0.0 + ], + [ + -2622.104, + 2942.961, + 337.684, + 0.0, + -177.68, + 0.0 + ], + [ + -2550.163, + 2945.876, + 335.734, + 0.0, + -177.68, + 0.0 + ], + [ + -2550.163, + 2945.876, + 335.734, + 0.0, + -177.68, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1371.187, + 3218.95, + 194.539, + 0.0, + 0.0, + 0.0 + ], + [ + -1371.187, + 3218.95, + 194.539, + 0.0, + 0.0, + 0.0 + ], + [ + -1371.187, + 3218.95, + 194.539, + 0.0, + 0.0, + 0.0 + ], + [ + -1371.187, + 3218.95, + 194.539, + 0.0, + 0.0, + 0.0 + ], + [ + -1371.187, + 3218.95, + 194.539, + 0.0, + 0.0, + 0.0 + ], + [ + -1371.187, + 3218.95, + 194.539, + 0.0, + 0.0, + 0.0 + ], + [ + -1371.187, + 3218.95, + 194.539, + 0.0, + 0.0, + 0.0 + ], + [ + -1371.187, + 3218.95, + 194.539, + 0.0, + 0.0, + 0.0 + ], + [ + -1336.326, + 3352.779, + 249.917, + -28.202, + -52.535, + 1.862 + ], + [ + -1340.77, + 3344.888, + 250.189, + -28.189, + -77.523, + 1.872 + ], + [ + -1416.701, + 3245.013, + 257.766, + -28.193, + -77.531, + 1.872 + ], + [ + -1424.554, + 3238.861, + 256.602, + -28.202, + -102.538, + 1.858 + ], + [ + -1535.849, + 3180.729, + 268.242, + -28.208, + -102.538, + 1.852 + ], + [ + -1647.435, + 3123.076, + 279.733, + -28.189, + -102.521, + 1.867 + ], + [ + -1759.015, + 3065.448, + 284.889, + -28.207, + -102.545, + 1.857 + ], + [ + -1870.796, + 3007.695, + 287.994, + -28.192, + -102.532, + 1.872 + ], + [ + -1982.774, + 2949.86, + 290.72, + -28.206, + -102.542, + 1.864 + ], + [ + -1992.067, + 2947.906, + 290.243, + -28.207, + -127.543, + 1.858 + ], + [ + -2117.348, + 2942.038, + 294.222, + -28.19, + -127.526, + 1.871 + ], + [ + -2242.93, + 2936.954, + 297.895, + -28.202, + -127.538, + 1.863 + ], + [ + -2368.804, + 2931.848, + 301.226, + -28.188, + -127.524, + 1.875 + ], + [ + -2494.827, + 2926.746, + 304.213, + -28.191, + -127.528, + 1.873 + ], + [ + -2620.823, + 2921.647, + 307.096, + -28.213, + -127.55, + 1.85 + ], + [ + -2620.106, + 2943.042, + 315.734, + 0.0, + -177.68, + 0.0 + ], + [ + -2620.106, + 2943.042, + 315.734, + 0.0, + -177.68, + 0.0 + ] + ], + "PD_Dist_2D": [ + 868.0, + 745.3, + 623.9, + 504.7, + 389.7, + 389.7, + 264.0, + 138.6, + 21.4, + 20.4, + 21.4, + 20.8, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.6, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits far ahead on the paved driveway, just left of the silver parked car. I am still back at the grass edge, well out of reach, so I will walk forward across the pavement to close that gap.", + "The pot and the silver car have grown slightly larger, confirming my heading is carrying me toward them. Open paving lies between me and the pot with nothing blocking the line, so I continue walking forward.", + "The pot is now clearly visible on the pavement beside the car's front wheel, but it remains several strides away. The driveway ahead is flat and clear, so I keep advancing to shorten the remaining distance.", + "The pot now reads plainly as a ceramic vessel resting on the pavers, though it sits off to my right rather than straight ahead. I will step forward again to bring myself into the area beside the parked car before adjusting my heading.", + "My forward path has carried me level with the driveway, but the pot has drifted toward the right edge of my view rather than staying centered. I will turn right to bring the pot back into the middle of my heading so the next steps run straight at it.", + "After the turn the pot sits near the center of my view with the silver car just beyond it, so my heading is now correct. Clear pavement separates us, and I will walk forward to close in on the pot.", + "The pot is noticeably larger and slightly left of center, still a stride or two beyond grasping range. One more forward step should place me directly over it for a pickup attempt.", + "The pot has passed under my viewpoint and now shows only as its rim at the very bottom of my view, right beside the parked car, which means I am standing over it. This is the reachable position, so I will attempt to pick up the ceramic pot.", + "The ceramic pot is now in my hands, so the lift at the silver car succeeded. The garages with the white door lie off to my left, well outside my current heading. I will turn left to swing my facing toward that side of the driveway before carrying the pot across.", + "The pot is secure in my grip and the open paved driveway now stretches ahead of me with the garage block visible to the far left. Nothing blocks the pavement in front, so I will walk forward to close distance across the drive toward that garage side.", + "The garage doors sit at the left edge of my view while my heading still points along the fence line toward the neighbouring house. Carrying the pot straight ahead would take me past the drop area. I will turn left again to bring the garage frontage nearer the centre of my path.", + "The two garage doors now sit ahead and slightly left, with unobstructed paving between me and them. Still holding the pot, I will step forward to shorten the remaining distance to that frontage.", + "The pale garage door and its neighbour are growing larger ahead of me, so my heading is carrying me correctly toward them. The pot is still in my hands and the drive stays clear. I will continue walking forward.", + "The nearer white garage door is now clearly framed slightly left of centre, but I am still several paces short of a sensible placing spot. With the pot secure, I will advance again to keep closing that gap.", + "The white garage door dominates more of my view now and the paving in front of it is empty. I am still carrying the pot and not yet close enough to set it down beside the door, so I will keep stepping forward.", + "The white garage door is close on my left, yet my line of travel still runs along the fence rather than up to the door itself. The pot remains in my hands, so I will take another step forward to draw level with that door before adjusting my facing.", + "The pot is still held with me, and ahead the white garage door sits off to my left while my heading points along the fence line. I will turn left so the door face is centered before I close the remaining distance.", + "The white garage door is now squarely ahead of me across the open paving, with the carried pot still in hand. I will walk forward to close the gap toward the door.", + "The door panel fills more of my view, so my heading is good and the paving in front stays clear. I will keep stepping forward to shorten the distance to the drop area.", + "I am still several paces from the door, with the frame and the bin at its right edge now clearly resolved. Another step forward should bring me close enough for a placement near the door.", + "The garage door now spans most of my view, but there is still paving between me and its base. I will advance again to get right up to the door before releasing the pot.", + "Only a narrow band of paving remains at the bottom of the door panel, so I am nearly against it. One more step should place me right at the door where the pot belongs.", + "The pale door panel completely fills my view, which means I am standing right at the white garage door with the pot still in hand. I will release it here so it comes to rest beside the door as the task requires.", + "The ceramic pot now stands on the ground against the white garage door and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t5_a_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2328c3abb72ce7f54202afb9fbe1d0d56ed5c781 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the trash bag from the white front door of the house.", + "Type": 5, + "Start_Pose": [ + -1731.316, + 2997.062, + 313.226, + 0, + 125.76, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1972.275, + 3454.728, + 239.447, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1731.316, + 2997.062, + 313.226, + 0, + 125.76, + 0 + ], + [ + -1804.867, + 3099.193, + 315.503, + 0.0, + 125.76, + -0.0 + ], + [ + -1878.418, + 3201.324, + 317.642, + 0.0, + 125.76, + -0.0 + ], + [ + -1951.969, + 3303.455, + 319.781, + 0.0, + 125.76, + -0.0 + ], + [ + -1951.969, + 3303.455, + 319.781, + 0.0, + 125.76, + -0.0 + ], + [ + -1951.969, + 3303.455, + 319.781, + 0.0, + 125.76, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1972.275, + 3454.728, + 239.447, + 0.0, + 0.0, + 0.0 + ], + [ + -1972.275, + 3454.728, + 239.447, + 0.0, + 0.0, + 0.0 + ], + [ + -1972.275, + 3454.728, + 239.447, + 0.0, + 0.0, + 0.0 + ], + [ + -1972.275, + 3454.728, + 239.447, + 0.0, + 0.0, + 0.0 + ], + [ + -1968.94, + 3290.481, + 289.585, + -28.202, + 175.905, + 1.862 + ], + [ + -1968.94, + 3290.481, + 289.585, + -28.202, + 175.905, + 1.862 + ] + ], + "PD_Dist_2D": [ + 517.2, + 393.0, + 270.2, + 152.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The black trash bag sits on the paving in front of the white front door, well ahead of me across the open driveway. My heading already lines up with it, so no turn is needed. I will walk forward to close the large gap before any grasp is possible.", + "The trash bag now appears larger and slightly left of center, confirming my straight approach is closing distance. The paving ahead is clear of obstructions. I will keep walking forward since the bag is still too far to reach.", + "The bag fills much more of the lower view now, sitting just short of the porch step in front of the white door. It remains near my forward line, so another straight step should place it directly at my feet. I will advance once more before attempting the grasp.", + "The trash bag is now immediately in front of me at the lower edge of my view, close enough that no further stepping is useful. My hands are empty and nothing blocks the bag. I will attempt to pick it up now.", + "The trash bag is now held in my hands rather than resting on the paving. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t3_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..35804d73500ae61a2746ebd1889b80f43bce99e5 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t3_b/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Navigate to the garage door, then reach the white front door.", + "Type": 3, + "Start_Pose": [ + -2045.745, + 2993.728, + 321.976, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2045.745, + 2993.728, + 321.976, + 0.0, + 113.28, + -0.0 + ], + [ + -2045.745, + 2993.728, + 321.951, + 0.0, + 138.28, + -0.0 + ], + [ + -2139.687, + 3077.486, + 324.618, + 0.0, + 138.28, + -0.0 + ], + [ + -2233.629, + 3161.244, + 327.285, + 0.0, + 138.28, + -0.0 + ], + [ + -2327.571, + 3245.002, + 329.953, + 0.0, + 138.28, + -0.0 + ], + [ + -2421.513, + 3328.76, + 332.62, + 0.0, + 138.28, + -0.0 + ], + [ + -2515.455, + 3412.518, + 335.287, + 0.0, + 138.28, + -0.0 + ], + [ + -2609.396, + 3496.276, + 337.954, + 0.0, + 138.28, + -0.0 + ], + [ + -2609.396, + 3496.276, + 337.954, + 0.0, + 138.28, + -0.0 + ], + [ + -2540.429, + 3434.785, + 335.996, + 0.0, + 138.28, + -0.0 + ], + [ + -2540.429, + 3434.785, + 335.996, + 0.0, + 113.28, + -0.0 + ], + [ + -2540.429, + 3434.785, + 335.996, + 0.0, + 88.28, + -0.0 + ], + [ + -2540.429, + 3434.785, + 335.996, + 0.0, + 63.28, + -0.0 + ], + [ + -2540.429, + 3434.785, + 335.996, + 0.0, + 38.28, + -0.0 + ], + [ + -2540.429, + 3434.785, + 335.996, + 0.0, + 13.28, + -0.0 + ], + [ + -2417.935, + 3463.696, + 332.709, + 0.0, + 13.28, + -0.0 + ], + [ + -2295.442, + 3492.607, + 329.423, + 0.0, + 13.28, + -0.0 + ], + [ + -2172.948, + 3521.518, + 326.137, + 0.0, + 13.28, + -0.0 + ], + [ + -2050.455, + 3550.429, + 322.851, + 0.0, + 13.28, + -0.0 + ], + [ + -2050.455, + 3550.429, + 322.851, + 0.0, + 38.28, + -0.0 + ], + [ + -2050.455, + 3550.429, + 322.851, + 0.0, + 63.28, + -0.0 + ], + [ + -1994.642, + 3656.917, + 343.275, + 0.0, + 63.28, + -0.0 + ], + [ + -1994.642, + 3656.917, + 343.275, + 0.0, + 63.28, + -0.0 + ] + ], + "Rationale": [ + "The wide pale garage door sits far off at the right edge of my view, while my body faces the white front door and the hedge. Turning right should swing that garage door toward the middle of my heading so I can walk straight across the open paving to it.", + "The garage door now lies ahead of me, slightly right, with clear paving stones between us and the hedge safely off to my left. I will walk forward to cut down that distance.", + "The garage door has grown larger in front of me and the basketball hoop above it is closer, so my heading is carrying me correctly toward it. The paving ahead stays clear, so I will keep walking.", + "The nearer garage door now fills a good part of my view with its frame clearly visible, and nothing blocks the pavement in front of me. Another step forward should bring me close enough to stand at it.", + "The garage door and its dark surround now dominate the right half of my view, so I am within a few paces of the wall. I will keep advancing to reach the door itself.", + "The wide grey garage panel now towers over most of my view and its lower edge meets the paving just ahead. One more step should put me right up against it.", + "I am nearly touching the garage door, with its dark jamb and the siding beside it filling my view at close range. A final short step forward should place me directly at the door.", + "The broad grey panel of the garage door fills my whole view, its jamb an arm's length away. I am standing at the garage door. I mark reaching it, then set off for the white front door on the other side of the hedge.", + "The garage panel is right against my face and fills almost everything I can see, leaving no room to swing around cleanly. I will step back from it to open up space before changing heading toward the white front door on the other side of the hedge.", + "Backing off has given me the whole garage door in view again, so I am clear of it and done here. The white entrance lies past the hedge and windows off to my left, so I will begin swinging left toward that side of the house.", + "The garage edge has slid to my right and the long hedge along the house wall now dominates ahead. The entrance is still further around, so I will keep rotating left to bring the front of the house into view.", + "I am now facing the blank stretch of siding and hedge, with no doorway anywhere in front of me. Another left turn should carry my heading past this wall section toward where the entrance should stand.", + "A white door with glass side panels and a low step has just appeared at the far left edge of my view, past the end of the hedge. I will turn left again to bring that entrance properly in front of me.", + "The white entrance and its step are ahead of me, but the hedge crowds the wall immediately in front, so a straight push would take me into the shrubs. Turning left once more should put the open paved drive along my path toward the door.", + "The paving ahead is clear all the way toward the street, with the glass entry and its step just off to my right beyond the hedge. I will walk forward along this open lane to close the remaining distance to the white door.", + "The white door frame and its narrow glass panel are noticeably larger on my right now, so this line is bringing me alongside the entrance. I will keep walking forward to draw level with it before turning in.", + "The white front door with its side glass panel is now clearly visible ahead on my right, close to the walkway edge. I am still short of it, so I will walk forward along the paving to close the remaining gap.", + "The white door and its handle are larger and nearer now, but still set back to my right rather than in front of me. Another step forward should bring me level with the entry so I can face it squarely.", + "I am now beside the entry, with the house number and the glass sidelight filling the right edge while my heading points down the street. Turning right should swing the white door into the centre of my view.", + "The white door and its lever handle have come into view, but they still sit right of centre with the sidelight dominating the middle. One more turn to the right should put the door panel straight ahead of me.", + "The white front door now fills the view directly ahead, with its handle and deadbolt at arm's height. I will step forward to stand right at the entry.", + "The white front door fills my view with its handle right before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002607_y001088_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002607_y001088_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..45f04951f627308cb3f698504f244c1484623805 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002607_y001088_z000348_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Determine where the table covered with numerous cans is situated on the first floor; once found, make your way over to it.", + "Type": 1, + "Start_Pose": [ + -2607.442, + 1087.858, + 348.25, + 0.0, + -138.274, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + -138.274, + 0.0 + ], + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + -163.274, + 0.0 + ], + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + 171.726, + -0.0 + ], + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + 146.726, + -0.0 + ], + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2673.626, + 1194.91, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2739.81, + 1301.962, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2805.994, + 1409.015, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2836.835, + 1513.402, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2842.113, + 1615.865, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2842.113, + 1615.865, + 348.25, + 0.0, + 121.726, + -0.0 + ] + ], + "Rationale": [ + "My view is dominated by a blank interior wall with a framed picture, so nothing here tells me where a can-covered table might be. The open floor and lighter space lie to my left, so I will turn left to begin a consistent scan of this room.", + "Turning has opened up a wide room with a door, windows, and bare walls, but I still see no table loaded with cans. I will keep rotating left in the same direction to reveal the rest of this floor before committing to any approach.", + "A large pool table and some furniture have come into view on my left, which suggests a recreation area where a table with drinks would plausibly sit. Continuing the same leftward rotation should bring that whole corner, including the smaller table beside it, into the center of my view.", + "I can now see a low side table cluttered with small dark objects against the far wall to the left of the pool table, near the windows and skateboard. I will turn left once more to point my heading at that cluttered table so I can walk straight toward it.", + "My heading is now on the corner where the small cluttered table stands beside the couch and windows, with the staircase safely off to my left. The floor between me and that corner is clear, so I will walk forward to close the distance.", + "The small table with upright containers on it is larger in view now, just left of the pool table's near corner. I will continue walking forward since the path along this side of the pool table stays open.", + "From this distance the objects on the low glass table read clearly as several cans and a mug, matching the table I was sent to find. I will keep advancing to bring myself right up beside it.", + "The table with the cans, mug, and laptop is now close on my left, with the couch directly ahead and the pool table rail on my right. A couple more steps forward should place me immediately at that table, so I will move forward again.", + "The low glass table ahead on my left now clearly shows several cans, a mug and a laptop, matching the can-covered table I was told to find on this floor. I am still a couple of paces short of it, with open floor between me and the table, so I will step forward again to close that remaining gap.", + "The table crowded with cans, a mug and a laptop is directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002810_y004452_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002810_y004452_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a4e90ee4f8c25467440741743098bffe89c5c07 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002810_y004452_z000348_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Discover the vertical pole standing in the room; once found, approach it.", + "Type": 1, + "Start_Pose": [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -78.72, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -78.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -103.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -128.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -153.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -2935.48, + 4449.477, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3061.307, + 4446.665, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3187.135, + 4443.854, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3187.135, + 4443.854, + 348.25, + 0.0, + -153.72, + 0.0 + ], + [ + -3299.985, + 4388.129, + 348.25, + 0.0, + -153.72, + 0.0 + ], + [ + -3412.836, + 4332.403, + 348.25, + 0.0, + -153.72, + 0.0 + ], + [ + -3412.836, + 4332.403, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3412.836, + 4332.403, + 348.25, + 0.0, + 156.28, + -0.0 + ], + [ + -3528.062, + 4383.032, + 348.25, + 0.0, + 156.28, + -0.0 + ], + [ + -3528.062, + 4383.032, + 348.25, + 0.0, + 131.28, + -0.0 + ], + [ + -3611.096, + 4477.615, + 348.25, + 0.0, + 131.28, + -0.0 + ], + [ + -3611.096, + 4477.615, + 348.25, + 0.0, + 131.28, + -0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a blank blue wall, a closed white door on my right and a dark potted plant in the corner, so no vertical pole is in view. I will turn left to begin a steady scan of the room in one consistent direction, since the open floor extends that way.", + "The rotation has revealed a larger part of the room, with a pool table edge and another door on the far left, but still nothing that reads as a standing pole. I will keep turning left in the same direction to sweep the remaining unseen portion of this space.", + "Now the pool table, wall-mounted cue racks and a door fill my view, and none of these matches a free-standing vertical pole. Continuing the same leftward scan should bring the darker far side of the room, which I have not yet inspected, into view.", + "Past the pool table I can now see a seating area with a sofa, a low table and a slim dark upright standing on the floor beside the windows, which looks like the vertical pole I am after. I will turn left once more to bring that candidate and the open floor leading to it more centrally into my view.", + "The slim upright pole beside the sofa and windows is now within my forward field of view, so scanning further is unnecessary and I can commit to it. The floor ahead is clear of furniture, so I will walk forward to close distance on it.", + "The seating area has grown larger in view and the narrow pole standing next to the sofa is clearly distinguishable now beside the windows. I will keep walking forward since the path across the open floor toward it remains clear.", + "I am now inside the living area, with the sofa and the tall thin pole with its dark base plainly ahead on my left and the shelves on the far wall. Another step forward should bring me appreciably nearer to the pole.", + "The pole stands close on my left, but the sofa and the low glass coffee table now sit directly across the line I would walk, so a straight push forward would run into them. I will turn right toward the clear open floor so I can pass this furniture cluster and swing around to the pole from a workable side.", + "Ahead of me is the shelf wall with a small window and a door on the right, and no slender vertical pole stands out in this part of the room. I will walk forward to close on this wall so the corner and the area near the door come into clearer view.", + "The shelves and window fill more of my view now, but this stretch of wall still shows nothing resembling a standing pole. Another step forward should carry me deeper into this end of the room and reveal what sits along the walls to either side.", + "I am now close to the bare shelf wall and there is clearly no pole here, so continuing straight would only push me into the wall. I will turn left to sweep my view back toward the window and seating side of the room where a tall upright object could stand.", + "The turn brought a window into the left part of my view, but the wall ahead is still empty of anything pole-shaped. I will keep rotating in the same direction to bring the further windows and the seating area fully into view.", + "Now I can see a slender dark upright standing on the floor beside the sofa in front of the windows, a tall vertical pole with a round top, which matches the target. I will walk forward to close the distance toward it instead of scanning any further.", + "Stepping forward has pushed the standing pole out to the left edge of my view, so my heading is no longer pointed at it. I will turn left to bring the pole back toward the center of my view before advancing again.", + "The tall pole with its dish-shaped top now stands near the middle of my view, rising from the floor beside the sofa, with clear floor between us. I will step forward to bring myself right up beside it.", + "The vertical pole now fills the left side of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002810_y004452_z000348_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002810_y004452_z000348_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f5567e1c672c56655e0643878fe5721068480232 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002810_y004452_z000348_t1_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search for the small two-tier table with a black frame situated near the sofa, and proceed to reach it.", + "Type": 1, + "Start_Pose": [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -78.72, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -78.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -103.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -128.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -153.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -2935.48, + 4449.477, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3061.307, + 4446.665, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3187.135, + 4443.854, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3312.963, + 4441.042, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3312.963, + 4441.042, + 348.25, + 0.0, + -178.72, + 0.0 + ] + ], + "Rationale": [ + "I am facing a closed white door and a blank wall corner, with no sofa or small table anywhere in view. I will turn left to begin scanning the darker open side of the room for the seating area.", + "Turning has revealed a pool table and another doorway on the left, which suggests this is a large recreation space where a sofa and side table would likely sit. The target table is still not in view, so I will keep rotating left in the same direction.", + "The pool table now fills the middle of my view, but the seating area I am looking for is still beyond the left edge. I will continue the same leftward scan to bring that unseen part of the room into view.", + "I can now see a dark sofa against the windowed wall on the far left with a low black-framed table right in front of it, which matches the target. I will turn left once more to bring that sofa and table closer to the center of my heading before walking over.", + "The sofa and the small black-framed two-tier table are now clearly in the left portion of my view across the open floor, past the pool table on my right. I will step forward to close the considerable distance toward that seating area.", + "The two-tier table with the black frame is clearly resolved beside the sofa and its glass shelves are becoming visible, so my heading is good. I will keep walking forward since I am still several steps away from it.", + "The sofa and the black-framed table sit ahead and slightly left, now much larger in view with clear floor between us. I will advance again to get within reach of the table.", + "The two-tier table with its black frame is close in front of me at the lower left, right beside the sofa. One more forward step should bring me directly to it.", + "The black-framed two-tier table beside the sofa now fills the lower foreground within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002954_y002947_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002954_y002947_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..54817656ede4e16c65895ac9c603bb2e184d236d --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002954_y002947_z000348_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Identify the wooden cabinet tucked in the corner beneath the window, then head over to it.", + "Type": 1, + "Start_Pose": [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -78.72, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -78.72, + 0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -53.72, + 0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -28.72, + 0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -3.72, + 0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 21.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 46.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 71.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 96.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 121.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 146.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 171.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -163.72, + 0.0 + ], + [ + -3074.46, + 2911.921, + 348.25, + 0.0, + -163.72, + 0.0 + ], + [ + -3195.273, + 2876.638, + 348.25, + 0.0, + -163.72, + 0.0 + ], + [ + -3315.676, + 2854.613, + 348.504, + 0.0, + -163.72, + 0.0 + ], + [ + -3315.676, + 2854.613, + 348.504, + 0.0, + -163.72, + 0.0 + ], + [ + -3315.676, + 2854.613, + 348.504, + 0.0, + -163.72, + 0.0 + ] + ], + "Rationale": [ + "I am standing close to a bright window that fills my whole view, and the wall and floor beneath it are bare, so no wooden cabinet is tucked here. Since the target is not in front of me, I will turn right to begin a steady scan of this room for another window corner. Rotating in one consistent direction should let me cover the surrounding walls without losing track of where I started.", + "The turn has pulled the window to my left and revealed a corner with a tall paneled door edge on the right, but the floor under the window is still empty. No wooden cabinet is anywhere in this sector, so I will keep rotating right in the same direction. The opening on the right suggests more room area to inspect beyond it.", + "Only the last sliver of the window remains at the left edge, and the rest of my view is a large flat panel with hinges and a paved strip beyond it. There is still no cabinet against any visible wall, so I will continue the rightward scan. Holding one rotation direction keeps this sweep systematic.", + "I am now looking almost straight at a wide sectional door with a paved area showing underneath it, which blocks any further view in this direction. Nothing resembling a wooden cabinet stands along this wall, so I will keep turning right. The scan should soon bring the darker interior of this space into view.", + "The view has shifted onto a second bay of the same large door with dark framing and a bare concrete floor in front of it. There is no window with a cabinet under it in this sector either, so I will continue the rightward sweep. More of the room's interior is opening up on the right side, which is worth scanning next.", + "I can now see two door bays on the left and a stacked pile of firewood against the far dark wall on the right, but still no wooden cabinet and no interior window. The unexplored part of this room continues to my right, so I will turn that way again. Keeping the same rotation direction should reveal the remaining corners.", + "From here the space reads as a large garage: firewood in the middle of the back wall, small cans on the floor, and a white interior door on the right. None of these is the wooden cabinet, and I see no window on this wall, so I will keep turning right. The corner past that door is still unseen and is the natural next sector to check.", + "The white interior door is now near the center of my view with dark bare walls on either side and nothing standing on the floor beneath them. Since neither a window nor the wooden cabinet appears in this sector, I will continue the same rightward scan. The corner beyond the right edge remains unchecked and may hold the window wall I am looking for.", + "This part of the dim garage shows only a plain interior door, bare walls and a stack of firewood, with no wooden cabinet or window in sight. I will keep rotating right in the same consistent direction so the unseen corner past this wall comes into view.", + "A brown wooden edge has just appeared at the right margin of my view, contrasting with the pale walls around the door. Continuing the same rightward rotation should swing that promising wooden object fully into sight.", + "The wooden cabinet is now visible sitting against the wall directly under a small window, matching the target described in the task, but it still sits off to my right side. One more rightward turn should bring it nearer the center of my heading before I walk toward it.", + "The wooden cabinet tucked into the corner beneath the window is now roughly ahead of me with clear floor between us. I will walk forward to close that distance.", + "The cabinet and the window above it have grown noticeably larger, so my heading is carrying me straight at the corner target. I will keep stepping forward since I am still several paces short of it.", + "The cabinet now fills much of the lower left of my view with its dark top surface clearly visible under the window. Another step forward should bring me right up against it.", + "I am now standing right at the corner, so close that my level gaze catches mostly bare wall with only the cabinet's dark upper edge at the bottom of my view. I will tilt my head down to bring the cabinet itself into view and confirm I have arrived at it.", + "The wooden cabinet's top and brown side are directly below me in the corner, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003044_y000946_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003044_y000946_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c5bc61e18ec6d6c40f1b574088a39ae26c75b55d --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003044_y000946_z000348_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the bag resting on the floor in this room, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -3043.891, + 946.15, + 348.25, + 0.0, + 21.726, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3043.891, + 946.15, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -3043.891, + 946.15, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -3043.891, + 946.15, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -3043.891, + 946.15, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2968.629, + 845.273, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2893.367, + 744.397, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2893.367, + 744.397, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2867.788, + 621.165, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2842.209, + 497.932, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2816.631, + 374.7, + 369.073, + 0.0, + -78.274, + 0.0 + ], + [ + -2816.631, + 374.7, + 369.073, + 0.0, + -53.274, + 0.0 + ], + [ + -2816.631, + 374.7, + 369.073, + 0.0, + -53.274, + 0.0 + ], + [ + -2816.631, + 374.7, + 369.073, + 0.0, + -53.274, + 0.0 + ] + ], + "Rationale": [ + "From here my view is almost entirely blocked by a blank wall on the right and a closed garage door ahead, so no bag is visible on the floor. I will turn left to begin a consistent scan of this garage interior and open up the floor area beside the doors.", + "The turn brought the full garage door and bare concrete floor into view, but there is still no bag anywhere on that floor. I will keep rotating left in the same direction to reveal the corner of the room that remains hidden past the door frame.", + "Now that the room has opened up, I can see a lumpy dark object sitting on the floor at the far left, beside a small window and some cans, which looks like the bag I am after. I will continue turning left to bring that spot toward the center of my view before moving.", + "The soft dark bag is now clearly in view on the floor ahead and slightly left, near the paint cans under the windows. The concrete floor between us is clear, so I will walk forward to close the distance.", + "The bag has grown larger in view, confirming I am heading the right way, but it is still several paces off near the corner with the paint cans. I will step forward again along this clear stretch of floor.", + "My heading has drifted so the garage wall and open bay dominate the right of my view while the bag sits off to my left among the cans and skateboard. I will turn left to place the bag in front of me before continuing to approach.", + "The bag is now roughly centered on the floor ahead, next to the skateboard and the open doorway. The path across the bare floor is clear, so I will walk forward to close in on it.", + "The bag is much closer now, resting on the floor ahead by the wall and the open bay, with the paint cans off to my left. I am still a couple of paces short of standing beside it, so I will keep walking forward.", + "The patterned duffel bag is sitting on the concrete floor just ahead and slightly to my right, near the open garage opening. I still have a short gap to close, so I will step forward once more to bring myself right up beside it.", + "I am now standing close to the bag, but my heading points at the green corner wall and windows, leaving the bag only barely at the lower right edge of what I can see. Turning right should bring the bag back in front of me so I can confirm I am beside it.", + "My heading is now toward the doorway and driveway, with only the top of the bag visible low at the bottom of my sight because it rests on the floor right at my feet. Tilting my gaze downward should show the bag on the ground clearly enough to confirm I have reached it.", + "The patterned bag rests on the floor directly at my feet, filling the near ground in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003174_y001364_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003174_y001364_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..08a0be1e0c8d230c491735a0285d6d5acd3bab9b --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003174_y001364_z000348_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for the single-seat sofa in this room; after locating it, proceed to where it sits.", + "Type": 1, + "Start_Pose": [ + -3174.02, + 1363.986, + 348.25, + 0.0, + -58.274, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3174.02, + 1363.986, + 348.25, + 0.0, + -58.274, + 0.0 + ], + [ + -3174.02, + 1363.986, + 348.25, + 0.0, + -33.274, + 0.0 + ], + [ + -3174.02, + 1363.986, + 348.25, + 0.0, + -8.274, + 0.0 + ], + [ + -3049.471, + 1345.874, + 348.25, + 0.0, + -8.274, + 0.0 + ], + [ + -2924.922, + 1327.762, + 348.25, + 0.0, + -8.274, + 0.0 + ], + [ + -2800.373, + 1309.65, + 348.25, + 0.0, + -8.274, + 0.0 + ], + [ + -2675.824, + 1291.538, + 348.25, + 0.0, + -8.274, + 0.0 + ], + [ + -2675.824, + 1291.538, + 348.25, + 0.0, + 16.726, + -0.0 + ], + [ + -2555.29, + 1327.76, + 348.25, + 0.0, + 16.726, + -0.0 + ], + [ + -2555.29, + 1327.76, + 348.25, + 0.0, + 41.726, + -0.0 + ], + [ + -2461.357, + 1411.527, + 348.25, + 0.0, + 41.726, + -0.0 + ], + [ + -2367.424, + 1495.295, + 348.25, + 0.0, + 41.726, + -0.0 + ], + [ + -2367.424, + 1495.295, + 348.25, + 0.0, + 41.726, + -0.0 + ] + ], + "Rationale": [ + "Facing this blank yellow wall with only a framed picture and a closed door, I see no seating at all, so the single-seat sofa cannot be here. I will turn right to sweep toward the more open space that opens under the archway on that side.", + "Turning has revealed a furnished area deeper in the room, with a large couch, shelving, and a television against the far wall, which is a strong cue that additional seating like an armchair sits nearby. I will keep rotating right in the same direction to bring that whole seating zone properly in front of me before committing to move.", + "The living area with the long couch, bookshelves, and staircase is now spread out ahead of me, and the floor between here and it is clear. I will walk forward to close distance so I can distinguish a single-seat sofa among that grouping.", + "I am still some distance from the couch and the shelf wall, and the low light makes the smaller pieces of furniture hard to resolve from here. Continuing straight ahead over the open floor should bring the seating arrangement close enough to identify an individual armchair.", + "Closer in, I can now make out a second, smaller upholstered piece to the right of the long couch, near the base of the staircase, which looks like the single-seat sofa I am after. I will keep walking forward along this clear path toward that seating cluster.", + "The long couch and the smaller armchair-sized seat beyond it are both clearly in the room ahead, but they are still off to the right of my heading and several paces away. Advancing once more should put me close enough to turn and aim directly at that single seat.", + "From this position the long couch fills the space ahead while the compact single seat lies further around to my right, past the fireplace side of the room. I will turn right to put that armchair in front of me instead of walking along the back of the big sofa.", + "After turning, the single-seat sofa now stands clearly ahead and slightly right of me, beside the fireplace and separate from the long couch. I will step forward to close the remaining gap toward that armchair.", + "The single-seat armchair stands to the right of the long three-seat sofa, near the brick fireplace, and it currently sits off to the right of my heading. I will turn right to bring that single-seat sofa toward the center of my view so I can walk straight at it.", + "The single-seat armchair is now clearly in front of me, just left of the fireplace, with open floor between us. I will step forward to close the distance toward it.", + "The armchair now fills much of the lower center of my view, so I am close but not yet standing at its side. Another step forward should bring me right up to where the single-seat sofa sits.", + "The single-seat sofa is directly in front of me, filling the near view at arm's length beside the fireplace. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003174_y001364_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003174_y001364_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba0dcab3d784612e1df68fd9a3fa929dddf61e1b --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003174_y001364_z000348_t1_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Identify the bottom of the staircase with wooden railings, then head over to that spot.", + "Type": 1, + "Start_Pose": [ + -3174.02, + 1363.986, + 348.25, + 0.0, + -58.274, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3174.02, + 1363.986, + 348.25, + 0.0, + -58.274, + 0.0 + ], + [ + -3174.02, + 1363.986, + 348.25, + 0.0, + -33.274, + 0.0 + ], + [ + -3174.02, + 1363.986, + 348.25, + 0.0, + -8.274, + 0.0 + ], + [ + -3049.471, + 1345.874, + 348.25, + 0.0, + -8.274, + 0.0 + ], + [ + -2924.922, + 1327.762, + 348.25, + 0.0, + -8.274, + 0.0 + ], + [ + -2924.922, + 1327.762, + 348.25, + 0.0, + 16.726, + -0.0 + ], + [ + -2804.388, + 1363.984, + 348.25, + 0.0, + 16.726, + -0.0 + ], + [ + -2804.388, + 1363.984, + 348.25, + 0.0, + 41.726, + -0.0 + ], + [ + -2732.223, + 1431.057, + 348.25, + 0.0, + 41.726, + -0.0 + ], + [ + -2732.223, + 1431.057, + 348.25, + 0.0, + 41.726, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a plain yellow-green wall with a framed seascape and some pale doors along the right, with no staircase anywhere in view. I will turn right to begin a consistent scan toward the more open part of the room where the ceiling arch suggests another space.", + "The scan has opened up a living area with a sofa and shelving, and at the far right edge I can just make out vertical wooden posts that could belong to a railing. I will continue turning right in the same direction to bring that promising structure fully into view.", + "A staircase with wooden handrails and white balusters is now clearly visible ahead on the right, rising toward an upper landing. Since that matches the target, I will commit and walk forward to close the distance, keeping clear of the pool table edge on my right.", + "The staircase and its wooden railing are larger now and the lowest treads are appearing at the right side of my view, so I am still too far away to be standing at its base. I will step forward again along this open floor to keep approaching.", + "The stair structure with its wooden handrail now sits well off to my right while my heading points down the length of the room past the sofa. I will turn right to put the flight and its bottom steps in the center of my view before continuing.", + "I am now facing the flight, with the wooden newel post and the lowest steps ahead and slightly right of center. I will walk forward to bring myself close to the foot of the staircase.", + "I am close to the staircase now, but the lowest tread and the wooden newel post sit to the right of my heading while the sofa area still fills my left. I will turn right so the bottom of the flight is squarely in front of me.", + "The wooden handrail, balusters, and the first treads now fill my view directly ahead, so I am nearly at the foot of this staircase. I will take one more short step forward to stand right at the bottom of the flight.", + "I am standing right at the lowest step, with the wooden newel post and railing balusters directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003204_y007335_z000349_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003204_y007335_z000349_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..991d632795e4e78a853ea6b9b4963f7989f4bd81 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003204_y007335_z000349_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the bench sitting beneath the covered shelter in this yard, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 101.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 101.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 126.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 151.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 176.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + -158.72, + 0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + -133.72, + 0.0 + ], + [ + -3291.195, + 7243.548, + 348.595, + 0.0, + -133.72, + 0.0 + ], + [ + -3378.181, + 7152.587, + 348.595, + 0.0, + -133.72, + 0.0 + ], + [ + -3378.181, + 7152.587, + 348.595, + 0.0, + -108.72, + 0.0 + ], + [ + -3418.575, + 7033.386, + 348.595, + 0.0, + -108.72, + 0.0 + ], + [ + -3458.968, + 6914.185, + 348.595, + 0.0, + -108.72, + 0.0 + ], + [ + -3499.362, + 6794.984, + 348.595, + 0.0, + -108.72, + 0.0 + ], + [ + -3539.756, + 6675.783, + 348.595, + 0.0, + -108.72, + 0.0 + ], + [ + -3539.756, + 6675.783, + 348.595, + 0.0, + -108.72, + 0.0 + ] + ], + "Rationale": [ + "From this corner my view is almost entirely taken up by the pale siding of the house on my left and a tall hedge straight ahead, so no bench or covered shelter is visible. The open paving to my lower right suggests the yard continues that way, so I will turn right to begin a consistent scan for the sheltered bench.", + "The scan has revealed more of the paved yard and a gabled outbuilding, but the hedge still hides most of the middle distance and I see no shelter with a bench under it. I will keep turning right in the same direction to open up the rest of the yard.", + "The wide paved patio is now open in front of me and a wooden folding chair edges into the right side of the view, which hints that the seating area lies further right. I will continue turning right to bring that furniture cluster and any covering structure fully into view.", + "Three folding chairs and a small table now sit in the middle of the patio, but none of them is the bench and I still cannot see a roofed or covered structure. Turning further right should uncover the part of the yard against the far building where a shelter would likely stand.", + "At the right edge of my view a timber pergola juts from the dark clapboard house, and a bench-like seat sits in the shade beneath it. I will turn right once more to center that sheltered bench before walking toward it.", + "The pergola over the paving is now clearly in view on the right, with a slatted bench set beneath it against the house wall. The paving between me and it is clear apart from the folding chairs on my left, so I will walk forward to close the distance.", + "The bench under the pergola has grown larger and is still ahead to my right, so my heading is carrying me usefully toward it. I will step forward again across the open paving.", + "As I have advanced, the sheltered bench has drifted toward the right side of my view while the empty patio and chairs fill the center and left. I will turn right to put the bench back in front of me so the remaining approach stays straight.", + "The wooden bench under the pergola beams is now roughly centered ahead of me against the siding, so it is clearly the sheltered bench the task describes. I will walk straight forward to close the open stretch of paving between us.", + "The bench has grown larger and the pergola posts and beams now frame it overhead, confirming I am closing on the sheltered seat. It still sits several paving lengths away, so another forward step should shorten that gap.", + "I am now under the pergola with the bench directly in front of me against the wall, but there is still a short span of paving before I reach it. I will step forward again to bring myself right up to the seat.", + "The bench now fills much of the lower view with its slatted back and armrest clearly resolved, so only a small distance remains. I will take one more step forward to stand right at it.", + "The sheltered wooden bench is directly in front of me, filling the near view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003204_y007335_z000349_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003204_y007335_z000349_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa3734e817df8ddf88c4752e9b1ca52753b423b3 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003204_y007335_z000349_t1_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for the trash bags tucked into a corner of the yard; once found, go to them.", + "Type": 1, + "Start_Pose": [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 101.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 101.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 126.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 151.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 176.28, + -0.0 + ], + [ + -3329.804, + 7342.676, + 348.595, + 0.0, + 176.28, + -0.0 + ], + [ + -3455.398, + 7350.841, + 348.595, + 0.0, + 176.28, + -0.0 + ], + [ + -3580.991, + 7359.007, + 348.595, + 0.0, + 176.28, + -0.0 + ], + [ + -3706.585, + 7367.173, + 348.595, + 0.0, + 176.28, + -0.0 + ], + [ + -3706.585, + 7367.173, + 348.595, + 0.0, + 151.28, + -0.0 + ], + [ + -3816.961, + 7427.652, + 348.595, + 0.0, + 151.28, + -0.0 + ], + [ + -3927.337, + 7488.131, + 348.595, + 0.0, + 151.28, + -0.0 + ], + [ + -4037.712, + 7548.61, + 348.595, + 0.0, + 151.28, + -0.0 + ], + [ + -4037.712, + 7548.61, + 348.595, + 0.0, + 151.28, + -0.0 + ] + ], + "Rationale": [ + "My view is boxed in by the pale siding wall on my left and a tall hedge straight ahead, so no trash bags are visible and there is no route forward here. I will turn right to begin a consistent scan toward the open paved area that the hedge line seems to border. That should open up more of the yard where bags could be tucked against a wall or corner.", + "The hedge still runs across most of my view with a gabled garage wing beyond it, and I cannot confirm any trash bags among the dark foliage. There is only a hint of something dark near the base of the far wall on the right edge, which is not enough to commit to. I will keep rotating in the same direction to bring that open paved side of the yard fully into view.", + "The rotation has revealed a wide paved patio bounded by a low wall, with the house wall receding to my left and a small dark clump sitting at its base. That clump is a promising cue for bagged refuse against a corner, but it is still off toward the left edge and partly hidden. I will continue the same rightward scan to fully expose the patio and confirm what sits along that wall.", + "The patio is now clearly open ahead of me with chairs to the right and the house wall running away on my left, where a dark bundle rests against the siding. That is the strongest candidate for the trash bags tucked into a corner, so I will stop scanning and walk forward across the clear paving. Closing distance should let me verify the shape before committing to a final heading.", + "From closer in, the dark bundle at the foot of the house wall on my left is resolving into what looks like sacks rather than shrubbery. The paving between me and that corner is still unobstructed, with the chairs well off to my right. I will keep walking forward to shorten the distance along the wall.", + "I can now make out dark plastic sacks sitting against the siding on my left, near a bin, exactly the sort of corner the task describes. They are still some distance ahead along the wall, so continuing straight is the efficient move. I will step forward again before adjusting my heading toward them.", + "Three bulging black trash bags are now clearly lined up against the house wall to my left, beside the green bin and next to the low brick wall corner. That confirms the target, and I still have several paces of open paving before I reach them. I will keep advancing to close the remaining gap.", + "The trash bags are confirmed against the siding in the corner formed with the low brick wall, but they now sit off to my left rather than straight ahead, so walking forward would carry me past them. I will turn left to put the bags near the center of my heading. That should let me walk straight in to reach them.", + "The three dark trash bags are clearly sitting in the corner where the house wall meets the low brick wall, now roughly centered ahead of me after my slight leftward turn. The paved ground between us is clear, so I will walk forward to close the remaining distance to them.", + "The bags have grown noticeably larger and are still slightly right of my heading, tucked against the wall next to the green bin. Since the path remains unobstructed, I will keep stepping forward to reach them.", + "I am now very close to the corner, with the three bags filling much of the lower view where the siding meets the brick wall. One more forward step should place me right beside them.", + "The three trash bags are directly in front of me in the yard corner, filling the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a5da6bd5853be13e9799b0be1cbc41ef55471cb --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Locate the large black refrigerator standing against the green wall in the kitchen, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 131.726, + -0.0 + ], + [ + -3308.905, + 675.238, + 348.25, + 0.0, + 131.726, + -0.0 + ], + [ + -3392.673, + 769.171, + 348.25, + 0.0, + 131.726, + -0.0 + ], + [ + -3392.673, + 769.171, + 348.25, + 0.0, + 156.726, + -0.0 + ], + [ + -3508.29, + 818.902, + 348.25, + 0.0, + 156.726, + -0.0 + ], + [ + -3566.945, + 864.284, + 348.25, + 0.0, + 156.726, + -0.0 + ], + [ + -3566.945, + 864.284, + 348.25, + 0.0, + 156.726, + -0.0 + ] + ], + "Rationale": [ + "From here I only see green walls, a closed pale door, and empty floor, with no refrigerator or kitchen fixtures in view. I will turn right to begin a consistent scan of the room for the black refrigerator against the green wall.", + "A tall dark cabinet-like mass has just entered the far right edge of my view, close to the room corner, which could be the black refrigerator. I will continue turning right to bring that object toward the center and confirm what it is.", + "Now I clearly see the large black refrigerator standing against the green wall, with a window and kitchen counter beside it, so this is the kitchen area I was looking for. It is still several steps away across the floor, so I will walk forward toward it.", + "The refrigerator is larger in view now and the floor between us is still clear. I will keep walking forward to close the remaining distance to it.", + "After advancing, the refrigerator now sits on the right side of my view while the empty green wall fills the left, so my heading is drifting off target. I will turn right to center the appliance before continuing my approach.", + "The refrigerator is now centered in front of me with its doors and magnets clearly visible. I will step forward to close in on it.", + "The refrigerator door with its magnets and handles now fills most of my view, so I am nearly against it. I will take one more short step forward to finish arriving at the appliance.", + "The black refrigerator's magnet-covered door fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8e903ac3b216c0ed1cd165b5545b637b221b8ff9 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for the freestanding black stove beneath a wall-mounted range hood, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 131.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 156.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -178.274, + 0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -153.274, + 0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -103.274, + 0.0 + ], + [ + -3254.035, + 458.809, + 348.25, + 0.0, + -103.274, + 0.0 + ], + [ + -3254.035, + 458.809, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -3228.457, + 335.576, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -3202.878, + 212.344, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -3202.878, + 212.344, + 348.25, + 0.0, + -78.274, + 0.0 + ] + ], + "Rationale": [ + "My opening view shows only a closed door and bare green walls, with no kitchen fixtures and certainly no range hood or stove. I need to sweep the room for the appliance wall, so I will turn right to bring unseen parts of the room into view.", + "A large black refrigerator has just come into the right side of my view, which tells me the kitchen fittings lie further in that direction. The stove under its hood is still not visible, so I will keep turning right along that wall.", + "Counters, wall cabinets and a window are now appearing beyond the refrigerator, confirming the kitchen run continues to my right. Since no wall-mounted hood or black stove is in sight yet, I will continue rotating right to follow the cabinetry.", + "The long counter with windows above it stretches across my view, but every appliance slot I can see is plain cabinetry with no black stove or overhead hood. I will turn right again to reach the part of the kitchen still hidden past the counter's end.", + "I am now facing more counter run with a ceiling fan overhead, and the cabinets continue toward a corner without revealing the appliance I want. Turning right again should swing my view around that corner where a hood could be mounted.", + "The counters bend around a corner and the right edge of my view is starting to open onto a further stretch of wall I cannot yet read. I will turn right once more to expose that wall and check it for the hood and stove.", + "At the far right edge I can just make out a dark boxy unit and what looks like a mounted hood, but it is clipped by the edge of my view. Turning right should bring that section of wall fully in front of me so I can confirm it is the stove.", + "The black freestanding stove is now clearly in view on the right wall with the wall-mounted range hood directly above it, so the search is over. It still stands well across the room, so I will walk forward to close that distance.", + "After closing part of the gap, the stove and its hood now sit off to the right of my heading while the cabinet run fills the middle of my view. A small turn to the right should put the appliance squarely ahead so my next steps carry me straight to it.", + "The stove and the hood above it are now centered in front of me with clear open floor between us. Nothing blocks the lane, so I will walk straight ahead to shorten the remaining distance.", + "The stove and hood have grown noticeably larger and stay dead ahead, but I am still a couple of paces short of standing at the appliance. I will step forward again to close that last stretch.", + "The black freestanding stove fills my view directly in front of me with the wall-mounted hood right above it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003554_y002378_z000350_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003554_y002378_z000350_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb46b0d4f5a7dd97bb4f994947833fc6bc979d8d --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003554_y002378_z000350_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Locate the deep blue trash bin sitting against the side of the house, then navigate over to it.", + "Type": 1, + "Start_Pose": [ + -3554.403, + 2377.617, + 350.067, + 0.0, + 121.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3554.403, + 2377.617, + 350.067, + 0.0, + 121.28, + -0.0 + ], + [ + -3554.403, + 2377.617, + 350.052, + 0.0, + 96.28, + -0.0 + ], + [ + -3554.403, + 2377.617, + 350.052, + 0.0, + 71.28, + -0.0 + ], + [ + -3554.403, + 2377.617, + 350.052, + 0.0, + 46.28, + -0.0 + ], + [ + -3467.418, + 2468.579, + 359.944, + 0.0, + 46.28, + -0.0 + ], + [ + -3467.418, + 2468.579, + 359.944, + 0.0, + 21.28, + -0.0 + ], + [ + -3350.14, + 2514.256, + 363.245, + 0.0, + 21.28, + -0.0 + ], + [ + -3232.862, + 2559.934, + 362.995, + 0.0, + 21.28, + -0.0 + ], + [ + -3115.584, + 2605.611, + 363.461, + 0.0, + 21.28, + -0.0 + ], + [ + -2998.307, + 2651.289, + 357.342, + 0.0, + 21.28, + -0.0 + ], + [ + -2894.096, + 2664.914, + 356.751, + 0.0, + 21.28, + -0.0 + ], + [ + -2894.096, + 2664.914, + 356.751, + 0.0, + 21.28, + -0.0 + ] + ], + "Rationale": [ + "From here I only see the blue-grey siding of the house filling the left of my view, with a pergola, pool and patio chairs off to the right, and no trash bin anywhere. Since the task points me to a bin set against the side of the house, I will turn left to sweep my view along that wall rather than out over the open pool area.", + "The wall of the house now runs across most of my view with a window and a gable above, but no trash bin has come into sight yet. I will keep rotating left in the same direction to bring more of this wall and the ground along its base into view.", + "Continuing along the wall, I can now make out dark clutter and what look like containers pressed against the siding at the far left edge of my view, near the two doors. I will turn left once more to bring that cluster of objects toward the center so I can tell whether the deep blue bin is among them.", + "Now I can clearly see bins standing against the side of the house ahead of me, including a dark blue one beside a greener container and some bagged refuse. They are still far down the wall, so I will walk forward along the grass strip to close the distance.", + "After stepping closer, the bins sit noticeably to the left of my heading while the near wall fills the right of my view. I will turn left to point more directly down the side of the house at the blue bin before advancing again.", + "The turn has lined me up along the grassy strip between the white fence and the house, with the blue and green bins now roughly ahead against the siding. I will walk forward along this open corridor to close on them.", + "The bins are growing larger ahead of me and the deep blue one is clearly distinguishable next to the green container by the wall. The path along the lawn stays clear, so I will continue walking forward toward it.", + "The deep blue bin against the house side is now plainly in front of me, with the green bin and dark bags just beyond it. It is still a few paces away, so I will step forward again to arrive right beside it.", + "The deep blue bin is clearly visible ahead against the house wall, just behind and left of the green one, but both are still several steps away. My path along the grass strip beside the siding stays clear, so I will keep walking forward to close the remaining distance.", + "The blue bin now fills a large part of my view beside the green one, so I am close but not yet standing right at it. One more short step forward should bring me directly alongside the deep blue bin.", + "The deep blue bin against the house wall now stands directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003554_y002378_z000350_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003554_y002378_z000350_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..33c967173f7724196551993b3e0359f3cbf9531b --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003554_y002378_z000350_t1_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search the nearby area for black garbage bags resting on the ground; once you spot them, make your way to where they are placed.", + "Type": 1, + "Start_Pose": [ + -3554.403, + 2377.617, + 350.067, + 0.0, + 121.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3554.403, + 2377.617, + 350.067, + 0.0, + 121.28, + -0.0 + ], + [ + -3554.403, + 2377.617, + 350.052, + 0.0, + 96.28, + -0.0 + ], + [ + -3554.403, + 2377.617, + 350.052, + 0.0, + 71.28, + -0.0 + ], + [ + -3554.403, + 2377.617, + 350.052, + 0.0, + 46.28, + -0.0 + ], + [ + -3467.418, + 2468.579, + 359.944, + 0.0, + 46.28, + -0.0 + ], + [ + -3380.432, + 2559.54, + 358.23, + 0.0, + 46.28, + -0.0 + ], + [ + -3380.432, + 2559.54, + 358.23, + 0.0, + 21.28, + -0.0 + ], + [ + -3263.154, + 2605.218, + 357.044, + 0.0, + 21.28, + -0.0 + ], + [ + -3145.877, + 2650.895, + 354.559, + 0.0, + 21.28, + -0.0 + ], + [ + -3145.877, + 2650.895, + 354.559, + 0.0, + 21.28, + -0.0 + ] + ], + "Rationale": [ + "From here I only see the pale siding of the house on my left and an open pool deck with chairs to the right, with no black garbage bags anywhere on the ground. Bags are usually set against a house wall rather than out by the pool, so I will turn left to sweep my view along the building.", + "The turn has brought more of the house wall and a window into view, but the ground along the base is still empty grass with no bags. I will keep rotating left in the same direction to reveal the far end of this wall.", + "Along the base of the wall to my far left I can now make out dark clutter beside what looks like a bin, which is a promising cue for garbage bags. I will continue turning left to bring that spot toward the center of my view before committing to it.", + "The turn has confirmed it: dark bags sit on the ground beside blue and green bins where the wall meets the driveway ahead on my left. I will walk forward along the side of the house to close the distance to them.", + "The bags and the bins beside them are larger and clearer now, still ahead along the wall but not yet within reach. I will step forward again since the path beside the siding stays open.", + "The black bags have drifted toward the left edge of my view because my heading is angled into the siding rather than along it. I will turn left to point directly at the bags and the bins so my next steps follow the wall toward them.", + "The turn has lined the black bags up ahead of me at the base of the wall, just past the green and blue bins. I will walk forward along this strip to reach the spot where they rest.", + "The bags are now large and low in my view, sitting on the ground right against the siding a short step away. I will move forward once more to stand at their location.", + "The black garbage bags sit on the ground directly at my feet beside the bins along the house wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003558_y003479_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003558_y003479_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5275ca59d7c7f034633c088d9073e6989fe2b96a --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003558_y003479_z000348_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Discover the faucet mounted above the sink in this room, then approach it.", + "Type": 1, + "Start_Pose": [ + -3558.202, + 3479.46, + 348.25, + 0.0, + -158.72, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + -158.72, + 0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + -133.72, + 0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + -108.72, + 0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + -83.72, + 0.0 + ], + [ + -3544.435, + 3354.356, + 348.25, + 0.0, + -83.72, + 0.0 + ], + [ + -3530.667, + 3229.252, + 348.25, + 0.0, + -83.72, + 0.0 + ], + [ + -3516.9, + 3104.149, + 348.25, + 0.0, + -83.72, + 0.0 + ], + [ + -3503.132, + 2979.045, + 348.25, + 0.0, + -83.72, + 0.0 + ], + [ + -3503.132, + 2979.045, + 348.25, + 0.0, + -83.72, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a green wall and a broken window, with the corner of a stone countertop entering at the right edge, so no faucet or sink is in view yet. That counter edge is the strongest cue for a kitchen area, so I will turn right to bring more of it into view.", + "The turn opened up a kitchen: a counter island in front of me, a range hood above cabinets, and further counters continuing to the right in shadow. The faucet is still not clearly identifiable, so I will keep rotating right along the same direction to reveal the rest of that counter run.", + "I can now see down the narrow galley to a far counter along the right wall, where a dark upright fixture stands that looks like a faucet over a sink. I will continue turning right to place that far counter closer to the center of my view before walking toward it.", + "The far counter with the dark faucet-like fixture is now roughly ahead of me, with clear open floor between us and no obstruction in the aisle. I will step forward to close distance and confirm that it is the sink faucet.", + "The counter ahead has grown larger and the dark gooseneck spout above a basin is clearer against the backsplash. The path remains open, so I will keep walking straight toward it.", + "The sink counter now fills much of my view and the faucet is unmistakably mounted above the dark basin, slightly right of center. I am still a couple of steps away, so I will advance again to stand close in front of it.", + "The faucet and basin are directly ahead and close, but the countertop front is still a short step away from me. One more forward step should bring me right up to the sink at a comfortable interaction distance.", + "The faucet stands directly in front of me above the sink basin, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_e/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..219f25453aebe228d4bec045fdd7b56e8fad52a3 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_e/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Identify the bag sitting on the floor of this room and navigate to where it is placed.", + "Type": 1, + "Start_Pose": [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -4316.089, + 8379.937, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -4316.089, + 8379.937, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4385.958, + 8275.252, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4455.826, + 8170.567, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4525.695, + 8065.883, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4525.695, + 8065.883, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4544.776, + 7941.479, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4544.776, + 7941.479, + 348.25, + 0.0, + -98.72, + 0.0 + ] + ], + "Rationale": [ + "From this corner I only see a framed beach picture, a window and the back of a couch, with no bag anywhere on the visible floor. I will turn right to swing my view into the open part of the room where floor space is more likely to be exposed.", + "The turn opened up more of the room, showing carpet, several windows and the couch, but still no bag on the floor. I will keep scanning in the same rightward direction to reveal the far side of the room.", + "Now I can see across the room to a pool table and, beside a floor lamp near the far wall, a patterned duffel bag resting on the carpet. That matches the target, so I will walk forward across the open floor to close the distance instead of scanning further.", + "The bag on the floor by the lamp now sits noticeably right of my heading, near the wall beside the pale door. I will turn right to line my body up with it before continuing forward.", + "With the turn done, the bag beside the floor lamp is roughly ahead of me with clear carpet in between and the pool table safely off to my right. I will step forward to shorten the remaining distance to it.", + "The bag has grown larger in view and is still slightly ahead near the lamp and the door, so I am closing in on the correct spot. I will continue walking forward since nothing blocks the carpet between us.", + "The bag is clearly resolved now, a spotted duffel sitting on the carpet between the tall lamp and the closed door. One more forward step should bring me within arm's reach of that corner.", + "I am close to the corner and the window wall with the lamp now fills the left of my view, so walking straight ahead would push me into that wall rather than up to the bag. I will turn right so the open floor in front of the door and the bag lie along my heading.", + "The patterned duffel bag is now clearly resting on the carpet just left of the closed white door, centered enough in my view to walk straight at it. I still have a couple of steps of open floor between me and it, so I will advance to close that gap. This step should bring me right beside the bag on the floor.", + "The floor bag now fills the lower left of my view, right at my feet beside the door. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004387_y002359_z000343_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004387_y002359_z000343_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd2adf2b47390358a1745bb1816bfaa4e156e98 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004387_y002359_z000343_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Locate the metal handrail that marks the swimming pool entrance; once you have identified it, go to that spot.", + "Type": 1, + "Start_Pose": [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 1.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 1.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 26.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 51.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 76.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 101.28, + -0.0 + ], + [ + -4411.657, + 2481.967, + 342.68, + 0.0, + 101.28, + -0.0 + ], + [ + -4436.275, + 2605.395, + 342.68, + 0.0, + 101.28, + -0.0 + ], + [ + -4460.894, + 2728.822, + 342.68, + 0.0, + 101.28, + -0.0 + ], + [ + -4460.894, + 2728.822, + 342.68, + 0.0, + 126.28, + -0.0 + ], + [ + -4535.368, + 2830.282, + 348.505, + 0.0, + 126.28, + -0.0 + ], + [ + -4609.843, + 2931.741, + 348.505, + 0.0, + 126.28, + -0.0 + ], + [ + -4609.843, + 2931.741, + 348.505, + 0.0, + 126.28, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a picket fence, a grassy side yard and the walls of two houses, with no pool or metal handrail anywhere in view. I will turn right to begin a consistent scan toward the more open ground beside the nearer house, where a pool deck could plausibly lie.", + "Turning has revealed a pergola and a paved patio along the side of the house, a strong cue that the outdoor living area continues further right. No handrail or water is visible yet, so I will keep rotating in the same direction to bring that patio area into view.", + "A dark oval of water with a paved surround is now just entering the right edge of my view beyond the pergola, which matches the pool I need. I will continue turning right so the pool and its entry rail come fully into the center of my view.", + "The pool is clearly in view on the right with thin metal rails standing at its near edge, so the target is identified. One more right turn should place that rail and the deck straight ahead before I start walking.", + "The pool now sits centered ahead of me with its metal handrail rising from the near edge, and the paved deck between us looks clear. I will walk forward across the grass strip to close the distance to that rail.", + "I am now on the paved deck and the pool with its handrail is larger and still centered in front of me. I will keep walking straight to shorten the remaining distance to the rail.", + "The curved pool coping and the pair of metal rails marking the steps are close ahead and unobstructed. Another step forward should bring me right up to the rail area.", + "The handrail is now directly in front of me, but the water lies immediately beyond it, so walking straight on would carry me over the pool edge. I will turn right to face along the paved deck so I can step up beside the rail rather than into the basin.", + "The metal handrail marking the pool steps is clearly in view ahead on the left, rising from the near edge of the water. I will step forward across the open paving to close the remaining distance to that rail rather than scan any further.", + "The handrail is now much closer, its posts standing just ahead of me at the pool's stepped entry with the shallow steps visible in the water. One more step forward should bring me right up beside the rail.", + "The metal handrail at the pool's step entrance is right at my feet in the near left of view. The task is complete, so I stop here at that spot." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004387_y002359_z000343_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004387_y002359_z000343_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d63b69d2f315b4a44e21b02bc2dfb023e8342df --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004387_y002359_z000343_t1_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Look around the yard to discover the cluster of five folding wooden chairs, and after finding them, move to their center point.", + "Type": 1, + "Start_Pose": [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 1.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 1.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 26.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 51.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 76.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 101.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 126.28, + -0.0 + ], + [ + -4461.513, + 2459.998, + 342.68, + 0.0, + 126.28, + -0.0 + ], + [ + -4535.988, + 2561.458, + 342.68, + 0.0, + 126.28, + -0.0 + ], + [ + -4610.462, + 2662.917, + 342.68, + 0.0, + 126.28, + -0.0 + ], + [ + -4610.462, + 2662.917, + 342.68, + 0.0, + 151.28, + -0.0 + ], + [ + -4720.838, + 2723.396, + 342.68, + 0.0, + 151.28, + -0.0 + ], + [ + -4831.214, + 2783.875, + 345.477, + 0.0, + 151.28, + -0.0 + ], + [ + -4941.589, + 2844.354, + 348.586, + 0.0, + 151.28, + -0.0 + ], + [ + -5051.965, + 2904.833, + 348.586, + 0.0, + 151.28, + -0.0 + ], + [ + -5051.965, + 2904.833, + 348.586, + 0.0, + 126.28, + -0.0 + ], + [ + -5126.44, + 3006.292, + 348.586, + 0.0, + 126.28, + -0.0 + ], + [ + -5182.885, + 3107.454, + 348.586, + 0.0, + 126.28, + -0.0 + ], + [ + -5182.885, + 3107.454, + 348.586, + 0.0, + 126.28, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see a narrow grass strip pinched between a white picket fence and the side walls of two houses, with no folding chairs anywhere in sight. I will turn right to begin a consistent scan toward the more open part of the yard where outdoor furniture is more likely to be grouped.", + "My view has swung onto the back of the house with a pergola and a paved area, and I can make out only a single dark seat near the wall rather than a cluster of five chairs. I will keep turning right in the same direction to bring more of the open paved yard into view.", + "The paved patio is opening up ahead of me and I can see the edge of a pool area on the right, which is exactly the kind of place folding chairs would be set out. I will continue the right scan to reveal that poolside space instead of stopping on the house facade.", + "Now the pool and the surrounding stone deck fill the middle of my view, but the chairs are still not resolved in the part of the deck I can see. I will turn right again to sweep the remaining deck area beyond the pool where seating would naturally be placed.", + "I can now see wooden folding chairs standing on the deck to the right of the pool, past the far end of the water. I will make one more small right turn to bring that seating group closer to the center of my heading before walking toward it.", + "The wooden folding chairs are now roughly ahead of me on the far side of the paved deck, past the pool's near edge. I will walk forward off the grass onto the paving to close the distance toward that cluster.", + "The chairs are still slightly right of my centerline but clearly larger than before, so my heading is carrying me usefully toward them. I will keep stepping forward across the open paving since nothing blocks the route.", + "I can now count several distinct wooden folding chairs grouped together on the deck ahead and to the right, confirming this is the cluster I need. I will continue walking forward over the flat paving to shorten the remaining distance before fine tuning my heading.", + "The cluster of folding wooden chairs is clearly on the paved patio ahead, but the curved pool edge sits directly across my current line of travel on the left. I will turn right to shift my heading onto the open pavement so I can close on the chairs without walking into the pool. This should give me a clean approach lane across the patio.", + "From this heading the chair group stands in clear view beyond the pool's far edge, with unobstructed paving in front of me. I will walk forward along this open stretch to reduce the distance to the cluster.", + "The chairs have grown noticeably larger and their frames are now distinct, confirming I am closing on the right group. I will keep walking forward since the pavement ahead remains clear of obstacles.", + "Three of the folding chairs are plainly in front-left and the surrounding paving is still open, so the cluster is only a short distance off. I will continue forward to bring myself close to the group before adjusting my heading.", + "The nearest chairs now fill a good part of the lower left view, so I am nearly beside the cluster rather than in it. One more step forward should carry me level with the group before I turn toward its middle.", + "I have drawn level with the chairs, and they now sit off to my left while my heading points into empty pavement. I will turn left to face into the chair group so its center lies ahead of me.", + "Facing this way I can see chairs on both the left and right of my path, with the gap between them opening straight ahead. I will step forward into that gap to move toward the middle of the cluster.", + "Chairs now surround me on the near left, near right, and just ahead, so I am entering the group but still slightly short of its middle. I will take one more short step forward to settle at the center point of the arrangement.", + "The folding wooden chairs now surround me on both sides at arm's length, placing me at the center of their cluster. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..39bd19489e0062e50db6516ffcccb56ca508680d --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_c/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Navigate to the far porch column, then walk to the dining chairs.", + "Type": 3, + "Start_Pose": [ + -4535.727, + 10133.498, + 348.595, + 0, + -38.4, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4535.727, + 10133.498, + 348.595, + 0, + -38.4, + 0 + ], + [ + -4437.092, + 10055.321, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4338.457, + 9977.144, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4239.822, + 9898.967, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4239.822, + 9898.967, + 348.595, + 0.0, + -63.4, + 0.0 + ], + [ + -4183.468, + 9786.43, + 348.595, + 0.0, + -63.4, + 0.0 + ], + [ + -4127.113, + 9673.892, + 348.595, + 0.0, + -63.4, + 0.0 + ], + [ + -4127.113, + 9673.892, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -4129.655, + 9558.391, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -4158.021, + 9474.21, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -4158.021, + 9474.21, + 348.595, + 0.0, + -63.4, + 0.0 + ], + [ + -4096.982, + 9366.119, + 348.6, + 0.0, + -63.4, + 0.0 + ], + [ + -4040.627, + 9253.581, + 348.6, + 0.0, + -63.4, + 0.0 + ], + [ + -3984.273, + 9141.044, + 348.6, + 0.0, + -63.4, + 0.0 + ], + [ + -3984.273, + 9141.044, + 348.6, + 0.0, + -88.4, + 0.0 + ], + [ + -3980.758, + 9015.234, + 348.6, + 0.0, + -88.4, + 0.0 + ], + [ + -3977.244, + 8889.424, + 348.6, + 0.0, + -88.4, + 0.0 + ], + [ + -3973.73, + 8763.614, + 348.6, + 0.0, + -88.4, + 0.0 + ], + [ + -3973.73, + 8763.614, + 348.6, + 0.0, + -88.4, + 0.0 + ], + [ + -3973.73, + 8763.614, + 348.6, + 0.0, + -113.4, + 0.0 + ], + [ + -3973.73, + 8763.614, + 348.6, + 0.0, + -138.4, + 0.0 + ], + [ + -3973.73, + 8763.614, + 348.6, + 0.0, + -163.4, + 0.0 + ], + [ + -3973.73, + 8763.614, + 348.6, + 0.0, + 171.6, + -0.0 + ], + [ + -3973.73, + 8763.614, + 348.6, + 0.0, + 146.6, + -0.0 + ], + [ + -3973.73, + 8763.614, + 348.6, + 0.0, + 121.6, + -0.0 + ], + [ + -4039.678, + 8870.812, + 348.6, + 0.0, + 121.6, + -0.0 + ], + [ + -4105.627, + 8978.009, + 348.6, + 0.0, + 121.6, + -0.0 + ], + [ + -4171.575, + 9085.207, + 348.6, + 0.0, + 121.6, + -0.0 + ], + [ + -4237.523, + 9192.404, + 348.6, + 0.0, + 121.6, + -0.0 + ], + [ + -4237.523, + 9192.404, + 348.6, + 0.0, + 96.6, + -0.0 + ], + [ + -4251.989, + 9317.429, + 348.6, + 0.0, + 96.6, + -0.0 + ], + [ + -4251.989, + 9317.429, + 348.6, + 0.0, + 96.6, + -0.0 + ] + ], + "Rationale": [ + "The covered porch runs along the house ahead of me, its white columns spaced down the shaded walkway, with the deepest one set far back beyond the near bay. Nothing but open paving lies between me and that porch, so I walk straight forward to cut the distance.", + "The columns and the porch overhang have grown larger in front of me, so my line of travel is taking me toward them. The paving stays clear of furniture on this heading, so I keep walking to close on the deeper columns under the shade.", + "I am nearly under the porch roofline now, with one column close on my right and more of them receding down the shaded walkway to my left. The stones ahead are still open, so another step forward should bring me level with that run of columns.", + "Straight ahead is mostly siding and a door, while the porch and its remaining columns carry on away to my left. Turning left should swing my heading onto that open stretch of walkway instead of into the wall.", + "My heading now runs down the open porch walkway, with the pale columns lined up ahead and to my right and the wooden chairs sitting off to my left. The lane between them is clear, so I walk forward to gain ground toward the deeper column.", + "The nearer column has slid toward my right as I advance, and the covered walkway keeps running past it toward the columns at the far end. With clear stone in front of me, I take another step along the same line.", + "The nearest column now stands close on my right and the porch continues past it toward the brighter opening on my left, where the walkway carries on beside the neighbouring wing. Turning left should point me down that open stretch toward the column at the far end.", + "Facing along the open paving now, the column holding up the far end of the porch stands ahead on my right, past the scattered wooden chairs. The route between the chairs and that column is clear, so I step forward to keep closing on it.", + "The paving ahead of me is clear apart from one chair off to the left, and the roofed porch with its white columns runs along to my right. I keep walking straight to close the remaining gap before I swing toward that column line.", + "My heading is aimed at the low gray cottage wall, while the columned porch I want sits off to my right. I turn right so the run of columns and the sheltered paving beneath them should sit ahead of me instead of beside me.", + "The white column and the dark porch ceiling now sit squarely ahead of me, with clear paving between us. I step forward to bring myself in under that porch roof and nearer the columns.", + "The column ahead has grown noticeably taller in my view, so the last stride shortened the distance as intended. Nothing blocks the paving between us, so I keep walking toward it.", + "I am now under the porch roof with the column standing just a few paces off, and the wall of the house runs along my left. Another step forward should put me right at the column line before I choose which way along the porch to continue.", + "The column is now directly in front of me, close enough to fill the middle of my view, so pressing straight on gains nothing. The sheltered walkway continues to my left alongside the siding, so I turn left to face down the porch toward its far end.", + "The turn cleared the near column to my right and opened the paved run beside the siding. I walk forward along it to reach the column standing at the far end of the porch.", + "The slim white post at the far end of the porch has drawn closer and the paving beside the wall is still clear. I continue forward to reach it.", + "The white porch column now rises just ahead of me, slightly right of center, with the clapboard wall close on my left. One more stride should bring me level with its base rather than leaving me short of it.", + "The tall white porch column stands right at my shoulder, close enough to touch, with the siding filling the rest of my view. I have reached the far porch column. I mark reaching it, then set off for the wooden dining chairs out on the patio.", + "The column is beside me and the plank wall blocks everything straight ahead, so this heading is useless for my next destination. Turning left starts swinging my view away from the siding toward the open patio where the chairs stand.", + "I still face flat clapboard siding with only a strip of paving showing at the lower left. Another left turn should carry my heading further around toward the open patio.", + "The wall has slid to my right and open paving with trees is beginning to appear on the left. Continuing to turn left should keep bringing that open patio ground into the middle of my view.", + "More of the open courtyard and the low garden wall is now on my left, while the house edge sits at my right. I keep turning left because the seating area lies out across that open paving, not along the wall.", + "The wide paved courtyard now opens ahead with the wall trailing off to my right, but I see no chairs yet in this direction. One more left turn should sweep my view further across the terrace where seating is likely to sit.", + "The wooden dining chairs have come into view at the far left of my sight, out on the terrace near the trees. Turning left once more should bring them near the center so I can walk straight at them.", + "The wooden dining chairs now sit clearly ahead of me across the open paving, slightly left of center. With the porch column behind me and nothing blocking the flagstones, I will walk straight forward to begin closing that gap.", + "The chairs have grown larger and shifted a little lower in my view, confirming that this heading carries me toward them. The paved ground stays clear, so I will keep stepping forward.", + "Three chairs are now distinct on the left half of my view, their slats and legs clearly readable at this range. I am still several paces short of standing among them, so I will advance again.", + "The nearest chair fills the left edge of my view while the others remain a short walk ahead. One more step forward should bring me level with the seating group.", + "The chairs are drifting toward the left side of my view as I close on them, with empty paving filling the right. Turning left should swing the seating group back into the center of my heading before I step in.", + "The dining chairs now spread across the middle of my view with the group squarely ahead of me. A final step forward should bring me right up beside them.", + "Two dining chairs stand directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d6c38cbde53b1c3f32f5846569707d772ab57085 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_d/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Move to the white door, then approach the far porch column.", + "Type": 3, + "Start_Pose": [ + -4535.727, + 10133.498, + 348.595, + 0.0, + -38.4, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4535.727, + 10133.498, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4437.092, + 10055.321, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4437.092, + 10055.321, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4314.66, + 10026.153, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4192.227, + 9996.986, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4069.794, + 9967.818, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3947.362, + 9938.651, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3824.929, + 9909.483, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3702.497, + 9880.316, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3702.497, + 9880.316, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3702.497, + 9880.316, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -3702.497, + 9880.316, + 348.595, + 0.0, + -63.4, + 0.0 + ], + [ + -3702.497, + 9880.316, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -3698.982, + 9754.506, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -3695.468, + 9628.696, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -3691.954, + 9502.886, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -3688.44, + 9377.076, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -3684.926, + 9251.266, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -3681.411, + 9125.456, + 348.595, + 0.0, + -88.4, + 0.0 + ], + [ + -3681.411, + 9125.456, + 348.595, + 0.0, + -113.4, + 0.0 + ], + [ + -3731.396, + 9009.948, + 348.595, + 0.0, + -113.4, + 0.0 + ], + [ + -3781.381, + 8894.441, + 348.595, + 0.0, + -113.4, + 0.0 + ], + [ + -3831.365, + 8778.933, + 348.427, + 0.0, + -113.4, + 0.0 + ], + [ + -3831.365, + 8778.933, + 348.427, + 0.0, + -113.4, + 0.0 + ] + ], + "Rationale": [ + "The white door sits ahead on the right, set into the pale siding at the near end of the covered porch. The paved yard between me and it is open and free of furniture on that side. I will walk forward to close the gap before refining my heading.", + "After stepping forward, the white door has drifted well right of my heading and my line of travel would carry me past it toward the porch chairs. I will turn right to bring the door back toward the middle of my view so the next steps go straight at it.", + "The turn has put the white door roughly ahead of me, framed between a porch column and the corner of the lighter siding. The paving in front is unobstructed. I will step forward to shorten the distance to it.", + "The white door has grown larger and stays just right of the nearest porch column, so my heading is still good. Nothing blocks the paved stretch between us. I will keep walking toward it.", + "The doorway and its handle are now clearly resolved a short way ahead, with the column passing to my left as I advance. The approach line remains open. I will take another step forward to close in.", + "The white door now occupies a good share of my view, its handle catching the sunlight straight ahead of me. There is still a few paces of open paving before I stand at it. I will continue walking forward.", + "The white door fills much of the wall in front of me and the wall siding on either side is close enough to read in detail. I am not yet right at the threshold. I will step forward again to bring myself up to it.", + "The white door now dominates my view with its handle at arm level and the frame edges near the sides of my sight. One more step should place me directly at it. I will move forward to finish closing that last bit of distance.", + "The white paneled door fills my view with its handle barely an arm's length away, so I am standing right against it. I have reached the white door. I mark reaching it and then set off toward the column at the far end of the covered porch.", + "The door is close enough that nothing but its panels and the flanking siding is visible, so I cannot see a route from this heading. The roofed walkway with its columns runs off to my left, so I will turn that way to bring it back into view.", + "Swinging left has pushed the door to the right edge and opened up the long siding wall, but I am still looking mostly along the wall rather than down the sheltered walkway. I will turn further left to bring the shaded run of columns into the center of my view.", + "The dark porch ceiling and the first pale columns now show at the left of my view, with open paving running beneath them. One more turn left should put that covered run of columns straight ahead so I can walk down it.", + "The covered walkway now runs straight ahead of me, columns spaced along its left and clear paving between them. The far column stands well down this corridor, so I will walk forward to close that distance.", + "The nearest column has slid to my left and the opening at the end of the porch is growing wider, which tells me the walk down this corridor is working. The column I want is still far off past the shaded stretch, so I will keep walking forward.", + "The columns and the neighboring roofline ahead keep growing as I advance, and the paving under the porch stays unobstructed. I am still short of the column at the far end, so I will step forward again.", + "A column now stands clearly at my left and the far end of the covered porch, with its bright opening and hedge, is noticeably closer. The column I am aiming for still lies beyond, so I will continue forward along the walkway.", + "The covered walkway runs straight ahead with clear paving under the dark canopy, and the roof posts on my left mark the line of columns I want to reach. Nothing blocks the lane, so I will keep walking forward to close the remaining distance toward the far post.", + "The gap at the end of the covered passage is widening and the neighboring roofline ahead is growing, so my heading down this walkway is still productive. The posts holding the canopy are drawing nearer on my left, and the pavement stays unobstructed, so I will step forward again.", + "The porch post I want now stands off to my left, near the edge of the canopy, while my current heading runs past it into the open yard. I will turn left to bring that post into the middle of my view so I can walk straight at it.", + "The turn worked, and the tall white porch post now stands ahead of me, roughly centered under the canopy with clear paving between us. I will walk forward to shorten that distance.", + "The post is noticeably thicker and taller in my view than before, confirming I am closing on it along a clear line. Still a few paces of open paving remain, so I will keep stepping forward.", + "The white post now rises through the full height of my view just ahead and slightly left, with the siding corner beside it. One more step forward should bring me right up beside it.", + "The white porch post stands directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t5_b_pd/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e79f6a48b6f0875876119bf312de38e3c9a727e6 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t5_b_pd/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the metal bucket beside the nearest porch column, then set it down near the white door.", + "Type": 5, + "Start_Pose": [ + -4535.727, + 10133.498, + 348.595, + 0, + -38.4, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4064.711, + 9959.301, + 268.595, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4535.727, + 10133.498, + 348.595, + 0, + -38.4, + 0 + ], + [ + -4437.092, + 10055.321, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4437.092, + 10055.321, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4314.66, + 10026.153, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4192.227, + 9996.986, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4192.227, + 9996.986, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4069.794, + 9967.818, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3947.362, + 9938.651, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3824.929, + 9909.483, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3702.497, + 9880.316, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3772.536, + 9897.001, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3772.536, + 9897.001, + 348.595, + 0.0, + -13.4, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4064.711, + 9959.301, + 268.595, + 0.0, + 0.0, + 0.0 + ], + [ + -4064.711, + 9959.301, + 268.595, + 0.0, + 0.0, + 0.0 + ], + [ + -4064.711, + 9959.301, + 268.595, + 0.0, + 0.0, + 0.0 + ], + [ + -4064.711, + 9959.301, + 268.595, + 0.0, + 0.0, + 0.0 + ], + [ + -4064.711, + 9959.301, + 268.595, + 0.0, + 0.0, + 0.0 + ], + [ + -4187.872, + 10017.9, + 318.702, + -28.202, + 36.745, + 1.862 + ], + [ + -4065.187, + 9988.678, + 318.214, + -28.195, + 36.748, + 1.862 + ], + [ + -3942.716, + 9959.492, + 318.158, + -28.209, + 36.738, + 1.855 + ], + [ + -3820.477, + 9930.368, + 318.478, + -28.211, + 36.734, + 1.854 + ], + [ + -3698.333, + 9901.272, + 318.907, + -28.213, + 36.736, + 1.849 + ], + [ + -3704.442, + 9880.778, + 308.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3704.442, + 9880.778, + 308.595, + 0.0, + -13.4, + 0.0 + ] + ], + "PD_Dist_2D": [ + 502.2, + 384.6, + 384.6, + 258.7, + 133.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket stands on the paving to my right, near the porch column, and the white door is set into the wall behind it. It is far off across the open patio, so I will walk straight ahead to close that gap before worrying about fine alignment.", + "The bucket now sits noticeably 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 bucket toward the center of my heading before advancing again.", + "The bucket is now roughly centered ahead with the white door just beyond it on the wall, so my heading is good. I will step forward to shorten the remaining distance toward the bucket.", + "The bucket has grown large in the middle of my view but is still a couple of paces off, too far to reach. I will advance once more to bring it within grasping range beside the porch column.", + "The bucket's open rim now fills the bottom of my view directly in front of me, close enough that its interior is visible. I will attempt to pick it up so I can carry it toward the white door ahead.", + "The grasp worked and the bucket is no longer resting on the paving, it is in my hands. The white door sits ahead beyond the porch column, so I will walk forward to carry the bucket toward it.", + "The white door is now clearly framed ahead of me with unobstructed paving in between, and I am still carrying the bucket. I will keep walking forward to reach a spot close enough to the door to set it down.", + "The door now dominates my view, but there is still a stretch of paving before its threshold, so I am not yet close enough for the drop to count as near it. I will step forward again to tighten that distance while holding the bucket.", + "The bucket is still in my hands and the white door now fills most of my view, though I am still a short step away from the paving right in front of it. I will walk forward once more to bring the carried bucket within setting-down range of the door.", + "The white door and its handle are directly ahead at arm's reach, and the bucket is still held from the porch column. This is the intended placement spot, so I will release the bucket here so it should come to rest beside the door.", + "The metal bucket now stands on the paving right in front of the white door, and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-006573_y-000189_z000322_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-006573_y-000189_z000322_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..84ccc8d67f51040a17f69b2c26088a723d189938 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-006573_y-000189_z000322_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search for the green trash bin sitting at the curb in front of the grey wooden house; after locating it, head over to it.", + "Type": 1, + "Start_Pose": [ + -6573.446, + -188.645, + 322.106, + 0.0, + 81.726, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 81.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 106.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 131.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 156.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + -178.274, + 0.0 + ], + [ + -6699.248, + -192.436, + 317.62, + 0.0, + -178.274, + 0.0 + ], + [ + -6699.248, + -192.436, + 317.62, + 0.0, + -153.274, + 0.0 + ], + [ + -6811.661, + -249.038, + 252.662, + 0.0, + -153.274, + 0.0 + ], + [ + -6924.074, + -305.64, + 268.632, + 0.0, + -153.274, + 0.0 + ], + [ + -7036.487, + -362.241, + 273.53, + 0.0, + -153.274, + 0.0 + ], + [ + -7036.487, + -362.241, + 273.53, + 0.0, + -128.274, + 0.0 + ], + [ + -7114.447, + -461.048, + 240.347, + 0.0, + -128.274, + 0.0 + ], + [ + -7114.447, + -461.048, + 240.347, + 0.0, + -153.274, + 0.0 + ], + [ + -7226.86, + -517.65, + 225.05, + 0.0, + -153.274, + 0.0 + ], + [ + -7226.86, + -517.65, + 225.05, + 0.0, + -153.274, + 0.0 + ] + ], + "Rationale": [ + "I am standing beside the grey wooden clapboard wall with tall grass and a picket fence to my left, and no trash bin is visible anywhere in this view. Since the house wall blocks most of my forward field of view, I will turn right to scan along the building toward where a curb and street would lie.", + "Turning has brought the porch stairs and railing of the grey house into view, but still no bin at any curb. I will keep rotating in the same direction to follow the wall toward the front of the house where bins are usually set out.", + "The stairs and the corner of the grey house now dominate my view, and the open street is still hidden behind the structure. I will continue the same rightward scan to bring the area past the house corner into sight.", + "Past the corner of the grey house I can now glimpse a paved area and what looks like the dark top of a bin near the far right edge, along with trees beyond. I will turn a little more in the same direction to bring that promising curb area fully into view.", + "I can now clearly see a row of bins at the curb ahead and slightly right, and the rightmost one is green, matching the target beside this grey wooden house. I will walk forward along the side of the house to close the distance toward that curb.", + "The bins are still set slightly to the right of my heading, with the house wall crowding my left side. I will turn right to point more directly at the green bin at the curb before continuing forward.", + "The green bin is now clearly in view at the curb ahead, standing with two darker bins beside the paved walkway. With a clear stretch of pavement between me and them, I will step forward to close the remaining distance.", + "The bins have grown noticeably larger and the green one is plainly visible on the curb edge ahead of me. The walkway remains clear, so I will keep advancing to reach it.", + "The green wheeled bin is clearly visible on the curb strip ahead beside the darker and blue bins, so the target from the task is confirmed and I only need to close distance. The paved walkway in front of me is clear, so I will step forward again toward that row of bins.", + "I am now close to the bins, but the dark and blue bins sit immediately ahead of my current heading while the green one stands further along the curb to their right. Turning right should point me down the open pavement past those bins so I can approach the green one on a clear line.", + "From this heading the green bin sits just ahead on my left at the edge of the brick curb, with clear pavement between us. I will walk forward to close the remaining gap to it.", + "The green bin is now very close but sits off to my left, near the edge of my view rather than in front of me. Turning left should bring it squarely ahead so my final step is aimed straight at it.", + "The green trash bin is now centered directly ahead of me on the sidewalk, only a step or two away. I will move forward to stand right beside it.", + "The green curbside trash bin now stands directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-006573_y-000189_z000322_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-006573_y-000189_z000322_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0fa911424f803f68cde9abc8d37b485a2e162772 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-006573_y-000189_z000322_t1_b/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Identify the bottom of the white staircase leading up the side of the building, then proceed to that spot.", + "Type": 1, + "Start_Pose": [ + -6573.446, + -188.645, + 322.106, + 0.0, + 81.726, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 81.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 106.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 131.726, + -0.0 + ], + [ + -6657.214, + -94.712, + 301.919, + 0.0, + 131.726, + -0.0 + ], + [ + -6827.425, + 119.509, + 311.967, + 0.0, + 131.726, + -0.0 + ], + [ + -6827.425, + 119.509, + 311.967, + 0.0, + 131.726, + -0.0 + ] + ], + "Rationale": [ + "From here I only see the blank clapboard side wall of the building with two trellises, and no staircase is in view. A pale white railing post appears at the lower right edge of the wall, which is a strong cue that the stairs run along the part of the facade to my right. I will turn right to bring that section of the building into view.", + "The turn worked, and now a white staircase with railings is visible climbing the side of the building, though it sits at the right edge of my view. I will turn right again to center the stairs and their lowest steps before walking toward them.", + "The white staircase is now centered ahead of me, with its bottom steps and gate posts clearly facing my heading. The sandy ground between me and the stairs looks open, so I will walk forward to close the distance to the base of the staircase.", + "I am noticeably closer, with the lowest tread and the two newel posts filling the lower center of my view. A short additional step forward should place me right at the bottom of the staircase.", + "I am standing directly at the lowest tread of the white staircase, with its railing beside me. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-006573_y-000189_z000322_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-006573_y-000189_z000322_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a84a6448545ee667a321332ab10492bcdd9eb11e --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-006573_y-000189_z000322_t1_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Look for a bench positioned near the entrance on the upper floor of this grey house; once found, navigate to it.", + "Type": 1, + "Start_Pose": [ + -6573.446, + -188.645, + 322.106, + 0.0, + 81.726, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 81.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 106.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 131.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 156.726, + -0.0 + ], + [ + -6573.446, + -188.645, + 322.106, + 0.0, + 131.726, + -0.0 + ], + [ + -6657.214, + -94.712, + 301.919, + 0.0, + 131.726, + -0.0 + ], + [ + -6827.425, + 119.509, + 311.967, + 0.0, + 131.726, + -0.0 + ], + [ + -6827.425, + 119.509, + 311.967, + 0.0, + 156.726, + -0.0 + ], + [ + -6943.042, + 169.24, + 327.224, + 0.0, + 156.726, + -0.0 + ], + [ + -7057.859, + 201.355, + 397.014, + 0.0, + 156.726, + -0.0 + ], + [ + -7057.859, + 201.355, + 397.014, + 0.0, + -178.274, + 0.0 + ], + [ + -7183.661, + 197.565, + 482.767, + 0.0, + -178.274, + 0.0 + ], + [ + -7309.463, + 193.774, + 559.485, + 0.0, + -178.274, + 0.0 + ], + [ + -7309.463, + 193.774, + 559.485, + 0.0, + -153.274, + 0.0 + ], + [ + -7377.539, + 139.969, + 550.267, + 0.0, + -153.274, + 0.0 + ], + [ + -7377.539, + 139.969, + 550.267, + 0.0, + -153.274, + 0.0 + ] + ], + "Rationale": [ + "From here I only see the blank grey clapboard side of the house, a lattice panel, and the picket fence and neighboring houses off to my left, with no bench and no way up to an upper floor. A railing edge just appears at the lower right corner of the wall, which suggests some structure continues in that direction. I will turn right to scan along the house for the entrance and any steps leading up.", + "The scan has brought an exterior staircase with white railings into the right side of my view, climbing toward what looks like a raised landing on the upper level of this grey house. That is the most likely route to an upper floor entrance where a bench would sit. I will turn right again to bring the stairway more fully in front of me.", + "The staircase now sits roughly ahead of me, rising to a landing with a railed deck to its right, but I still cannot see any bench or the entrance door itself. Before committing to the climb I want to check what the ground and corner to the right of the stairs look like. I will turn right once more to widen my view in that direction.", + "Turning further right has only exposed the driveway, bins and shrubs at the corner, with no bench there, and it has pushed the staircase off to my left. That overshoot leaves me poorly lined up for the climb I intend to make. I will turn left to bring the stairway back in front of me.", + "The staircase is centered again, with its bottom step and railings directly ahead across the open gravel. Since the bench should be near the entrance on the upper level, I need to close the gap to the foot of these steps. I will walk forward toward the stair base.", + "The exterior staircase now fills most of my view, with its lower steps directly ahead of me and the siding wall on my left. Since the upper floor entrance has to be reached by this flight, I will keep walking forward to close the last of the distance to the bottom step.", + "I am right at the stairs now, but my heading is aimed into the siding wall on the left while the continuing steps and their railing lie off to my right. Turning right should square me with the ascending flight so I can climb instead of pressing against the wall.", + "After the turn the steps are centered in front of me and rise toward an upper landing with railings on both sides. I will step forward to start climbing toward the upper floor where the entrance should be.", + "I am partway up with treads still rising ahead and a railing post close on my left, so the climb is not finished. I will keep moving forward along the steps toward the upper level.", + "A heavy railing post and stair structure now block most of my forward view, but past it on the right I can make out a slatted backrest against the siding that looks like a bench on the upper deck. I will turn right to clear the post and bring that likely bench into the center of my view.", + "From the top of these steps I can now see a slatted wooden bench seat set against the grey siding on the upper deck, just past the railing ahead of me. That matches the bench I was told to find near the entrance, so I will step forward to close the gap and get onto the deck level with it.", + "The bench is now fully in view on the porch decking, sitting against the wall right beside the panelled entrance door, which confirms it is the bench near the upper floor entrance. It is still several paces off, so I will keep walking straight toward it.", + "Walking straight has brought me close to the siding, and the bench has slipped down into the right edge of my view while the blank wall now fills most of it. I will turn right to bring the bench back in front of me before making any further approach.", + "The turn worked, and the bench is centred ahead of me along the wall with its seat and armrest clearly visible, a small side table beyond it. A short step forward should bring me right up against the bench.", + "The wooden bench is directly in front of me at arm's length on the upper deck by the entrance. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_e/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..832fcc419173d6ce75348d619ce68098cf46e48b --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_e/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Move to the base of the staircase, then approach the green bin.", + "Type": 3, + "Start_Pose": [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8118.143, + -1470.613, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8118.143, + -1470.613, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -8045.378, + -1367.92, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7972.614, + -1265.227, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7899.85, + -1162.534, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7899.85, + -1162.534, + 200.086, + 0.0, + 29.68, + -0.0 + ], + [ + -7790.503, + -1100.215, + 200.086, + 0.0, + 29.68, + -0.0 + ], + [ + -7681.156, + -1037.895, + 200.086, + 0.0, + 29.68, + -0.0 + ], + [ + -7571.809, + -975.575, + 200.086, + 0.0, + 29.68, + -0.0 + ], + [ + -7462.462, + -913.255, + 200.086, + 0.0, + 29.68, + -0.0 + ], + [ + -7353.115, + -850.936, + 200.086, + 0.0, + 29.68, + -0.0 + ], + [ + -7353.115, + -850.936, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7280.351, + -748.243, + 211.174, + 0.0, + 54.68, + -0.0 + ], + [ + -7207.586, + -645.55, + 215.223, + 0.0, + 54.68, + -0.0 + ], + [ + -7134.822, + -542.857, + 235.831, + 0.0, + 54.68, + -0.0 + ], + [ + -7062.057, + -440.164, + 243.089, + 0.0, + 54.68, + -0.0 + ], + [ + -6989.293, + -337.471, + 288.028, + 0.0, + 54.68, + -0.0 + ], + [ + -6989.293, + -337.471, + 288.028, + 0.0, + 79.68, + -0.0 + ], + [ + -6966.746, + -213.648, + 307.169, + 0.0, + 79.68, + -0.0 + ], + [ + -6944.199, + -89.825, + 319.898, + 0.0, + 79.68, + -0.0 + ], + [ + -6944.199, + -89.825, + 319.898, + 0.0, + 79.68, + -0.0 + ], + [ + -6944.199, + -89.825, + 319.898, + 0.0, + 104.68, + -0.0 + ], + [ + -6944.199, + -89.825, + 319.898, + 0.0, + 129.68, + -0.0 + ], + [ + -6944.199, + -89.825, + 319.898, + 0.0, + 154.68, + -0.0 + ], + [ + -6944.199, + -89.825, + 319.898, + 0.0, + 179.68, + -0.0 + ], + [ + -6944.199, + -89.825, + 319.898, + 0.0, + -155.32, + 0.0 + ], + [ + -6944.199, + -89.825, + 319.898, + 0.0, + -130.32, + 0.0 + ], + [ + -7025.637, + -185.786, + 316.205, + 0.0, + -130.32, + 0.0 + ], + [ + -7107.075, + -281.746, + 275.817, + 0.0, + -130.32, + 0.0 + ], + [ + -7107.075, + -281.746, + 275.817, + 0.0, + -105.32, + 0.0 + ], + [ + -7140.328, + -403.133, + 238.795, + 0.0, + -105.32, + 0.0 + ], + [ + -7140.328, + -403.133, + 238.795, + 0.0, + -130.32, + 0.0 + ], + [ + -7221.766, + -499.093, + 226.847, + 0.0, + -130.32, + 0.0 + ], + [ + -7221.766, + -499.093, + 226.847, + 0.0, + -130.32, + 0.0 + ] + ], + "Rationale": [ + "From the street edge I can see the whole house front, with the white outdoor staircase and its railing set back on the left side beyond the garage doors. Nothing blocks the paved driveway between me and it, so I walk forward to close that distance before adjusting my heading.", + "Straight ahead of me are only the two garage doors, while the staircase with the bins beside it sits off to my left. I turn left so my heading points along the driveway toward that side of the house instead of into the garage face.", + "The turn has brought the staircase and the row of bins into the left half of my view, with clear paving leading that way. I step forward across the driveway to shorten the gap to the stairs.", + "The bins beside the stairs are noticeably larger than a moment ago, confirming my heading is carrying me toward the staircase side of the house. The paving in front of me stays open, so I keep walking forward.", + "I am now well onto the driveway with the green and blue bins clearly visible ahead on the left, the stair railing rising just behind them. Another step forward should bring me close enough to swing my heading fully toward that side yard.", + "My heading still runs across the driveway toward the garage bays, while the bins and the foot of the staircase lie further left along the house wall. I turn left to aim down that side strip so I can walk straight in toward the stairs.", + "Facing along the side of the house, the green bin and its blue neighbours stand ahead on the right with the staircase and its railing directly above them. The ground between is flat and open, so I walk forward toward that corner.", + "The bins and the stair structure are visibly closer on my right, so this heading is taking me along the correct side of the house. I continue forward to reach the ground at the foot of the steps.", + "The white outdoor staircase against the house is still off to my right and some distance ahead, with the row of bins standing between me and it. The open sandy strip in front of me is clear, so I will keep walking forward to close that gap.", + "The green bin now sits close on my right and the staircase has slid further right along the house wall, so I am passing the bins rather than stopping at them. The ground straight ahead is open, so another step forward keeps me tracking toward the stairs.", + "I am alongside the house now, with the lower flight of the staircase visible up to my right beyond the brick border. Nothing blocks the sandy yard ahead, so I keep advancing to draw level with the foot of those steps.", + "Walking straight would carry me past the house toward the fence and trees on my left, while the staircase lies off to my right. I will turn right to bring the steps back in front of me before continuing.", + "The turn has put the white staircase and its landing clearly ahead of me against the house wall. The sandy slope between us is open, so I step forward to close on the base of those steps.", + "The stairs are larger in view and the lower treads are now visible where they meet the ground beside the wall. The rise ahead is walkable, so I continue forward toward that lowest step.", + "I am close enough that the stringer and handrail fill much of the right side, but the foot of the flight still sits ahead and slightly right of me. Another step forward should bring me nearly level with where the steps meet the ground.", + "The base of the staircase is just ahead along the house wall, with the sandy path running straight to it. I keep walking forward to stand at the foot of the steps.", + "The packed dirt strip beside the house runs clear ahead, and the white staircase with its railing now fills the right side of my view. Its lowest steps are still a few paces off, so I keep walking forward along this open ground to close on them.", + "The staircase now sits well to my right while my heading still points along the fence and the neighboring yard. I will turn right so the stairs and their bottom steps come to the center of my view before I close the last distance.", + "The staircase is now squarely ahead, with its stringer and lower treads visible against the siding. The ground between me and those bottom steps is open, so I walk forward to reach the foot of the flight.", + "The bottom steps and the newel post are close now, filling the lower right of my view, but I am still short of standing at them. One more step forward should bring me right up against the base of the flight.", + "The railing and the lowest treads of the wooden staircase are right in front of me, close enough to touch. I am standing at the foot of the stairs, so I mark reaching them and now set off for the green wheeled bin out by the driveway edge.", + "From here my view is filled by siding and the stair railing, with no sign of the green bin anywhere ahead. I turn right to begin swinging my heading back around toward the open driveway side where the bins stand.", + "The rotation so far has only brought more of the staircase and the wall into view, and the green bin is still out of sight. I keep turning right to carry my heading further around toward the open paving beyond the corner of the house.", + "I am now looking along the underside of the flight, with the wall continuing to block any view of the driveway. Another right turn should keep bringing my heading around toward the open ground where the green bin sits.", + "I am still facing the underside of the stairway and the house siding, with no sign of the bins in this direction. I will keep turning right to bring the driveway and the open street side of the lot into view.", + "The turn has opened up the driveway edge on the right, and I can make out dark bins standing near the curb beyond the corner of the house. Another right turn should swing that group of bins closer to the middle of my view.", + "Three bins now sit on the paved apron ahead, and the green one is the rightmost of the row. One more turn right should center that line of bins so I can walk straight at them.", + "The bins are now clear of the house corner and lie straight ahead across the open driveway, with the green one at the right end of the row. I will walk forward to close the gap toward it.", + "The bins have grown noticeably larger and the green one stands just past the pair of darker bins near the brick curb edge. I will step forward again to keep shortening the distance.", + "I am nearly level with the bins now, but the green one sits to the right of the two dark bins that fill the middle of my view. Turning right should put the green bin ahead of me rather than off to the side.", + "The green bin is now on the left front of my view with open pavement between us, so I am no longer aimed at the dark bins. Walking forward should carry me alongside the green bin.", + "I have drawn level with the green bin, which now sits close on my left near the brick edging. I will turn left to face it squarely before closing the last bit of distance.", + "The green wheeled bin now sits squarely ahead of me on the paved strip, only a short step away with clear ground between us. I will walk forward to close that last gap and stand right at it.", + "The green bin stands directly beside me, filling the near foreground at arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t2_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c0b22e708e1ffcb3d57ac82bc953fb05a480336 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the stop sign on the left side.", + "Type": 2, + "Start_Pose": [ + -10695.567, + -1557.894, + 200.086, + 0.0, + -174.72, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10695.567, + -1557.894, + 200.086, + 0.0, + -174.72, + 0.0 + ], + [ + -10695.567, + -1557.894, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -10814.045, + -1515.426, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -10932.523, + -1472.958, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -11051.001, + -1430.491, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -11169.478, + -1388.023, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -11287.956, + -1345.555, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -11406.434, + -1303.087, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -11406.434, + -1303.087, + 200.086, + 0.0, + 135.28, + -0.0 + ], + [ + -11495.863, + -1214.527, + 200.086, + 0.0, + 135.28, + -0.0 + ], + [ + -11495.863, + -1214.527, + 200.086, + 0.0, + 135.28, + -0.0 + ], + [ + -11495.863, + -1214.527, + 200.086, + 0.0, + 135.28, + -0.0 + ] + ], + "Rationale": [ + "Two stop signs face me across this intersection, and the one I want is the near left-hand one standing on the grass curb in front of the tall hedge, while the other sits far across the road by the houses on the right. My heading points down the middle of the pavement, so that left-side sign sits well off my line of travel. I will turn left to put it ahead of me before walking.", + "The stop sign beside the hedged curb now stands ahead of me and slightly left, with clear open pavement between us. Nothing blocks the lane, so I will walk forward to close the long gap toward it.", + "The sign has grown slightly larger and stays just left of my heading, which tells me my line is good. It is still far down the block, so I will keep walking forward.", + "The octagonal plate is becoming readable now and the curb line beneath it draws steadily nearer along my left. Distance is still the only thing separating us, so another step forward is the right move.", + "The word on the red plate is legible now, confirming I am tracking the sign on the hedged left curb and not the one across the intersection. I still have several strides of open road to cover, so I will advance again.", + "The sign and its post now fill a good part of my view and the curb it stands on is close on my left. I am not yet beside it, so I will step forward once more.", + "The post now rises from the grass strip just a short distance ahead on my left, well within reach of a couple more strides. I will keep moving forward to draw level with it.", + "The stop sign has drifted toward the left edge of my view as I closed in, so walking straight now would carry me past it along the road. I will turn left to bring the post back in front of me before taking the final step.", + "The turn has recentred the post, which now rises straight ahead from the grass strip between the sidewalk and the curb. Only a short stretch of pavement and turf still separates me from its base, so one more stride forward should bring me right up beside it.", + "I am standing right at the post now, close enough that the pole fills the middle of my view and the red plate is cut off above my sightline. I will look up to bring the whole sign into view and confirm I am at the correct one on this hedged left curb.", + "The stop sign on the hedged left curb stands directly overhead, its plate and post filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t2_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b1841b3dab4de274979d72dab351ebadab10dc2 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t2_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the trunk of the large tree on the right.", + "Type": 2, + "Start_Pose": [ + -10695.567, + -1557.894, + 200.086, + 0.0, + -174.72, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10695.567, + -1557.894, + 200.086, + 0.0, + -174.72, + 0.0 + ], + [ + -10695.567, + -1557.894, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -10804.256, + -1621.355, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -10912.944, + -1684.817, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -11021.632, + -1748.278, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -11021.632, + -1748.278, + 200.086, + 0.0, + -124.72, + 0.0 + ], + [ + -11093.317, + -1851.727, + 200.086, + 0.0, + -124.72, + 0.0 + ], + [ + -11165.002, + -1955.177, + 200.086, + 0.0, + -124.72, + 0.0 + ], + [ + -11236.687, + -2058.626, + 200.086, + 0.0, + -124.72, + 0.0 + ], + [ + -11308.372, + -2162.075, + 200.086, + 0.0, + -124.72, + 0.0 + ], + [ + -11380.058, + -2265.524, + 200.086, + 0.0, + -124.72, + 0.0 + ], + [ + -11451.743, + -2368.974, + 200.086, + 0.0, + -124.72, + 0.0 + ], + [ + -11523.428, + -2472.423, + 198.145, + 0.0, + -124.72, + 0.0 + ], + [ + -11523.428, + -2472.423, + 198.145, + 0.0, + -124.72, + 0.0 + ] + ], + "Rationale": [ + "Among the trees around this intersection, the one I want is the massive dark trunk at my right edge, rooted beside the curb on this near side rather than across the road with the pale-leaved trees. Its trunk is cut off by the edge of my view, so I turn right to bring it in front of me and open a straight path toward it.", + "The heavy trunk of the tree I am after now sits ahead and slightly right, rising from the grass strip beside the hedged sidewalk. The pavement between us is clear, so I walk forward to cut down that distance.", + "The trunk has grown noticeably wider in my view and the hedge line beside it is sharper, so my heading is still carrying me toward it. Nothing blocks the roadway in front of me, so I keep walking forward.", + "The tree's canopy now spreads across the top of my view and its trunk stands clearly above the grass verge to my right front. I step forward again to close the remaining stretch of road before I need to adjust my heading.", + "I have come close enough that the trunk has drifted to the right of my heading, and walking straight on would carry me past it along the road. I turn right so the tree sits centered ahead of me and the stone verge leads toward its base.", + "The turn worked: the broad trunk now stands squarely ahead of me, with the paved verge running toward its base. I walk forward along that stretch to reach it.", + "The trunk keeps filling more of my view and the stop sign beyond it has slid further left, confirming I am closing on the tree. The paving ahead stays open, so I take another step forward.", + "The bark texture and the flare of the roots are now distinct just ahead of me, so only a short gap remains to the trunk. I continue forward to stand right at its base.", + "The trunk now dominates the left-center of my view, though its base still sits a few paces beyond the hedge line and the paving I stand on. Nothing obstructs that short stretch, so I step forward again to draw level with the trunk.", + "The bark and the root flare where the trunk meets the grass are now plainly visible just ahead and slightly left of me. A short gap remains before I am beside it, so I keep walking forward.", + "The trunk has swelled to fill the left half of my view and its roots spread into the grass a step or two away. I advance once more to bring myself right up against its base.", + "Bark texture fills the near left of my view and the base of the trunk sits almost within reach. One more step forward should put me alongside it.", + "The trunk's bark fills the left of my view at arm's length. I am at the tree, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..107724be09554eb13b185696a851a7a52508ed38 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Walk to the stop sign, then head toward the large white-green map billboard.", + "Type": 3, + "Start_Pose": [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -108.48, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11281.613, + -1800.472, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11368.216, + -1891.797, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11454.82, + -1983.122, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11541.424, + -2074.447, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11541.424, + -2074.447, + 200.086, + 0.0, + -158.48, + 0.0 + ], + [ + -11658.509, + -2120.616, + 208.348, + 0.0, + -158.48, + 0.0 + ], + [ + -11775.594, + -2166.784, + 208.348, + 0.0, + -158.48, + 0.0 + ], + [ + -11892.68, + -2212.953, + 208.348, + 0.0, + -158.48, + 0.0 + ], + [ + -11892.68, + -2212.953, + 208.348, + 0.0, + -158.48, + 0.0 + ], + [ + -11806.721, + -2179.058, + 208.348, + 0.0, + -158.48, + 0.0 + ], + [ + -11806.721, + -2179.058, + 208.348, + 0.0, + -133.48, + 0.0 + ], + [ + -11806.721, + -2179.058, + 208.348, + 0.0, + -108.48, + 0.0 + ], + [ + -11806.721, + -2179.058, + 208.348, + 0.0, + -83.48, + 0.0 + ], + [ + -11806.721, + -2179.058, + 208.348, + 0.0, + -58.48, + 0.0 + ], + [ + -11740.922, + -2286.347, + 208.348, + 0.0, + -58.48, + 0.0 + ], + [ + -11675.124, + -2393.637, + 208.348, + 0.0, + -58.48, + 0.0 + ], + [ + -11609.325, + -2500.926, + 198.145, + 0.0, + -58.48, + 0.0 + ], + [ + -11543.527, + -2608.216, + 198.145, + 0.0, + -58.48, + 0.0 + ], + [ + -11543.527, + -2608.216, + 198.145, + 0.0, + -33.48, + 0.0 + ], + [ + -11438.55, + -2677.645, + 198.145, + 0.0, + -33.48, + 0.0 + ], + [ + -11333.574, + -2747.075, + 198.145, + 0.0, + -33.48, + 0.0 + ], + [ + -11228.598, + -2816.505, + 198.145, + 0.0, + -33.48, + 0.0 + ], + [ + -11228.598, + -2816.505, + 198.145, + 0.0, + -58.48, + 0.0 + ], + [ + -11162.799, + -2923.794, + 190.597, + 0.0, + -58.48, + 0.0 + ], + [ + -11097.001, + -3031.084, + 137.894, + 0.0, + -58.48, + 0.0 + ], + [ + -11097.001, + -3031.084, + 137.894, + 0.0, + -58.48, + 0.0 + ] + ], + "Rationale": [ + "The red stop sign sits far out at the left edge of my view, near the corner of the intersection, while the white and green board stands off to my right. Since the stop sign is my first destination, I will turn left to bring it into the middle of my view before walking.", + "The stop sign now sits ahead of me on the grassy corner island, small but clearly framed left of the big tree trunk. The open pavement between us looks clear, so I will walk forward to close that distance.", + "The stop sign and the street name plate above it have grown slightly larger and the curb of the corner island is nearer. Nothing blocks the stretch of asphalt in front of me, so I will keep walking straight toward the sign.", + "The octagonal sign is now readable on its post at the edge of the grass strip, still a fair way off and drifting a little left in my view. I will advance again to keep shrinking the gap to it.", + "The stop sign stands clearly on the corner ahead and slightly to my left, with the crosswalk paving right in front of me. The path stays open, so I will step forward once more to draw closer to it.", + "I am close to the corner now, but the stop sign has slid well over to my left while the tree trunk fills the right of my view. I will turn left so the sign sits squarely in front of me before I continue toward it.", + "The stop sign and its street name plate now sit centered ahead of me on the grass corner, with clear sidewalk leading right up to the post. I will walk forward to close the remaining distance to it.", + "The sign face is large and directly in front of me now, its post rising from the grass just a couple of paces away. I will step forward again to stand right at the stop sign.", + "The red octagonal sign now fills the middle of my view with its post planted just ahead on the grass strip beside the crossing. One more step should bring me right up beside it rather than leaving me a pace short.", + "The red stop sign hangs directly above me at the corner, its post standing at my shoulder. I have arrived at it. I mark reaching this sign before setting off toward the big white and green map board standing back near the houses.", + "Standing this tight against the post, the sign blanks out much of my forward view and leaves me no room to swing around cleanly. Stepping back should open enough space to reorient toward the map board without brushing the pole.", + "With a little clearance from the post, the road and houses ahead show no sign of the white and green board. The open lot side lies off to my right, so I will turn that way to start bringing it into view.", + "My view has swung past the sign onto the roadway and sidewalk, but the map board still is not showing. I will keep turning right to carry my heading further toward the lot beyond the hedge.", + "A sliver of a teal and white panel has just appeared past the thick trunk on my right. Another turn to the right should pull that board clear of the trunk and into the middle of my view.", + "The large white board with its green map pattern now stands clearly to the right of the tree trunk that splits my view. Turning right once more should put it more squarely in front of me before I walk on.", + "Both white boards with their green map patterns are now in front of me across the hedge, with the trunk only clipping my left side. My heading is good, so I will walk forward to close the distance toward them.", + "The pair of tall white and green map boards stands ahead across the hedge, and the thick trunk that was crowding my view has slid to my left edge. My heading is already pointed at the larger board, so I will keep walking forward to close the remaining distance.", + "The trunk has fallen further to my left and both map boards now sit openly in front of me, the nearer one noticeably larger than before. Nothing blocks the line I am walking, so another forward step should bring me closer to that big board.", + "The large map board now dominates the view ahead with its lettering starting to resolve, and the second board sits behind it to the right. I am still separated from it by the low hedge strip, so I keep advancing straight toward it.", + "The board is close now, but the dense hedge fills the ground directly in front of me while the paved apron in front of the boards opens off to my right. I will turn right to line up with that open paved approach instead of pushing straight into the shrubs.", + "From this heading the big map board sits just left of center with clearer ground running toward its base. I will step forward along this line to draw up beside it.", + "The board has grown large on my left and its green lettering is now readable, which tells me I am closing quickly. I keep walking forward to bring myself right up to the panel.", + "The white and green panel now towers over my left shoulder and its supports meet the concrete only a short way ahead. One more forward step should place me directly at the board.", + "I am beside the big map board, but it hangs off the left side of my view and my gaze runs past it down the row. Turning left should swing the panel back to the center in front of me.", + "The tall white and green map billboard now fills the center of my view with its panel squarely ahead. I will step forward to close the last of the gap and stand right at its face.", + "The white and green billboard now spans nearly my whole view, so only a short gap remains on the concrete pad. One more step forward should bring me right up beside the panel.", + "The white and green map billboard stands directly in front of me, close enough to read its lettering. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..571b09d3efee30e572aedbc7889f9ceef5b477b0 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_d/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Navigate to the stop sign, then approach the trunk of the nearest tree.", + "Type": 3, + "Start_Pose": [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -108.48, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11281.613, + -1800.472, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11368.216, + -1891.797, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11454.82, + -1983.122, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11454.82, + -1983.122, + 200.086, + 0.0, + -158.48, + 0.0 + ], + [ + -11571.905, + -2029.291, + 200.086, + 0.0, + -158.48, + 0.0 + ], + [ + -11688.991, + -2075.459, + 208.273, + 0.0, + -158.48, + 0.0 + ], + [ + -11806.076, + -2121.627, + 208.273, + 0.0, + -158.48, + 0.0 + ], + [ + -11923.161, + -2167.796, + 208.273, + 0.0, + -158.48, + 0.0 + ], + [ + -11923.161, + -2167.796, + 208.273, + 0.0, + -158.48, + 0.0 + ], + [ + -11923.161, + -2167.796, + 208.273, + 0.0, + -133.48, + 0.0 + ], + [ + -11923.161, + -2167.796, + 208.273, + 0.0, + -108.48, + 0.0 + ], + [ + -11923.161, + -2167.796, + 208.273, + 0.0, + -83.48, + 0.0 + ], + [ + -11923.161, + -2167.796, + 208.273, + 0.0, + -58.48, + 0.0 + ], + [ + -11857.363, + -2275.085, + 208.273, + 0.0, + -58.48, + 0.0 + ], + [ + -11791.564, + -2382.375, + 208.273, + 0.0, + -58.48, + 0.0 + ], + [ + -11791.564, + -2382.375, + 208.273, + 0.0, + -58.48, + 0.0 + ] + ], + "Rationale": [ + "The red octagonal stop sign stands far off at the left edge of my view, near the corner across the grass strip. Facing this way I would walk past it, so I will turn left to bring the sign toward the center of my heading before advancing.", + "The stop sign now sits ahead and slightly left, beyond the curbed grass island with the big tree on my right. The way across the pavement looks clear, so I will walk forward to cut down the distance to the sign.", + "The stop sign has grown slightly larger and the grass island edge is closer, so my heading is carrying me toward the corner. Nothing blocks the roadway in front of me, so I will keep walking forward.", + "The stop sign and its street-name plates are clearly readable now on the left side of my view, still some distance away across the corner. I will continue walking forward to close more of that gap.", + "As I have come closer, the stop sign has drifted well to the left of my heading, while the tree and hedge fill the right of my view. I will turn left so the sign sits ahead of me and my next steps lead straight to it.", + "The stop sign is now centered ahead of me with the grass verge and sidewalk running toward it. With my heading pointed at the post, I will walk forward to shorten the remaining distance.", + "The sign face and its pole are noticeably bigger and still square in front of me, so my line is good. I will step forward again to keep closing on it.", + "The stop sign now dominates the middle of my view with its pole planted in the grass just a short way off. I will walk forward once more to stand right at it.", + "The stop sign now stands large and centered just across the grass strip, its post rising right in front of me. One more step should bring me level with it rather than leaving me a pace short.", + "The stop sign's post is directly at arm's reach in front of me and the red face towers overhead, cropped by the top of my view. I have reached the stop sign, so I mark arriving here before setting off for the trunk of the nearest tree.", + "Standing at the sign post, my view faces the open roadway with only distant crowns ahead, and no trunk close enough to walk up to. I will turn right to sweep my heading back along the sidewalk where a nearer tree should come into view.", + "The sign has slid to my left edge and the road with its far trees now fills the frame, but nothing with a reachable trunk is centered yet. I will keep turning right to bring the sidewalk side further around.", + "The sidewalk and hedge line now run away ahead of me, with the near tree still off beyond my right edge. Another turn right should bring that trunk into the center of my view.", + "A thick trunk beside the hedge has come into the right part of my view, clearly the closest tree to me. I will turn right once more so it sits squarely ahead before I walk to it.", + "The tree trunk is now centered in my view, rising from the grass strip just past the sidewalk a few paces away. I will walk forward to close that gap.", + "The trunk now fills much of my view, though I can still see the grass and hedge around its base, so I am not yet right up against it. One more step forward should put me at the trunk.", + "The tree trunk fills my view directly ahead, within arm's reach. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t5_a_pd/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f270b2244d223fcc4630bd2ea5be47908e7a6468 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t5_a_pd/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Lift the trash bag near the stop sign, then set it down near the large white-green map billboard.", + "Type": 5, + "Start_Pose": [ + -11195.009, + -1709.147, + 200.086, + 0, + -108.48, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -11802.009, + -2260.913, + 118.451, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11195.009, + -1709.147, + 200.086, + 0, + -108.48, + 0 + ], + [ + -11234.903, + -1828.516, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11234.903, + -1828.516, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11321.507, + -1919.841, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11408.11, + -2011.166, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11494.714, + -2102.491, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11581.318, + -2193.816, + 208.38, + 0.0, + -133.48, + 0.0 + ], + [ + -11581.318, + -2193.816, + 208.38, + 0.0, + -133.48, + 0.0 + ], + [ + -11581.318, + -2193.816, + 208.38, + 0.0, + -158.48, + 0.0 + ], + [ + -11698.403, + -2239.985, + 208.38, + 0.0, + -158.48, + 0.0 + ], + [ + -11698.403, + 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0.0, + -58.48, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11802.009, + -2260.913, + 118.451, + 0.0, + 0.0, + 0.0 + ], + [ + -11690.002, + -2259.626, + 178.558, + -28.202, + -108.335, + 1.862 + ], + [ + -11681.788, + -2254.89, + 178.831, + -28.189, + -83.323, + 1.872 + ], + [ + -11677.09, + -2247.27, + 178.164, + -28.215, + -58.352, + 1.849 + ], + [ + -11671.411, + -2242.403, + 178.218, + -14.092, + -41.136, + 6.87 + ], + [ + -11680.332, + -2228.39, + 178.234, + -28.208, + -8.337, + 1.851 + ], + [ + -11614.76, + -2335.512, + 178.655, + -28.189, + -8.322, + 1.869 + ], + [ + -11549.114, + -2442.571, + 168.73, + -28.205, + -8.345, + 1.859 + ], + [ + -11483.333, + -2549.817, + 168.884, + -28.191, + -8.33, + 1.872 + ], + [ + -11417.455, + -2657.255, + 168.659, + -28.206, + -8.342, + 1.863 + ], + [ + -11351.499, + -2764.786, + 168.151, + -28.203, + -8.34, + 1.855 + ], + [ + -11285.578, + -2872.278, + 167.71, + -28.201, + -8.333, + 1.862 + ], + [ + -11219.788, + -2979.563, + 157.368, + -28.211, + -8.346, + 1.853 + ], + [ + -11154.097, + -3086.667, + 86.326, + -28.203, + -8.342, + 1.859 + ], + [ + -11173.059, + -3096.595, + 133.813, + 0.0, + -58.48, + 0.0 + ], + [ + -11173.059, + -3096.595, + 133.813, + 0.0, + -58.48, + 0.0 + ] + ], + "PD_Dist_2D": [ + 820.3, + 713.1, + 713.1, + 589.2, + 466.4, + 345.7, + 230.7, + 230.7, + 230.7, + 105.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The trash bag sits on the grass corner by the stop sign well ahead and to my left, far out of reach from this curbside spot. I will walk forward to close the long gap before adjusting my heading toward it.", + "After advancing, the bag and its stop sign remain off to my left edge while my heading points at the map billboard instead. I will turn left so the bag lies ahead of me and my forward steps carry me straight to it.", + "The turn has brought the trash bag and the stop sign into the middle of my view, with the grass corner clear ahead. I will step forward along this heading to shorten the distance to the bag.", + "The bag is noticeably larger and still lined up slightly left of center, so my heading remains usable. I will continue walking forward, since I am still too far away to reach it.", + "The bag now sits clearly in the lower left of my view, close but not yet within arm's reach. I will keep walking forward to bring it near enough for a grasp attempt.", + "The black trash bag beside the stop sign is now clearly ahead and slightly to my left, but still a couple of paces off the near edge of the grass. I will walk forward again to close that remaining gap before attempting a grasp.", + "The trash bag now fills the lower left of my view, close alongside me on the grass strip beside the walkway. It looks near enough to seize, so I will attempt to lift it now rather than shuffle further.", + "My hands are empty and the bag was not taken, so that grasp attempt did not connect. The bag sat off to my left rather than squarely before me, so I will turn left to bring it back in front of my heading for a cleaner approach.", + "The turn worked, and the trash bag now sits centered ahead of me at the base of the stop sign. Since my previous attempt failed from too far off to the side, I will step forward to stand right over it before reaching again.", + "The bag has come right up to the bottom edge of my view, directly under my line of approach beside the stop sign. This is far closer than my earlier failed reach, so I will try to lift it again from here.", + "The grasp worked, since the trash bag is now held in front of me instead of resting on the walkway. The large white and green map billboard sits back across the corner behind my right shoulder, not along my current heading. I will turn right to start swinging my heading toward it.", + "I am carrying the bag, and my view still shows the road, the lawn strip and the trunk at my right, with no sign of the map billboard. That means my heading has not yet come far enough around toward the billboard side. I will keep rotating right to bring it into view.", + "The trunk now fills the right side of my view and the billboard is still not visible, so my heading remains short of the drop area. Turning right again should clear the trunk from my line of sight and reveal the white and green map panel. I will continue the rotation.", + "The white and green map billboard has appeared off to my right, partly blocked by the wide trunk directly ahead of me. My heading is close but still aimed at the tree rather than the open ground before the billboard. One more right turn should place the billboard nearer the center of my path.", + "Now the large white and green map billboards stand ahead of me and the tree trunk has shifted safely to my left, leaving an open line across the shrub strip. Carrying the bag, I still need to close a considerable distance before setting it down. I will walk forward toward the billboard.", + "The trash bag is still in my hands and travels with me, so transport is underway. The large white and green map billboard stands ahead of me past the strip of tall grass, and it is still far off. I will step forward again to close that gap.", + "The billboard has grown noticeably larger and stays centred in my heading, confirming my line of travel is good. The bag remains carried with me, so no regrasp is needed. Another step forward should bring me nearer to the sign's base.", + "I can now read the lettering on the big white and green panel and see its supporting frame and the paved pad beneath it. The bag is still in my grip. The ground ahead is open grass with nothing blocking me, so I keep walking toward the sign.", + "The billboard now fills much of my view and its legs rest on the concrete pad just beyond the grass edge, but I am not yet close enough for a placement at its base. The bag is still carried. I advance another step to shorten that remaining distance.", + "The large white and green panel now towers directly in front of me with its base only a short walk away over the last of the grass. The bag is still held, so I only need position. I step forward again to reach the sign's immediate surroundings.", + "The trash bag is still carried with me, and the large white and green map billboard now fills much of my view just ahead. I am not yet close enough alongside its base for a clean release, so I will step forward again to close the last of that gap.", + "The billboard face now spans nearly my whole view and its supporting legs sit just to the right, so I am almost at the sign. Still holding the bag, I will take one more short step to bring myself right up beside the panel before releasing it.", + "I am now directly against the large white and green map billboard, with its panel and footing filling my view at arm's length. This is the intended drop spot, so I will release the trash bag here and expect it to settle on the paving beside the sign.", + "The trash bag now rests on the ground right in front of the white and green map billboard. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000152_y-004662_z000200_t3_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000152_y-004662_z000200_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..deb049a0854ef00083d7ce8fe4bbc5f6aef87f01 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000152_y-004662_z000200_t3_a/infos.json @@ -0,0 +1,376 @@ +{ + "Instruction": "Walk to the front porch steps of the center house, then head toward the trunk of the large tree on the left.", + "Type": 3, + "Start_Pose": [ + 151.868, + -4661.538, + 200.086, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 151.868, + -4661.538, + 200.086, + 0.0, + -2.88, + 0.0 + ], + [ + 277.568, + -4667.862, + 200.086, + 0.0, + -2.88, + 0.0 + ], + [ + 403.268, + -4674.185, + 200.086, + 0.0, + -2.88, + 0.0 + ], + [ + 403.268, + -4674.185, + 200.086, + 0.0, + 22.12, + -0.0 + ], + [ + 519.864, + -4626.794, + 200.086, + 0.0, + 22.12, + -0.0 + ], + [ + 636.459, + -4579.402, + 200.086, + 0.0, + 22.12, + -0.0 + ], + [ + 753.054, + -4532.01, + 200.086, + 0.0, + 22.12, + -0.0 + ], + [ + 753.054, + -4532.01, + 200.086, + 0.0, + -2.88, + 0.0 + ], + [ + 878.754, + -4538.333, + 200.086, + 0.0, + -2.88, + 0.0 + ], + [ + 1004.454, + -4544.657, + 200.086, + 0.0, + -2.88, + 0.0 + ], + [ + 1130.155, + -4550.981, + 198.595, + 0.0, + -2.88, + 0.0 + ], + [ + 1255.855, + -4557.305, + 198.595, + 0.0, + -2.88, + 0.0 + ], + [ + 1381.555, + -4563.628, + 198.595, + 0.0, + -2.88, + 0.0 + ], + [ + 1507.255, + -4569.952, + 198.595, + 0.0, + -2.88, + 0.0 + ], + [ + 1632.955, + -4576.276, + 198.595, + 0.0, + -2.88, + 0.0 + ], + [ + 1632.955, + -4576.276, + 198.595, + 0.0, + 22.12, + -0.0 + ], + [ + 1749.55, + -4528.884, + 198.595, + 0.0, + 22.12, + -0.0 + ], + [ + 1866.146, + -4481.492, + 199.031, + 0.0, + 22.12, + -0.0 + ], + [ + 1866.146, + -4481.492, + 199.031, + 0.0, + 22.12, + -0.0 + ], + [ + 1780.546, + -4516.285, + 198.679, + 0.0, + 22.12, + -0.0 + ], + [ + 1780.546, + -4516.285, + 198.679, + 0.0, + -2.88, + 0.0 + ], + [ + 1780.546, + -4516.285, + 198.679, + 0.0, + -27.88, + 0.0 + ], + [ + 1780.546, + -4516.285, + 198.679, + 0.0, + -52.88, + 0.0 + ], + [ + 1780.546, + -4516.285, + 198.679, + 0.0, + -77.88, + 0.0 + ], + [ + 1780.546, + -4516.285, + 198.679, + 0.0, + -102.88, + 0.0 + ], + [ + 1780.546, + -4516.285, + 198.679, + 0.0, + -127.88, + 0.0 + ], + [ + 1703.268, + -4615.625, + 198.679, + 0.0, + -127.88, + 0.0 + ], + [ + 1625.989, + -4714.965, + 198.679, + 0.0, + -127.88, + 0.0 + ], + [ + 1548.71, + -4814.306, + 198.679, + 0.0, + -127.88, + 0.0 + ], + [ + 1471.432, + -4913.646, + 198.679, + 0.0, + -127.88, + 0.0 + ], + [ + 1394.153, + -5012.986, + 198.679, + 0.0, + -127.88, + 0.0 + ], + [ + 1316.875, + -5112.327, + 198.679, + 0.0, + -127.88, + 0.0 + ], + [ + 1316.875, + -5112.327, + 198.679, + 0.0, + -102.88, + 0.0 + ], + [ + 1288.819, + -5235.019, + 198.679, + 0.0, + -102.88, + 0.0 + ], + [ + 1260.764, + -5357.711, + 198.337, + 0.0, + -102.88, + 0.0 + ], + [ + 1260.764, + -5357.711, + 198.337, + 0.0, + -102.88, + 0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the center house with its covered porch straight ahead across a wide paved courtyard, and a big tree spreading over the left edge of my view. The porch steps are far too distant to judge yet, so I will walk forward to close that gap.", + "The paving now fills more of my view and the porch railings of the center house are noticeably larger, so my heading is carrying me the right way. I still stand at the edge of the courtyard, well short of any steps, so I will keep walking forward.", + "The center house sits slightly right of my current heading, with its porch opening and the gap between the two roofed sections toward that side, while the tree branches crowd the left of my view. A small turn to the right should line me up with the porch frontage before I press on.", + "With the turn done, the center house porch and its white railing now sit ahead of me across open paving, and the brick wall is safely off to my right. Nothing blocks the stone court between us, so I will walk forward toward the porch.", + "The porch posts and the pale railing panels are growing steadily in front of me as I cross the stone paving. I am still several strides from the house front, so I will continue advancing.", + "The center house now dominates my view and I can pick out the pale handrail marking the steps up to its porch, slightly left of straight ahead. There is still clear paving in front of me, so another step forward should bring those steps within reach.", + "My heading has drifted so that the brick wall and hedge on the right take up too much of my view, while the porch steps of the center house sit off to my left. Turning left by a notch should put those steps back in front of me before I close the last distance.", + "The turn has squared me on the center house, with its porch spanning my view and the step railing standing just right of the middle post. The paving ahead is unobstructed, so I will walk forward to reach the foot of those steps.", + "The center house fills the view ahead and its white front steps with the flanking railings sit just right of my heading, still some distance across the open paving. Nothing blocks the flagstones between me and them, so I will keep walking straight to close that gap.", + "The porch railing and the stair handrails have grown noticeably larger, confirming my previous stride carried me toward the house rather than off to one side. The steps remain slightly right of center and still out of reach, so another forward stride should bring me closer.", + "I can now pick out the individual treads of the front steps and the posts holding up the porch roof, which means I am well inside the courtyard. The stairs are still several strides off, so I continue advancing on the same heading.", + "The porch overhang now cuts across the top of my view and the siding and window shutters read clearly, so I am close to the front of the house. The stairs sit to my right of straight ahead but remain reachable by continuing forward, so I take another stride.", + "The nearest porch column is close on my left and the stair railing stands out plainly to the right, so only a short stretch of paving remains before the house wall. I keep walking forward to bring myself level with the base of the steps.", + "I am under the porch roof now, with the lattice skirting and the lower windows filling most of the view and the stairs pushed toward the right side. One more stride forward should put me alongside the foot of those steps.", + "Walking straight has carried me past the line of the stairs, which now sit off at the right edge behind the near column while my heading points at blank siding. Turning right should swing the stairway and its railings back into the middle of my view for a clean final approach.", + "The turn worked: the front stairway with its two white handrails now sits squarely ahead of me with open paving leading to its bottom tread. I will step forward to close the last of that gap.", + "The white railing and the lowest tread of the porch steps are now just ahead of me on the right, with clear paving between us. One more step forward should bring me right up against the bottom of those steps.", + "The bottom tread and the newel post of the front porch steps are right at my feet, close enough to touch the handrail. I am standing at the steps of this middle house, so I mark reaching them here, and from this spot I set off for the trunk of the big tree over on the left.", + "I am pressed right up against the step railing and a porch post stands close on my right, leaving little room to swing around. Backing up a short distance should give me clearance to pivot away from the house toward the big tree.", + "With a little space behind me now, I still face the house wall and its steps, which is the wrong heading for the large tree out on the left side of the yard. I will turn left to begin swinging my view away from the siding toward the open ground.", + "My view is still filled by the clapboard wall, windows and lattice skirting of the porch, with no tree in sight yet. Another left turn should keep rotating me toward the open side of the yard.", + "A porch column now splits my view and the house wall still runs across everything ahead of me. I will keep turning left, since the open yard where the large tree stands lies further around in that direction.", + "Dark foliage and hedge are finally edging into the left of my view while the porch railing occupies the right. Turning left again should bring that leafy mass, and the trunk beneath it, closer to the center of my heading.", + "The broad canopy and hedge line now sit across the left half of my view, but the trunk itself is still out beyond the frame edge. One more left turn should place the tree squarely ahead so I can walk straight at its trunk.", + "Swinging away from the porch has brought the big broad-crowned tree into view ahead and slightly to my left, beyond the hedge at the edge of the paving. Its heavy dark trunk is still off-center, so I will turn left once more to line my heading up with it before walking out.", + "The tree's trunk now stands roughly ahead of me, rising out of the hedge line at the far side of the open paving. Nothing blocks the flat stone surface between us, so I will walk forward to close the distance.", + "The trunk has thickened in my view and its canopy now fills the upper frame, confirming I am gaining on it. The paving ahead stays open, so I keep walking straight toward the tree.", + "The trunk sits just right of my heading and is clearly nearer, with the hedge around its base coming into detail. I am still several paces short of it, so another step forward is the direct way to close in.", + "The tree's base and the grass strip beside the curb are now visible, so my line of travel is still landing on it. I will continue walking forward across the remaining paving.", + "The trunk now dominates the right half of my view and I can pick out the bark and the tufts of grass at its foot. A few paces of open pavement remain, so I keep advancing toward it.", + "I am close enough now to see the trunk's texture and the ground cover growing right against it. Stepping forward again should bring me up beside the tree.", + "The trunk has drifted to the right side of my view as I closed in, and my heading now points past it toward the street. Turning right should put the trunk squarely in front of me for the last steps.", + "The thick trunk now rises directly ahead of me, with the grass strip and low shrubs at its base filling the lower view. My heading is squarely on it, so I will walk forward to close the last of the gap.", + "The trunk now dominates the frame with its bark texture clearly resolved and the surrounding foliage crowding both sides. A short step more should place me right at the base of the tree.", + "The broad trunk stands immediately in front of me, filling my view at arm's reach. The task is complete, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a982648d6edf52b413b20c7f9c672e37425fa6 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the small brick wall beside the stop sign.", + "Type": 0, + "Start_Pose": [ + 164.678, + -3245.48, + 200.086, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 164.678, + -3245.48, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + 51.023, + -3191.415, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + -62.632, + -3137.351, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + -176.287, + -3083.286, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + -289.943, + -3029.221, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + -289.943, + -3029.221, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -370.1, + -2932.189, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -450.258, + -2835.157, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -530.416, + -2738.125, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -530.416, + -2738.125, + 200.086, + 0.0, + 129.56, + -0.0 + ] + ], + "Rationale": [ + "From the street I can see the red stop sign on the corner to my left, and the low brick wall with pale capstones sits on the grass strip just beside it. It is still far off across the paved driveway, so I will move forward to begin closing that distance along my current heading.", + "The brick wall and the stop sign have grown slightly and remain in the left portion of my view, confirming I am tracking the right target. The paving ahead is clear, so another forward step should keep shrinking the gap.", + "The brick wall now shows its two capped pillars clearly and the hedge behind it is resolving, so I am noticeably closer. I will keep advancing straight since nothing blocks the driveway between me and the corner.", + "The brick wall has drifted toward the left side of my view as I close in, but it is still reachable on this heading. One more forward step should bring me near the corner before I adjust my facing.", + "The brick wall has slid to the left edge of my view and would pass out of sight if I kept going straight ahead. I will turn left to bring the wall and the adjacent stop sign back toward the center of my heading.", + "After the turn the brick wall sits ahead of me near the middle of my view, with the stop sign and street corner just beyond it on the left. With my heading now pointing at it, I will move forward to close the remaining gap.", + "The brick wall and its capstones are clearly larger and the sidewalk in front of it is now visible in detail, so my heading is carrying me straight at it. I will advance again to get right beside the wall.", + "The brick wall now dominates the lower left of my view with its mortar joints and cap edges plainly readable, so I am only a short step away. I will take one more forward step to end up immediately alongside it.", + "The small brick wall with its capped pillar now fills the near view directly ahead of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..552fa75f97d1cee319ab62fdecfb836f6d992fd6 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the ground-floor window with two white shutters on the house.", + "Type": 0, + "Start_Pose": [ + 164.678, + -3245.48, + 200.086, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 164.678, + -3245.48, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + 164.678, + -3245.48, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + 38.823, + -3244.513, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -87.033, + -3243.547, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -212.888, + -3242.58, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -338.743, + -3241.614, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -464.598, + -3240.647, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -590.454, + -3239.681, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -716.309, + -3238.714, + 198.661, + 0.0, + 179.56, + -0.0 + ], + [ + -716.309, + -3238.714, + 198.661, + 0.0, + -155.44, + 0.0 + ], + [ + -830.781, + -3291.027, + 198.661, + 0.0, + -155.44, + 0.0 + ], + [ + -945.253, + -3343.34, + 198.661, + 0.0, + -155.44, + 0.0 + ], + [ + -1059.725, + -3395.653, + 198.661, + 0.0, + -155.44, + 0.0 + ], + [ + -1174.197, + -3447.965, + 198.661, + 0.0, + -155.44, + 0.0 + ], + [ + -1288.67, + -3500.278, + 198.661, + 0.0, + -155.44, + 0.0 + ], + [ + -1288.67, + -3500.278, + 198.661, + 0.0, + 179.56, + -0.0 + ], + [ + -1414.525, + -3499.312, + 198.661, + 0.0, + 179.56, + -0.0 + ], + [ + -1540.38, + -3498.345, + 198.661, + 0.0, + 179.56, + -0.0 + ], + [ + -1540.38, + -3498.345, + 198.661, + 0.0, + 179.56, + -0.0 + ] + ], + "Rationale": [ + "From the street corner the gray clapboard house sits off to my right, with its paved driveway opening toward that side while the stop sign and sidewalk fill the space ahead of me. Turning right should bring the house front, including its ground-floor windows, squarely ahead so I can walk straight in. This heading change is the cheapest way to line up before closing distance on the shuttered window.", + "The house now faces me across the wide paved driveway, and I can pick out a pale shuttered window on the ground floor to the left of the white side door. The paving between the brick gate posts is clear, so stepping forward should cut into that distance. I will walk straight ahead along this heading.", + "The gable end and the shuttered window have grown slightly larger, confirming my previous step carried me onto the driveway toward the house. There is still a long stretch of paving between me and the wall, so I keep advancing on the same heading. Another forward step should further reduce that gap.", + "The paving now fills the lower half of my view and the shuttered window with its two light panels sits clearly in the middle of the ground-floor wall. Nothing blocks the straight line between me and that wall, so continuing forward remains the most direct progress. I will take another step ahead.", + "The siding boards and the pair of pale shutters are becoming distinct as the house rises higher in front of me, so my approach is working. I am still several strides short of the wall where the window sits. Moving forward again should bring me closer to that shuttered opening.", + "The gable and the ground-floor wall now dominate my view, with the shuttered window and the white side door plainly visible at eye level. The paving in front of me is unbroken, so I keep closing the distance rather than adjusting heading yet. Another forward step should take me nearer the house wall.", + "I am now close enough that the wide picture window on the left and the smaller shuttered window beside it are both sharp, and the shutters read as two pale panels. Still, there is open paving before the wall, so I continue straight instead of turning. One more forward step should tighten the approach.", + "The house wall is close now, with the shuttered window sitting to the right of the large front window and the white door beyond it. A further step forward should put me onto the paving right in front of that portion of the facade before I refine my facing. I will advance once more on this heading.", + "From here the wide picture window fills the wall ahead of me, and the smaller ground-floor window with its two pale white shutters sits farther right along the same side of the house. I will turn right to bring that shuttered window toward the middle of my view before closing in on it.", + "The shuttered ground-floor window is now ahead of me on the wall, left of the plain white side door, with open paving between me and the house. I will step forward across the paved area to close distance toward it.", + "The shuttered window has grown noticeably larger and the siding boards are becoming distinct, so my heading is still carrying me toward the target wall. I will continue forward over the pavers to shorten the remaining gap.", + "The pale shutters and the window's white surround are now clearly resolved on the wall slightly left of my heading, and there is still open ground in front of me. Another step forward should keep reducing the distance to the window.", + "The house wall now occupies most of my view and the shuttered window has drifted a little to my left as I gain ground on it. I will keep moving forward since the remaining distance is still more than an arm's length from the wall.", + "I am close enough to see the paint flaking on the siding, and the shuttered window sits on the left portion of the wall ahead. One more forward step should bring me nearly to the base of the wall before I correct my heading.", + "The target window with its two white shutters has slid to the far left edge of my view while the white side door now sits ahead of me. I will turn left to place the shuttered window squarely in front of me before taking the last steps in.", + "The shuttered window is now centered directly ahead of me on the weathered siding, with only a short strip of paving left between us. I will move forward to finish closing that gap and stand right at the window.", + "The ground-floor window with its two pale white shutters is centered directly ahead of me and fills most of my view, though a stretch of siding still separates me from the wall. I will step forward once more to close that last bit of distance and stand right at the window.", + "The shuttered ground-floor window and its sill are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0bc9f81ab862f0c5a92d80d2ddc2c904c397ac9d --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Move to the green street name sign on the post.", + "Type": 0, + "Start_Pose": [ + 164.678, + -3245.48, + 200.086, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 164.678, + -3245.48, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + 164.678, + -3245.48, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + 84.52, + -3148.448, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + 4.362, + -3051.416, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -75.795, + -2954.384, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -155.953, + -2857.352, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -236.111, + -2760.32, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -236.111, + -2760.32, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -267.751, + -2638.503, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -301.724, + -2525.568, + 208.209, + 0.0, + 104.56, + -0.0 + ], + [ + -341.172, + -2456.085, + 208.452, + 0.0, + 104.56, + -0.0 + ], + [ + -372.812, + -2334.268, + 208.452, + 0.0, + 104.56, + -0.0 + ], + [ + -372.812, + -2334.268, + 208.452, + 0.0, + 104.56, + -0.0 + ] + ], + "Rationale": [ + "From the open pavement I can see the stop sign at the far left corner ahead, with a small green street name sign mounted just below it on the same post. That post sits well left of my current heading, so I will turn left to bring it toward the middle of my view before advancing. This should give me a straight line of approach across the road toward the corner.", + "The signpost with the green street name plate is now ahead of me near the grassy corner, roughly along my heading. Nothing blocks the road surface between me and that corner, so I will step forward to begin closing the distance.", + "The corner with the brick wall and the signpost is still some distance ahead, and the green name plate remains small under the stop sign. My path over the asphalt stays clear, so I will keep walking straight to shorten the gap.", + "The stop sign and the green street name plate beneath it are noticeably larger now, confirming I am closing on the correct post. There is still open road before the curb, so I will continue forward.", + "The grass island, curb, and brick wall at the corner are clearly resolved, and the green name plate hangs just below the stop sign slightly left of my heading. I am not yet close enough to count as standing at the sign, so I will take another step forward.", + "The stop sign now looms large at the left of my view with the green street name plate mounted on the same post below it. Continuing straight should carry me nearer to the base of that post at the corner.", + "I am close to the corner now, but the post carrying the stop sign and the green street name plate has drifted to my left as I approached, and the plate itself is small and angled away. I will turn left to bring that post back toward the center of my view so my remaining approach stays aimed at it.", + "The signpost is now centered ahead of me, with the green street name plate visible on it just below the stop sign. A short stretch of pavement and grass still separates me from the post, so I will step forward to close that last gap.", + "The green street name sign on its slender post is now clearly ahead of me, just right of the stop sign pole I am standing beside. It is still several paces off across the grassy corner, so I will step forward to keep closing the gap on it.", + "The street name sign has grown larger and its lettering is becoming readable, and its post sits almost straight ahead of me. My heading looks good, so I will take another step forward to reduce the remaining distance.", + "I can now read 98 AVE NE on the green sign directly in front of me, with its post rising close by from the grass edge. A final step forward should bring me right up beneath the sign, close enough to count as reaching it.", + "The green street name sign hangs directly overhead with its post right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t5_b_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..01c208fdb813b80fa7ace6bcbf98d7283b1df378 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the ceramic vase from the small brick wall beside the stop sign.", + "Type": 5, + "Start_Pose": [ + 164.678, + -3245.48, + 200.086, + 0, + 154.56, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -510.93, + -2797.241, + 130.086, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 164.678, + -3245.48, + 200.086, + 0, + 154.56, + 0 + ], + [ + 51.023, + -3191.415, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + -62.632, + -3137.351, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + -176.287, + -3083.286, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + -289.943, + -3029.221, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + -289.943, + -3029.221, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -370.1, + -2932.189, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -370.1, + -2932.189, + 200.086, + 0.0, + 129.559, + -0.0 + ], + [ + -370.1, + -2932.189, + 200.086, + 0.0, + 129.559, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -510.93, + -2797.241, + 130.086, + 0.0, + 0.0, + 0.0 + ], + [ + -510.93, + -2797.241, + 130.086, + 0.0, + 0.0, + 0.0 + ], + [ + -510.93, + -2797.241, + 130.086, + 0.0, + 0.0, + 0.0 + ], + [ + -510.93, + -2797.241, + 130.086, + 0.0, + 0.0, + 0.0 + ], + [ + -510.93, + -2797.241, + 130.086, + 0.0, + 0.0, + 0.0 + ], + [ + -510.93, + -2797.241, + 130.086, + 0.0, + 0.0, + 0.0 + ], + [ + -510.93, + -2797.241, + 130.086, + 0.0, + 0.0, + 0.0 + ], + [ + -386.175, + -2946.259, + 170.193, + -28.202, + 179.704, + 1.862 + ], + [ + -386.175, + -2946.259, + 170.193, + -28.202, + 179.704, + 1.862 + ] + ], + "PD_Dist_2D": [ + 810.8, + 686.4, + 562.7, + 440.2, + 320.4, + 320.4, + 195.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The ceramic vase stands on the paved corner beside the low brick wall near the stop sign, but it is still far ahead across the open drive. I will walk forward to close that distance before I can consider reaching for it.", + "The vase and the brick wall beside the stop sign now sit slightly larger in view, so my heading is carrying me toward the corner. Another step forward should keep shrinking the remaining distance.", + "The brick wall and the patterned ceramic vase are clearly resolved now, with the vase just left of my center line. The paved drive ahead is unobstructed, so I continue walking to close in.", + "The vase is much closer and drifting toward the left side of my view as I advance. I take another step forward to reach a distance where a grasp becomes plausible.", + "The vase now sits well off to my left edge, so walking straight ahead would carry me past it rather than to it. I will turn left to bring the vase and the brick wall back into the center of my view before stepping in.", + "The turn has placed the vase and the low brick wall near the middle of my view with the stop sign corner behind them. A step forward should put the vase within arm's reach for a grasp.", + "The ceramic vase is directly in front of me at close range, filling the near part of my view beside the brick wall. Nothing blocks the approach, so I will attempt to pick it up now.", + "The ceramic vase is now held in my hands and no longer resting by the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000218_y-004808_z000200_t0_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000218_y-004808_z000200_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf98d9267c1772ea7bb0e6187f8fab719cc1d931 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000218_y-004808_z000200_t0_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the bottom of the porch steps.", + "Type": 0, + "Start_Pose": [ + 218.047, + -4807.805, + 200.086, + 0.0, + -8.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 218.047, + -4807.805, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 342.478, + -4826.712, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 466.908, + -4845.62, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 591.339, + -4864.527, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 715.77, + -4883.434, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 715.77, + -4883.434, + 200.086, + 0.0, + 16.36, + -0.0 + ], + [ + 836.533, + -4847.983, + 200.086, + 0.0, + 16.36, + -0.0 + ], + [ + 957.296, + -4812.532, + 200.086, + 0.0, + 16.36, + -0.0 + ], + [ + 1078.059, + -4777.081, + 198.595, + 0.0, + 16.36, + -0.0 + ], + [ + 1198.822, + -4741.63, + 198.595, + 0.0, + 16.36, + -0.0 + ], + [ + 1319.585, + -4706.18, + 198.595, + 0.0, + 16.36, + -0.0 + ], + [ + 1440.348, + -4670.729, + 198.595, + 0.0, + 16.36, + -0.0 + ], + [ + 1561.111, + -4635.278, + 198.595, + 0.0, + 16.36, + -0.0 + ], + [ + 1681.875, + -4599.827, + 198.595, + 0.0, + 16.36, + -0.0 + ], + [ + 1802.638, + -4564.376, + 198.595, + 0.0, + 16.36, + -0.0 + ], + [ + 1923.401, + -4528.925, + 199.148, + 0.0, + 16.36, + -0.0 + ], + [ + 1923.401, + -4528.925, + 199.148, + 0.0, + 16.36, + -0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the covered porch of the house ahead, with a railed set of steps rising near the right side of its deck. The paved area in front of me is clear, so I will move forward to begin closing the long gap toward those steps.", + "The porch roof and railing now fill more of my view, confirming I am gaining ground on the house. The paving continues unobstructed, so another forward step should keep shrinking the distance to the porch steps.", + "The step railing on the right side of the porch is becoming clearer as I close in across the paving. I will keep moving forward since I am still well short of the base of those steps.", + "I am now near the middle of the courtyard with the porch decking and its lattice skirt clearly visible across my view. Another forward move should bring me close enough that I can judge the exact position of the step base.", + "The steps with their white handrail sit off to the right of my current heading, near where the two porch wings meet, so walking straight would carry me past them toward the left section of the deck. I will turn right to bring the stair opening closer to the center of my view before continuing.", + "After the turn the stairway and its handrails now sit close to the center of my view, between the two porch wings. With the heading corrected and open paving ahead, I will move forward to close the remaining distance.", + "The stairs are holding steady in the middle of my view as the porch grows larger, so my heading still leads straight to them. I will continue forward across the paving toward the bottom step.", + "I can now make out individual treads and the handrail posts of the stairway slightly right of center, and I am still a few paces short of its base. Another forward step should bring me nearer to the bottom of the steps without needing a heading change.", + "The white porch steps with their handrail are visible slightly right of center, still several body lengths away across the open paving. The paved court ahead of me is clear of obstacles, so I will continue straight to close distance on the stairs.", + "The stair railing and treads now read larger and sit just right of my heading, confirming I am closing on them. The paving in front of me remains clear, so another step forward should bring the step base nearer.", + "The lattice porch skirt and the stair stringer are filling more of my view, but I am still out on the open paving rather than at the step base. I will advance again to shorten the remaining gap to the bottom step.", + "The staircase and its posts are close enough now that I can see individual treads and the railing balusters ahead and slightly right. Since nothing blocks the paving in front of me, I will keep moving forward toward the foot of the steps.", + "I am under the porch roof line with the stairway rising just ahead on my right, though the lowest tread is still a stride or two off. Another forward step should place me nearer to the base of the staircase.", + "The stair treads and newel post are now large in my view and only a short distance ahead to my right. I will step forward again to bring myself right up to the bottom of the run.", + "The lowest tread and the handrail end are almost within arm's reach on my right, so only a small amount of distance remains. I will take one more step forward to settle at the foot of the porch steps.", + "The bottom tread and handrail post of the porch steps are directly beside me at the paving edge. The task is complete, so I stop here rather than climbing." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000218_y-004808_z000200_t0_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000218_y-004808_z000200_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..66bdd863f96e86466d5f6b4d232bdf787094e6e7 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000218_y-004808_z000200_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the low red-brick planter wall filled with shrubs in front of the gabled porch.", + "Type": 0, + "Start_Pose": [ + 218.047, + -4807.805, + 200.086, + 0, + -8.64, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 218.047, + -4807.805, + 200.086, + 0, + -8.64, + 0 + ], + [ + 218.047, + -4807.805, + 200.086, + 0.0, + 16.36, + -0.0 + ], + [ + 338.81, + -4772.354, + 200.086, + 0.0, + 16.36, + -0.0 + ], + [ + 459.573, + -4736.903, + 200.086, + 0.0, + 16.36, + -0.0 + ], + [ + 580.336, + -4701.452, + 200.086, + 0.0, + 16.36, + -0.0 + ], + [ + 580.336, + -4701.452, + 200.086, + 0.0, + 41.36, + -0.0 + ], + [ + 674.803, + -4618.286, + 200.086, + 0.0, + 41.36, + -0.0 + ], + [ + 769.269, + -4535.12, + 200.086, + 0.0, + 41.36, + -0.0 + ], + [ + 863.735, + -4451.954, + 200.086, + 0.0, + 41.36, + -0.0 + ], + [ + 958.202, + -4368.788, + 200.086, + 0.0, + 41.36, + -0.0 + ], + [ + 958.202, + -4368.788, + 200.086, + 0.0, + 41.36, + -0.0 + ], + [ + 958.202, + -4368.788, + 200.086, + 0.0, + 41.36, + -0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the long porch ahead, but only a sliver of red brickwork appears at the far right edge of my view, near the right wing of the house. I will turn right to bring that low brick planter and the gabled porch section into the center of my heading before advancing.", + "Now the gabled porch section and the low red-brick planter wall with shrubs sit clearly in the right half of my view, with open paving between us. I will move forward along the driveway to start closing that distance.", + "The planter wall and its shrubs have grown larger and the porch columns are more distinct, so my heading is still carrying me toward the target. The paving ahead remains unobstructed, so I will continue forward.", + "I am still several paces short of the brick planter, which now spans a good part of the right side of my view beneath the gabled porch roof. Another forward step should bring me close enough to then square up on the wall itself.", + "The low red-brick planter now lies clearly to my right rather than straight ahead, while my current heading points at the covered porch walkway. I will turn right so the planter wall and its shrubs sit directly in front of me for a straight final approach.", + "The brick planter wall and its shrub row now run across the middle of my view with the gabled porch just behind it. With the paving between us clear, I will move forward to shorten the remaining gap.", + "The brick pier and capstone of the planter are noticeably nearer and the shrubs above the wall are filling more of my view. I will step forward again to bring myself right up beside the planter wall.", + "The near corner pier of the low red-brick planter is now only a short step away on my right, with the shrubs overhanging it and the gabled porch immediately beyond. One more forward step should place me directly at the wall, close enough to consider the approach complete.", + "The low red-brick planter wall with its capped pillar and overflowing shrubs now fills the right half of my view, and the gabled porch sits just beyond it to the left. A short gap of paving still separates me from the wall face, so I will step forward once more to close it. This should bring me within immediate reach of the planter without pressing into the shrubs.", + "The shrub foliage and brick coping now crowd my view at very close range, so the planter is directly in front of me. Tilting my gaze down should let me see the wall base and the paving at my feet to confirm I am standing right at the planter rather than still short of it.", + "The brick coping and shrubs of the planter wall are directly below me at contact range beside the porch. The approach task is complete, so stopping here is correct." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000373_y-003345_z000200_t3_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000373_y-003345_z000200_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..84eca5dc83bcc44f82fbd7e2067e971ca84cc0e0 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000373_y-003345_z000200_t3_a/infos.json @@ -0,0 +1,346 @@ +{ + "Instruction": "Walk to the stop sign, then head toward the white door.", + "Type": 3, + "Start_Pose": [ + 373.381, + -3344.758, + 200.086, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 373.381, + -3344.758, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + 259.726, + -3290.693, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + 146.071, + -3236.629, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + 146.071, + -3236.629, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + 65.913, + -3139.597, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -14.245, + -3042.565, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -94.403, + -2945.533, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -174.561, + -2848.501, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -174.561, + -2848.501, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -206.201, + -2726.684, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -237.841, + -2604.866, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -237.841, + -2604.866, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -237.841, + -2604.866, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -237.841, + -2604.866, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + -237.841, + -2604.866, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -237.841, + -2604.866, + 200.086, + 0.0, + -155.44, + 0.0 + ], + [ + -237.841, + -2604.866, + 200.086, + 0.0, + -130.44, + 0.0 + ], + [ + -319.48, + -2700.656, + 200.086, + 0.0, + -130.44, + 0.0 + ], + [ + -401.118, + -2796.445, + 200.086, + 0.0, + -130.44, + 0.0 + ], + [ + -482.757, + -2892.235, + 200.086, + 0.0, + -130.44, + 0.0 + ], + [ + -564.395, + -2988.024, + 200.086, + 0.0, + -130.44, + 0.0 + ], + [ + -646.034, + -3083.814, + 198.693, + 0.0, + -130.44, + 0.0 + ], + [ + -727.673, + -3179.603, + 198.693, + 0.0, + -130.44, + 0.0 + ], + [ + -809.311, + -3275.393, + 198.693, + 0.0, + -130.44, + 0.0 + ], + [ + -890.95, + -3371.182, + 198.693, + 0.0, + -130.44, + 0.0 + ], + [ + -972.589, + -3466.972, + 198.693, + 0.0, + -130.44, + 0.0 + ], + [ + -1054.227, + -3562.761, + 198.693, + 0.0, + -130.44, + 0.0 + ], + [ + -1054.227, + -3562.761, + 198.693, + 0.0, + -155.44, + 0.0 + ], + [ + -1168.699, + -3615.074, + 198.693, + 0.0, + -155.44, + 0.0 + ], + [ + -1283.171, + -3667.387, + 198.693, + 0.0, + -155.44, + 0.0 + ], + [ + -1397.643, + -3719.7, + 198.315, + 0.0, + -155.44, + 0.0 + ], + [ + -1512.116, + -3772.012, + 198.315, + 0.0, + -155.44, + 0.0 + ], + [ + -1512.116, + -3772.012, + 198.315, + 0.0, + -155.44, + 0.0 + ] + ], + "Rationale": [ + "The red octagonal stop sign stands at the corner ahead on the left side of the intersection, small and still far off. My path across the open pavement toward it looks clear, so I will walk forward to cut down that distance before worrying about heading.", + "The stop sign has grown a little and the corner planter is more distinct, confirming my heading is bringing me nearer. Nothing blocks the roadway in front of me, so I will keep walking straight to close more of the gap.", + "The stop sign now sits well off to my left while my body faces the house and its wide driveway. Walking on straight would carry me past the corner, so I will turn left to swing my heading onto the sign.", + "After the turn the stop sign sits near the middle of my view above the grassy corner, so my heading is pointed at it. The road ahead is open, and I will step forward to shorten the remaining distance.", + "The sign and the brick corner wall beneath it are noticeably larger, so the last step gained real ground on my heading. I will continue walking straight toward the corner.", + "The stop sign's lettering is now readable and the curb of the corner island is close in front of me. There is still distance left before I stand at the post, so I will keep advancing.", + "The sign looms much larger and its pole rises from the grass just beyond the curb ahead of me. A further step should put me almost level with the post, so I will walk forward again.", + "Approaching this close has pushed the stop sign and its pole toward the left edge of my view while the brick wall fills the center. I will turn left to bring the post back in front of me so my remaining steps land at its base.", + "The octagonal red stop sign now stands close ahead on the corner grass, roughly centered in my view above its post. Nothing blocks the strip of road and curb between us, so I will walk forward to close the last of that gap.", + "The stop sign fills the upper middle of my view and its post runs down to the grass just a step or two away. I will step forward again to stand right at its base.", + "The metal post rises directly in front of me and the red sign plate is cut off above the top of my view, so I am standing at its foot. I have reached the stop sign. I mark reaching it and turn my attention to the white door on the gray house across the paved drive.", + "Standing at the sign post, my view faces up the empty street and the gray house with the white door is not in it. That house sits off behind my right shoulder, so I will swing to the right to begin bringing it into view.", + "This heading still shows the sign post, the street signs and houses across the road, none of which is the white door I want. I will keep rotating right toward the sidewalk and brick wall side where the gray house lies.", + "The low brick wall and walkway now run across my view, with the corner of a gray clapboard house just entering on the right. Another turn to the right should bring that house frontage in front of me.", + "The gray house is now visible past the brick wall on my right, with its windows and a pale door on the far wing. I will turn right again to face its frontage squarely rather than the wall in front of me.", + "The gray house now spans my view with a white door set in the siding right of center, but the brick wall corner still cuts across my left foreground. One more turn to the right should put the open paved drive and that door in my forward path.", + "My heading now faces the gray clapboard house across the open stone courtyard, and a plain white door sits in its wall slightly left of my center of view. The paving between us is clear of obstacles, so I will walk forward to begin closing that gap.", + "The white door has grown slightly larger and stays just left of my view center, confirming my heading is carrying me toward it. The courtyard stones remain open ahead, so another step forward should keep shrinking the distance.", + "The siding and window shutters on the near wing are resolving in more detail, and the white door remains a modest rectangle ahead of me. I am still well out across the courtyard, so I will keep walking straight toward it.", + "The white door holds its position a little left of my forward axis while the house fills more of my view, so my line of travel is good. Nothing blocks the paving, so I will advance again rather than adjust my heading.", + "The dormer above and the shuttered window beside the white door are clearly readable now, so I am noticeably nearer the wall. The stone paving still runs straight toward that door, and I will take another step along it.", + "The white door stands plainly against the gray siding a short way left of my heading, with a low planting bed off to the right that I am keeping clear of. Walking forward should bring me closer without needing to reorient yet.", + "The door's panels and frame are becoming distinct as the wall grows in my view, so the approach is working. I still have open paving underfoot ahead, so I will continue straight toward it.", + "The white door now sits large and clearly left of my center as the siding dominates my view, meaning only a few strides remain across the stones. I will keep advancing toward the wall before worrying about final alignment.", + "The white door set into the gray siding is now clearly visible ahead and slightly left, with open paving leading up to it. I will keep walking forward across the stones to cut down the remaining distance.", + "The white door has grown noticeably larger and its panels and frame are sharper, so my heading is still carrying me toward it. Another step forward should keep closing the gap along the paving.", + "The white door has drifted to the left edge of my view while the paving and gravel bed fill the center, so walking straight would carry me past it. I will turn left to bring the door back in front of me.", + "The white door now sits squarely ahead of me in the middle of the siding, with its handle plainly visible. With that alignment I will step forward to close on it.", + "The door fills more of my view than a moment ago and stays near the center of my path. I will keep advancing over the paving toward it.", + "The white door dominates the wall directly in front of me, though there is still a short stretch of ground before I stand at it. One more step forward should bring me right up to it.", + "The door and its lever handle are close enough to read every panel, and only a little ground remains at its threshold. I will take one more step to finish arriving at it.", + "The white door fills my view at arm's length, its handle directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000373_y-003345_z000200_t3_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000373_y-003345_z000200_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e53e6b7e66056f7b35457ddaaa02ae167e9bb762 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000373_y-003345_z000200_t3_b/infos.json @@ -0,0 +1,456 @@ +{ + "Instruction": "Navigate to the ground-floor white door, then walk to the stop sign.", + "Type": 3, + "Start_Pose": [ + 373.381, + -3344.758, + 200.086, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 373.381, + -3344.758, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + 373.381, + -3344.758, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + 247.526, + -3343.792, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + 121.67, + -3342.825, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -4.185, + -3341.858, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -130.04, + -3340.892, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -255.895, + -3339.925, + 200.086, + 0.0, + 179.56, + -0.0 + ], + [ + -255.895, + -3339.925, + 200.086, + 0.0, + -155.44, + 0.0 + ], + [ + -370.368, + -3392.238, + 200.086, + 0.0, + -155.44, + 0.0 + ], + [ + -484.84, + -3444.551, + 200.086, + 0.0, + -155.44, + 0.0 + ], + [ + -599.312, + -3496.864, + 200.086, + 0.0, + -155.44, + 0.0 + ], + [ + -713.784, + -3549.177, + 198.595, + 0.0, + -155.44, + 0.0 + ], + [ + -828.256, + -3601.489, + 198.595, + 0.0, + -155.44, + 0.0 + ], + [ + -942.728, + -3653.802, + 198.595, + 0.0, + -155.44, + 0.0 + ], + [ + -1057.2, + -3706.115, + 198.248, + 0.0, + -155.44, + 0.0 + ], + [ + -1171.672, + -3758.428, + 198.248, + 0.0, + -155.44, + 0.0 + ], + [ + -1286.144, + -3810.74, + 198.248, + 0.0, + -155.44, + 0.0 + ], + [ + -1400.617, + -3863.053, + 198.248, + 0.0, + -155.44, + 0.0 + ], + [ + -1515.089, + -3915.366, + 198.248, + 0.0, + -155.44, + 0.0 + ], + [ + -1515.089, + -3915.366, + 198.248, + 0.0, + -155.44, + 0.0 + ], + [ + -1431.048, + -3876.96, + 198.248, + 0.0, + -155.44, + 0.0 + ], + [ + -1431.048, + -3876.96, + 198.248, + 0.0, + 179.56, + -0.0 + ], + [ + -1431.048, + -3876.96, + 198.248, + 0.0, + 154.56, + -0.0 + ], + [ + -1431.048, + -3876.96, + 198.248, + 0.0, + 129.56, + -0.0 + ], + [ + -1431.048, + -3876.96, + 198.248, + 0.0, + 104.56, + -0.0 + ], + [ + -1431.048, + -3876.96, + 198.248, + 0.0, + 79.56, + -0.0 + ], + [ + -1431.048, + -3876.96, + 198.248, + 0.0, + 54.56, + -0.0 + ], + [ + -1358.069, + -3774.42, + 198.248, + 0.0, + 54.56, + -0.0 + ], + [ + -1285.09, + -3671.88, + 198.584, + 0.0, + 54.56, + -0.0 + ], + [ + -1212.11, + -3569.34, + 198.584, + 0.0, + 54.56, + -0.0 + ], + [ + -1139.131, + -3466.799, + 198.584, + 0.0, + 54.56, + -0.0 + ], + [ + -1066.152, + -3364.259, + 198.584, + 0.0, + 54.56, + -0.0 + ], + [ + -993.172, + -3261.719, + 198.584, + 0.0, + 54.56, + -0.0 + ], + [ + -920.193, + -3159.179, + 198.584, + 0.0, + 54.56, + -0.0 + ], + [ + -847.213, + -3056.638, + 198.584, + 0.0, + 54.56, + -0.0 + ], + [ + -774.234, + -2954.098, + 198.584, + 0.0, + 54.56, + -0.0 + ], + [ + -701.255, + -2851.558, + 198.584, + 0.0, + 54.56, + -0.0 + ], + [ + -701.255, + -2851.558, + 198.584, + 0.0, + 29.56, + -0.0 + ], + [ + -591.778, + -2789.467, + 200.031, + 0.0, + 29.56, + -0.0 + ], + [ + -482.3, + -2727.377, + 202.812, + 0.0, + 29.56, + -0.0 + ], + [ + -482.3, + -2727.377, + 202.812, + 0.0, + 54.56, + -0.0 + ], + [ + -409.321, + -2624.836, + 208.452, + 0.0, + 54.56, + -0.0 + ], + [ + -336.342, + -2522.296, + 208.452, + 0.0, + 54.56, + -0.0 + ], + [ + -336.342, + -2522.296, + 208.452, + 0.0, + 54.56, + -0.0 + ] + ], + "Rationale": [ + "From the street corner I can see a single-storey grey house on my right, with a plain white door set at ground level on its front wall. My body is aimed across the open road instead of at that house. I turn right to bring the house and its white door in front of me before walking in.", + "The grey house now sits squarely ahead of me, with the white ground-floor door visible near the middle of its facade. A wide paved forecourt runs between me and the building with nothing blocking it. I step forward to begin closing that gap.", + "The siding and windows of the grey house have grown slightly larger, so my last step gained ground toward it. The white door remains ahead and a little right, and the paving in front stays open. I keep walking forward.", + "The low brick walls on either side of the forecourt are sliding past the edges of my view, confirming steady progress toward the house. The white door is still some distance off across the paving. I continue straight ahead.", + "The paved court now fills much of the lower view and the roofline of the grey house rises higher, so I am closing in. The white door sits ahead and slightly to my right, still out of reach. Another forward step should shorten the remaining distance.", + "I am well inside the forecourt now, with the house wall spanning nearly the whole width of my view and the white door clearly visible to the right of the gable. Nothing stands between me and the paving ahead. I walk forward again.", + "Close to the building, the white ground-floor door has drifted off to the right side of my view while my heading points at the blank siding and windows. Walking straight now would take me past it. I turn right to put the door back in front of me.", + "The white door is now near the middle of my view, framed against the grey siding with open paving leading up to it. My heading looks right for a straight approach. I step forward to close the last stretch toward that door.", + "The white door sits centered on the ground-floor wall ahead of me with open paving between us. Nothing blocks the path, so I will keep walking straight toward it to cut the remaining distance.", + "The siding and the white door are growing larger, which tells me my heading is good. I will step forward again over the open paving to close on that door.", + "The white door remains slightly left of center and clearly still some distance off. Another forward step should bring me nearer without needing any turn yet.", + "The paved apron continues right up to the base of the wall where the white door stands. I will walk forward once more along it.", + "The door now fills a good part of my view, so I am within a few strides of it. I will advance again to shorten that gap.", + "The white door is close and its handle is becoming visible, confirming I am nearly on it. Continuing forward should place me right at its threshold.", + "The doorway is only a short walk ahead, slightly left, with the narrow paved strip still passable beside the planting. I will step forward again to reach it.", + "I am nearly at the white door, its panels and handle filling much of my view. One more step forward should bring me right up against it.", + "The white ground-floor door is now large in front of me, its panels and handle clearly visible with only a short stretch of siding and grass between us. I will step forward again to close the last of that gap and stand right at it.", + "The door's frame, handle and lock are close enough to read in detail, and the concrete sill at its base is nearly under me. One more step forward should place me directly at this white ground-floor door.", + "The white door's panels and jamb fill my view at arm's length, with the siding running away beside it. I have reached the white door on the ground floor of this house. I mark reaching it, then set off for the stop sign back at the street corner.", + "Standing this tight against the door, the panels and siding block almost everything else, so I have no view of the street I now need. I will step back from the wall to regain clearance and room to swing around toward the corner.", + "With a little space back from the wall, the door and siding still occupy my whole heading and the open paving lies off to my left. I will turn left to begin swinging away from the house toward the road and the stop sign at the corner.", + "I am still facing the door squarely, so this heading takes me nowhere useful now. I will keep turning left, continuing to bring my view around off the wall and toward the open drive leading out to the street.", + "The door has slid to my right edge and the shuttered window and paving are appearing on the left, so the rotation is opening up the yard. Another left turn should carry my heading further away from the wall and toward the open ground.", + "The wall is now running off to my right and the paved drive with hedges beyond opens on my left. I will turn left again to keep bringing that open route, and the corner where the stop sign stands, into my heading.", + "The siding still fills the right of my view, but the paved drive now opens to the left toward the trees and the road beyond. Since the stop sign stands out by that street corner, I keep swinging left to bring the open route into the center of my view.", + "The corner is now in sight ahead and slightly to my left, with a small red octagonal sign beside the curb past the hedge. One more turn to the left should put that sign close to straight ahead so I can walk directly at it.", + "My heading now runs down the open paved drive toward the corner, where the red sign sits near the middle of my view beside the curb. The pavement ahead is clear, so I step forward to close the distance.", + "The hedge line and brick pillar on my right are sliding past as the corner grows nearer, and the sign still sits ahead near the center. Nothing blocks the paving, so I continue walking straight toward it.", + "The road surface across the corner is opening wider at the top of my view and the red sign remains ahead, slightly left of straight. My line is good, so another step forward should keep shrinking the gap.", + "The sign and the street signage beside it are noticeably larger than a moment ago, confirming I am closing on the corner. I keep advancing along the open paving rather than adjusting my heading yet.", + "The brick pillar at the driveway edge is now close on my right and the curb of the corner is coming into the lower part of my view. The sign still lies ahead beyond it, so I walk on toward the intersection.", + "I am nearly at the edge of the paving, with the grass verge and curb of the corner just ahead and the red sign standing on its post past them. Continuing forward should bring me onto the corner beside it.", + "Across the paved drive I can pick out the small red octagon of the stop sign standing near the corner beyond the brick pillar, slightly left of my heading. Nothing blocks the open pavement between us, so I will keep walking straight to close that distance.", + "The stop sign and the street signs beside it have grown larger, confirming my heading is carrying me toward the corner. The pavement stays open along the left of the brick pillar, so another step forward should keep closing in.", + "The corner curb and the grass strip holding the stop sign are now clearly resolved ahead of me, still a fair distance off. I will keep advancing along the open paving toward that sign.", + "The stop sign now reads clearly on its post at the corner verge, and the brick wall on my right stays clear of my path. Another stride forward should bring me onto the corner area near the sign.", + "The stop sign sits well to the left of where I am facing, while the brick pillar now crowds the right of my view. Turning left should swing my heading onto the sign so I can walk straight at it.", + "The stop sign is now framed ahead of me above the grass verge with open pavement leading to it. With that heading set, I will step forward to close the remaining gap.", + "The stop sign has grown large in front of me, its post rising from the grass just past the curb. I will keep walking forward to reach the base of the sign.", + "I am nearly at the corner, but the stop sign has drifted to the right side of my view as I closed in. A small turn to the right should bring the sign back in front of me for the final steps.", + "The red octagonal stop sign stands just ahead on the corner grass strip, close to the center of my view after my heading adjustment. A short walk forward should bring me right up beside its post.", + "The stop sign now looms large just left of center, its post rising close in front of me at the curb. One more step forward should place me directly at the sign rather than a stride short of it.", + "The stop sign's post stands immediately in front of me, within arm's reach at the corner. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t0_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..391d67275c3362893bb548b657f1863ec2bdcf32 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the corner where the two white picket fences meet near the green street sign.", + "Type": 0, + "Start_Pose": [ + 396.896, + -14535.436, + 200.086, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 396.896, + -14535.436, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 460.736, + -14426.969, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 524.577, + -14318.503, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 588.417, + -14210.037, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 652.258, + -14101.571, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 716.098, + -13993.105, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 779.938, + -13884.639, + 208.354, + 0.0, + 59.52, + -0.0 + ], + [ + 850.415, + -13813.134, + 208.452, + 0.0, + 59.52, + -0.0 + ], + [ + 914.255, + -13704.667, + 208.452, + 0.0, + 59.52, + -0.0 + ], + [ + 914.255, + -13704.667, + 208.452, + 0.0, + 59.52, + -0.0 + ] + ], + "Rationale": [ + "Across the road I can see the corner lot where two white picket fence runs meet, with a small green street sign standing right at that corner beside the utility pole. My heading already points at that corner, so I will step forward to begin closing the wide gap of open pavement.", + "The corner with the joined picket fences and the green sign has grown slightly larger and remains near the middle of my view, so my heading is still good. I will keep stepping forward across the open roadway to reduce the remaining distance.", + "The rounded curb of the corner lot is now clearly visible with the grass strip behind it, and the green street sign sits just above the meeting point of the two fence sections. No adjustment of heading is needed, so I will continue forward toward that corner.", + "The street sign text is becoming legible and the corner where the front and side picket fences join is directly ahead of me. I will take another step forward to keep closing on that junction.", + "I am at the curb with the corner grass and sidewalk immediately in front, and the sign reading NE 28 ST hangs right over the fence junction. Stepping forward should bring me up onto the corner itself.", + "I am now on the corner grass with the sign post close beside me and the two white fence lines meeting a short way ahead to my left. I will move forward a little more to stand right at the point where the fences join.", + "The white pickets fill much of my view and the near corner post where the front fence turns along the side is only a couple of steps away on the left. I will advance slightly to close that last bit of distance.", + "The two fence runs and their corner post are now right in front of me along the sidewalk, with the green street sign just behind at the same corner. A final short step forward should place me directly at the meeting point of the fences.", + "The two white picket fence runs meet at the corner post right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t0_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9bf147c3b636e5b7b5390936cf65e2b860af7424 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t0_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Navigate to the tallest white column supporting the porch roof.", + "Type": 0, + "Start_Pose": [ + 396.896, + -14535.436, + 200.086, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 396.896, + -14535.436, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 460.736, + -14426.969, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 524.577, + -14318.503, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 524.577, + -14318.503, + 200.086, + 0.0, + 34.52, + -0.0 + ], + [ + 628.276, + -14247.18, + 200.086, + 0.0, + 34.52, + -0.0 + ], + [ + 731.974, + -14175.856, + 200.086, + 0.0, + 34.52, + -0.0 + ], + [ + 835.673, + -14104.533, + 200.086, + 0.0, + 34.52, + -0.0 + ], + [ + 939.372, + -14033.209, + 200.086, + 0.0, + 34.52, + -0.0 + ], + [ + 1043.071, + -13961.886, + 207.689, + 0.0, + 34.52, + -0.0 + ], + [ + 1146.77, + -13890.562, + 208.269, + 0.0, + 34.52, + -0.0 + ], + [ + 1250.469, + -13819.239, + 208.269, + 0.0, + 34.52, + -0.0 + ], + [ + 1354.167, + -13747.915, + 200.086, + 0.0, + 34.52, + -0.0 + ], + [ + 1457.866, + -13676.592, + 200.086, + 0.0, + 34.52, + -0.0 + ], + [ + 1457.866, + -13676.592, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 1521.707, + -13568.126, + 198.15, + 0.0, + 59.52, + -0.0 + ], + [ + 1585.547, + -13459.659, + 198.15, + 0.0, + 59.52, + -0.0 + ], + [ + 1585.547, + -13459.659, + 198.15, + 0.0, + 34.52, + -0.0 + ], + [ + 1689.246, + -13388.336, + 198.15, + 0.0, + 34.52, + -0.0 + ], + [ + 1689.246, + -13388.336, + 198.15, + 0.0, + 34.52, + -0.0 + ] + ], + "Rationale": [ + "From the middle of the intersection I can see the house with its covered porch ahead and slightly left, and several white posts hold up the porch roof along its front. The nearest of those posts still looks small and far behind the picket fence, so I will step forward across the open pavement to begin closing that gap.", + "The porch and its white columns have grown slightly larger and the grass strip and curb in front of the house are now clearer, confirming I am heading the right way. I will keep stepping forward to reduce the remaining distance before I refine my heading.", + "Straight ahead the corner grass and the picket fence would block a direct line to the porch, while the long front side of the porch, where the tall roof supports stand in a row, extends off toward the street on my left. Turning left should put me on that street heading so the columns stay off my right shoulder and I can walk alongside them instead of into the corner fence.", + "With my heading now down the open street, the porch and its white columns sit clearly to my right and the roadway ahead is clear. I will move forward along this line to draw level with the taller column at the front corner of the porch.", + "The porch columns on my right are noticeably larger and I can now distinguish the taller full-height post nearest the front corner from the shorter ones deeper under the roof. Continuing forward should bring me alongside that tall post.", + "The porch now fills much of the right side of my view and the white railing and lattice skirt are close, but I am still short of the column line. Another step forward should keep narrowing that gap along the sidewalk.", + "The stone walkway leading past the porch is right in front of me and the nearest tall white column rises close on my right. I will step forward again to move up along the porch edge toward that column.", + "I am now walking beside the porch, with the roof overhang and the row of full-height white posts looming close on my right. I will continue forward to come level with the tallest of these supports before settling my final position.", + "The porch roof and its row of white columns now fill the right side of my view, but the nearest column is still behind the picket fence and set back from me. I will keep walking forward along the stone walkway to close the remaining gap toward the tall columns.", + "The columns supporting the porch roof are noticeably larger and taller in my view than a moment ago, confirming I am closing on them. The walkway ahead of me stays open, so another step forward should bring me nearer to the base of the tallest column.", + "I am now walking alongside the porch, with the tall white posts and lattice skirting close on my right. Since I still need to reach the column itself rather than pass by at a distance, I continue forward along the path.", + "The porch columns are very close on my right, and the deepest, tallest one under the highest part of the roof lies slightly ahead of my current position. I will step forward once more so that column comes level with me before I turn toward it.", + "I have come level with the porch, and the tall white columns holding up its roof are off to my right rather than in front of me. Turning right should place the column line squarely ahead so I can walk straight in to it.", + "Now facing the porch, I can see the white columns rising to the roof beams directly ahead of me, still a couple of steps away beyond the lattice. I will move forward to bring myself right up against the base of the nearest tall column.", + "The nearest column now stands large in front of me, running from the ground up past the porch railing to the roof. One more step forward should put me immediately beside it.", + "I am standing right at the porch, and the tall column I want has slipped to the far left edge of my view while the railing and siding fill the rest. Turning left should bring that column back in front of me for a final short approach.", + "The tall white post that carries the porch roof now stands just ahead and slightly left of my heading, running unbroken from the ground past the lattice skirt up to the eave. It is still a step or two away, so I will step forward along the walk beside the railing to close that last gap. This should bring me directly beside the column at arm's length.", + "The tall white porch-roof column now fills the near left of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t5_a_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..257e45918d5ff9238e0a889f9e4e4adb9e7fbb34 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the green bell pepper at the green street sign by the fence.", + "Type": 5, + "Start_Pose": [ + 396.896, + -14535.436, + 200.086, + 0, + 59.52, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 827.984, + -13913.302, + 155.086, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 396.896, + -14535.436, + 200.086, + 0, + 59.52, + 0 + ], + [ + 460.736, + -14426.969, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 524.577, + -14318.503, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 588.417, + -14210.037, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 652.258, + -14101.571, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 716.098, + -13993.105, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 716.098, + -13993.105, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 716.098, + -13993.105, + 200.086, + 0.0, + 59.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 827.984, + -13913.302, + 155.086, + 0.0, + 0.0, + 0.0 + ], + [ + 827.984, + -13913.302, + 155.086, + 0.0, + 0.0, + 0.0 + ], + [ + 827.984, + -13913.302, + 155.086, + 0.0, + 0.0, + 0.0 + ], + [ + 827.984, + -13913.302, + 155.086, + 0.0, + 0.0, + 0.0 + ], + [ + 827.984, + -13913.302, + 155.086, + 0.0, + 0.0, + 0.0 + ], + [ + 827.984, + -13913.302, + 155.086, + 0.0, + 0.0, + 0.0 + ], + [ + 697.386, + -13982.8, + 170.193, + -28.202, + 109.665, + 1.862 + ], + [ + 697.386, + -13982.8, + 170.193, + -28.202, + 109.665, + 1.862 + ] + ], + "PD_Dist_2D": [ + 756.9, + 631.4, + 506.2, + 381.4, + 257.5, + 137.4, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the green bell pepper resting on the grass corner beside the green street sign and the white fence, well ahead across the road. Nothing blocks the straight path toward it, so I will walk forward to close the large gap before any grasp is possible.", + "The pepper and the street sign are noticeably larger now, confirming my heading points straight at the target corner. It is still far beyond arm's reach, so I will keep walking forward along the same line.", + "The green pepper sits just left of the sign post on the grass island, and the curb ahead is still several strides away. My heading remains good, so another forward step should continue shrinking the distance.", + "The pepper now fills a good part of the lower view and the curb edge is close, but I am still short of reaching distance. I will step forward again to bring it within arm's reach.", + "The pepper is very close on the grass just past the curb, with the sign post directly beside it. One more forward step should place it right at my feet for a grasp.", + "The green bell pepper is right in front of me at the grass edge by the street sign, filling the lower part of my view. This is within reach, so I will attempt to pick it up now.", + "The green bell pepper is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t0_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4013ef1e5ad957bf7d1ef8ccc69d837d4d11b0c8 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t0_c/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Approach the utility pole beside the house.", + "Type": 0, + "Start_Pose": [ + 1293.293, + -10695.022, + 198.878, + 0.0, + -68.16, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1293.293, + -10695.022, + 198.878, + 0.0, + -68.16, + 0.0 + ], + [ + 1340.115, + -10811.848, + 198.982, + 0.0, + -68.16, + 0.0 + ], + [ + 1340.115, + -10811.848, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1333.177, + -10937.516, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1326.239, + -11063.183, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1319.301, + -11188.851, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1319.301, + -11188.851, + 198.982, + 0.0, + -118.16, + 0.0 + ], + [ + 1259.903, + -11299.812, + 198.982, + 0.0, + -118.16, + 0.0 + ], + [ + 1200.506, + -11410.774, + 198.982, + 0.0, + -118.16, + 0.0 + ], + [ + 1141.109, + -11521.735, + 198.982, + 0.0, + -118.16, + 0.0 + ], + [ + 1081.711, + -11632.697, + 198.982, + 0.0, + -118.16, + 0.0 + ], + [ + 1081.711, + -11632.697, + 198.982, + 0.0, + -143.16, + 0.0 + ], + [ + 980.985, + -11708.16, + 208.36, + 0.0, + -143.16, + 0.0 + ], + [ + 980.985, + -11708.16, + 208.36, + 0.0, + -118.16, + 0.0 + ], + [ + 916.348, + -11785.531, + 208.452, + 0.0, + -118.16, + 0.0 + ], + [ + 856.951, + -11896.492, + 208.452, + 0.0, + -118.16, + 0.0 + ], + [ + 797.554, + -12007.453, + 207.961, + 0.0, + -118.16, + 0.0 + ], + [ + 797.554, + -12007.453, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 790.616, + -12133.121, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 783.678, + -12258.789, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 776.74, + -12384.456, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 769.802, + -12510.124, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 762.864, + -12635.792, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 755.926, + -12761.459, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 748.988, + -12887.127, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 742.05, + -13012.795, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 735.112, + -13138.462, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 728.175, + -13264.13, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 721.237, + -13389.797, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 714.299, + -13515.465, + 207.961, + 0.0, + -93.16, + 0.0 + ], + [ + 707.361, + -13641.133, + 208.43, + 0.0, + -93.16, + 0.0 + ], + [ + 707.361, + -13641.133, + 208.43, + 0.0, + -93.16, + 0.0 + ] + ], + "Rationale": [ + "From this open concrete apron I can see the target utility pole standing well beyond the left end of the gray house, past the picket fence. The pavement ahead of me is clear, so I will step forward to close some of that distance before adjusting my heading.", + "The pole sits noticeably to the left of my current forward direction, while the house siding fills the right side of my view. I will turn left so my heading swings toward that pole and the open ground leading to it.", + "After the turn the utility pole is now in front of me, standing beyond the fence with the house corner off to my right. The paved area ahead is flat and open, so I will walk forward to shorten the gap.", + "The pole is a little larger and the fence and hedge along its side are becoming more distinct, which tells me my heading is carrying me toward it. I will continue forward across the open pavement.", + "I am still some distance from the pole, and the near corner of the house has slid to my right without blocking my path. Another forward step should keep reducing the remaining distance.", + "The house wall and downspout now crowd the right of my view while the pole and the open walkway along the fence lie to my left. I will turn left to face along that clear route beside the fence, keeping the pole near my forward direction.", + "Facing along the fence, the utility pole stands ahead of me just right of my heading, with the wide walkway free of obstacles. I will move forward along this open strip to keep closing on the pole.", + "The fence and hedge now run alongside me and the pole is clearly taller in my view, so this heading is bringing me closer. I will keep walking forward along the walkway toward it.", + "The utility pole beside the house stands ahead of me just right of center, above the picket fence line, and it is still far off. The paved strip in front of me is clear, so I will step forward to keep reducing the gap along the side of the house.", + "The pole has grown taller and is still slightly right of my heading, so my current direction remains useful for closing distance. I will continue forward along the open pavement beside the fence.", + "Directly ahead of me the picket fence and hedge run along the property edge, while the open walkway and curb bend to my left toward the street corner. I will turn left to face along that open route, which should keep the pole off to my right as I keep moving toward it.", + "I am now facing along the curving sidewalk and curb at the corner of the fenced yard, with clear ground in front of me. Stepping forward should carry me past the fence corner and onto the stretch that runs toward the pole.", + "Having come around the corner, my heading now points across the street and the pole has slipped out beyond the right edge of my view. I will turn right to swing my facing back toward the pole's side of the street and the sidewalk leading that way.", + "The utility pole is back in view ahead of me, right of center, with the sidewalk and grass strip running straight in its direction. I will move forward along that lane to close the remaining distance.", + "The pole now rises noticeably larger ahead of me, confirming my heading along the sidewalk is closing the gap. I will take another step forward on the same line.", + "The pole is still well ahead of me beside the grass strip, so I have not yet reached a position next to it. Continuing forward along this clear walkway should bring me closer.", + "The tall utility pole stands ahead of me on the right side of the street, just past the white picket fence beside the house, while my current heading points more along the roadway to the left. I will turn right to bring the pole and the sidewalk running toward it directly in front of me. That should give me a straight line for closing the remaining distance.", + "The utility pole now rises near the center of my view, with the fenced house yard on my right and the paved sidewalk leading straight toward it. With my heading matching that line, I will step forward to begin closing the distance. The walkway ahead looks clear of obstructions.", + "The pole remains straight ahead and its base is still far off, near where the sidewalk meets the cross street. Since my alignment holds, I will keep walking forward rather than adjust my heading. Another step should noticeably shorten the gap.", + "The pole is growing taller in front of me and its crossarm is now well above the rooflines across the street, so I am clearly gaining ground. The sidewalk beside the picket fence continues unobstructed toward it. I will keep advancing on this line.", + "The pole still sits slightly right of my straight ahead direction but close enough to my heading that no turn is needed yet. I will continue forward along the grass and sidewalk strip to reduce the remaining distance. Its base should become clearer as I get nearer.", + "The pole now dominates the upper part of my view and a small street sign is visible near its base, confirming I am approaching the correct fixture at the corner beside the house. Still several paces short of it, I will step forward again. The path stays clear.", + "The wooden pole is clearly closer, its lower trunk now thick and centered just ahead of the curb line beside the fenced house. I am not yet within arm's reach of it, so I will keep moving forward. The remaining distance looks like only a few more steps.", + "The pole trunk now runs from the ground to the top of my view directly ahead, with the street sign on its right, so I am nearly at it. I will advance again to close the last part of the gap before stopping. The grass and sidewalk in front remain clear.", + "The wooden utility pole stands just left of my heading at the grass strip between the sidewalk and the street, still several paces off. My path along the grass and walkway is clear, so I will step forward to keep closing the gap.", + "The pole has grown noticeably taller and the street sign post beside it is now clearly separated, confirming I am gaining ground on the right target. Nothing blocks the strip in front of me, so another forward step should continue shrinking the distance.", + "The pole now rises past the top of my view slightly left of straight ahead, and the house with its porch sits across the road behind it. I am still a few paces short of standing beside it, so I keep walking forward on this heading.", + "The pole's base and the small green street sign are close now, sitting on the grass wedge just ahead of me. I will take another step forward to bring myself right up alongside the pole.", + "The pole's trunk is thick and centered just ahead of me, with the curb and the cross street immediately beyond. A further short step should place me directly at its base rather than a stride away.", + "The pole now dominates the middle of my view and I can see its texture and grain, so I am nearly touching distance from it. One last forward step should settle me right beside the pole with the house across the street in view.", + "The utility pole fills the center of my view at arm's length, with the house visible just across the street. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x001710_y-014768_z000200_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x001710_y-014768_z000200_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e078f85a3c3303d50b45b964f62dab267372bd89 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x001710_y-014768_z000200_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Discover the base of the green directional sign pole situated at the street corner, then reach that spot.", + "Type": 1, + "Start_Pose": [ + 1710.281, + -14768.001, + 199.988, + 0.0, + -141.44, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1710.281, + -14768.001, + 199.988, + 0.0, + -141.44, + 0.0 + ], + [ + 1710.281, + -14768.001, + 200.086, + 0.0, + -166.44, + 0.0 + ], + [ + 1710.281, + -14768.001, + 200.086, + 0.0, + 168.56, + -0.0 + ], + [ + 1710.281, + -14768.001, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1609.03, + -14693.243, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1507.779, + -14618.485, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1406.528, + -14543.728, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1305.277, + -14468.97, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1204.026, + -14394.212, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1204.026, + -14394.212, + 200.086, + 0.0, + 118.56, + -0.0 + ], + [ + 1143.856, + -14283.668, + 200.086, + 0.0, + 118.56, + -0.0 + ], + [ + 1083.685, + -14173.124, + 200.086, + 0.0, + 118.56, + -0.0 + ], + [ + 1023.515, + -14062.58, + 200.086, + 0.0, + 118.56, + -0.0 + ], + [ + 1023.515, + -14062.58, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 922.264, + -13987.822, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 821.013, + -13913.064, + 208.346, + 0.0, + 143.56, + -0.0 + ], + [ + 821.013, + -13913.064, + 208.346, + 0.0, + 118.56, + -0.0 + ], + [ + 821.013, + -13913.064, + 208.346, + 0.0, + 118.56, + -0.0 + ], + [ + 821.013, + -13913.064, + 208.346, + 0.0, + 118.56, + -0.0 + ] + ], + "Rationale": [ + "From here my view is filled by a tall hedge and the porch of a house on the right, with only a paved drive and a strip of sidewalk ahead, so no green directional sign is in sight. The open roadway runs off to my left, which is where a street corner and its signage would most plausibly be, so I will turn left to scan that way.", + "Turning has opened up the street, and I can now see the roadway with houses and white fencing along the far side, but I still do not see any green sign blade. Continuing the scan in the same leftward direction should bring the more distant part of the street and any junction into view.", + "Ahead and to my left I can make out a utility pole beside the white picket fence with what looks like a small green plate near it, which suggests a signed street corner in that direction. I will keep rotating left to place that pole and the junction squarely in front of me before moving.", + "The junction is now centered in my view, with the utility pole rising beside the white fenced corner and a grass verge at its foot. Since the likely sign corner lies straight ahead, I will walk forward along the road to close the distance.", + "The pole and the fenced corner on the left have grown slightly larger and a small green plate is now discernible near the pole, so my heading is taking me toward the right area. The road ahead remains clear, so I will keep advancing.", + "The green sign plate on the pole beside the fenced corner is becoming more distinct as I close in, confirming this is the signed street corner I want. Nothing blocks the road in front of me, so I will continue walking toward it.", + "I can now clearly read a green street sign mounted on the slim pole at the corner where the curb curves and the grass verge begins. I will step forward again to bring myself close to the base of that pole.", + "The green sign and its post are now close on my left, standing on the grass strip at the curve of the corner. I will move forward once more to draw level with the corner before turning in toward the base of the pole.", + "From the middle of the intersection I can now see a small green street sign on a slim pole standing on the grass corner to my left, past the picket fence. My current heading points down the road instead of at that corner, so I will turn left to bring the sign and its pole base into the center of my view. That should give me a straight walking line toward the corner.", + "The green directional sign and its pole are now roughly ahead of me, rising from the grass strip beside the curved curb of the corner. The open asphalt between me and that corner is clear, so I will walk forward to close the distance to the pole base.", + "The sign has grown larger and the grass corner with its rounded curb is clearly laid out ahead of me. I am still several steps short of the pole's footing, so I continue walking forward along the same line.", + "The green sign is close enough that its lettering is starting to read, and the thin pole descends into the grass just beyond the curb ahead of me. Another step forward should put me almost at the pole's base.", + "I am right at the corner now, and the sign pole's footing sits on the grass slightly to the right of my current heading, with the sidewalk and fence filling my left side. I will turn right to line my body up with the pole base rather than drifting toward the fenced yard.", + "With my heading corrected, the green sign and the base of its pole are in front of me on the corner grass, only a short distance away. I will step forward to move onto that corner spot.", + "The sign is now overhead-close and its slim pole runs down into the grass just at my feet level ahead. One more forward step should bring me right onto the spot at the base of the pole.", + "I have reached the corner strip, but the thick wooden utility pole now fills the center of my view and the green sign's own pole has slipped out to my left. I will turn left to bring that sign pole and its footing back into view so I can confirm I am standing at it.", + "I am standing right at the corner grass strip with the slim metal sign pole directly in front of me, close enough that only its bare shaft fills my view. Tilting my gaze upward should bring the green street plate at the top of this pole into sight so I can confirm this is the green directional sign whose base I was told to reach.", + "The green NE 28 ST sign sits directly overhead with its pole base at my feet on the corner. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x002556_y004955_z000298_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x002556_y004955_z000298_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a08649d68ad828afb7e9399027653b5367e181ec --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x002556_y004955_z000298_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Locate the indoor staircase with wooden railings and light-colored steps against the yellow wall, then navigate to its base where the bottom step meets the floor.", + "Type": 1, + "Start_Pose": [ + 2555.769, + 4955.227, + 298.25, + 0.0, + -58.72, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2555.769, + 4955.227, + 298.25, + 0.0, + -58.72, + 0.0 + ], + [ + 2555.769, + 4955.227, + 298.25, + 0.0, + -33.72, + 0.0 + ], + [ + 2555.769, + 4955.227, + 298.25, + 0.0, + -8.72, + 0.0 + ], + [ + 2555.769, + 4955.227, + 298.25, + 0.0, + 16.28, + -0.0 + ], + [ + 2676.582, + 4990.509, + 298.25, + 0.0, + 16.28, + -0.0 + ], + [ + 2676.582, + 4990.509, + 298.25, + 0.0, + 41.28, + -0.0 + ], + [ + 2771.164, + 5073.543, + 298.25, + 0.0, + 41.28, + -0.0 + ], + [ + 2865.746, + 5156.578, + 298.25, + 0.0, + 41.28, + -0.0 + ], + [ + 2865.746, + 5156.578, + 298.25, + 0.0, + 41.28, + -0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a long yellow-green wall with a closed white door, and no staircase anywhere ahead of me. I will turn right to begin a steady scan of the room for wooden railings and light-colored steps.", + "The room has opened up to my right, and at the upper right edge of what I can see there is a hint of pale spindles and dark wood near the ceiling. I will continue turning right in the same direction to bring that promising structure fully into my heading.", + "The staircase is now clearly in sight on my right, with dark wooden railings, white balusters, and light-colored steps rising against the yellow wall. I will turn right once more so the flight and its lower steps sit straight ahead of me before I approach.", + "The staircase is now centered ahead of me, and I can see the lower run and its bottom steps meeting the carpeted floor. The open floor between us is clear, so I will walk forward to close that distance.", + "I am closer now, but the lower flight and the bottom step where it meets the floor sit to the right of my current heading while the empty left wall fills much of my sight. I will turn right to line myself up with the base of the stairs before advancing again.", + "The lower run with its wooden handrail and light treads is now squarely ahead of me, and the floor in front is clear carpet. I will step forward to reach the base where the bottom step meets the floor.", + "The steps and newel posts fill much of what I see, yet the bottom tread is still a short stretch of carpet away from me. I will walk forward once more to stand right at the foot of the staircase.", + "The bottom step and its wooden trim meet the floor directly in front of me, within arm's reach. The task is complete, so I stop here at the staircase base." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x003524_y-011310_z000198_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x003524_y-011310_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1fd930e008dbf6bce4a76a63223e3779735d5782 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x003524_y-011310_z000198_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Discover the staircase attached to the current grey siding building with lattice skirting, then reach the base of those stairs.", + "Type": 1, + "Start_Pose": [ + 3523.575, + -11309.558, + 198.15, + 0, + -101.44, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3523.575, + -11309.558, + 198.15, + 0, + -101.44, + 0 + ], + [ + 3523.575, + -11309.558, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + 3523.575, + -11309.558, + 198.15, + 0.0, + -151.44, + 0.0 + ], + [ + 3413.031, + -11369.728, + 198.937, + 0.0, + -151.44, + 0.0 + ], + [ + 3302.487, + -11429.899, + 198.937, + 0.0, + -151.44, + 0.0 + ], + [ + 3191.943, + -11490.069, + 198.937, + 0.0, + -151.44, + 0.0 + ], + [ + 3191.943, + -11490.069, + 198.937, + 0.0, + -176.44, + 0.0 + ], + [ + 3066.327, + -11497.884, + 198.937, + 0.0, + -176.44, + 0.0 + ], + [ + 2940.71, + -11505.699, + 198.937, + 0.0, + -176.44, + 0.0 + ], + [ + 2815.094, + -11513.514, + 198.937, + 0.0, + -176.44, + 0.0 + ], + [ + 2689.478, + -11521.329, + 198.937, + 0.0, + -176.44, + 0.0 + ], + [ + 2563.862, + -11529.144, + 198.937, + 0.0, + -176.44, + 0.0 + ], + [ + 2563.862, + -11529.144, + 198.937, + 0.0, + -151.44, + 0.0 + ], + [ + 2563.862, + -11529.144, + 198.937, + 0.0, + -151.44, + 0.0 + ] + ], + "Rationale": [ + "I am standing on a paved walkway right beside the grey clapboard wall with its lattice skirting, but this end wall shows only windows and no steps. I will turn left to swing my view along the building's longer side, where an entry staircase is most likely to sit. This keeps my scan in one consistent direction rather than guessing at a hidden side.", + "Now the long side of the same grey siding building with lattice skirting stretches away, and I can pick out a short flight of steps with railings far down that wall to my left. I will turn left again to line the walkway and those steps up in front of me instead of viewing them at a sharp angle. That should give me a clear straight path to follow toward them.", + "The concrete walkway now runs straight ahead between the buildings, with the lattice-skirted grey wall on my right and a set of steps with a handrail partway along it. I will walk forward along this clear pavement to close the distance to those steps. Nothing blocks the path, so a straight advance is the most direct approach.", + "The staircase against the grey siding is still ahead of me and slightly to the left, and it has grown larger as I advance. I will keep walking forward on the pavement to shorten the remaining distance. The route stays unobstructed, so no turn is needed yet.", + "I am close to the wall on my right and the steps sit just ahead near the left edge of my view where the siding recesses. Another forward step should bring me level with that recess before I adjust my heading. The pavement remains clear, so I will continue walking.", + "My heading has drifted so that I am hugging the lattice-skirted wall and the steps have slipped to the very edge of my view. I will turn left to open the walkway corridor in front of me and bring the staircase back into a controllable part of my view. That should let me walk straight toward its base rather than scraping along the siding.", + "The corridor between the two grey buildings is now open ahead of me, and the railed staircase on the lattice-skirted wall to my right is clearly in view. I will walk forward along the pavement to close in on its base. The path between the buildings looks flat and unobstructed.", + "The staircase with its handrail and posts is closer now, still set into the grey siding wall on my right above the lattice skirting. I will keep stepping forward along the pavement to reach the ground level where those steps begin. Once I am beside them I can turn to face the base.", + "The grey siding building on my right shows a railed staircase rising to its door, so the target is clearly identified and no further scanning is needed. The lower steps are still ahead of me along this concrete walkway, so I will keep walking forward to close the remaining gap.", + "The staircase and its handrail now fill much more of my right view, confirming I am closing on it steadily. The bottom step still sits a little ahead of my current position, so another forward step should bring me level with the stair base.", + "I am now right beside the railing, with the stair treads climbing away to my right and the lowest step just short of directly beside me. One more forward step should place me at the foot of the staircase rather than short of it.", + "I am standing level with the bottom of the staircase, but my heading runs parallel to the building so the steps are only at the right margin of my view. Turning right should face me squarely into the stair base, matching the task's requirement to arrive at the foot of those stairs.", + "The lowest tread of the grey building's railed staircase lies directly in front of me, within reach above the lattice skirting. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_a/000.jpg b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_a/000.jpg new file mode 100644 index 0000000000000000000000000000000000000000..dab9a152369be81a972775e8fb5df179e1464435 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_a/000.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5b046d0b03e8b76cbc1a1c6832751d115eef91ab608d77ca6f39c2c5b1d29c45 +size 136501 diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_a/001.jpg b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..208a12641f19fd16c5fd32236aea48632d01b95f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_a/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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My heading already lines up with it, so I will walk straight forward to close that distance.", + "The candelabra now appears noticeably larger and lower in my view, but its base is still a few paces off. I will step forward again to bring it close enough to reach for.", + "The candelabra is directly in front of me at the edge of the path, its candle arms filling the lower part of my view. This is close enough to reach it, so I will try to grasp and lift it.", + "The candelabra is now held in my hands rather than resting on the path. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ultimateFarming/task_x-000080_y000748_z000175_t5_a_pd/infos.json b/dataset/trajectory/ultimateFarming/task_x-000080_y000748_z000175_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cef4d72732dfdcd3b14e5dcec8d5a27fe6946849 --- /dev/null +++ b/dataset/trajectory/ultimateFarming/task_x-000080_y000748_z000175_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the plate, then place it on the ground in front of the closed wooden door of the building.", + "Type": 5, + "Start_Pose": [ + -79.659, + 747.699, + 175.345, + 0, + -80, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 19.299, + 335.349, + 128.908, + 90, + -90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -79.659, + 747.699, + 175.345, + 0, + -80, + 0 + ], + [ + -57.804, + 623.752, + 172.275, + 0.0, + -80.0, + 0.0 + ], + [ + -35.949, + 499.805, + 170.372, + 0.0, + -80.0, + 0.0 + ], + [ + -35.949, + 499.805, + 170.372, + 0.0, + -80.0, + 0.0 + ], + [ + -14.094, + 375.858, + 171.333, + 0.0, + -80.0, + 0.0 + ], + [ + -14.094, + 375.858, + 171.333, + 0.0, + -105.0, + 0.0 + ], + [ + -46.67, + 254.288, + 186.651, + 0.0, + -105.0, + 0.0 + ], + [ + -46.67, + 254.288, + 186.651, + 0.0, + -130.0, + 0.0 + ], + [ + -127.571, + 157.875, + 197.946, + 0.0, + -130.0, + 0.0 + ], + [ + -208.472, + 61.462, + 261.777, + 0.0, + -130.0, + 0.0 + ], + [ + -208.472, + 61.462, + 261.777, + 0.0, + -155.0, + 0.0 + ], + [ + -315.223, + 49.649, + 224.028, + 0.0, + -155.0, + 0.0 + ], + [ + -315.223, + 49.649, + 224.028, + 0.0, + -130.0, + 0.0 + ], + [ + -315.223, + 49.649, + 224.028, + 0.0, + -105.0, + 0.0 + ], + [ + -296.587, + 119.195, + 196.788, + 0.0, + -105.0, + 0.0 + ], + [ + -296.587, + 119.195, + 196.788, + 0.0, + -105.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 19.299, + 335.349, + 128.908, + 90.0, + -90.0, + 0.0 + ], + [ + 19.299, + 335.349, + 128.908, + 90.0, + -90.0, + 0.0 + ], + [ + 19.299, + 335.349, + 128.908, + 90.0, + -90.0, + 0.0 + ], + [ + -15.025, + 504.114, + 139.343, + -28.202, + -29.856, + 1.862 + ], + [ + 6.879, + 379.914, + 139.853, + -28.195, + -29.853, + 1.862 + ], + [ + 5.663, + 371.387, + 140.924, + -28.193, + -54.852, + 1.872 + ], + [ + -25.793, + 249.701, + 153.419, + -28.198, + -54.85, + 1.868 + ], + [ + -30.643, + 241.209, + 152.518, + -28.208, + -79.859, + 1.852 + ], + [ + -110.755, + 144.683, + 168.359, + -28.189, + -79.842, + 1.867 + ], + [ + -191.488, + 48.488, + 197.013, + -28.207, + -79.866, + 1.857 + ], + [ + -199.543, + 42.701, + 195.956, + -28.202, + -104.859, + 1.859 + ], + [ + -305.728, + 30.522, + 174.09, + -28.212, + -104.868, + 1.854 + ], + [ + -297.82, + 35.714, + 174.495, + -28.192, + -79.849, + 1.868 + ], + [ + -293.04, + 43.702, + 174.418, + -28.192, + -54.844, + 1.863 + ], + [ + -314.704, + 51.58, + 166.788, + 90.0, + -105.0, + 0.0 + ], + [ + -314.704, + 51.58, + 166.788, + 90.0, + -105.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 424.1, + 298.5, + 173.5, + 21.4, + 21.4, + 20.3, + 21.4, + 20.7, + 21.4, + 21.4, + 20.8, + 21.4, + 22.3, + 23.0, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate is resting ahead of me along the gravel path, still well out of reach beyond the vegetable crates. I will walk straight forward to close that gap before any grasp is possible.", + "The plate now looms noticeably larger and stays centered in my path, so my heading is right but I am still short of grasping range. I will step forward again to bring it within arm's reach.", + "The plate now fills much of my view directly in front of me, close enough that stepping further would only push past it. I will attempt to pick it up so I can carry it toward the building's closed wooden door.", + "The grasp worked and the plate is now held with me instead of sitting on the gravel. The stone building with its dark wooden doors lies off to my left along this path, so I will walk forward to carry the plate closer to it.", + "Straight ahead the path runs off into the open fields, while the stone building I need is set back on my left. I will turn left to bring its facade and doorway into the front of my view.", + "The building's dark wooden door and the greenhouse arch are now in view ahead on my left, but I am still out on the open gravel yard. Carrying the plate, I will step forward to shorten the distance to that entrance.", + "From here I am facing along the side wall with the barrel and crates, and the closed wooden door sits at the left edge of my view. I will turn left again to square up on that doorway before continuing.", + "The closed wooden door and the stone steps below it are now clearly ahead of me, with the crates set off to the side rather than blocking my line. Still holding the plate, I will walk forward toward the foot of that door.", + "Still carrying the plate, I am now alongside the stone facade with the closed wooden door and its low step just ahead on my left. I walk forward again to draw level with the doorway before positioning the plate.", + "I am very close to the wall now, with the rough stone filling my right side and only the door jamb and its dark panel showing at the left edge. I turn left to swing the closed wooden door back into the center of my view instead of the blank masonry.", + "The tall wooden door panel now stands to my right with the paved step and open yard ahead. I step forward along the frontage so that I end up standing directly before the door rather than at its outer edge.", + "The closed door fills the right half of my view while the flowerbeds and yard sit to my left, so my heading is still parallel to the facade. I turn right to face the door panel and set up a clean placement spot in front of it.", + "The door surface now covers most of my view, but the jamb still sits at the far left, so I am not yet squared onto the panel. I turn right once more to center the closed door before releasing the plate.", + "The closed wooden door now fills my view directly ahead, so I am standing right at its threshold with the plate still in hand. I release the plate here so it should come to rest on the ground in front of the door as the task requires.", + "The plate is resting on the ground directly in front of the closed wooden door. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/ultimateFarming/task_x-000080_y000748_z000175_t5_b_p/infos.json b/dataset/trajectory/ultimateFarming/task_x-000080_y000748_z000175_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88c5291776809a29426ab2edb05408327b85260f --- /dev/null +++ b/dataset/trajectory/ultimateFarming/task_x-000080_y000748_z000175_t5_b_p/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Pick up the ceramic vase.", + "Type": 5, + "Start_Pose": [ + -79.659, + 747.699, + 175.345, + 0, + -80, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3.591, + 330.219, + 102.367, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -79.659, + 747.699, + 175.345, + 0, + -80, + 0 + ], + [ + -57.804, + 623.752, + 172.275, + 0.0, + -80.0, + 0.0 + ], + [ + -35.949, + 499.805, + 170.372, + 0.0, + -80.0, + 0.0 + ], + [ + -35.949, + 499.805, + 170.372, + 0.0, + -80.0, + 0.0 + ], + [ + -35.949, + 499.805, + 170.372, + 0.0, + -80.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3.591, + 330.219, + 102.367, + 0.0, + 0.0, + 0.0 + ], + [ + -3.591, + 330.219, + 102.367, + 0.0, + 0.0, + 0.0 + ], + [ + -3.591, + 330.219, + 102.367, + 0.0, + 0.0, + 0.0 + ], + [ + -15.025, + 504.114, + 139.343, + -28.202, + -29.856, + 1.862 + ], + [ + -15.025, + 504.114, + 139.343, + -28.202, + -29.856, + 1.862 + ] + ], + "PD_Dist_2D": [ + 424.4, + 298.5, + 172.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The tall white ceramic vase with floral motifs stands ahead on the gravel path, roughly centered in my view but still several paces away. It is far too distant to reach, so I will walk straight forward along the path to close that gap.", + "The vase now looms larger and remains squarely ahead on my path, so my heading is still correct. It is nonetheless outside grasping range, and I will step forward again to bring it close enough to reach.", + "The ceramic vase now fills much of the view directly in front of me, close enough that its painted flowers are clearly detailed. This is grasping range, so I will attempt the pick and expect the vase to come into my hands.", + "The ceramic vase is now held in my hands rather than standing on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ultimateFarming/task_x-000080_y000748_z000175_t5_b_pd/infos.json b/dataset/trajectory/ultimateFarming/task_x-000080_y000748_z000175_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c94b9e6c783cf76072347ab6d067f5dda8ff018 --- /dev/null +++ b/dataset/trajectory/ultimateFarming/task_x-000080_y000748_z000175_t5_b_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it on the wooden barrel next to the cabin.", + "Type": 5, + "Start_Pose": [ + -79.659, + 747.699, + 175.345, + 0, + -80, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -12.866, + 368.895, + 115.52, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -79.659, + 747.699, + 175.345, + 0, + -80, + 0 + ], + [ + -57.804, + 623.752, + 172.275, + 0.0, + -80.0, + 0.0 + ], + [ + -57.804, + 623.752, + 172.275, + 0.0, + -80.0, + 0.0 + ], + [ + -35.949, + 499.805, + 170.372, + 0.0, + -80.0, + 0.0 + ], + [ + -35.949, + 499.805, + 170.372, + 0.0, + -80.0, + 0.0 + ], + [ + -14.094, + 375.858, + 171.333, + 0.0, + -80.0, + 0.0 + ], + [ + 7.76, + 251.911, + 176.467, + 0.0, + -80.0, + 0.0 + ], + [ + 29.614, + 127.964, + 191.772, + 0.0, + -80.0, + 0.0 + ], + [ + 29.614, + 127.964, + 191.772, + 0.0, + -105.0, + 0.0 + ], + [ + 32.579, + 31.889, + 191.698, + 0.0, + -105.0, + 0.0 + ], + [ + 32.579, + 31.889, + 191.698, + 0.0, + -130.0, + 0.0 + ], + [ + 32.579, + 31.889, + 191.698, + 0.0, + -155.0, + 0.0 + ], + [ + 56.376, + 79.423, + 190.206, + 0.0, + -155.0, + 0.0 + ], + [ + 56.376, + 79.423, + 190.206, + 0.0, + -155.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -12.866, + 368.895, + 115.52, + 0.0, + 0.0, + 0.0 + ], + [ + -12.866, + 368.895, + 115.52, + 0.0, + 0.0, + 0.0 + ], + [ + -12.866, + 368.895, + 115.52, + 0.0, + 0.0, + 0.0 + ], + [ + -12.866, + 368.895, + 115.52, + 0.0, + 0.0, + 0.0 + ], + [ + -15.025, + 504.114, + 139.343, + -28.202, + -29.856, + 1.862 + ], + [ + 6.879, + 379.914, + 139.853, + -28.195, + -29.853, + 1.862 + ], + [ + 28.732, + 255.924, + 145.648, + -28.209, + -29.862, + 1.855 + ], + [ + 50.55, + 132.173, + 157.509, + -28.211, + -29.867, + 1.854 + ], + [ + 49.472, + 123.187, + 157.951, + -28.196, + -54.853, + 1.865 + ], + [ + 53.287, + 26.687, + 155.957, + -28.212, + -54.867, + 1.852 + ], + [ + 48.547, + 19.409, + 157.011, + -28.185, + -79.841, + 1.879 + ], + [ + 40.938, + 13.616, + 156.208, + -28.208, + -104.864, + 1.854 + ], + [ + -7.066, + 49.84, + 180.206, + 0.0, + -155.0, + 0.0 + ], + [ + -7.066, + 49.84, + 180.206, + 0.0, + -155.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 384.6, + 258.8, + 258.8, + 132.9, + 21.4, + 21.4, + 21.4, + 21.4, + 20.4, + 21.4, + 20.3, + 20.1, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits on the gravel path ahead of me, still far from arm's reach. I will walk straight forward along the track to close that gap before any grasp is worth attempting.", + "The pepper now fills more of my view straight ahead on the path, so it may already be within grabbing range. I will try to pick it up rather than spend another step walking closer.", + "My hands are empty, so that grasp attempt did not take hold. The pepper was likely still too far away. I will step forward once more to bring it properly within reach.", + "The pepper is now close in front of me, large in the lower part of my view where the earlier attempt was made from too far back. From this shorter range I will try the grasp again.", + "The green pepper is now held in my hands and no longer resting on the path, so the grasp took hold. The wooden barrel beside the cabin lies further up the track, so I will walk forward to carry the pepper toward it.", + "The green pepper is secured in my hands, so the remaining job is carrying it to the wooden barrel by the cabin. The stone cabin wall runs along my left with barrels and crates beside it, and the gravel path ahead is open. I will walk forward to close that distance.", + "I am still carrying the pepper and the cabin's barrel now sits close on my left, with the path continuing straight beside the stone wall. I am not yet positioned where I could set the pepper down on the barrel top. Another forward step should bring me level with that side of the cabin.", + "The barrel beside the cabin has slid to the very edge of my left view, so walking straight is now carrying me past it rather than toward it. The pepper is still in hand and needs a surface, not more path. I will turn left to bring the cabin's barrel back in front of me.", + "After turning, the barrel and the bench under the cabin wall are back in my forward-left view, but the barrel is still a bit off to the side and not within reach. I am carrying the pepper and need to be beside that barrel to place it. I will step forward to close the gap.", + "That step carried me alongside the cabin, and the barrel has dropped out of view behind the bench on my left while only open path lies ahead. I still hold the pepper and cannot place it without seeing the barrel top. I will turn left to swing the barrel back into my view.", + "The wooden barrel beside the cabin wall is only clipped at the left edge of my view, so I am not squared up on the drop target while carrying the pepper. I will turn left again to bring the barrel top into the center of my view for a clean release.", + "The wooden barrel beside the cabin now fills the center of my view at close range, with its open top just ahead of me. Since I am still carrying the green bell pepper and standing right at the barrel, I will drop it here so it should land on the barrel.", + "The green bell pepper is resting on the wooden barrel beside the cabin and no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_a_p/infos.json b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e53ba0b82b77a07e3f3a701de2d0750d8ca0c576 --- /dev/null +++ b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the ceramic pot.", + "Type": 5, + "Start_Pose": [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 108.044, + -737.405, + 108.417, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + [ + 339.935, + -988.178, + 179.652, + 0.0, + 160.0, + -0.0 + ], + [ + 339.935, + -988.178, + 179.652, + 0.0, + 135.0, + -0.0 + ], + [ + 250.939, + -899.182, + 184.275, + 0.0, + 135.0, + -0.0 + ], + [ + 161.944, + -810.186, + 192.952, + 0.0, + 135.0, + -0.0 + ], + [ + 161.944, + -810.186, + 192.952, + 0.0, + 135.0, + -0.0 + ], + [ + 161.944, + -810.186, + 192.952, + 0.0, + 135.0, + -0.0 + ], + [ + 161.944, + -810.186, + 192.952, + 0.0, + 135.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 108.044, + -737.405, + 108.417, + 0.0, + 0.0, + 0.0 + ], + [ + 108.044, + -737.405, + 108.417, + 0.0, + 0.0, + 0.0 + ], + [ + 108.044, + -737.405, + 108.417, + 0.0, + 0.0, + 0.0 + ], + [ + 108.044, + -737.405, + 108.417, + 0.0, + 0.0, + 0.0 + ], + [ + 108.044, + -737.405, + 108.417, + 0.0, + 0.0, + 0.0 + ], + [ + 108.044, + -737.405, + 108.417, + 0.0, + 0.0, + 0.0 + ], + [ + 147.276, + -825.717, + 162.379, + -28.202, + -174.856, + 1.862 + ], + [ + 147.276, + -825.717, + 162.379, + -28.202, + -174.856, + 1.862 + ] + ], + "PD_Dist_2D": [ + 457.1, + 341.6, + 341.6, + 215.8, + 90.6, + 90.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The dark ceramic pot sits on the gravel near the stone barn wall, still far ahead of me and partly screened by the lavender in the foreground. I will walk forward to close that distance and get a clearer, unobstructed line to it.", + "After stepping closer, the pot now sits well to the left of my heading, while my view is centered on the barn wall and crates. I will turn left to bring the pot toward the middle of my path before advancing again.", + "The pot is now roughly ahead of me on the open gravel with nothing blocking the way. I will step forward along this heading to shorten the remaining distance toward it.", + "The pot has grown much larger in front of me but is still a step or two beyond comfortable reach. I will walk forward once more to bring it close enough to grasp.", + "I am now standing right beside the pot, but my gaze is aimed at the barn wall and the pot has dropped out of the bottom of my view. I will look down so the pot is framed in front of me for a grasp.", + "With my gaze lowered, the ceramic pot sits directly in front of me on the gravel, well within reach and clearly separated from the crates and barrels. I will attempt to pick it up now.", + "The ceramic pot is now held in my hands rather than resting on the gravel. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_a_pd/infos.json b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ce910e1c9811e08c8823a5cc4eb45af69d91e3 --- /dev/null +++ b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_a_pd/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the jerry can, then place it next to the wooden ladder on the left side.", + "Type": 5, + "Start_Pose": [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 105.886, + -931.224, + 115.401, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + [ + 339.935, + -988.178, + 179.652, + 0.0, + 160.0, + -0.0 + ], + [ + 221.666, + -945.131, + 184.644, + 0.0, + 160.0, + -0.0 + ], + [ + 221.666, + -945.131, + 184.644, + 0.0, + 160.0, + -0.0 + ], + [ + 221.666, + -945.131, + 184.644, + 0.0, + 135.0, + -0.0 + ], + [ + 132.671, + -856.135, + 193.1, + 0.0, + 135.0, + -0.0 + ], + [ + 43.675, + -767.139, + 197.956, + 0.0, + 135.0, + -0.0 + ], + [ + -15.758, + -676.21, + 198.101, + 0.0, + 135.0, + -0.0 + ], + [ + 35.154, + -727.122, + 198.077, + 0.0, + 135.0, + -0.0 + ], + [ + 35.154, + -727.122, + 198.077, + 0.0, + 135.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 105.886, + -931.224, + 115.401, + 0.0, + 0.0, + 0.0 + ], + [ + 105.886, + -931.224, + 115.401, + 0.0, + 0.0, + 0.0 + ], + [ + 105.886, + -931.224, + 115.401, + 0.0, + 0.0, + 0.0 + ], + [ + 214.936, + -965.406, + 154.196, + -28.202, + -149.856, + 1.862 + ], + [ + 207.675, + -959.993, + 154.468, + -28.189, + -174.843, + 1.872 + ], + [ + 118.289, + -871.955, + 163.127, + -28.193, + -174.852, + 1.872 + ], + [ + 29.265, + -782.926, + 168.538, + -28.198, + -174.85, + 1.868 + ], + [ + -30.516, + -691.659, + 168.051, + -28.189, + -174.848, + 1.87 + ], + [ + -14.343, + -677.625, + 148.077, + 0.0, + 135.0, + -0.0 + ], + [ + -14.343, + -677.625, + 148.077, + 0.0, + 135.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 366.2, + 240.9, + 116.6, + 21.4, + 20.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red jerry can sits ahead of me on the gravel in front of the stone greenhouse wall, still too far to grasp. I will walk forward to close that gap before attempting any pickup.", + "The jerry can is noticeably larger and lower in my view now, so my heading toward it is good but the distance is still beyond arm's reach. I will take another step forward to bring it close enough to handle.", + "The jerry can now fills the lower part of my view with its open spout visible, meaning I am standing right at it. I will attempt to grasp it so I can carry it toward the wooden ladder on the left.", + "The grasp worked and the jerry can is in my hands rather than resting on the gravel. The wooden ladder leaning against the stone wall lies off to my left, so I will turn left to face that side before carrying the can over.", + "I am now facing along the stone wall with the wooden ladder visible ahead beside the crates and barrels. Carrying the can, I will walk forward to shorten the distance to that ladder.", + "The ladder rungs are much larger now but still a few paces off, so I have not reached a spot beside it. I will continue walking forward along the wall with the can.", + "The ladder now stands close along the wall just ahead of me, with barrels and crates crowding the ground beside it. One more step forward should put me right next to the ladder base where the can can be set down.", + "I am standing right at the foot of the wooden ladder, with its rails rising beside me on the right of my view and the wall alongside. This is the intended spot, so I will release the jerry can here next to the ladder.", + "The jerry can now rests on the ground beside the wooden ladder against the stone wall, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_b_p/infos.json b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..22b244c6129bd6e0a9e118c6d4d8cb15934a04a0 --- /dev/null +++ b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_b_p/infos.json @@ -0,0 +1,107 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 146.491, + -917.77, + 154.597, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + [ + 339.935, + -988.178, + 179.652, + 0.0, + 160.0, + -0.0 + ], + [ + 339.935, + -988.178, + 179.652, + 0.0, + 160.0, + -0.0 + ], + [ + 339.935, + -988.178, + 179.652, + 0.0, + 160.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 146.491, + -917.77, + 154.597, + 0.0, + 0.0, + 0.0 + ], + [ + 146.491, + -917.77, + 154.597, + 0.0, + 0.0, + 0.0 + ], + [ + 333.205, + -1008.453, + 149.705, + -28.202, + -149.855, + 1.862 + ], + [ + 333.205, + -1008.453, + 149.705, + -28.202, + -149.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 331.7, + 205.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits ahead of me on the gravel by the lavender bed, already centered in my view but still too far to reach. My heading is good, so no turn is needed and I will simply walk straight toward it to close the gap for a grasp.", + "The tomato now fills the lower part of my view just in front of me, large and unobstructed at the edge of the flower bed. My hands are empty and nothing stands between us, so I will attempt to grasp it now.", + "The tomato is now held in my hands rather than resting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_b_pd/infos.json b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..87c39eb00eca75c5480163e3e62cd3ea167818aa --- /dev/null +++ b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_b_pd/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it on the orange wooden crate in front of the stone building.", + "Type": 5, + "Start_Pose": [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -34.479, + -932.496, + 124.028, + 3.507, + -42.015, + -62.563 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + [ + 339.935, + -988.178, + 179.652, + 0.0, + 160.0, + -0.0 + ], + [ + 339.935, + -988.178, + 179.652, + 0.0, + -175.0, + 0.0 + ], + [ + 214.555, + -999.147, + 183.421, + 0.0, + -175.0, + 0.0 + ], + [ + 89.175, + -1010.116, + 192.304, + 0.0, + -175.0, + 0.0 + ], + [ + 89.175, + -1010.116, + 192.304, + 0.0, + -175.0, + 0.0 + ], + [ + 89.175, + -1010.116, + 192.304, + 0.0, + -175.0, + 0.0 + ], + [ + 89.175, + -1010.116, + 192.304, + 0.0, + 160.0, + -0.0 + ], + [ + 89.175, + -1010.116, + 192.304, + 0.0, + 135.0, + -0.0 + ], + [ + 15.12, + -921.569, + 197.293, + 0.0, + 135.0, + -0.0 + ], + [ + 66.032, + -972.481, + 194.248, + 0.0, + 135.0, + -0.0 + ], + [ + 66.032, + -972.481, + 194.248, + 0.0, + 135.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -34.479, + -932.496, + 124.028, + 3.507, + -42.015, + -62.563 + ], + [ + -34.479, + -932.496, + 124.028, + 3.507, + -42.015, + -62.563 + ], + [ + -34.479, + -932.496, + 124.028, + 3.507, + -42.015, + -62.563 + ], + [ + -34.479, + -932.496, + 124.028, + 3.507, + -42.015, + -62.563 + ], + [ + -34.479, + -932.496, + 124.028, + 3.507, + -42.015, + -62.563 + ], + [ + -34.479, + -932.496, + 124.028, + 3.507, + -42.015, + -62.563 + ], + [ + 91.644, + -1031.336, + 161.847, + -28.202, + -124.856, + 1.862 + ], + [ + 82.775, + -1029.498, + 162.12, + -28.189, + -149.844, + 1.872 + ], + [ + 74.799, + -1024.271, + 161.453, + -28.215, + -174.873, + 1.849 + ], + [ + 0.275, + -936.924, + 166.28, + -28.206, + -174.86, + 1.853 + ], + [ + 16.535, + -922.984, + 184.248, + 0.0, + 135.0, + -0.0 + ], + [ + 16.535, + -922.984, + 184.248, + 0.0, + 135.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 502.5, + 378.5, + 378.5, + 257.8, + 146.0, + 146.0, + 21.4, + 20.4, + 20.2, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper is visible on the gravel ahead, sitting near the wooden crates lined along the stone building. It is still far off, so I will walk forward to close the gap before any grasp is possible.", + "After advancing, the pepper sits left of center but my heading drifts along the wall rather than straight at it, and tall flowers crowd the lower right of my view. A small turn to the right should square my path with the open gravel lane leading toward the pepper and crates.", + "With my heading now set down the gravel strip, the green pepper and the crate row are clearly framed ahead. I will step forward to shorten the remaining distance toward the pepper.", + "The pepper now appears large and low on the left, resting beside a crate at the base of the stone wall, but it is still beyond comfortable reach. Another step forward should bring it close enough in front of me to attempt a grasp.", + "I am standing right at the crates against the stone wall, and my view is filled with the wall and crate tops while the pepper has dropped out of sight below. I will look down so the ground directly in front of my feet, where the pepper should be, comes back into view for the grasp.", + "Lowering my gaze brings the green pepper back into view at close range on the ground beside the left crate. It is within reach now, so I will attempt to pick it up.", + "The pepper is no longer on the gravel where it lay and is now held in my hands, so the grasp succeeded. Carrying it, I need the orange topped wooden crate against the stone building back in view, and it lies off to my left, so I will turn left.", + "Facing the stone wall I can see crates in a row, with the orange lidded one only partly at the left edge of my view. A second turn to the left should center that orange crate so I can walk in and set the pepper down on it.", + "The green pepper is secured in my hands, so now I only need to bring it to the orange wooden crate standing against the stone building. That crate with its orange panel sits ahead along the row on my left, still a few paces away. I will walk forward to close that gap and get within placing range.", + "The orange crate is now right beside me at the lower left, its lid within easy reach against the stone wall of the building. I am still carrying the pepper, and no closer approach seems needed. I will release it here so it should come to rest on the crate.", + "The green bell pepper is resting on the orange wooden crate beside the stone building. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_c_pd/infos.json b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..69d7f2c8149f8db2ab66dd3e2aff2a0147119fb9 --- /dev/null +++ b/dataset/trajectory/ultimateFarming/task_x000458_y-001031_z000179_t5_c_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the trash bag, then place it beside the wooden bucket near the stone wall of the greenhouse.", + "Type": 5, + "Start_Pose": [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 93.166, + -923.839, + 100.267, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 458.204, + -1031.224, + 179.393, + 0, + 160, + 0 + ], + [ + 339.935, + -988.178, + 179.652, + 0.0, + 160.0, + -0.0 + ], + [ + 221.666, + -945.131, + 184.644, + 0.0, + 160.0, + -0.0 + ], + [ + 221.666, + -945.131, + 184.644, + 0.0, + 160.0, + -0.0 + ], + [ + 221.666, + -945.131, + 184.644, + 0.0, + 135.0, + -0.0 + ], + [ + 132.671, + -856.135, + 193.1, + 0.0, + 135.0, + -0.0 + ], + [ + 132.671, + -856.135, + 193.1, + 0.0, + 110.0, + -0.0 + ], + [ + 89.625, + -737.866, + 197.64, + 0.0, + 110.0, + -0.0 + ], + [ + 46.579, + -619.598, + 197.318, + 0.0, + 110.0, + -0.0 + ], + [ + 5.298, + -502.384, + 198.005, + 0.0, + 110.0, + -0.0 + ], + [ + 5.298, + -502.384, + 198.005, + 0.0, + 135.0, + -0.0 + ], + [ + 5.298, + -502.384, + 198.005, + 0.0, + 160.0, + -0.0 + ], + [ + 72.956, + -527.01, + 195.89, + 0.0, + 160.0, + -0.0 + ], + [ + 72.956, + -527.01, + 195.89, + 0.0, + 160.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 93.166, + -923.839, + 100.267, + 0.0, + 0.0, + 0.0 + ], + [ + 93.166, + -923.839, + 100.267, + 0.0, + 0.0, + 0.0 + ], + [ + 93.166, + -923.839, + 100.267, + 0.0, + 0.0, + 0.0 + ], + [ + 214.936, + -965.406, + 154.196, + -28.202, + -149.856, + 1.862 + ], + [ + 207.675, + -959.993, + 154.468, + -28.189, + -174.843, + 1.872 + ], + [ + 118.289, + -871.955, + 163.127, + -28.193, + -174.852, + 1.872 + ], + [ + 113.188, + -863.382, + 161.963, + -28.202, + 160.141, + 1.858 + ], + [ + 69.711, + -745.587, + 167.022, + -28.208, + 160.142, + 1.852 + ], + [ + 26.746, + -627.565, + 167.379, + -28.189, + 160.158, + 1.867 + ], + [ + -14.417, + -510.649, + 168.179, + -28.195, + 160.147, + 1.873 + ], + [ + -10.105, + -517.994, + 167.012, + -28.199, + -174.855, + 1.859 + ], + [ + -2.587, + -524.466, + 168.197, + -28.193, + -149.854, + 1.868 + ], + [ + 7.178, + -503.069, + 155.89, + 0.0, + 160.0, + -0.0 + ], + [ + 7.178, + -503.069, + 155.89, + 0.0, + 160.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 380.5, + 255.0, + 130.3, + 21.4, + 20.4, + 21.4, + 20.8, + 21.4, + 21.4, + 21.4, + 21.9, + 23.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The dark trash bag sits ahead of me on the gravel in front of the greenhouse stone wall, still well out of reach. I will walk forward along the open ground to close that gap before attempting any grasp.", + "The bag now looks noticeably larger and lower in my view, so my heading toward it is good but I am still a step or two short of grasping range. I will keep walking straight to bring it directly in front of me.", + "The trash bag is right at my feet at the bottom of my view, close enough that its top knot fills the near foreground. I will attempt to pick it up now so I can carry it toward the wooden bucket by the stone wall.", + "The bag is now in my hands rather than resting on the gravel, so the grasp worked. The wooden bucket and crates against the stone wall lie off to my left along the building, so I will turn left to face that direction before setting out.", + "With the bag in hand, I now face along the greenhouse wall where barrels, crates and a wooden bucket stand in a row. I will walk forward along this open gravel strip to close on that drop area.", + "My heading is angled too far into the stone wall, with the crates crowding the right side of my view and the passage running off to the left. I will turn left to line up with that open lane so I can continue carrying the bag along the building.", + "The gravel lane between the vegetable beds and the greenhouse wall is now open straight ahead, with the barrel and wooden containers a little farther along on my right. I will walk forward down this lane while carrying the bag.", + "The barrel and the wooden containers by the stone wall are closer on my right but not yet beside me. I will take another step forward to draw level with that spot before turning to place the bag.", + "The trash bag is in my hands, so I only need to carry it along this gravel lane beside the greenhouse stone wall. The wooden bucket with the watering can sits just off my right shoulder, still slightly behind my line of travel. I will step forward once more to reach a position level with it before turning.", + "Walking forward has carried me level with the storage clutter, and the stone wall now runs along my right with only wooden crates visible at the edge of my view. The wooden bucket I need is off to my right, out of the center of my sight. Turning right should swing it back into view for placement.", + "The wooden bucket has come into the right portion of my view against the greenhouse stone wall, but it is still offset and partly cut off at the frame edge. A second turn to the right should bring it squarely in front of me so the ground beside it is reachable. I will rotate again before releasing the bag.", + "The wooden bucket now fills the center of my view directly against the greenhouse stone wall, and I am standing right at its side with the bag still in hand. This is the spot the task specifies for the trash bag. I will release it here so it comes to rest beside the bucket.", + "The trash bag now rests on the ground beside the wooden bucket against the greenhouse stone wall, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/western_Garden/task_x-000293_y-005296_z-006693_t5_a_p/infos.json b/dataset/trajectory/western_Garden/task_x-000293_y-005296_z-006693_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa3d29578362a7fe525d2b3240e43ce665d47ccd --- /dev/null +++ b/dataset/trajectory/western_Garden/task_x-000293_y-005296_z-006693_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + -293.461, + -5295.959, + -6692.926, + 0, + 40, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -293.461, + -5295.959, + -6692.926, + 0, + 40, + 0 + ], + [ + -195.104, + -5216.992, + -6692.785, + 0.0, + 40.0, + -0.0 + ], + [ + -195.104, + -5216.992, + -6692.785, + 0.0, + 65.0, + -0.0 + ], + [ + -141.914, + -5102.925, + -6692.534, + 0.0, + 65.0, + -0.0 + ], + [ + -88.723, + -4988.858, + -6692.284, + 0.0, + 65.0, + -0.0 + ], + [ + -35.533, + -4874.791, + -6691.779, + 0.0, + 65.0, + -0.0 + ], + [ + -35.533, + -4874.791, + -6691.779, + 0.0, + 65.0, + -0.0 + ], + [ + -35.533, + -4874.791, + -6691.779, + 0.0, + 90.0, + -0.0 + ], + [ + -35.533, + -4748.932, + -6691.524, + 0.0, + 90.0, + -0.0 + ], + [ + -35.533, + -4748.932, + -6691.524, + 0.0, + 90.0, + -0.0 + ], + [ + -35.533, + -4748.932, + -6691.524, + 0.0, + 90.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + [ + -56.122, + -4612.028, + -6755.353, + -60.944, + 155.403, + 71.24 + ], + [ + -56.887, + -4749.543, + -6721.351, + -28.202, + 140.145, + 1.862 + ], + [ + -56.887, + -4749.543, + -6721.351, + -28.202, + 140.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 725.1, + 620.7, + 620.7, + 498.3, + 378.2, + 263.6, + 263.6, + 263.6, + 138.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits on the cobblestones well ahead of me, near the foot of the stone staircase on the right side of the courtyard. It is far too distant to reach, so I will walk forward across the open pavement to close that gap.", + "After advancing, the tomato has drifted toward the right edge of my view, so continuing straight would carry me past it toward the archway. I will turn right to bring the tomato closer to the center of my heading before moving on.", + "The tomato now sits roughly ahead of me on the open pavement below the staircase, so my heading is usable. I will step forward over the clear cobbles to shorten the remaining distance.", + "The tomato has grown noticeably larger and stays slightly right of center, confirming my heading still leads to it. It remains out of arm's reach, so I will keep walking forward across the open paving.", + "The tomato is now close in front of me, low on the pavement and just right of center, with nothing between us. It still looks too far for my hands, so I will advance another step to bring it within grasping range.", + "The tomato now fills a good part of the view just ahead and slightly to my right, close enough that a grasp seems worth trying. I will reach for it and attempt to pick it up rather than spend another step walking.", + "My hands are still empty and the tomato was not taken, so that reach did not close on it. In the view before the attempt it sat off to my right rather than straight ahead, so I will turn right to bring it into the center of my heading.", + "The tomato now sits centered ahead of me on the cobbles below the staircase, with clear open pavement between us. My previous reach fell short of taking it, so I will step forward to stand right over it before trying again.", + "The tomato now looms directly in front of me at the bottom of my view, far closer than when my earlier reach came up empty. From this range it should be within arm's reach, so I will try to pick it up.", + "The tomato is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/western_Garden/task_x-000293_y-005296_z-006693_t5_a_pd/infos.json b/dataset/trajectory/western_Garden/task_x-000293_y-005296_z-006693_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..69a4e6234c9dc9747f990a4d80bdc7f61d8310b6 --- /dev/null +++ b/dataset/trajectory/western_Garden/task_x-000293_y-005296_z-006693_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Pick up the plate, then place it on the stone ledge at the base of the staircase.", + "Type": 5, + "Start_Pose": [ + -293.461, + -5295.959, + -6692.926, + 0, + 40, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 184.27, + -5027.365, + -6742.03, + 90, + 30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -293.461, + -5295.959, + -6692.926, + 0, + 40, + 0 + ], + [ + -195.104, + -5216.992, + -6692.785, + 0.0, + 40.0, + -0.0 + ], + [ + -98.69, + -5136.092, + -6692.53, + 0.0, + 40.0, + -0.0 + ], + [ + -2.277, + -5055.191, + -6692.276, + 0.0, + 40.0, + -0.0 + ], + [ + -2.277, + -5055.191, + -6692.276, + 0.0, + 40.001, + -0.0 + ], + [ + -2.277, + -5055.191, + -6692.276, + 0.0, + 65.001, + -0.0 + ], + [ + 50.913, + -4941.124, + -6691.77, + 0.0, + 65.001, + -0.0 + ], + [ + 50.913, + -4941.124, + -6691.77, + 0.0, + 90.001, + -0.0 + ], + [ + 50.911, + -4815.265, + -6691.509, + 0.0, + 90.001, + -0.0 + ], + [ + 50.91, + -4689.406, + -6691.257, + 0.0, + 90.001, + -0.0 + ], + [ + 50.909, + -4563.547, + -6691.005, + 0.0, + 90.001, + -0.0 + ], + [ + 50.908, + -4437.688, + -6690.745, + 0.0, + 90.001, + -0.0 + ], + [ + 50.909, + -4509.688, + -6690.745, + 0.0, + 90.001, + -0.0 + ], + [ + 50.909, + -4509.688, + -6690.745, + 0.0, + 90.001, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 184.27, + -5027.365, + -6742.03, + 90.0, + 30.0, + 0.0 + ], + [ + 184.27, + -5027.365, + -6742.03, + 90.0, + 30.0, + 0.0 + ], + [ + 184.27, + -5027.365, + -6742.03, + 90.0, + 30.0, + 0.0 + ], + [ + 184.27, + -5027.365, + -6742.03, + 90.0, + 30.0, + 0.0 + ], + [ + -16.47, + -5039.226, + -6722.025, + -28.202, + 90.145, + 1.862 + ], + [ + -22.759, + -5046.321, + -6721.752, + -28.189, + 115.157, + 1.872 + ], + [ + 31.128, + -4933.02, + -6721.094, + -28.193, + 115.149, + 1.872 + ], + [ + 28.988, + -4941.272, + -6722.258, + -28.202, + 140.142, + 1.858 + ], + [ + 29.558, + -4815.709, + -6721.715, + -28.208, + 140.142, + 1.852 + ], + [ + 29.549, + -4690.109, + -6720.997, + -28.189, + 140.159, + 1.867 + ], + [ + 29.559, + -4564.526, + -6720.321, + -28.207, + 140.135, + 1.857 + ], + [ + 29.55, + -4438.707, + -6719.876, + -28.192, + 140.149, + 1.872 + ], + [ + 50.908, + -4439.688, + -6720.745, + 90.0, + 90.001, + 0.0 + ], + [ + 50.908, + -4439.688, + -6720.745, + 90.0, + 90.001, + 0.0 + ] + ], + "PD_Dist_2D": [ + 547.3, + 424.1, + 303.1, + 188.6, + 21.4, + 22.3, + 21.4, + 21.9, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate rests on the cobblestones ahead of me, near the base of the large pillar, still several strides away. Nothing blocks the open paving between us, so I will walk straight forward to close that gap before attempting any grasp.", + "The plate now appears larger and slightly left of my heading, confirming my forward path is closing on it. It is still beyond arm's reach, so I will keep walking straight ahead toward it.", + "The plate fills much more of my lower left view now, but it is not yet close enough for a reliable grab. One more step forward should bring it within reach so I can attempt the pick.", + "The plate is now right at my feet in the near lower left, filling that corner of my view at grasping distance. This is the moment to reach down and attempt to take it in hand before carrying it toward the staircase.", + "The pick succeeded, and the plate is now held in my hands rather than lying on the paving. The wide flight of stone steps sits off to my right beyond the pillar, so I will turn right to face that direction before carrying the plate over.", + "With the plate in hand, the staircase and its stone base now sit ahead and to my right, past the corner of the pillar. I will walk forward across the open cobblestones to close distance toward that flight of steps.", + "The staircase is closer but still sits to the right of my heading, with the pillar and wall filling the left half of my view. Turning right should bring the steps and their lower stone ledge into the center of my path.", + "The staircase now sits squarely ahead with its balustrade posts and lowest step in clear view. Still carrying the plate, I will walk forward across the paving to reach the stone base of the steps.", + "The plate is still held with me, and the staircase now sits squarely ahead with its low stone base and flanking pedestals in clear view. I am still several paces short of that base ledge, so I will step forward again to close the gap along this straight heading.", + "The stairs fill more of my view and the bottom step with its flanking stone blocks is directly in front of me, still a stride or two away. Carrying the plate, I will advance once more to reach the ledge at the base before setting it down.", + "I am nearly at the staircase, with the broad lowest step and its stone ledge spanning the lower part of my view. One more step forward should bring me close enough that releasing the plate leaves it on that base ledge rather than on the cobbles behind it.", + "I am now right against the stone base of the staircase, with the lowest step filling the near view and no cobbles left between me and it. The plate is still in my hands, so I will release it here to place it on that base ledge.", + "The plate now rests on the stone ledge at the base of the staircase, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/western_Garden/task_x-000293_y-005296_z-006693_t5_b_p/infos.json b/dataset/trajectory/western_Garden/task_x-000293_y-005296_z-006693_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..90539696b7441178e3b8716b58510bb4b1d3e403 --- /dev/null +++ b/dataset/trajectory/western_Garden/task_x-000293_y-005296_z-006693_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the jerry can.", + "Type": 5, + "Start_Pose": [ + -293.461, + -5295.959, + -6692.926, + 0, + 40, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 192.676, + -4924.839, + -6771.726, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -293.461, + -5295.959, + -6692.926, + 0, + 40, + 0 + ], + [ + -195.104, + -5216.992, + -6692.785, + 0.0, + 40.0, + -0.0 + ], + [ + -98.69, + -5136.092, + -6692.53, + 0.0, + 40.0, + -0.0 + ], + [ + -2.277, + -5055.191, + -6692.276, + 0.0, + 40.0, + -0.0 + ], + [ + -2.277, + -5055.191, + -6692.276, + 0.0, + 40.0, + -0.0 + ], + [ + 94.137, + -4974.291, + -6692.026, + 0.0, + 40.0, + -0.0 + ], + [ + 94.137, + -4974.291, + -6692.026, + 0.0, + 40.0, + -0.0 + ], + [ + 94.137, + -4974.291, + -6692.026, + 0.0, + 40.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 192.676, + -4924.839, + -6771.726, + 0.0, + 0.0, + 0.0 + ], + [ + 192.676, + -4924.839, + -6771.726, + 0.0, + 0.0, + 0.0 + ], + [ + 192.676, + -4924.839, + -6771.726, + 0.0, + 0.0, + 0.0 + ], + [ + 192.676, + -4924.839, + -6771.726, + 0.0, + 0.0, + 0.0 + ], + [ + 192.676, + -4924.839, + -6771.726, + 0.0, + 0.0, + 0.0 + ], + [ + 192.676, + -4924.839, + -6771.726, + 0.0, + 0.0, + 0.0 + ], + [ + 79.943, + -4958.325, + -6721.711, + -28.202, + 90.144, + 1.862 + ], + [ + 79.943, + -4958.325, + -6721.711, + -28.202, + 90.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 611.2, + 485.5, + 359.9, + 234.5, + 234.5, + 110.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The red jerry can stands ahead on the cobblestones near the base of the large pillar, well beyond arm's reach. My heading already points straight at it, so no turn is needed. I will walk forward to close the gap.", + "The jerry can now appears slightly larger and remains near the center of my view, confirming I am closing on it along a good line. It is still far too distant to grasp. I will keep walking straight toward it.", + "The jerry can is clearly bigger and lower in my view now, but it still sits several paces away beside the pillar. Nothing blocks the stones between us. Another step forward should bring it close to grasping range.", + "The jerry can now fills a large part of my lower view, standing just in front of me on the cobblestones and squarely centered. It looks near enough that reaching for it seems reasonable. I will attempt to pick it up.", + "My hands are still empty and the jerry can was not taken, so that grasp attempt did not succeed. It must have been farther from me than it looked against the pillar. I will step forward to stand closer before trying again.", + "My earlier grasp attempt left the jerry can untouched on the cobblestones, so my hands are still empty. Now the red can sits right at the bottom edge of my view, close enough that it should be within reach. I will attempt the pick again from this nearer position.", + "The red jerry can is now held in my hands rather than resting on the pavement. The task is complete, so I stop here." + ] +}