diff --git a/dataset/task/AbandonedDistrict/task_x-000093_y000644_z000210_t3_b.json b/dataset/task/AbandonedDistrict/task_x-000093_y000644_z000210_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..93c6c54253aec6d64a2ddca905a4eda69e081732 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-000093_y000644_z000210_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the rusty metal door, then proceed to the metal scaffolding tower.", + "Type": 3, + "Start_Pose": [ + -93.351, + 643.738, + 210.055, + 0.0, + 79.68, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-001378_y000917_z000194_t0_b.json b/dataset/task/AbandonedDistrict/task_x-001378_y000917_z000194_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..c0bf2350a10a459f28c83b29f67d9772ab9de3f0 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-001378_y000917_z000194_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the metal pillar beside the blue door.", + "Type": 0, + "Start_Pose": [ + -1378.024, + 917.037, + 194.27, + 0.0, + 20.16, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_b.json b/dataset/task/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2b63eec318ed1e92c2a1a23a8c49ca72e34c0fb2 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-002481_y-002699_z000189_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Determine where the gas canister near the dumpster is located; once you find it, navigate over to that spot.", + "Type": 1, + "Start_Pose": [ + -2481.373, + -2698.728, + 189.356, + 0.0, + -157.44, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-002822_y-003204_z000198_t1_a.json b/dataset/task/AbandonedDistrict/task_x-002822_y-003204_z000198_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..36239a15580f66e2450acdc5b3f6c7e767515858 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-002822_y-003204_z000198_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the vertical metal ladder mounted on the exterior wall of the building, then make your way to it.", + "Type": 1, + "Start_Pose": [ + -2821.81, + -3204.081, + 198.298, + 0.0, + -13.44, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_a.json b/dataset/task/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..18eb3b171b245f269052e643319135d57568951b --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-003614_y-003194_z000228_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the long wooden boards leaning against the brick wall between two brick columns.", + "Type": 0, + "Start_Pose": [ + -3614.411, + -3194.147, + 227.628, + 0.0, + 140.16, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_a.json b/dataset/task/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..849e2d426f4f2edfdb910b6259adee1188228400 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-003803_y-001526_z000206_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the green dumpster, then approach the gas cylinders cluster.", + "Type": 3, + "Start_Pose": [ + -3802.843, + -1525.655, + 205.803, + 0.0, + 127.68, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_c.json b/dataset/task/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..dd99db77dc59d7603804a500b1be29cbfaa1af50 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-004145_y-000461_z000181_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the wooden pallet leaning against the structure.", + "Type": 0, + "Start_Pose": [ + -4144.795, + -461.051, + 180.545, + 0.0, + -18.24, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_a_p.json b/dataset/task/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..399f21d5fd2a8dd98cd6362f29bc9d13662dffb6 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the plate at the base of the green dumpster near the stairs.", + "Type": 5, + "Start_Pose": [ + -4333.728, + -614.734, + 160.356, + 0, + 171.84, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -5204.744, + -1070.811, + 139.337, + 90, + 0, + 0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_b_p.json b/dataset/task/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..3ebe0dd5dd57ca4a67aa0285d6c010bc4b7a8c97 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-004334_y-000615_z000160_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase beside the wooden cable spool on the ground.", + "Type": 5, + "Start_Pose": [ + -4333.728, + -614.734, + 160.356, + 0, + 171.84, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4984.586, + -756.162, + 81.758, + 0, + -163.16, + 0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-004477_y-000370_z000140_t5_a_p.json b/dataset/task/AbandonedDistrict/task_x-004477_y-000370_z000140_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..06fc14ab498b41e9a2f1abe40d2af0bbdd41d5e1 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-004477_y-000370_z000140_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the wicker basket beside the pile of dark sandbags on the ground.", + "Type": 5, + "Start_Pose": [ + -4476.771, + -369.999, + 140.29, + 0, + 124.8, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -4893.613, + -32.631, + 89.525, + 90, + 124.801, + 0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_a.json b/dataset/task/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1fb1b1a0e93d39179a589214e235239dee98df66 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red door marked with number four, then approach the pile of dark bags.", + "Type": 3, + "Start_Pose": [ + -4481.79, + -145.862, + 150.72, + 0.0, + 178.56, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_b.json b/dataset/task/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..666fd80c22d103f6aba304eee68cddb0408ae0b9 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-004482_y-000146_z000151_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the red door marked six, then reach the red door marked with number four.", + "Type": 3, + "Start_Pose": [ + -4481.79, + -145.862, + 150.72, + 0.0, + 178.56, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x-005437_y-002057_z000201_t0_a.json b/dataset/task/AbandonedDistrict/task_x-005437_y-002057_z000201_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..373f329d02326929efa80426d21c69330db86c80 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x-005437_y-002057_z000201_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the white metal door in the brick wall.", + "Type": 0, + "Start_Pose": [ + -5436.641, + -2056.641, + 201.386, + 0.0, + -47.04, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x000132_y-002871_z000198_t1_a.json b/dataset/task/AbandonedDistrict/task_x000132_y-002871_z000198_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7936b4323b62be4f3dd87a1cd37fa8f2abde7916 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x000132_y-002871_z000198_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "There is an exit already visible in this room; locate the other exit that is not the one currently in view, then make your way to it.", + "Type": 1, + "Start_Pose": [ + 132.095, + -2870.576, + 198.148, + 0.0, + -44.16, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x000980_y-000574_z000205_t2_d.json b/dataset/task/AbandonedDistrict/task_x000980_y-000574_z000205_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..2ed37c5b9b0c67a9a4f563a5cdab0bf7e1fa262d --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x000980_y-000574_z000205_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the leftmost red garage door.", + "Type": 2, + "Start_Pose": [ + 979.853, + -574.376, + 205.277, + 0.0, + 48.96, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001114_y-002488_z000198_t5_a_pd.json b/dataset/task/AbandonedDistrict/task_x001114_y-002488_z000198_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..79618dafea66d25c9049eadfd34c437c0c991024 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001114_y-002488_z000198_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the wicker basket at the green door in the wall opening, then set it down below the short vertical pipe.", + "Type": 5, + "Start_Pose": [ + 1114.007, + -2488.283, + 198.148, + 0, + 31.68, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1675.116, + -1643, + 148.313, + 90, + 51.68, + 0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001150_y-002675_z000198_t2_a.json b/dataset/task/AbandonedDistrict/task_x001150_y-002675_z000198_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1f8602ef28b9075fdac8f7d56be3b35b36a8e7d7 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001150_y-002675_z000198_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the vertical drainpipe on the leftmost wall section.", + "Type": 2, + "Start_Pose": [ + 1149.665, + -2675.134, + 198.148, + 0.0, + 34.56, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001150_y-002675_z000198_t2_c.json b/dataset/task/AbandonedDistrict/task_x001150_y-002675_z000198_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..95864594659ea80d7f1326c251966ae835d32007 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001150_y-002675_z000198_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the second ground-floor window from the left.", + "Type": 2, + "Start_Pose": [ + 1149.665, + -2675.134, + 198.148, + 0.0, + 34.56, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001303_y-000993_z000198_t0_a.json b/dataset/task/AbandonedDistrict/task_x001303_y-000993_z000198_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..877f8d5ac75056f98d79339f8765a5c2c39d2774 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001303_y-000993_z000198_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the large red door.", + "Type": 0, + "Start_Pose": [ + 1302.795, + -993.339, + 198.148, + 0.0, + -37.44, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001518_y-000082_z000207_t3_a.json b/dataset/task/AbandonedDistrict/task_x001518_y-000082_z000207_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b23accfde1313bf7ce623e75835a18dcd86996cd --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001518_y-000082_z000207_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the green dumpster, then head toward the dried plant clump.", + "Type": 3, + "Start_Pose": [ + 1517.627, + -82.314, + 207.469, + 0.0, + 67.2, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001518_y-000082_z000207_t3_c.json b/dataset/task/AbandonedDistrict/task_x001518_y-000082_z000207_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..036a3424fff3cbf168becc5dfc01b33d6fd899b6 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001518_y-000082_z000207_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the red panel marked six, then approach the green dumpster.", + "Type": 3, + "Start_Pose": [ + 1517.627, + -82.314, + 207.469, + 0.0, + 67.2, + -0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001518_y-000082_z000207_t5_b_pd.json b/dataset/task/AbandonedDistrict/task_x001518_y-000082_z000207_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..d064d7197f05a6be06d8f3b31732fecf7ae8c28b --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001518_y-000082_z000207_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can near the green dumpster, then set it down near the pile of bags.", + "Type": 5, + "Start_Pose": [ + 1517.627, + -82.314, + 207.469, + 0, + 67.2, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1937.253, + 361.829, + 122.638, + 0, + 60, + 0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001556_y-000366_z000204_t1_b.json b/dataset/task/AbandonedDistrict/task_x001556_y-000366_z000204_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2d3f91d5efc63c47a61ded9655c0cf164731792c --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001556_y-000366_z000204_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the area and head toward the red door labeled number 6.", + "Type": 1, + "Start_Pose": [ + 1555.61, + -365.804, + 203.613, + 0, + -75.84, + 0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001585_y-001729_z000198_t0_b.json b/dataset/task/AbandonedDistrict/task_x001585_y-001729_z000198_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..17665f65270825a48cf21d760ba8993fb3b6186b --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001585_y-001729_z000198_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden pallet near the trash bags.", + "Type": 0, + "Start_Pose": [ + 1585.306, + -1728.643, + 198.148, + 0.0, + -108.48, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001750_y-000485_z000205_t3_b.json b/dataset/task/AbandonedDistrict/task_x001750_y-000485_z000205_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b14f341c0b97ec8fb3e4b38cb761b667886381de --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001750_y-000485_z000205_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the red door marked with number eight, then reach the green dumpster with a plank leaning on it.", + "Type": 3, + "Start_Pose": [ + 1750.086, + -485.382, + 205.251, + 0.0, + -19.2, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x001975_y-001359_z000204_t0_a.json b/dataset/task/AbandonedDistrict/task_x001975_y-001359_z000204_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..22b1da2537c178b19985f7ed370bff9b870b32ca --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x001975_y-001359_z000204_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the white door on the brick wall.", + "Type": 0, + "Start_Pose": [ + 1975.496, + -1359.132, + 204.386, + 0.0, + -48.96, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x002060_y-000778_z000214_t0_a.json b/dataset/task/AbandonedDistrict/task_x002060_y-000778_z000214_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..912047c9c3784806738438f7e5b27e30ace83c0c --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x002060_y-000778_z000214_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the large green skip bin near the blue door.", + "Type": 0, + "Start_Pose": [ + 2060.367, + -777.854, + 214.308, + 0.0, + -19.2, + 0.0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x002096_y-001303_z000213_t3_a.json b/dataset/task/AbandonedDistrict/task_x002096_y-001303_z000213_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1f104492345da51b36603dcbfda3c3f38ed1a1ae --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x002096_y-001303_z000213_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the stack of cardboard boxes near the right corner, then approach the brick pillar.", + "Type": 3, + "Start_Pose": [ + 2095.577, + -1302.739, + 213.09, + 0, + -91.2, + 0 + ] +} diff --git a/dataset/task/AbandonedDistrict/task_x002096_y-001303_z000213_t3_c.json b/dataset/task/AbandonedDistrict/task_x002096_y-001303_z000213_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..1c368816186f03624e96fb247705302c89ded383 --- /dev/null +++ b/dataset/task/AbandonedDistrict/task_x002096_y-001303_z000213_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the pile of trash bags in the room, then proceed to the iron door doorway.", + "Type": 3, + "Start_Pose": [ + 2095.577, + -1302.739, + 213.09, + 0, + -91.2, + 0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_a.json b/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c268802caf69446540376a0dfd6538d5849c20e9 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second office chair from the left.", + "Type": 2, + "Start_Pose": [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_b.json b/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..da221eb85cff8739468884d349231f87b0decbce --- /dev/null +++ b/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third office chair from the left.", + "Type": 2, + "Start_Pose": [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_c.json b/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..4961222246e72cdac04d8442eb0e22d8d68991de --- /dev/null +++ b/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the fourth office chair from the left.", + "Type": 2, + "Start_Pose": [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_d.json b/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..e9256ab0cf4d6186b4d343167f427bf1e828d6e9 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-000285_y001630_z000197_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the nearest chair on the left side.", + "Type": 2, + "Start_Pose": [ + -284.846, + 1629.702, + 197.423, + 0.0, + 15.36, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-000592_y-000815_z000098_t3_a.json b/dataset/task/CommandCenter/task_x-000592_y-000815_z000098_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..82c7793f3067cc3d676ad49a136fbcd9c9dd0e22 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-000592_y-000815_z000098_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the door's silver handle, then move to the orange floor pipe base.", + "Type": 3, + "Start_Pose": [ + -592.372, + -815.233, + 98.15, + -0.006, + -144.999, + 0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-000592_y-000815_z000098_t3_b.json b/dataset/task/CommandCenter/task_x-000592_y-000815_z000098_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..af09f7616595a90cbee4991f60f4df6a42a16b29 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-000592_y-000815_z000098_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the orange pipe meeting the floor, then walk to the metal door.", + "Type": 3, + "Start_Pose": [ + -592.372, + -815.233, + 98.15, + -0.006, + -144.999, + 0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-000621_y-001165_z000098_t0_a.json b/dataset/task/CommandCenter/task_x-000621_y-001165_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8f4b5ea91efe255eb9ed84ce177e0551a9f466a0 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-000621_y-001165_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the doorway with the dark frame.", + "Type": 0, + "Start_Pose": [ + -621.487, + -1164.686, + 98.15, + 0.0, + 136.32, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-000621_y-001165_z000098_t0_b.json b/dataset/task/CommandCenter/task_x-000621_y-001165_z000098_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b07f929649e6769b3dbb2e1a5e1b5b832883f522 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-000621_y-001165_z000098_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the base of the red vertical pipe near the door.", + "Type": 0, + "Start_Pose": [ + -621.487, + -1164.686, + 98.15, + 0.0, + 136.32, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-000802_y-000647_z000098_t0_a.json b/dataset/task/CommandCenter/task_x-000802_y-000647_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..12d94d0a7baeaa4c696489a9dfe84569c7ed0c00 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-000802_y-000647_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the base of the red vertical pipe.", + "Type": 0, + "Start_Pose": [ + -802.182, + -647.197, + 98.15, + 0.0, + -78.72, + 0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-001876_y-000007_z000098_t0_a.json b/dataset/task/CommandCenter/task_x-001876_y-000007_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5cfbf69b1fc82136ca4e0b0bed8975fc8c92db5f --- /dev/null +++ b/dataset/task/CommandCenter/task_x-001876_y-000007_z000098_t0_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Head toward the gray trash bin near the door.", + "Type": 0, + "Start_Pose": [ + -1875.832, + -6.71, + 98.15, + 0, + 102.72, + 0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/CommandCenter/task_x-001897_y-000398_z000098_t3_a.json b/dataset/task/CommandCenter/task_x-001897_y-000398_z000098_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f6af091eda788cda3ef92af25b9454d59f19591f --- /dev/null +++ b/dataset/task/CommandCenter/task_x-001897_y-000398_z000098_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the metal trash bin, then approach the wooden door.", + "Type": 3, + "Start_Pose": [ + -1897.442, + -398.231, + 98.15, + 0.0, + 120.0, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-001897_y-000398_z000098_t3_b.json b/dataset/task/CommandCenter/task_x-001897_y-000398_z000098_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac2098b3605defd0a8677058d45ea8f1bd4b525 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-001897_y-000398_z000098_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden door, then move to the metal trash bin.", + "Type": 3, + "Start_Pose": [ + -1897.442, + -398.231, + 98.15, + 0.0, + 120.0, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-001927_y-000055_z000098_t0_a.json b/dataset/task/CommandCenter/task_x-001927_y-000055_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..413eb166c0871df4bafd161c11fb772ee1c6d692 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-001927_y-000055_z000098_t0_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the door with the small rectangular window.", + "Type": 0, + "Start_Pose": [ + -1927.278, + -55.021, + 98.15, + 0.0, + 72.96, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/CommandCenter/task_x-002718_y-001161_z000098_t0_a.json b/dataset/task/CommandCenter/task_x-002718_y-001161_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e1b282bd7b5b4fa2035196c54256adb7ae9aff69 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-002718_y-001161_z000098_t0_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Approach the dark doorway beneath the digital clock display.", + "Type": 0, + "Start_Pose": [ + -2717.53, + -1161.183, + 98.15, + 0.0, + 0.96, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/CommandCenter/task_x-002747_y000070_z000098_t2_a.json b/dataset/task/CommandCenter/task_x-002747_y000070_z000098_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e846356d2f2887e1c834c22c58f9ca8683c73e7a --- /dev/null +++ b/dataset/task/CommandCenter/task_x-002747_y000070_z000098_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost office chair near the desk.", + "Type": 2, + "Start_Pose": [ + -2747.256, + 70.064, + 98.15, + 0.0, + 93.12, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-002747_y000070_z000098_t2_b.json b/dataset/task/CommandCenter/task_x-002747_y000070_z000098_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..bd1f4709a418bc99545f05c0869535d5f8a5a79c --- /dev/null +++ b/dataset/task/CommandCenter/task_x-002747_y000070_z000098_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the rightmost black office chair on the right.", + "Type": 2, + "Start_Pose": [ + -2747.256, + 70.064, + 98.15, + 0.0, + 93.12, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-002924_y000908_z000098_t3_a.json b/dataset/task/CommandCenter/task_x-002924_y000908_z000098_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a961f8891a72855561996e34ebee70fd8dd1c8a7 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-002924_y000908_z000098_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the two-step dark staircase, then approach the five-step dark staircase.", + "Type": 3, + "Start_Pose": [ + -2924.178, + 907.551, + 98.15, + 0.0, + 155.52, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-002924_y000908_z000098_t3_b.json b/dataset/task/CommandCenter/task_x-002924_y000908_z000098_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..54e33f9c92ae7acade32686d1dae9c1e90a44467 --- /dev/null +++ b/dataset/task/CommandCenter/task_x-002924_y000908_z000098_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the five-step dark staircase, then reach the two-step staircase.", + "Type": 3, + "Start_Pose": [ + -2924.178, + 907.551, + 98.15, + 0.0, + 155.52, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x-003413_y-001200_z000098_t0_a.json b/dataset/task/CommandCenter/task_x-003413_y-001200_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f6cc4bc66a2f3a48a9c4c466a41ea796e43c3d7f --- /dev/null +++ b/dataset/task/CommandCenter/task_x-003413_y-001200_z000098_t0_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Proceed to the white door beneath the red digital display.", + "Type": 0, + "Start_Pose": [ + -3412.522, + -1199.538, + 98.15, + 0.0, + 149.76, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/CommandCenter/task_x000104_y000372_z000098_t0_a.json b/dataset/task/CommandCenter/task_x000104_y000372_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2ef8326e5e2eb564c51dfccca1499aa718988ead --- /dev/null +++ b/dataset/task/CommandCenter/task_x000104_y000372_z000098_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the double door on the white wall.", + "Type": 0, + "Start_Pose": [ + 103.756, + 371.502, + 98.15, + 0.0, + 34.56, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x000104_y000372_z000098_t0_b.json b/dataset/task/CommandCenter/task_x000104_y000372_z000098_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..df20ec6f21344c2c47a8f5e9734ddfddc72c1d36 --- /dev/null +++ b/dataset/task/CommandCenter/task_x000104_y000372_z000098_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the office chair at the computer desk.", + "Type": 0, + "Start_Pose": [ + 103.756, + 371.502, + 98.15, + 0.0, + 34.56, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x000104_y000372_z000098_t0_c.json b/dataset/task/CommandCenter/task_x000104_y000372_z000098_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..91445bedfcabf3365b462ec40b453aaa642cd5cb --- /dev/null +++ b/dataset/task/CommandCenter/task_x000104_y000372_z000098_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the computer monitor on the desk workstation near the office chair.", + "Type": 0, + "Start_Pose": [ + 103.756, + 371.502, + 98.15, + 0.0, + 34.56, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x000633_y000388_z000098_t3_a.json b/dataset/task/CommandCenter/task_x000633_y000388_z000098_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..88fd7ddaae7ebb471958a33b61c49ed90099ad96 --- /dev/null +++ b/dataset/task/CommandCenter/task_x000633_y000388_z000098_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the double doors with narrow glass windows, then reach the staircase base.", + "Type": 3, + "Start_Pose": [ + 633.068, + 388.332, + 98.15, + 0.0, + 27.84, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x000633_y000388_z000098_t3_b.json b/dataset/task/CommandCenter/task_x000633_y000388_z000098_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4776ac35ccb480750692495bd7ae6a4b2d4dc9f9 --- /dev/null +++ b/dataset/task/CommandCenter/task_x000633_y000388_z000098_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the bottom step of the stairs, then navigate to the double doors.", + "Type": 3, + "Start_Pose": [ + 633.068, + 388.332, + 98.15, + 0.0, + 27.84, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x000633_y000388_z000098_t3_c.json b/dataset/task/CommandCenter/task_x000633_y000388_z000098_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..ec2d20ffb23b4b51c6cf96c76868a09dd1e6a035 --- /dev/null +++ b/dataset/task/CommandCenter/task_x000633_y000388_z000098_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the lowest stair step, then approach the door handles.", + "Type": 3, + "Start_Pose": [ + 633.068, + 388.332, + 98.15, + 0.0, + 27.84, + -0.0 + ] +} diff --git a/dataset/task/CommandCenter/task_x000938_y-000467_z000098_t0_a.json b/dataset/task/CommandCenter/task_x000938_y-000467_z000098_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..89fbcc1f82601d56e1e75e66667cb3c68e8b61e3 --- /dev/null +++ b/dataset/task/CommandCenter/task_x000938_y-000467_z000098_t0_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the door.", + "Type": 0, + "Start_Pose": [ + 937.841, + -467.097, + 98.15, + 0.0, + -132.48, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0e8a6d0c56129464ba056c5e4a14673666fd5b0a --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red cart, then head toward the bike near the 'U' bollard.", + "Type": 3, + "Start_Pose": [ + -468.027, + -1695.783, + -931.85, + 0, + 35.52, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..247f4806c4ce2af8d2b422a487cd5adcb106c8fd --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the green bench, then move to the yellow U-shaped bollard near the bike.", + "Type": 3, + "Start_Pose": [ + -468.027, + -1695.783, + -931.85, + 0, + 35.52, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..67aa96246d736937425571357ecc6cde5f3a2ef0 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the parked bicycle near the yellow U-shaped bollard, then reach the base of the red traffic light.", + "Type": 3, + "Start_Pose": [ + -468.027, + -1695.783, + -931.85, + 0.0, + 35.52, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_d.json b/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..557e49a7e5892f6fcc5c3ada67ebea6183afa84f --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-000468_y-001696_z-000932_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the green bench, then walk to the yellow-black striped pillar with the red traffic light.", + "Type": 3, + "Start_Pose": [ + -468.027, + -1695.783, + -931.85, + 0.0, + 35.52, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t0_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1d063a1b0dff89387bc4e0c0baa35b50379b5ca8 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the yellow cleaning bucket near the wall.", + "Type": 0, + "Start_Pose": [ + -949.258, + 1649.059, + -922.252, + 0.0, + 148.8, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t5_a_p.json b/dataset/task/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..b59c92c4a733d6a511b6a5b44f5e843b2eb86b3c --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-000949_y001649_z-000922_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper beside the yellow cleaning bucket near the wall.", + "Type": 5, + "Start_Pose": [ + -949.258, + 1649.059, + -922.252, + 0, + 148.8, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1736.529, + 1804.941, + -977.485, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-000987_y-000228_z000098_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-000987_y-000228_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7a7937a6c261df612a8b08ac0fba3b68a6a16ed6 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-000987_y-000228_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the billboard displaying a transit map on this platform; after locating it, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -986.514, + -228.129, + 98.15, + 0.0, + -2.4, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ef7eced83c1be3a70896449eb822e3d02a37bf7a --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Search for the staircase within this corridor; after locating it, proceed toward its base.", + "Type": 1, + "Start_Pose": [ + -1037.981, + 815.782, + -931.85, + 0.0, + 91.52, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..05480310d80c9aa2f84d9ea41acd630eade7ea14 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001038_y000816_z-000932_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Identify the bicycle parked beside the stairs within this corridor, then head over to it.", + "Type": 1, + "Start_Pose": [ + -1037.981, + 815.782, + -931.85, + 0.0, + 91.52, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..098fa70878171a139574374aa4dc7616b1b0efdb --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the metal roller shutter door, then head toward the parked bicycle.", + "Type": 3, + "Start_Pose": [ + -1048.07, + -1091.21, + -931.85, + 0.0, + -164.16, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_d.json b/dataset/task/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..2059278b778046f0ed2afba11703993bc67b1029 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001048_y-001091_z-000932_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the utility pole base, then walk to the metal roller shutter door.", + "Type": 3, + "Start_Pose": [ + -1048.07, + -1091.21, + -931.85, + 0.0, + -164.16, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..149892bdaa95834ae337666b4bbbed4e2ecf4bc3 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the doorway under the red awning.", + "Type": 0, + "Start_Pose": [ + -1120.784, + 2098.544, + -931.85, + 0.0, + 95.04, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..7d6d953fa5d87b821350af6e6ca3ddff187460ec --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the doorway under the green awning.", + "Type": 0, + "Start_Pose": [ + -1120.784, + 2098.544, + -931.85, + 0.0, + 95.04, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..8662606edf572065a69df303fd8386b2bfafe8d1 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the metal roller shutter door.", + "Type": 0, + "Start_Pose": [ + -1120.784, + 2098.544, + -931.85, + 0.0, + 95.04, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_d.json b/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..2631ff327e82501d6431376448bad3b1c939ebdf --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001121_y002099_z-000932_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the gray utility pole with yellow-and-black stripes around its base.", + "Type": 0, + "Start_Pose": [ + -1120.784, + 2098.544, + -931.85, + 0.0, + 95.04, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8c915348989687df474172ead419ad4926b0c4d1 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the bicycle leaning near the sign post on the left.", + "Type": 2, + "Start_Pose": [ + -1172.574, + -1122.469, + -931.85, + 0.0, + 11.52, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..01435819dc70173f113e734424725209c8648157 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost bicycle parked by the stairs.", + "Type": 2, + "Start_Pose": [ + -1172.574, + -1122.469, + -931.85, + 0.0, + 11.52, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..79e8b1b0df62c7553de88c26ccd9b5a92207818f --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001173_y-001122_z-000932_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the black trash bin on the far right.", + "Type": 2, + "Start_Pose": [ + -1172.574, + -1122.469, + -931.85, + 0.0, + 11.52, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..23151404489ad5ebe8e2c3b58c04ef02a6ac99c9 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the yellow U-shaped bollard, then head toward the trash bin.", + "Type": 3, + "Start_Pose": [ + -1253.522, + -1298.14, + -931.85, + 0.0, + 60.48, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..38dc00defc27be9b8a265cd0101d74e6c4c36ea5 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001254_y-001298_z-000932_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the trash bin, then move to the yellow U-shaped bollard.", + "Type": 3, + "Start_Pose": [ + -1253.522, + -1298.14, + -931.85, + 0.0, + 60.48, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001392_y000841_z-000932_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-001392_y000841_z-000932_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b2ecc0de67054fe31b80dee2552e4769f457d5 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001392_y000841_z-000932_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Locate the yellow mop bucket sitting along the passageway's sidewalk, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -1392.382, + 840.728, + -931.85, + 0.0, + 11.52, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7dd126b1ed7219b695826e705c1b201b0be67628 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Within this passageway, discover the plain white door set into the brick wall beside the \"OK! mobile\" poster, then approach it.", + "Type": 1, + "Start_Pose": [ + -1552.983, + 615.722, + -931.85, + 0.0, + -148.48, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ece78e26acee8d1dff972cf22e1c9b77a495d704 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001553_y000616_z-000932_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Search inside the passageway for the black chalkboard standing on the ground in front of the coffee shop entrance; once found, navigate to it.", + "Type": 1, + "Start_Pose": [ + -1552.983, + 615.722, + -931.85, + 0.0, + -148.48, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5634c033631db0538bcbc8da72c3783869272d08 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the left double door.", + "Type": 2, + "Start_Pose": [ + -1687.058, + 2660.331, + -931.85, + 0.0, + 73.92, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..be03f517f4dda2adeef3eacc9ad2b15378f8e6cf --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the right double door.", + "Type": 2, + "Start_Pose": [ + -1687.058, + 2660.331, + -931.85, + 0.0, + 73.92, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..89460fab958da780a02f2e3cbdf923012212cbf0 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001687_y002660_z-000932_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the green dumpster on the far right.", + "Type": 2, + "Start_Pose": [ + -1687.058, + 2660.331, + -931.85, + 0.0, + 73.92, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0a935be03ffc39b790397e10d7afd90aacad46e4 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the door under the blue light.", + "Type": 0, + "Start_Pose": [ + -1727.457, + -1477.651, + -931.85, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..aedf6ccc175423d35cab0495c59ee06601d90a71 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the door under the red light.", + "Type": 0, + "Start_Pose": [ + -1727.457, + -1477.651, + -931.85, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..21ea79c18a9c17a204d471ea68b545b7316183b7 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the red do-not-enter sign on the pole.", + "Type": 0, + "Start_Pose": [ + -1727.457, + -1477.651, + -931.85, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_e.json b/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_e.json new file mode 100644 index 0000000000000000000000000000000000000000..de3d655c72562024e90489beff3b53e7637668e6 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-001727_y-001478_z-000932_t0_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the yellow U-shaped metal safety barrier beside the curb.", + "Type": 0, + "Start_Pose": [ + -1727.457, + -1477.651, + -931.85, + 0.0, + 56.64, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e76aa15c563dc9cbed40afa234a4da44fb763801 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the yellow mop bucket near the wall, then head toward the door of the pink shuttered storefront.", + "Type": 3, + "Start_Pose": [ + -2116.007, + -1636.277, + -922.691, + 0.0, + -156.48, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..3dfbbf4904cd95c2c3a6bdd3615b55df34ce1743 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the blue crates near the pink shuttered storefront, then move to the white door beside the red awning.", + "Type": 3, + "Start_Pose": [ + -2116.007, + -1636.277, + -922.691, + 0, + -156.48, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..22b60a89262319ff531fdd09c29caeaac72f0488 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the yellow mop bucket near the wall, then proceed to the red rolling shutter.", + "Type": 3, + "Start_Pose": [ + -2116.007, + -1636.277, + -922.691, + 0.0, + -156.48, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_d.json b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..0617447f5b31f69aca6e965c86d976dcc1daa03f --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the white door beside the red awning, then walk to the base of the globe lamp on the left.", + "Type": 3, + "Start_Pose": [ + -2116.007, + -1636.277, + -922.691, + 0.0, + -156.48, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t5_a_pd.json b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..78a63505c41c6b50caf8315197676686c613cc98 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-002116_y-001636_z-000923_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot at the yellow mop bucket near the wall, then leave it near the pink storefront.", + "Type": 5, + "Start_Pose": [ + -2116.007, + -1636.277, + -922.691, + 0, + -156.48, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2642.39, + -1964.706, + -1016.85, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..70b9e65e9d1a41a87b14c1bb3779fad26b9e3dee --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the base of the concrete staircase.", + "Type": 0, + "Start_Pose": [ + -2359.364, + 2452.385, + -931.85, + 0.0, + 106.56, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..73f8cbdfec60a58a0f24797bf79f7acff8bc2289 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the blue crate beside the dumpster.", + "Type": 0, + "Start_Pose": [ + -2359.364, + 2452.385, + -931.85, + 0.0, + 106.56, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_d.json b/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..bfec94b35d67f4e2f6fdeb7bfea210d850718b61 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the orange-paneled doorway on the building.", + "Type": 0, + "Start_Pose": [ + -2359.364, + 2452.385, + -931.85, + 0.0, + 106.56, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t5_a_p.json b/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..cbfefb1eaea3bac2b4b36a014f19d4ac5ae7a8b8 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-002359_y002452_z-000932_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato beside the green dumpster against the wall.", + "Type": 5, + "Start_Pose": [ + -2359.364, + 2452.385, + -931.85, + 0, + 106.56, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2372.857, + 3400.622, + -966.85, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..987acc1db25704b91967f78a0317448266b65fdb --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the yellow bucket, then head toward the street utility post.", + "Type": 3, + "Start_Pose": [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..1352e5138ef101a625661b6d3b23ad6705ed274d --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the street utility post, then proceed to the blue crates on the right side.", + "Type": 3, + "Start_Pose": [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..4a424fa77117ce988784791ce02c5035d3af7070 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the gray utility pole base, then approach the yellow bucket.", + "Type": 3, + "Start_Pose": [ + -3227.642, + -1723.918, + -931.85, + 0.0, + -6.72, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_a_pd.json b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..7b4904ccbfe3a37cafbb89a5406b124bce755c4b --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the jerry can at the yellow bucket, then leave it near the street lamp post.", + "Type": 5, + "Start_Pose": [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2665.814, + -1957.084, + -1015.85, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_b_pd.json b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..cb4769456585c968418b3fe847d28a91bc22ff55 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003228_y-001724_z-000932_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket beside the street lamp post, then set it down near the blue crates on the right.", + "Type": 5, + "Start_Pose": [ + -3227.642, + -1723.918, + -931.85, + 0, + -6.72, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2252.873, + -1938.296, + -991.85, + 90, + -26.72, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2befa67f05007643c98fd084a9605719477e329e --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the yellow mop bucket with a wringer beside the metal railing.", + "Type": 0, + "Start_Pose": [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 32.64, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..e71e9df22267039a5e951c2ab40bcd73ea66fc88 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the blue containers beside the pink wall.", + "Type": 0, + "Start_Pose": [ + -3329.787, + -1982.855, + -929.849, + 0.0, + 32.64, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_a_p.json b/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..724f8602c17fc254e37808392f9b67dcde7ff0d3 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the wicker basket near the yellow mop bucket by the railing.", + "Type": 5, + "Start_Pose": [ + -3329.787, + -1982.855, + -929.849, + 0, + 32.64, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2602.885, + -1996.768, + -983.85, + 90, + -7.36, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_b_p.json b/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..380776900d836650e64987e18796f1aa6cb10eeb --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003330_y-001983_z-000930_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the ceramic vase near the beige trash bin by the pink storefront.", + "Type": 5, + "Start_Pose": [ + -3329.787, + -1982.855, + -929.849, + 0, + 32.64, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3098.823, + -1511.664, + -992.252, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d1c8351f8e4761df8af678d956c15730e8d30b3d --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scout the street for a yellow bucket used for mopping or cleaning, and once you've identified it, head over to its location.", + "Type": 1, + "Start_Pose": [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -108.48, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..26d2393991b5dc3b664555f865a27c3df299a7fe --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-003415_y-001558_z-000922_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the chalkboard leaning below the shuttered window beside the light-blue plastic crates; once you spot it, move toward it.", + "Type": 1, + "Start_Pose": [ + -3415.398, + -1557.63, + -922.252, + 0.0, + -108.48, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..97b0f755127a327ef29b2f7037f42dea04130917 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the yellow-black striped bollard, then move to the parked bicycle.", + "Type": 3, + "Start_Pose": [ + -4475.538, + -1557.575, + -922.252, + 0.0, + -43.2, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..87e19bde17716ab5544434b3ccb1211bdd23ac95 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the dark double door near the yellow-black striped bollard, then proceed to the parked bicycle.", + "Type": 3, + "Start_Pose": [ + -4475.538, + -1557.575, + -922.252, + 0.0, + -43.2, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t5_b_pd.json b/dataset/task/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..0a5bc9c23bd3b1f2cdf5de0d459a3761c532009f --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-004476_y-001558_z-000922_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket at the yellow-black striped bollard, then leave it near the parked bicycle.", + "Type": 5, + "Start_Pose": [ + -4475.538, + -1557.575, + -922.252, + 0, + -43.2, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4200.366, + -2060.244, + -982.252, + 90, + -30.2, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_a.json b/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ac4a03a7fc89458cf2ec1fda7dcfccf056e5ff6d --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the green dumpster, then head toward the base of the staircase.", + "Type": 3, + "Start_Pose": [ + -4489.087, + -2055.155, + -922.252, + 0, + 99.84, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f093180443de63a0136ae95b27d28f1c7b15ec52 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the blue crates, then move to the base of the staircase.", + "Type": 3, + "Start_Pose": [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_c.json b/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..118cccd5243095451dbdd3e2523fc2c57d7d318d --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the base of the staircase, then proceed to the blue crates.", + "Type": 3, + "Start_Pose": [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_d.json b/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..0d71529f1cf980815f86d9dd288d0f462616fafb --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-004489_y-002055_z-000922_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the base of the staircase, then walk to the green dumpster.", + "Type": 3, + "Start_Pose": [ + -4489.087, + -2055.155, + -922.252, + 0.0, + 99.84, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x-004601_y-002055_z-000922_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x-004601_y-002055_z-000922_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..76ddbda1d4e0a3ddc348310fab7b9478bb70f4a3 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x-004601_y-002055_z-000922_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify where the staircase meets the ground, then head to the base of those steps.", + "Type": 1, + "Start_Pose": [ + -4600.838, + -2055.127, + -922.252, + 0.0, + -28.48, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_a.json b/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..26493d3fd3fc63159a3e5a7bd991b5b24a1ec9e1 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red hand cart in the street.", + "Type": 0, + "Start_Pose": [ + 60.606, + -1582.299, + -931.85, + 0.0, + 2.88, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t5_a_p.json b/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..dcc7f9725f5244696958d1a17f196d009fe3970a --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001582_z-000932_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the wicker basket near the red hand cart in the street.", + "Type": 5, + "Start_Pose": [ + 60.606, + -1582.299, + -931.85, + 0, + 2.88, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 820.011, + -1620.795, + -988.85, + 90, + 22.88, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e077ae1563863aeb5f4e489747b16f8859072d73 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the nearby storefronts for the glass double doors marked with a red ATM sign, then approach that entrance.", + "Type": 1, + "Start_Pose": [ + 61.42, + -1831.375, + -931.85, + 0, + -28.48, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f43a165538d905e8f602ca2ad94feb590d16c609 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000061_y-001831_z-000932_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the pair of green metal benches situated under the bus shelter canopy, then head over to those seats.", + "Type": 1, + "Start_Pose": [ + 61.42, + -1831.375, + -931.85, + 0.0, + -28.48, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_a.json b/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ae15a409d36f7ab620b9958ea8ec2ec077e964e8 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost yellow U-shaped bollard on the sidewalk.", + "Type": 2, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_b.json b/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..7defc8192b29d2fcd7b5dc300ac93f622fc4f8ca --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second yellow U-shaped bollard on the sidewalk on the left.", + "Type": 2, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_c.json b/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..91f570a32141179a0738cd48fdde80da2637a90c --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the middle of the three wall-mounted phone booths.", + "Type": 2, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0.0, + 58.56, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t5_a_p.json b/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..232f5cd2aff10746f4138821bb2a440c1e3b685d --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000064_y-001799_z-000932_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the wicker basket near the leftmost yellow U-shaped bollard.", + "Type": 5, + "Start_Pose": [ + 64.305, + -1799.396, + -931.85, + 0, + 58.56, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 825.753, + -1382.104, + -986.85, + 90, + 18.56, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b817c8d1a89f2d2a6d4ea3e7e66395d41dee3003 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the elevator doors marked with a sign in this subway station, then navigate over to them.", + "Type": 1, + "Start_Pose": [ + 391.236, + -272.274, + -701.85, + 0.0, + -62.4, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e2e3f4d4c3637b32924b3c3c019217ab432b39f2 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000391_y-000272_z-000702_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the framed transit map displayed on the tiled wall near the trash bin; once you have identified it, go toward it.", + "Type": 1, + "Start_Pose": [ + 391.236, + -272.274, + -701.85, + 0, + -62.4, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_a.json b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d0741f661fdbbde42afd31441595beeb177e84e8 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost traffic cone near the pillar.", + "Type": 2, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_b.json b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0b42d38f618282eec78da0b73c5bb4ef4b9f5336 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the first cone from the right.", + "Type": 2, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_d.json b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..acda890cdd2ca6bb166bf6f820f15d17b10113bf --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the second cone from the right.", + "Type": 2, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_e.json b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..e20055dd4f8de934be5918ee2ecd71166f9c6547 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the rightmost cone.", + "Type": 2, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0.0, + 57.6, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t5_a_p.json b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..c489fff8493a17dd9d0f3c1dd71f435601bb9852 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000404_y-000214_z-000702_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra near the leftmost traffic cone near the pillar.", + "Type": 5, + "Start_Pose": [ + 404.12, + -213.674, + -701.568, + 0, + 57.6, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 634.396, + 153.385, + -786.743, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000504_y-000167_z000098_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x000504_y-000167_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5c87c671cf5c1fc0545db04518f371a542afcbaa --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000504_y-000167_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the elevator on the train platform; after locating it, proceed to its doors.", + "Type": 1, + "Start_Pose": [ + 504.468, + -166.616, + 98.242, + 0.0, + -42.4, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9a277c039008bd7049f7d1c4a140c5654da0195f --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x000715_y001219_z-000702_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Determine where a turnstile display shows a red prohibited sign next to another showing a green permitted sign; once found, navigate to that display area.", + "Type": 1, + "Start_Pose": [ + 714.937, + 1218.961, + -701.85, + 0.0, + 137.6, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..026f5d8985e41a2cca25f01b3baa384966be73ff --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Discover the pair of public payphones mounted on the tiled wall, then approach them.", + "Type": 1, + "Start_Pose": [ + 1045.761, + -23.839, + -701.774, + 0.0, + -22.4, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..31afdd523d5ec5944c0034e0b7c8d4d186c0be3f --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001046_y-000024_z-000702_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Once you locate the ticket machine with a yellow top beside the public phones, approach that kiosk.", + "Type": 1, + "Start_Pose": [ + 1045.761, + -23.839, + -701.774, + 0.0, + -22.4, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d651ef8e1cf6e6759e6bfc2a2726395bd00a84 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Search for three white wall-mounted boxes, two of which feature dark glass windows on their fronts; after locating them, navigate to that spot.", + "Type": 1, + "Start_Pose": [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -22.4, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4fd0335890c82b89db1bc80e5898cb63508073af --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001064_y001550_z-000702_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Look around for a pair of connected green benches situated beneath a billboard; once you have identified them, make your way over.", + "Type": 1, + "Start_Pose": [ + 1064.31, + 1549.824, + -701.85, + 0.0, + -22.4, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d67bb775257b744e47395ccfb1d1d18c450131b2 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Identify the green bench situated near the station platform area; after locating it, proceed to where it stands.", + "Type": 1, + "Start_Pose": [ + 1137.328, + -49.071, + -701.85, + 0.0, + 57.6, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..3cbaad0783b3f43b17976fb7824b2fd81961badc --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001137_y-000049_z-000702_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Search for the mop leaning beside a yellow bucket and caution cones, then head over to it.", + "Type": 1, + "Start_Pose": [ + 1137.328, + -49.071, + -701.85, + 0.0, + 57.6, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_a.json b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..10c5443d92c54620bcd05444ca8772a4f8c07f2e --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the gray ticket machine with the orange top.", + "Type": 0, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_b.json b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..1e66f76c991aed44ae91ae9b38a45c07e406323e --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the black trash bin near the wall.", + "Type": 0, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_c.json b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..c3d171f8624d1172108634aa213674f22fbe3d6e --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the pay phone mounted on the wall.", + "Type": 0, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_d.json b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..1f8dff633171a69a895d43626511cfa15978144e --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the gray metal door.", + "Type": 0, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0.0, + -178.56, + 0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_a_p.json b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..aaef78a3cb1e1699b8531bf6801e5f177daedd5c --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the trash bag beside the orange ticket machine.", + "Type": 5, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0, + -178.56, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 386.607, + -23.217, + -801.478, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_b_p.json b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..9572b6720b108190b54d5bf96500235f9ca1c9a4 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001148_y000008_z-000702_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the plate at the black trash bin near the wall.", + "Type": 5, + "Start_Pose": [ + 1147.577, + 7.715, + -701.85, + 0, + -178.56, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 332.924, + 137.612, + -751.85, + 90, + 0, + 0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5b1fa89b89ac50536c73fa02cb5eca0ee5dda5a9 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Locate the small red hand cart standing on the sidewalk near the storefronts, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -88.48, + 0.0 + ], + "Exposure": -0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..bd28ed900517df15726fdab30079911d3cbe3c71 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x001417_y-001482_z-000932_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Determine where the beige trash bin sitting in the middle of the road is positioned; once found, make your way over to it.", + "Type": 1, + "Start_Pose": [ + 1417.28, + -1482.012, + -931.85, + 0.0, + -88.48, + 0.0 + ], + "Exposure": -0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x002790_y-001564_z-000932_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x002790_y-001564_z-000932_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7ce01cf06e6b7b812e86fb69e9ff60e0d62f87 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x002790_y-001564_z-000932_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Determine where the gray door with several bicycles parked in front of it is situated; once found, make your way over to that entrance.", + "Type": 1, + "Start_Pose": [ + 2790.137, + -1564.132, + -931.85, + 0.0, + -6.08, + 0.0 + ], + "Exposure": -0.5 +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_a.json b/dataset/task/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ad880241223f67dc1472fe60058cbd10e6e9f6a8 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the metal security gate with vertical bars and approach it.", + "Type": 1, + "Start_Pose": [ + 3894.427, + -1602.231, + -931.735, + 0.0, + 93.92, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_b.json b/dataset/task/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..773f75f62aa2f03e5a39f18f13081bd99b981966 --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the pair of red pipes mounted against the wall; once found, reach that spot.", + "Type": 1, + "Start_Pose": [ + 3894.427, + -1602.231, + -931.735, + 0.0, + 93.92, + -0.0 + ] +} diff --git a/dataset/task/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_c.json b/dataset/task/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..f548797726a674d693e1e1a4c90e968fd6f9aebc --- /dev/null +++ b/dataset/task/JapanTrainStation_Optimised/task_x003894_y-001602_z-000932_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the staircase situated near the red pipes, then navigate to its base.", + "Type": 1, + "Start_Pose": [ + 3894.427, + -1602.231, + -931.735, + 0, + 93.92, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-001675_y-000011_z000118_t1_b.json b/dataset/task/Old_Factory_01/task_x-001675_y-000011_z000118_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a60636661c85c6c2f800ee154180633c78eb25ad --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-001675_y-000011_z000118_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the wide metal staircase beside the yellow forklift that leads to the elevated walkway, then head toward it.", + "Type": 1, + "Start_Pose": [ + -1674.979, + -10.986, + 118.099, + 0.0, + 120.791, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t3_a.json b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..364deaa1f6d87be28e75e53345c7609d043d56b5 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden pallet near the metal staircase on the ground, then move to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0.0, + -94.08, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t3_b.json b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..716ad98ba4032e513f8fb68988ba27bd36a8de5e --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the pillar near the staircase, then reach the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0.0, + -94.08, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t3_c.json b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..b10ba78b87965d74ed9448df489bd5f86b288bc6 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the base of the metal staircase, then approach the pillar near the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0.0, + -94.08, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t5_a_pd.json b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..bca8c904b5434f8d54451bb67680fc3e5ab3a859 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the tomato at the wooden pallet near the metal staircase, then set it down near the yellow forklift.", + "Type": 5, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0, + -94.08, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1925.173, + -356.496, + 93.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t5_b_pd.json b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..10b1fe0e3dd2614abd7977ce8f8c4706bb3885ec --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-002229_y000277_z000118_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase beside the pillar near the staircase, then place it near the yellow forklift.", + "Type": 5, + "Start_Pose": [ + -2228.512, + 276.854, + 118.099, + 0, + -94.08, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1891.162, + -542.549, + 38.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003188_y001963_z000118_t1_a.json b/dataset/task/Old_Factory_01/task_x-003188_y001963_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fc9876efc7376b682108551b947ddcc14fb83b40 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003188_y001963_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the blue two-wheeled pushcart sitting on the concrete floor of this industrial room, then approach it.", + "Type": 1, + "Start_Pose": [ + -3188.458, + 1963.242, + 118.099, + 0.0, + 100.791, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_b.json b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ee0fead477b5bbe28cc4866206823eb104999bb9 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the base of the metal staircase.", + "Type": 0, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_c.json b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..8d1e852e9700a6e0fdc66eb71e45ce9036ab898f --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the front of the red truck visible through the large opening.", + "Type": 0, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_d.json b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..e3c83bf1fcec390978b532b1a88c39eb89db96ef --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the large industrial doorway between the two red metal door panels.", + "Type": 0, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_e.json b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_e.json new file mode 100644 index 0000000000000000000000000000000000000000..409daf3aa571dcc862ab4722a344735aa0bc8ee1 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t0_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the concrete pillar near the staircase and the red doors.", + "Type": 0, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0.0, + 146.88, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t5_a_p.json b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..32b0a01a702ff9a03fffc8836c3c6c8df613503e --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket at the wooden crate on the ground.", + "Type": 5, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0, + 146.88, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3961.795, + 376.503, + 58.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t5_b_p.json b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..165af35a3475ca59f1e8d2941e679ecb9a0e160c --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003293_y-000219_z000118_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the trash bag near the base of the metal staircase.", + "Type": 5, + "Start_Pose": [ + -3292.778, + -219.32, + 118.099, + 0, + 146.88, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -4166.677, + 419.672, + 28.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_a.json b/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a87e489e878e3c06449f063822e99f2cdadcc080 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the base of the metal staircase, then head toward the red truck's front.", + "Type": 3, + "Start_Pose": [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_b.json b/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..08250a9b7539ecbd961af8e6a17de13e8b654109 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the large red gate entrance, then move to the wooden crate.", + "Type": 3, + "Start_Pose": [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_c.json b/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..1f8d96e2d67a9d9af0cacdd3936357f17329a33e --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the red truck's front, then proceed to the staircase base.", + "Type": 3, + "Start_Pose": [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_e.json b/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_e.json new file mode 100644 index 0000000000000000000000000000000000000000..4f8b32713a33b25be954ce0cdc348140adc08801 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003411_y-000142_z000118_t3_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the wooden crate on the floor, then approach the red truck's front.", + "Type": 3, + "Start_Pose": [ + -3410.993, + -142.198, + 118.099, + 0.0, + 146.88, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003533_y-000063_z000118_t1_a.json b/dataset/task/Old_Factory_01/task_x-003533_y-000063_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d03b3c084bc1b32f26ba834a4193648be5b08140 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003533_y-000063_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the yellow metal staircase situated near a large red door; after locating it, proceed to the bottom of those stairs.", + "Type": 1, + "Start_Pose": [ + -3532.608, + -63.077, + 118.099, + 0.0, + -159.209, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003623_y-000040_z000118_t1_a.json b/dataset/task/Old_Factory_01/task_x-003623_y-000040_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ec16f980903143f6d246c28a8ace3e2f90aba09a --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003623_y-000040_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the area until you identify the red truck cab visible through the warehouse opening, then head toward that location.", + "Type": 1, + "Start_Pose": [ + -3622.894, + -40.25, + 118.099, + 0.0, + -70.08, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003699_y003306_z000118_t3_a.json b/dataset/task/Old_Factory_01/task_x-003699_y003306_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..637c68ca0d0b0d421602dc23f25affd921f60260 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003699_y003306_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the green tank, then head toward the large blue cylindrical tank.", + "Type": 3, + "Start_Pose": [ + -3698.682, + 3306.16, + 118.099, + 0.0, + -132.458, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-003699_y003306_z000118_t3_c.json b/dataset/task/Old_Factory_01/task_x-003699_y003306_z000118_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..f00c6ba5de12402ce5b4b039f880d55738e745d6 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-003699_y003306_z000118_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the rusty white electrical box, then approach the large blue cylindrical tank.", + "Type": 3, + "Start_Pose": [ + -3698.682, + 3306.16, + 118.099, + 0.0, + -132.458, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005188_y-001230_z000118_t1_a.json b/dataset/task/Old_Factory_01/task_x-005188_y-001230_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f010b342407d79cd1416898a77835c7998d3c2 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005188_y-001230_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the yellow forklift parked near the warehouse crates; after locating it, head over to it.", + "Type": 1, + "Start_Pose": [ + -5187.695, + -1229.709, + 118.099, + 0.0, + 30.262, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005213_y003440_z000118_t3_b.json b/dataset/task/Old_Factory_01/task_x-005213_y003440_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..772c91b04e6b5a2bcb6a10670e725625a2bb9de4 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005213_y003440_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden crates near the silos, then reach the yellow ladder.", + "Type": 3, + "Start_Pose": [ + -5213.239, + 3439.598, + 118.018, + 0.0, + -20.138, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005213_y003440_z000118_t3_c.json b/dataset/task/Old_Factory_01/task_x-005213_y003440_z000118_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..c06794abf345bf25317b31cb09ad771b4425188d --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005213_y003440_z000118_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the yellow ladder on the concrete wall, then proceed to the crates near the silos.", + "Type": 3, + "Start_Pose": [ + -5213.239, + 3439.598, + 118.018, + 0.0, + -20.138, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005409_y001208_z000118_t5_a_pd.json b/dataset/task/Old_Factory_01/task_x-005409_y001208_z000118_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..aeb6d2f1a72052582bd26ebf21d7aa59a1b31abe --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005409_y001208_z000118_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the green bell pepper at the red truck's front cab, then leave it near the entrance of the large red door.", + "Type": 5, + "Start_Pose": [ + -5409.328, + 1207.996, + 118.099, + 0, + -87.475, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5434.709, + 408.601, + 67.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005512_y001711_z000118_t3_a.json b/dataset/task/Old_Factory_01/task_x-005512_y001711_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..17c4e256eb838d5f742c7dc0d05eb3318cbc1d1c --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005512_y001711_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red truck's front cab, then head toward the entrance of the large red door.", + "Type": 3, + "Start_Pose": [ + -5512.301, + 1710.964, + 118.099, + 0, + -79.655, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005512_y001711_z000118_t3_b.json b/dataset/task/Old_Factory_01/task_x-005512_y001711_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..6c306f0989d739eac19467e69e9b91677a84aff7 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005512_y001711_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the stacked crates near the red doors, then proceed to the red truck cab.", + "Type": 3, + "Start_Pose": [ + -5512.301, + 1710.964, + 118.099, + 0, + -79.655, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005670_y006961_z000118_t1_b.json b/dataset/task/Old_Factory_01/task_x-005670_y006961_z000118_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..bb0352245abf0da141aa24244459eaf8f4392b53 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005670_y006961_z000118_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the green dumpster situated near the building wall and go toward it.", + "Type": 1, + "Start_Pose": [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 80.721, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005670_y006961_z000118_t1_c.json b/dataset/task/Old_Factory_01/task_x-005670_y006961_z000118_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..12753f9dd569935536ab59857e49250f1920d9c1 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005670_y006961_z000118_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Track down the ladder with spiral cage protection beside the stacked crates near the yellow cart; once you identify its base, move to that spot.", + "Type": 1, + "Start_Pose": [ + -5669.585, + 6960.618, + 118.099, + 0.0, + 80.721, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t0_a.json b/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2cab3a4a0c53c06deba5d171298fd26e0c236083 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the yellow ladder of the blue horizontal storage tank.", + "Type": 0, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t0_b.json b/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..728c9c77517dca8be69c1082c4c5da54f4bcb47b --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the yellow forklift parked near the warehouse.", + "Type": 0, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t3_b.json b/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..c6e2a8893138942b74ff34d2c20a78bd8371677d --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the ladder on the blue tank, then move to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t3_c.json b/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..1e66c9a83d58ec67c1d03861e1869f274c9686a3 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-005886_y002457_z000118_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the white crates near the building, then reach the forklift.", + "Type": 3, + "Start_Pose": [ + -5885.639, + 2456.504, + 118.099, + 0.0, + -167.978, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-006360_y002667_z000118_t1_a.json b/dataset/task/Old_Factory_01/task_x-006360_y002667_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8f54383e5b6e29761a7d70dc9b1d1b59e3d1adb4 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-006360_y002667_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the yellow ladder attached to the large blue cylindrical tank; after locating it, proceed to the base of that ladder where it meets the ground.", + "Type": 1, + "Start_Pose": [ + -6360.168, + 2667.096, + 118.099, + 0.0, + 140.721, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-006753_y004055_z000118_t5_a_pd.json b/dataset/task/Old_Factory_01/task_x-006753_y004055_z000118_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..3293c8491402c9438b7361d35cb86f4e808a5b4f --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-006753_y004055_z000118_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the trash bag at the yellow forklift, then set it down near the orange forklift.", + "Type": 5, + "Start_Pose": [ + -6753.382, + 4055.272, + 118.099, + 0, + -147.848, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -7869.793, + 3389.519, + 38.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-006753_y004055_z000118_t5_b_pd.json b/dataset/task/Old_Factory_01/task_x-006753_y004055_z000118_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..87433b4ae37d9ed58ee998f89a75860e613bbd6f --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-006753_y004055_z000118_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper at the stacked white containers, then place it near the yellow forklift.", + "Type": 5, + "Start_Pose": [ + -6753.382, + 4055.272, + 118.099, + 0, + -147.848, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -7469.36, + 3894.363, + 67.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-007187_y000434_z000118_t3_b.json b/dataset/task/Old_Factory_01/task_x-007187_y000434_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..5c0f3bc76d36b516f386767baf224f0d321fa7a3 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-007187_y000434_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the red truck cab, then proceed to the forklift.", + "Type": 3, + "Start_Pose": [ + -7186.817, + 434.444, + 118.099, + 0.0, + -43.178, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-007505_y009761_z000118_t2_a.json b/dataset/task/Old_Factory_01/task_x-007505_y009761_z000118_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4d82367594cbfd74391cc29d0a61cc15ea8929e5 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-007505_y009761_z000118_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the first concrete pillar from left.", + "Type": 2, + "Start_Pose": [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-007505_y009761_z000118_t2_b.json b/dataset/task/Old_Factory_01/task_x-007505_y009761_z000118_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..47be561d6b8b9da50526fc401bbc0ee3141e8cea --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-007505_y009761_z000118_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second pillar along the wall from left.", + "Type": 2, + "Start_Pose": [ + -7505.183, + 9760.528, + 118.099, + 0.0, + 40.342, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-007505_y009761_z000118_t5_a_p.json b/dataset/task/Old_Factory_01/task_x-007505_y009761_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..fab09e72931790573de8732e16a4483fe1f0ea38 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-007505_y009761_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase at the first concrete pillar from the left.", + "Type": 5, + "Start_Pose": [ + -7505.183, + 9760.528, + 118.099, + 0, + 40.342, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -6646.138, + 10132.793, + 48.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008003_y004263_z000118_t0_b.json b/dataset/task/Old_Factory_01/task_x-008003_y004263_z000118_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..fd56dae68a3adbe1b15e541cfa4fd5ca62a7cab1 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008003_y004263_z000118_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the forklift.", + "Type": 0, + "Start_Pose": [ + -8002.712, + 4263.497, + 118.099, + 0.0, + -108.458, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008003_y004263_z000118_t5_a_p.json b/dataset/task/Old_Factory_01/task_x-008003_y004263_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..63948385ce2ab23472bcd78e9252aad32a56873e --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008003_y004263_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the green bell pepper near the yellow barrels near the wall.", + "Type": 5, + "Start_Pose": [ + -8002.712, + 4263.497, + 118.099, + 0, + -108.458, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -8662.688, + 3626.412, + 73.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008003_y004263_z000118_t5_b_p.json b/dataset/task/Old_Factory_01/task_x-008003_y004263_z000118_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..a3beecc0ece1658e042d0bbf2b00242a3ba5c8de --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008003_y004263_z000118_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the tomato at the forklift.", + "Type": 5, + "Start_Pose": [ + -8002.712, + 4263.497, + 118.099, + 0, + -108.458, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -8083.658, + 3240.071, + 88.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008095_y004628_z000118_t0_a.json b/dataset/task/Old_Factory_01/task_x-008095_y004628_z000118_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..846f38f6e568f431db2e9adbe192a83b73bf7eda --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008095_y004628_z000118_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden pallet on the ground.", + "Type": 0, + "Start_Pose": [ + -8095.44, + 4628.415, + 118.099, + 0, + -132.458, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008095_y004628_z000118_t5_a_p.json b/dataset/task/Old_Factory_01/task_x-008095_y004628_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..ab29c6a477bc978f054abeecae1f2c11f8986373 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008095_y004628_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot from the wooden pallet on the ground.", + "Type": 5, + "Start_Pose": [ + -8095.44, + 4628.415, + 118.099, + 0, + -132.458, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -8442.283, + 4013.959, + 43.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008217_y004290_z000118_t5_a_p.json b/dataset/task/Old_Factory_01/task_x-008217_y004290_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..22d2a2e02953b8868a7cbdbbc37b94ceeef7851a --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008217_y004290_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the ceramic pot near the dark green dumpster against the concrete wall.", + "Type": 5, + "Start_Pose": [ + -8216.605, + 4289.642, + 118.099, + 0, + -84.458, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -8369.017, + 2955.93, + 38.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008329_y004909_z000118_t3_a.json b/dataset/task/Old_Factory_01/task_x-008329_y004909_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4a6467465a8e22bda42297fe27d4f990bd16c2f6 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008329_y004909_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the forklift, then head toward the large brown rolling door.", + "Type": 3, + "Start_Pose": [ + -8329.145, + 4908.597, + 118.099, + 0.0, + 122.872, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008329_y004909_z000118_t5_a_pd.json b/dataset/task/Old_Factory_01/task_x-008329_y004909_z000118_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..e7518d0195d4326eb8282f99c71c148d865d0b9b --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008329_y004909_z000118_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase at the forklift, then set it down near the large brown rolling door.", + "Type": 5, + "Start_Pose": [ + -8329.145, + 4908.597, + 118.099, + 0, + 122.872, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -8747.778, + 6257.435, + 38.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008560_y004483_z000118_t1_a.json b/dataset/task/Old_Factory_01/task_x-008560_y004483_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..bddc917fe1d3145cc94bd020cd5fe247354d2691 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008560_y004483_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the orange forklift in this industrial yard and navigate over to it.", + "Type": 1, + "Start_Pose": [ + -8560.009, + 4482.837, + 118.099, + 0.0, + -159.279, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t3_a.json b/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c4eb7b53e569039ab96cdb25e9c3d48a8458ac47 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden crates near the right wall, then move to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -8768.433, + 5470.077, + 118.099, + 0, + 72.982, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t3_b.json b/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4a5604bb1fa7a52a38e02da3c36ab88837079919 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the rusty white electrical box, then proceed to the yellow forklift.", + "Type": 3, + "Start_Pose": [ + -8768.433, + 5470.077, + 118.099, + 0.0, + 72.982, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t3_c.json b/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..ea1b98aea03fcbaac9b822fe84ec9eda2bb30e9c --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the yellow forklift, then approach the rusty white electrical box.", + "Type": 3, + "Start_Pose": [ + -8768.433, + 5470.077, + 118.099, + 0.0, + 72.982, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t5_a_pd.json b/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..36948c47aa7aa7d52b2ccdcbd6124292f148441d --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-008768_y005470_z000118_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the green bell pepper at the wooden crates near the wall, then place it near the yellow forklift.", + "Type": 5, + "Start_Pose": [ + -8768.433, + 5470.077, + 118.099, + 0, + 72.982, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -8075.589, + 6697.169, + 73.099, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t2_a.json b/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..79b3e13636517c4db1329f7996966b30f6ea2b6c --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the nearest pillar on the right side.", + "Type": 2, + "Start_Pose": [ + -10190.047, + 2570.506, + 118.099, + 0.0, + 121.942, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t2_b.json b/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2ab9c5c42f5b647c63be5a28e3d6cc9cf380c019 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second pillar along the right wall.", + "Type": 2, + "Start_Pose": [ + -10190.047, + 2570.506, + 118.099, + 0.0, + 121.942, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t2_c.json b/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..d9860affb7d58df0fb1941d0ba2aa6f41ef785a1 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third pillar along the right wall.", + "Type": 2, + "Start_Pose": [ + -10190.047, + 2570.506, + 118.099, + 0.0, + 121.942, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t5_a_p.json b/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..a5e4c7769d7837d4b6768e94f4c10af3d985baba --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-010190_y002571_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the candelabra beside the nearest pillar on the right side.", + "Type": 5, + "Start_Pose": [ + -10190.047, + 2570.506, + 118.099, + 0, + 121.942, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + -10864.674, + 3025.608, + 33.099, + 0, + 30, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-010475_y009251_z000118_t2_b.json b/dataset/task/Old_Factory_01/task_x-010475_y009251_z000118_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..5a912b91e1ac020834ecde4f26412b39abb7b594 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-010475_y009251_z000118_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the base of the right staircase.", + "Type": 2, + "Start_Pose": [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -90.218, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-010475_y009251_z000118_t2_c.json b/dataset/task/Old_Factory_01/task_x-010475_y009251_z000118_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..096ccacf580011d274ffd985784c8ecdd485eaa5 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-010475_y009251_z000118_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the nearest concrete pillar on the left.", + "Type": 2, + "Start_Pose": [ + -10475.4, + 9250.562, + 118.099, + 0.0, + -90.218, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-010475_y009251_z000118_t5_a_p.json b/dataset/task/Old_Factory_01/task_x-010475_y009251_z000118_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..4dd98ddcfb208bc03ca23c87bca7a27bb4d0073e --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-010475_y009251_z000118_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the jerry can near the base of the left staircase.", + "Type": 5, + "Start_Pose": [ + -10475.4, + 9250.562, + 118.099, + 0, + -90.218, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -10941.033, + 7998.302, + 28.099, + 0, + 50, + 0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-010521_y008826_z000118_t3_b.json b/dataset/task/Old_Factory_01/task_x-010521_y008826_z000118_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..05713b77cb6f9477466249e68c903168a248459b --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-010521_y008826_z000118_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the metal staircase base, then move to the pillar.", + "Type": 3, + "Start_Pose": [ + -10520.75, + 8826.313, + 118.099, + 0.0, + -29.738, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_a.json b/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..248ea9264c875ae28c990d09cd8814265a282a8a --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the base of the leftmost staircase in the row beneath the windows.", + "Type": 2, + "Start_Pose": [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_c.json b/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..c0836beb1f6012bf6546123d9f8685f99db5483a --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second pillar from the left in the foreground.", + "Type": 2, + "Start_Pose": [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_d.json b/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..a9a85d8fa90aa16abc62c26fe0ea6769572b8a65 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second pillar from the right in the foreground.", + "Type": 2, + "Start_Pose": [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_e.json b/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..7c7f8a9401c00d604ee89c85134a61090b4ef2e8 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x-014060_y000167_z000118_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the base of the center staircase near the back.", + "Type": 2, + "Start_Pose": [ + -14059.708, + 167.289, + 118.099, + 0.0, + -176.618, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x002404_y000812_z000118_t1_a.json b/dataset/task/Old_Factory_01/task_x002404_y000812_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..87dfcb999662ce62ee5869574f00b5b26b49e4ac --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x002404_y000812_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the base of the large green cylindrical tank near the dumpster, then navigate to its bottom section.", + "Type": 1, + "Start_Pose": [ + 2404.466, + 811.922, + 118.099, + 0.0, + 40.791, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x002404_y000812_z000118_t1_b.json b/dataset/task/Old_Factory_01/task_x002404_y000812_z000118_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..8e23ab34057ff27ae180c52be7c7e2b043db6ec2 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x002404_y000812_z000118_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the white electrical transformer box situated near the green tank; once found, approach it.", + "Type": 1, + "Start_Pose": [ + 2404.466, + 811.922, + 118.099, + 0.0, + 40.791, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x002404_y000812_z000118_t1_c.json b/dataset/task/Old_Factory_01/task_x002404_y000812_z000118_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..39cb117667cd71a9e6cc0e91ef9e2781e1e358f0 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x002404_y000812_z000118_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for a dark blue two-wheeled handcart in the industrial area and reach its position.", + "Type": 1, + "Start_Pose": [ + 2404.466, + 811.922, + 118.099, + 0.0, + 40.791, + -0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x002940_y-000108_z000118_t1_a.json b/dataset/task/Old_Factory_01/task_x002940_y-000108_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..904462a3a9b704dbe26c0a0611461e3c4b9f21a0 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x002940_y-000108_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the yellow vertical ladder mounted on the body of the red tank, then approach it.", + "Type": 1, + "Start_Pose": [ + 2939.607, + -107.9, + 118.099, + 0.0, + -79.209, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x002940_y-000108_z000118_t1_b.json b/dataset/task/Old_Factory_01/task_x002940_y-000108_z000118_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3f4e002b11725d48a24be64cde631f82eacc64 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x002940_y-000108_z000118_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the base of the staircase situated between the blue tank and the red tank; once found, reach that spot.", + "Type": 1, + "Start_Pose": [ + 2939.607, + -107.9, + 118.099, + 0.0, + -79.209, + 0.0 + ] +} diff --git a/dataset/task/Old_Factory_01/task_x004248_y004324_z000118_t1_a.json b/dataset/task/Old_Factory_01/task_x004248_y004324_z000118_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d66565e20fc87ed113b5929e9ada083531c7c342 --- /dev/null +++ b/dataset/task/Old_Factory_01/task_x004248_y004324_z000118_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the red ladder situated between the two horizontally placed red barrels, then navigate to its base.", + "Type": 1, + "Start_Pose": [ + 4247.785, + 4324.383, + 118.099, + 0.0, + -139.209, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000012_y-005902_z000098_t1_a.json b/dataset/task/Storagehouse/task_x-000012_y-005902_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8799b429c33bc5ea597c5489d43b8afcddc93835 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000012_y-005902_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the warehouse for the flat wheeled cart with red-and-white striped markings and approach it.", + "Type": 1, + "Start_Pose": [ + -11.962, + -5901.574, + 98.15, + 0, + 26.88, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000097_y-000060_z000098_t1_a.json b/dataset/task/Storagehouse/task_x-000097_y-000060_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..79097d80827c6b6bc69ad233ea5ba29869dec744 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000097_y-000060_z000098_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Explore the area to find the red door beneath the D Sector sign, then walk toward it.", + "Type": 1, + "Start_Pose": [ + -96.698, + -60.394, + 98.15, + 0.0, + 68.96, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000097_y-000060_z000098_t1_b.json b/dataset/task/Storagehouse/task_x-000097_y-000060_z000098_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2aaa9b1d268d06c8f3faff1329dad82ae14e816b --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000097_y-000060_z000098_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Look around for the yellow safety railing near the electrical panel and approach it.", + "Type": 1, + "Start_Pose": [ + -96.698, + -60.394, + 98.15, + 0.0, + 68.96, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000097_y-000060_z000098_t1_c.json b/dataset/task/Storagehouse/task_x-000097_y-000060_z000098_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..0988a4ee67df68e4833d02a92d5a2c6ad9e37547 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000097_y-000060_z000098_t1_c.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Scan the warehouse for the fire extinguisher mounted on the wall beside the red door, then head toward it.", + "Type": 1, + "Start_Pose": [ + -96.698, + -60.394, + 98.15, + 0, + 68.96, + 0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000111_y-000662_z000098_t3_b.json b/dataset/task/Storagehouse/task_x-000111_y-000662_z000098_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2c0bd4be32bceeecab71826e1657f22454a2f69d --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000111_y-000662_z000098_t3_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Navigate to the middle red shelf, then proceed to the wall-mounted junction box.", + "Type": 3, + "Start_Pose": [ + -111.036, + -662.089, + 98.15, + 0.0, + 103.52, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000111_y-000662_z000098_t5_b_pd.json b/dataset/task/Storagehouse/task_x-000111_y-000662_z000098_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..bf108895968f2db1f143706624543438f851762f --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000111_y-000662_z000098_t5_b_pd.json @@ -0,0 +1,24 @@ +{ + "Instruction": "Grab the ceramic pot at the middle red shelf, then set it down near the wall-mounted junction box.", + "Type": 5, + "Start_Pose": [ + -111.036, + -662.089, + 98.15, + 0, + 103.52, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -137.032, + 51.483, + 18.15, + 0, + 0, + 0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000141_y-003886_z000101_t0_b.json b/dataset/task/Storagehouse/task_x-000141_y-003886_z000101_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..d2f00ce13061755e29b9082941118b3da54c062f --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000141_y-003886_z000101_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden pallet standing upright against the shelving.", + "Type": 0, + "Start_Pose": [ + -140.724, + -3886.087, + 100.9, + 0.0, + 119.04, + -0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000141_y-003886_z000101_t5_a_p.json b/dataset/task/Storagehouse/task_x-000141_y-003886_z000101_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..9c7424bd28bf6ef287562d849eab3d186fe90cc5 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000141_y-003886_z000101_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato near the yellow safety barriers on the warehouse floor.", + "Type": 5, + "Start_Pose": [ + -140.724, + -3886.087, + 100.9, + 0, + 119.04, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -442.341, + -3326.331, + 68.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000148_y-000028_z000098_t1_b.json b/dataset/task/Storagehouse/task_x-000148_y-000028_z000098_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e5f3a3fc38a1bd1fbaa0e95fe864d9618b659196 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000148_y-000028_z000098_t1_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Search the warehouse for the red bin beneath the shelving unit marked \"01\", then approach it.", + "Type": 1, + "Start_Pose": [ + -148.037, + -28.381, + 98.15, + 0.0, + 133.28, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000187_y-002421_z000398_t1_a.json b/dataset/task/Storagehouse/task_x-000187_y-002421_z000398_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..58e7d5343edd7c299bf4f449fb7f9ddcd1333277 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000187_y-002421_z000398_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Scan the surrounding area for the electrical junction box on the red wall and approach it.", + "Type": 1, + "Start_Pose": [ + -186.753, + -2420.778, + 398.15, + 0, + -148.8, + 0 + ], + "Exposure": 1.5 +} diff --git a/dataset/task/Storagehouse/task_x-000190_y-003484_z000098_t1_a.json b/dataset/task/Storagehouse/task_x-000190_y-003484_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a3fd2490a0b851a4541aed8f1cfb7e26dbea1abc --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000190_y-003484_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around the warehouse for the gray lidded trash bin sitting on a wooden pallet beneath a metal shelving unit, then approach it.", + "Type": 1, + "Start_Pose": [ + -189.854, + -3484.068, + 98.275, + 0.0, + -29.76, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000190_y-003484_z000098_t1_b.json b/dataset/task/Storagehouse/task_x-000190_y-003484_z000098_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ecd70fbe0de097e2d0c8ef9ba5fc85464756a559 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000190_y-003484_z000098_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the warehouse for the doorway beneath the green illuminated EXIT sign, then approach the doorway.", + "Type": 1, + "Start_Pose": [ + -189.854, + -3484.068, + 98.275, + 0.0, + -29.76, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000231_y-001772_z000398_t0_a.json b/dataset/task/Storagehouse/task_x-000231_y-001772_z000398_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4aa8d03a0b9bf35a3a498150ae7ecc1d1d813089 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000231_y-001772_z000398_t0_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the door under the green exit sign.", + "Type": 0, + "Start_Pose": [ + -230.735, + -1771.592, + 398.15, + 0.0, + -98.88, + 0.0 + ], + "Exposure": 1.5 +} diff --git a/dataset/task/Storagehouse/task_x-000231_y-001772_z000398_t0_c.json b/dataset/task/Storagehouse/task_x-000231_y-001772_z000398_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..6f47fc9492f8896e9cdfa4f9e73141e35137bb2d --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000231_y-001772_z000398_t0_c.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Navigate to the yellow and black hazard striped bollard near the door.", + "Type": 0, + "Start_Pose": [ + -230.735, + -1771.592, + 398.15, + 0.0, + -98.88, + 0.0 + ], + "Exposure": 1.5 +} diff --git a/dataset/task/Storagehouse/task_x-000238_y-003727_z000098_t1_a.json b/dataset/task/Storagehouse/task_x-000238_y-003727_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0a22e1446f8d512201ff4267e1870b2ee90a45eb --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000238_y-003727_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the warehouse to find the stacked wooden pallets leaning upright and move toward them.", + "Type": 1, + "Start_Pose": [ + -237.667, + -3726.616, + 98.275, + 0, + -157.44, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000246_y-001715_z000398_t3_a.json b/dataset/task/Storagehouse/task_x-000246_y-001715_z000398_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6c6a7a750b6e2c16e332e62dc3303f9308a110e1 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000246_y-001715_z000398_t3_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Navigate to the large yellow letter A, then reach the exit door.", + "Type": 3, + "Start_Pose": [ + -246.343, + -1715.206, + 398.15, + 0.0, + -96.0, + 0.0 + ], + "Exposure": 1.5 +} diff --git a/dataset/task/Storagehouse/task_x-000246_y-001715_z000398_t5_a_pd.json b/dataset/task/Storagehouse/task_x-000246_y-001715_z000398_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..acfd5576af30463901fa9a4fd75b25279203e58e --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000246_y-001715_z000398_t5_a_pd.json @@ -0,0 +1,24 @@ +{ + "Instruction": "Pick up the candelabra from the large yellow letter A, then drop it near the exit door.", + "Type": 5, + "Start_Pose": [ + -246.343, + -1715.206, + 398.15, + 0, + -96, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -158.037, + -2322.469, + 313.15, + 0, + 0, + 0 + ], + "Exposure": 1.5 +} diff --git a/dataset/task/Storagehouse/task_x-000267_y-003771_z000098_t2_a.json b/dataset/task/Storagehouse/task_x-000267_y-003771_z000098_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0dc3eaaf12b9ce6d563243d7e7772b8ff39d86e8 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000267_y-003771_z000098_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the open door on the left with the green exit sign.", + "Type": 2, + "Start_Pose": [ + -266.965, + -3770.551, + 98.15, + 0.0, + -157.44, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000267_y-003771_z000098_t2_b.json b/dataset/task/Storagehouse/task_x-000267_y-003771_z000098_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ed115484c06d98e15f358efc575b10b9c9d6cf9d --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000267_y-003771_z000098_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the yellow bollard nearest to the center shelving unit.", + "Type": 2, + "Start_Pose": [ + -266.965, + -3770.551, + 98.15, + 0.0, + -157.44, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000268_y-001926_z000398_t3_a.json b/dataset/task/Storagehouse/task_x-000268_y-001926_z000398_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5a3de681c777ecfcea32e908930f2efa92665293 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000268_y-001926_z000398_t3_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the fire safety equipment board on the wall, then navigate to the yellow \"A Sector\" lettering.", + "Type": 3, + "Start_Pose": [ + -268.474, + -1925.767, + 398.15, + 0, + -66.24, + 0 + ], + "Exposure": 1.5 +} diff --git a/dataset/task/Storagehouse/task_x-000268_y-001926_z000398_t3_b.json b/dataset/task/Storagehouse/task_x-000268_y-001926_z000398_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..9bcad2e0d55e76a6430816591293f418c09214d1 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000268_y-001926_z000398_t3_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Head toward the fire safety equipment board on the wall, then proceed to the doorway.", + "Type": 3, + "Start_Pose": [ + -268.474, + -1925.767, + 398.15, + 0.0, + -66.24, + 0.0 + ], + "Exposure": 1.5 +} diff --git a/dataset/task/Storagehouse/task_x-000268_y-001926_z000398_t3_c.json b/dataset/task/Storagehouse/task_x-000268_y-001926_z000398_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..1b20723b03c6317c55b6ba164d797cf8f3e55aa9 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000268_y-001926_z000398_t3_c.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Move to the yellow and black striped post, then approach the doorway.", + "Type": 3, + "Start_Pose": [ + -268.474, + -1925.767, + 398.15, + 0.0, + -66.24, + 0.0 + ], + "Exposure": 1.5 +} diff --git a/dataset/task/Storagehouse/task_x-000286_y-003728_z000098_t3_b.json b/dataset/task/Storagehouse/task_x-000286_y-003728_z000098_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..6c707260ad9edd50fd3520144292ca1002838b33 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000286_y-003728_z000098_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the stacked wooden pallets, then move to the open doorway.", + "Type": 3, + "Start_Pose": [ + -286.476, + -3728.443, + 98.275, + 0.0, + 157.44, + -0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000286_y-003728_z000098_t3_c.json b/dataset/task/Storagehouse/task_x-000286_y-003728_z000098_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..a0214b121689e7f1c729ebc83f0ef474dde1998f --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000286_y-003728_z000098_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the pallet on the floor, then reach the yellow safety barrier.", + "Type": 3, + "Start_Pose": [ + -286.476, + -3728.443, + 98.275, + 0, + 157.44, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000286_y-003728_z000098_t5_a_pd.json b/dataset/task/Storagehouse/task_x-000286_y-003728_z000098_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..94879e69bf1d72dfa48a06ce7368f70ecb9eff2b --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000286_y-003728_z000098_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the green bell pepper by the yellow safety barrier, then leave it at the open doorway.", + "Type": 5, + "Start_Pose": [ + -286.476, + -3728.443, + 98.275, + 0, + 157.44, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -677.028, + -3369.815, + 38.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000291_y-000395_z000098_t3_a.json b/dataset/task/Storagehouse/task_x-000291_y-000395_z000098_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..30f9e91028ec8ae2ee968dfa554aab97d7d735ea --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000291_y-000395_z000098_t3_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Approach the black-yellow striped bollard, then move to the green container on the lower shelf.", + "Type": 3, + "Start_Pose": [ + -290.948, + -395.492, + 98.15, + 0.0, + -96.16, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000291_y-000395_z000098_t5_a_pd.json b/dataset/task/Storagehouse/task_x-000291_y-000395_z000098_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..988db20dba82d0e767ecaaf50aa49e950d986b40 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000291_y-000395_z000098_t5_a_pd.json @@ -0,0 +1,24 @@ +{ + "Instruction": "Grab the wicker basket by the black-and-yellow striped bollard, then place it near the green container on the lower shelf.", + "Type": 5, + "Start_Pose": [ + -290.948, + -395.492, + 98.15, + 0, + -96.16, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -453.546, + -901.801, + 33.15, + 90, + -96.16, + 0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000329_y-000503_z000098_t1_a.json b/dataset/task/Storagehouse/task_x-000329_y-000503_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d859ce37ecd1c95661ff4699a340f3bc19d6b71e --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000329_y-000503_z000098_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Search the warehouse for the object covered by a yellow tarp on a wooden pallet between two metal shelving units, then approach it.", + "Type": 1, + "Start_Pose": [ + -328.81, + -502.773, + 98.15, + 0, + -15.52, + 0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000350_y-000495_z000098_t3_a.json b/dataset/task/Storagehouse/task_x-000350_y-000495_z000098_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..827903bf4b2b7a96f7aae12c633bbb0a77a49730 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000350_y-000495_z000098_t3_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the fire extinguisher on the wall, then head toward the fire extinguisher on 03 shelf.", + "Type": 3, + "Start_Pose": [ + -350.291, + -494.868, + 98.15, + 0.0, + -143.2, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000369_y-005999_z000098_t3_c.json b/dataset/task/Storagehouse/task_x-000369_y-005999_z000098_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..1b30a903dd5dca93a75aa490566e73361ae5b2ae --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000369_y-005999_z000098_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the yellow drum on the top shelf, then reach the white electrical box on the brick wall.", + "Type": 3, + "Start_Pose": [ + -369.185, + -5998.777, + 98.15, + 0.0, + -49.92, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000369_y-005999_z000098_t5_a_pd.json b/dataset/task/Storagehouse/task_x-000369_y-005999_z000098_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..7661baf97ea6d5d9e972089fac26a3d3f91ee087 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000369_y-005999_z000098_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket at shelf 03, then leave it by the white electrical box on the wall.", + "Type": 5, + "Start_Pose": [ + -369.185, + -5998.777, + 98.15, + 0, + -49.92, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 425.291, + -6338.659, + 20.698, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000369_y-005999_z000098_t5_b_pd.json b/dataset/task/Storagehouse/task_x-000369_y-005999_z000098_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..1518930aceebdad1921981aba1602c3791e4b4ec --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000369_y-005999_z000098_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the tomato at the white electrical box on the wall, then place it near the shelf labeled 03.", + "Type": 5, + "Start_Pose": [ + -369.185, + -5998.777, + 98.15, + 0, + -49.92, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 91.23, + -6464.424, + 68.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000417_y-000039_z000098_t3_a.json b/dataset/task/Storagehouse/task_x-000417_y-000039_z000098_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..895de97bf82ed3ec79e6d35cfd20f66e422ec86b --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000417_y-000039_z000098_t3_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk to the red door, then head toward the yellow safety barrier.", + "Type": 3, + "Start_Pose": [ + -417.149, + -38.694, + 98.15, + 0.0, + -39.52, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000417_y-000039_z000098_t3_b.json b/dataset/task/Storagehouse/task_x-000417_y-000039_z000098_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2cc6a94bb0c075bf78bb260cba6dcb22cd5dfb3a --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000417_y-000039_z000098_t3_b.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Approach the red fire extinguisher near the red door, then move to the yellow safety barrier.", + "Type": 3, + "Start_Pose": [ + -417.149, + -38.694, + 98.15, + 0.0, + -39.52, + 0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000417_y-000039_z000098_t5_b_pd.json b/dataset/task/Storagehouse/task_x-000417_y-000039_z000098_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..104e4a7f82519987d6fbac7046eef3d7c6fa965a --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000417_y-000039_z000098_t5_b_pd.json @@ -0,0 +1,24 @@ +{ + "Instruction": "Lift the metal bucket by the red fire extinguisher near the red door, then set it down by the yellow safety barrier.", + "Type": 5, + "Start_Pose": [ + -417.149, + -38.694, + 98.15, + 0, + -39.52, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 360.339, + -22.841, + 18.15, + 0, + 0, + 0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000461_y-000212_z000098_t1_a.json b/dataset/task/Storagehouse/task_x-000461_y-000212_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..66e01831035bddc425be0d93875da4882e24e04c --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000461_y-000212_z000098_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Look around the warehouse for the yellow tarp covering items near the sector door and go to it.", + "Type": 1, + "Start_Pose": [ + -461.194, + -211.972, + 98.15, + 0.0, + 137.12, + -0.0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000567_y-003795_z000098_t1_a.json b/dataset/task/Storagehouse/task_x-000567_y-003795_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b8d3a92624c1bf4dbfd43416c37f5c93097c4f94 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000567_y-003795_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the warehouse aisles to find the base of the shelf rack labeled A1 and approach it.", + "Type": 1, + "Start_Pose": [ + -567.194, + -3794.583, + 98.15, + 0.0, + 72.0, + -0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000567_y-003795_z000098_t1_b.json b/dataset/task/Storagehouse/task_x-000567_y-003795_z000098_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4f57a751851228b3cd3bd01a31073dd9c61979cb --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000567_y-003795_z000098_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around for the open doorway beneath the green illuminated EXIT sign, then approach the doorway.", + "Type": 1, + "Start_Pose": [ + -567.194, + -3794.583, + 98.15, + 0.0, + 72.0, + -0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000567_y-003795_z000098_t1_c.json b/dataset/task/Storagehouse/task_x-000567_y-003795_z000098_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..a096055330b520a5950dace393bad013a6bfb5e0 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000567_y-003795_z000098_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the warehouse for the red fire extinguisher mounted on the dark wall and approach it.", + "Type": 1, + "Start_Pose": [ + -567.194, + -3794.583, + 98.15, + 0.0, + 72.0, + -0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000637_y-000577_z000098_t1_a.json b/dataset/task/Storagehouse/task_x-000637_y-000577_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9bdfaee17b6a40f0c38ebbc3e752fdfc42d44071 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000637_y-000577_z000098_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Explore the shelves to find the green barrel on the lowest shelf near the blue crates and approach it.", + "Type": 1, + "Start_Pose": [ + -637.358, + -576.689, + 98.15, + 0, + -148.96, + 0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x-000794_y-002204_z000398_t0_a.json b/dataset/task/Storagehouse/task_x-000794_y-002204_z000398_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a055880595cfa72fa8dc3982586ec7c007c6c036 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000794_y-002204_z000398_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wall displaying the yellow letter A.", + "Type": 0, + "Start_Pose": [ + -793.731, + -2203.713, + 398.15, + 0.0, + -15.36, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-000794_y-002204_z000398_t5_a_p.json b/dataset/task/Storagehouse/task_x-000794_y-002204_z000398_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..51f7ebe5eba34b75686d96239ba4791088553eeb --- /dev/null +++ b/dataset/task/Storagehouse/task_x-000794_y-002204_z000398_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the ceramic pot near the wall displaying the yellow letter A.", + "Type": 5, + "Start_Pose": [ + -793.731, + -2203.713, + 398.15, + 0, + -15.36, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -199.745, + -2316.251, + 313.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-001741_y-003634_z000098_t1_a.json b/dataset/task/Storagehouse/task_x-001741_y-003634_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..415ffa00fa469ea7d2a00feea2b204571d8969bb --- /dev/null +++ b/dataset/task/Storagehouse/task_x-001741_y-003634_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the area to locate the red fire extinguisher mounted on the wall and go to it.", + "Type": 1, + "Start_Pose": [ + -1740.852, + -3634.204, + 98.15, + 0, + -82.56, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x-001790_y-003655_z000098_t1_b.json b/dataset/task/Storagehouse/task_x-001790_y-003655_z000098_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3069aa2cfb3e16d8239c2cf07ff04d4a2dd124 --- /dev/null +++ b/dataset/task/Storagehouse/task_x-001790_y-003655_z000098_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the area for the large red trash bin near the open doorway, then move toward it.", + "Type": 1, + "Start_Pose": [ + -1790.483, + -3654.724, + 98.15, + 0.0, + -100.8, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000041_y-000092_z000098_t1_a.json b/dataset/task/Storagehouse/task_x000041_y-000092_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..226c14ac6ecd4f443b3338c6b56c9a94bc9328a4 --- /dev/null +++ b/dataset/task/Storagehouse/task_x000041_y-000092_z000098_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Explore the warehouse to find the white electrical box mounted on the wall and approach it.", + "Type": 1, + "Start_Pose": [ + 40.765, + -92.433, + 98.15, + 0, + 53.6, + 0 + ], + "Exposure": 0.5 +} diff --git a/dataset/task/Storagehouse/task_x000054_y-006331_z000098_t3_a.json b/dataset/task/Storagehouse/task_x000054_y-006331_z000098_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5822e711b893215e7100f4148faf83579e9f047e --- /dev/null +++ b/dataset/task/Storagehouse/task_x000054_y-006331_z000098_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the fire extinguisher on rack 06, then head toward the blue barrel.", + "Type": 3, + "Start_Pose": [ + 54.452, + -6331.204, + 98.15, + 0.0, + 154.56, + -0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000054_y-006331_z000098_t3_d.json b/dataset/task/Storagehouse/task_x000054_y-006331_z000098_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..7bb8c1b2eadc47d4e43f98d6e4891e40caa68c3f --- /dev/null +++ b/dataset/task/Storagehouse/task_x000054_y-006331_z000098_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the blue barrel, then proceed to the fire extinguisher on rack 06.", + "Type": 3, + "Start_Pose": [ + 54.452, + -6331.204, + 98.15, + 0.0, + 154.56, + -0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000130_y000077_z000115_t3_a.json b/dataset/task/Storagehouse/task_x000130_y000077_z000115_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fd41c453e1c3d589e7f3dcd2503d316110f2c17d --- /dev/null +++ b/dataset/task/Storagehouse/task_x000130_y000077_z000115_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the gray electrical panel, then proceed to the small red bin on the floor.", + "Type": 3, + "Start_Pose": [ + 129.523, + 77.07, + 114.74, + 0.0, + -143.2, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000130_y000077_z000115_t3_b.json b/dataset/task/Storagehouse/task_x000130_y000077_z000115_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b8ba731dada68957c4b48b2cd49b4f44a23a5e43 --- /dev/null +++ b/dataset/task/Storagehouse/task_x000130_y000077_z000115_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the small red bin on the floor, then approach the gray electrical panel.", + "Type": 3, + "Start_Pose": [ + 129.523, + 77.07, + 114.74, + 0.0, + -143.2, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000130_y000077_z000115_t5_a_pd.json b/dataset/task/Storagehouse/task_x000130_y000077_z000115_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..762ca8ee5e7dbd319cad371d3c6f5856813fc11a --- /dev/null +++ b/dataset/task/Storagehouse/task_x000130_y000077_z000115_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the wicker basket at the gray electrical panel, then set it down near the small red bin on the floor.", + "Type": 5, + "Start_Pose": [ + 129.523, + 77.07, + 114.74, + 0, + -143.2, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -637.259, + -225.528, + 38.15, + 90, + -163.2, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000162_y-004110_z000098_t1_b.json b/dataset/task/Storagehouse/task_x000162_y-004110_z000098_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..7f2d282a29d86544461e7e61ae3f69f8eadade24 --- /dev/null +++ b/dataset/task/Storagehouse/task_x000162_y-004110_z000098_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the warehouse shelving for the blue barrel stored on the lowest rack shelf and approach it.", + "Type": 1, + "Start_Pose": [ + 161.921, + -4110.094, + 98.15, + 0.0, + 63.36, + -0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000290_y-004737_z000098_t1_a.json b/dataset/task/Storagehouse/task_x000290_y-004737_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..adfaf2e5d18faf19ec891d4c4e5cd917346e0f20 --- /dev/null +++ b/dataset/task/Storagehouse/task_x000290_y-004737_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the warehouse for the small trash bin near the red-and-white barrier tape and approach it.", + "Type": 1, + "Start_Pose": [ + 289.967, + -4736.96, + 98.15, + 0, + -11.52, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000337_y-004496_z000098_t1_a.json b/dataset/task/Storagehouse/task_x000337_y-004496_z000098_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6af038bcb30857320c0c39fffac767677bbf284f --- /dev/null +++ b/dataset/task/Storagehouse/task_x000337_y-004496_z000098_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the surrounding aisles for the toppled orange shelf rack amid scattered debris and approach it.", + "Type": 1, + "Start_Pose": [ + 336.942, + -4496.296, + 98.15, + 0, + 55.68, + 0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000337_y-004496_z000098_t1_b.json b/dataset/task/Storagehouse/task_x000337_y-004496_z000098_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f6b3a7a9598a5adcee26baf003b1cc9512101b31 --- /dev/null +++ b/dataset/task/Storagehouse/task_x000337_y-004496_z000098_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the warehouse to locate the cart with a blue base and yellow railings, then go to it.", + "Type": 1, + "Start_Pose": [ + 336.942, + -4496.296, + 98.15, + 0.0, + -126.72, + 0.0 + ] +} diff --git a/dataset/task/Storagehouse/task_x000337_y-004496_z000098_t1_c.json b/dataset/task/Storagehouse/task_x000337_y-004496_z000098_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..3802348f4f7c50732d2d5e41d826cbc1e2b09a21 --- /dev/null +++ b/dataset/task/Storagehouse/task_x000337_y-004496_z000098_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the warehouse shelves for the large reddish-brown plastic storage jars grouped on a green metal shelving unit, then approach them.", + "Type": 1, + "Start_Pose": [ + 336.942, + -4496.296, + 98.15, + 0.0, + 55.68, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_a.json b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e8468e4c618a2e165e2aacf000fb7f099d90982c --- /dev/null +++ b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second tree from the left.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_b.json b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b9657559ffd456bbec66e9f5e0437f0a0ec94bf1 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third yellow barrier from the right.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_c.json b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..478204084aa35ffc0fccedbbe6b644dbbc0d0673 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second traffic cone from the left.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_d.json b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..3d02692adb769a36d0ccf3a55241d3814930d019 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the second green barrier on the left.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0, + 53.76, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_e.json b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..d85d02ab3d9890267fa4a2410ddeaa8c01e2b425 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000072_y002718_z000130_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the second yellow barrier from the left.", + "Type": 2, + "Start_Pose": [ + -72.337, + 2717.931, + 130.356, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_a.json b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..939f04bdb86d494796f1c4457614ed53fcd20781 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the green awning storefront, then head toward the blue motorcycle.", + "Type": 3, + "Start_Pose": [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_b.json b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..c2e832122ee91edea4123b809947ca0b26c0806b --- /dev/null +++ b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the green awning storefront, then proceed to the blue awning storefront.", + "Type": 3, + "Start_Pose": [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_c.json b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..879395272538927810e21a3c306df81c31b850ee --- /dev/null +++ b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the yellow guardrail, then move to the shop with purple and blue banners.", + "Type": 3, + "Start_Pose": [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_d.json b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..4f1d162e2837c63d61b341fde7a5232f41fe3904 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the blue awning storefront, then go to the blue motorcycle.", + "Type": 3, + "Start_Pose": [ + -166.29, + 112.496, + 128.15, + 0.0, + 175.68, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000166_y000112_z000128_t5_a_pd.json b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..d75d25eb20fe6138103ab6db7a8ee21f939058c7 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000166_y000112_z000128_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the green bell pepper by the yellow guardrail, then place it by the shop with purple and blue banners.", + "Type": 5, + "Start_Pose": [ + -166.29, + 112.496, + 128.15, + 0, + 175.68, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -639.992, + 300.078, + 73.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_a.json b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6fd53699c8250fedad48460ca901e9fab0bc4e --- /dev/null +++ b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost tree along the building.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_b.json b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ccd098ecfdaa7c00783947e7f76826141436a658 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second tree from the left.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_c.json b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..d0e981d5b8f6ce480287f3198d69dc2c7953d226 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the rightmost tree visible across the street.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_d.json b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..a894904cc500387f7998fb39147ba236ef5c2804 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the third tree from the left.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_e.json b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..63a1de4eb00a48fb3c1051b667db210b462a196d --- /dev/null +++ b/dataset/task/Tokyo/task_x-000257_y-000223_z000138_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second tree from the right.", + "Type": 2, + "Start_Pose": [ + -256.807, + -222.978, + 138.152, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_a.json b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f8e2e5e9c01152454a497ebdae8171e4df97067a --- /dev/null +++ b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second closest orange traffic cone on the right.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_b.json b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..c5616c3e9928f209220c6dcf6f813e7d58321788 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second shop storefront on the left side.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0, + 172.8, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_c.json b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..8b0f1bbd7728ea9d1bf9375da13ba2d2e8551bfb --- /dev/null +++ b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the third cone from the right on the street.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_d.json b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..2a0843c0eb52c80b4377d31e8688123ae06ad519 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the second yellow barrier on the right side.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_e.json b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..af1a1f41d6688816fded3af5ad89b9813f0e4e84 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000548_y002150_z000128_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the second green iron fence on the left.", + "Type": 2, + "Start_Pose": [ + -547.672, + 2149.735, + 128.149, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_a.json b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..88e453a1f9c583a42e8f07c192563da31f228dc9 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the surrounding streets for the blue bicycle parked along the cherry blossom street, then approach it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_b.json b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..1f0ccfff5f56ac29aa02114cc557dd278bea3bad --- /dev/null +++ b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the nearby storefronts for the convenience store with the green awning, then go to it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_c.json b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..b8bbf011ac36ab1534c75130db45f55f02b13325 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around the nearby alleys for the shop with the blue awning, then approach it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_d.json b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_d.json new file mode 100644 index 0000000000000000000000000000000000000000..8ae38de840fa633b5117b38872b300873998d835 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the area for the convenience store with the orange-and-yellow door, then walk to it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_e.json b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_e.json new file mode 100644 index 0000000000000000000000000000000000000000..25bf8dd79f76884bd472a1d68123b5ce55a3f1a2 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000750_y-000068_z000131_t1_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore around the green-awning convenience store for the nearby white door, then approach it.", + "Type": 1, + "Start_Pose": [ + -750.158, + -68.006, + 130.81, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_a.json b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b57002927c82c35561f98c23006de0d88a675762 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around for the green notice posted on the gray door, then move close to it.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_b.json b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..7733c026f2a850b481f415ea81347b87c6701f97 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the nearby streets for the blue-fronted convenience store and approach it.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_c.json b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..e11f90940313db50847a2c00ac25eb051a664bc1 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the surrounding area for the orange bicycle parked near a building, then walk to it.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_d.json b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_d.json new file mode 100644 index 0000000000000000000000000000000000000000..e98a1b8b151bd62b7d0343cd66f6d5ba20904b50 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the nearby alleyways for the yellow safety barrier by an entrance, then go to it.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_e.json b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_e.json new file mode 100644 index 0000000000000000000000000000000000000000..63a0a91eb9031b0a19c1739407fe07a378ad8d06 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000878_y002340_z000128_t1_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Find the shop with the brown awning and approach the red notice on its door.", + "Type": 1, + "Start_Pose": [ + -877.632, + 2340.093, + 128.149, + 0.0, + 66.24, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000928_y002328_z000128_t0_a.json b/dataset/task/Tokyo/task_x-000928_y002328_z000128_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6106b0823fb3b79198bf6bc525f3542285a14f63 --- /dev/null +++ b/dataset/task/Tokyo/task_x-000928_y002328_z000128_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the orange bicycle.", + "Type": 0, + "Start_Pose": [ + -928.228, + 2328.088, + 128.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-000928_y002328_z000128_t5_a_p.json b/dataset/task/Tokyo/task_x-000928_y002328_z000128_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..88fac45a7ec853ecd61679eb4a22f6898d160eae --- /dev/null +++ b/dataset/task/Tokyo/task_x-000928_y002328_z000128_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the plate near the orange bicycle.", + "Type": 5, + "Start_Pose": [ + -928.228, + 2328.088, + 128.15, + 0, + 172.8, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1720.735, + 2086.731, + 78.15, + -90, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001068_y-000525_z000138_t0_a.json b/dataset/task/Tokyo/task_x-001068_y-000525_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..30965c937a889e82692f5e55f07a9b9b3b2475f1 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001068_y-000525_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the storefront beneath the green awning on the red building.", + "Type": 0, + "Start_Pose": [ + -1068.381, + -524.76, + 138.149, + 0.0, + 113.28, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001068_y-000525_z000138_t0_b.json b/dataset/task/Tokyo/task_x-001068_y-000525_z000138_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..17d954583284a242c436f9a4f74527e273ff6d01 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001068_y-000525_z000138_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the yellow barrier on the road.", + "Type": 0, + "Start_Pose": [ + -1068.381, + -524.76, + 138.149, + 0.0, + 113.28, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001096_y-000460_z000138_t0_a.json b/dataset/task/Tokyo/task_x-001096_y-000460_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..03dc2c82d6aedf203dc7bc242c3e374470d563fb --- /dev/null +++ b/dataset/task/Tokyo/task_x-001096_y-000460_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red-and-white traffic cone.", + "Type": 0, + "Start_Pose": [ + -1096.273, + -459.932, + 138.15, + 0, + 113.28, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_a.json b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b84b66df25a2ef7e294cace6e1b98ef3855803de --- /dev/null +++ b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the orange bicycle, then head toward the blue awning shop.", + "Type": 3, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0, + -97.92, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_b.json b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b521072c51f2fdf381f5b29b1e3e4eb3aa54e347 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the blue awning shop, then move to the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -97.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_c.json b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..0dd9030bd394e90440788526d07c3dcb276baa93 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the white AC unit on the ground, then go to the blue awning shop.", + "Type": 3, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -97.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_d.json b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..2e26d825713cb088d63bbac9c78808f9744f4dd4 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the orange traffic cone near the cherry blossom tree, then reach the blue awning shop door.", + "Type": 3, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0.0, + -97.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001158_y002806_z000138_t5_a_pd.json b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..f1fe34c7acf17145dad849602bcfa94ef9b5e328 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001158_y002806_z000138_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the trash bag at the yellow bicycle, then set it down near the blue awning shop.", + "Type": 5, + "Start_Pose": [ + -1157.995, + 2806.462, + 138.15, + 0, + -97.92, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1575.205, + 2022.892, + 41.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_a.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..82139b1842e88baac42a4cf71c34228514afc3ad --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the orange bicycle parked by the building.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_b.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..188276e03ca26c1dd7f23dbeda8449c02c767a8d --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the yellow metal barrier on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_c.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..b886de7bc2dc8728abf20a8eedeeae60b071a287 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the cherry blossom tree.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_d.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..de66bf5bd3fe93fd5d6bb9133d6a5a13fdd5b1b2 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the store with the blue awning.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_e.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_e.json new file mode 100644 index 0000000000000000000000000000000000000000..c5f8a8917d5ef61e413691a69b74805477207129 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t0_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the green sign on the building wall.", + "Type": 0, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_a.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e59f674fc55ff4cdddf7a314ed209582c1cecce0 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the orange bicycle, then head toward the blue awning storefront.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_b.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2d37fd2f0d1d69e93c5908a2a52920df93d04d79 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the cherry blossom tree, then proceed to the yellow barrier rails.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_c.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..ab338e864468f0ff3e984b50980edf8a6fc7fb00 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the orange traffic cone near the cherry blossom tree, then move to the blue door.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_d.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..27541edcb30b42faeb0fa168dea4e47b1ccae1c0 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the yellow barrier rails, then navigate to the orange bicycle.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_e.json b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_e.json new file mode 100644 index 0000000000000000000000000000000000000000..198ec536250787d8013aef3c387afd1a7af725ff --- /dev/null +++ b/dataset/task/Tokyo/task_x-001263_y002767_z000138_t3_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the blue door, then reach the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -1262.96, + 2767.362, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_a.json b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..34408b3f12a9c1016338c93ce04f3ce805c98c4c --- /dev/null +++ b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue bicycle, then head toward the orange storefront door.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_b.json b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..8539ae92d362a8870880f6860749384a1ded6924 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the traffic cone, then proceed to the blue-awning shop entrance.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_c.json b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..7038a38c17a8cb9da164c1137634ea8171776423 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the metal fence gate opening, then move to the traffic cone.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_d.json b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..7c29d640a951e6ffb461f0f6ddced5364a31a797 --- /dev/null +++ b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the blue sign on the blue-awning shop entrance, then navigate to the orange cone.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_e.json b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_e.json new file mode 100644 index 0000000000000000000000000000000000000000..90bd0c45f8cae6b83d3cda86f17f4dd2f003cd7f --- /dev/null +++ b/dataset/task/Tokyo/task_x-001479_y000418_z000138_t3_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the blue-awning shop, then reach the blue bicycle.", + "Type": 3, + "Start_Pose": [ + -1479.437, + 418.146, + 138.15, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_a.json b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..529dc8af5cf2e5e8e1417b5965bcc538d316e937 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost bollard along the sidewalk edge.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0.0, + 119.04, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_b.json b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..27e6cd50cbdc60d05176406b984e83f6293e736e --- /dev/null +++ b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost cherry blossom tree across the street.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0.0, + 119.04, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_c.json b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..3a05b44339e2a2af9916b84b54ac9257cad0194f --- /dev/null +++ b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second bollard from the left on the curb.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0.0, + 119.04, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_d.json b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..83b04b9666b6798cec19088c9fe9808fcb5375cf --- /dev/null +++ b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the green barriers on the far right.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0, + 119.04, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_e.json b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..bb14fd431a0066adef5eb8b4e8b158289af2e5b8 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002283_y-000140_z000144_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second white bollard from the right on the curb.", + "Type": 2, + "Start_Pose": [ + -2282.756, + -139.722, + 143.518, + 0, + 119.04, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002314_y002400_z000128_t2_a.json b/dataset/task/Tokyo/task_x-002314_y002400_z000128_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6d89dea7f16eee2c09d8c97ab12c3afb724b5189 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002314_y002400_z000128_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second traffic cone from the left along the street.", + "Type": 2, + "Start_Pose": [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -5.76, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002314_y002400_z000128_t2_b.json b/dataset/task/Tokyo/task_x-002314_y002400_z000128_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e79d7dc68262f6217a17f9b9c6ea5e15f59b3fe7 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002314_y002400_z000128_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third traffic cone from the left along the street.", + "Type": 2, + "Start_Pose": [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -5.76, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002314_y002400_z000128_t2_c.json b/dataset/task/Tokyo/task_x-002314_y002400_z000128_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..dad87f188d2ce70a3de7975d078e3dee8184625d --- /dev/null +++ b/dataset/task/Tokyo/task_x-002314_y002400_z000128_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the orange bike on the left.", + "Type": 2, + "Start_Pose": [ + -2313.873, + 2400.303, + 128.149, + 0.0, + -5.76, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_a.json b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..06edfd9d7029100f9045bbd9b7cf57a97f5536d2 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red-and-white bollard on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_b.json b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..578d836dfa898506c9d6dfa23fb7f416678c1566 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the green tree near the tan awning.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_c.json b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..59a214975a7cd824b95d04a813aa2e1e9d0f9b13 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the pink cherry blossom tree.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_d.json b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..2996eee7b3d39b0238340e8c7b2b764d0277206e --- /dev/null +++ b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the yellow metal barrier along the fence.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_e.json b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_e.json new file mode 100644 index 0000000000000000000000000000000000000000..6c802a204e3c5614707ff70508c39338a682d0f9 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t0_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the glass shop door that displays an orange advertisement and has a red-and-white bollard outside.", + "Type": 0, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002342_y002035_z000128_t5_a_p.json b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..76a4e4b9c91677223780ef023e01025f7a04248d --- /dev/null +++ b/dataset/task/Tokyo/task_x-002342_y002035_z000128_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the jerry can near the green tree near the tan awning.", + "Type": 5, + "Start_Pose": [ + -2341.827, + 2034.724, + 128.15, + 0, + 53.76, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2209.577, + 2624.15, + 58.15, + 0, + 80, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_a.json b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3f81401e6ea272b3e2eefe7e90cbece7864a066e --- /dev/null +++ b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost orange bollard on the street.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_b.json b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b68d9e0a30be5b3516d85fe033bac2b1dccfe600 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost orange bollard.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_c.json b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..c80f8244e64e2098c6fc8cb426e54c275605608c --- /dev/null +++ b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second storefront door from the left.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0, + 119.04, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_d.json b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..46cddeb237f16f85a5b0599ac2bf751f62442d72 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the second green shrub from the right.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_e.json b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..c9b472aba4a4411b99a010f740fec6e34930d488 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002542_y000740_z000128_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second orange bollard on the street from the right.", + "Type": 2, + "Start_Pose": [ + -2542.26, + 739.537, + 128.15, + 0.0, + 119.04, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_a.json b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d05ffdb3c2f990f02d251543dc846db8fcb0d6ca --- /dev/null +++ b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second cherry blossom tree on the left.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_b.json b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2cace454799eb8e16614e43b6795487e1486291d --- /dev/null +++ b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third tree on the right side.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_c.json b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..6a5706b84974fdcfa41d85e421a28219746146c7 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the leftmost orange traffic cone.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_d.json b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..81d6bb295118a0700c41a658f8a7f3f8f751df2e --- /dev/null +++ b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the second yellow barrier on the right.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_e.json b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..6e894796b7deffee9b4f30444e043682c2a8390a --- /dev/null +++ b/dataset/task/Tokyo/task_x-002555_y000177_z000128_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third tree on the left side.", + "Type": 2, + "Start_Pose": [ + -2554.881, + 177.205, + 128.266, + 0.0, + 0.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002558_y000851_z000128_t0_a.json b/dataset/task/Tokyo/task_x-002558_y000851_z000128_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9123b00789f165b03492b3830bf06c2b5d66f98e --- /dev/null +++ b/dataset/task/Tokyo/task_x-002558_y000851_z000128_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the blue bicycle parked beside the red vertical sign.", + "Type": 0, + "Start_Pose": [ + -2557.842, + 851.22, + 128.149, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002558_y000851_z000128_t0_b.json b/dataset/task/Tokyo/task_x-002558_y000851_z000128_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..95fdb717c1a19f796c8e0aa7da0bc0b74e208b61 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002558_y000851_z000128_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the storefront entrance beneath the orange awning.", + "Type": 0, + "Start_Pose": [ + -2557.842, + 851.22, + 128.15, + 0.0, + -124.8, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_a.json b/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..31e4658428cf91a32753064228a43083cc17d949 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the green tree on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -2706.806, + 1779.767, + 128.15, + 0.0, + 83.52, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_b.json b/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b066b60d698ddfa341b4a53e6b9986aa2072935e --- /dev/null +++ b/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the blue bicycle.", + "Type": 0, + "Start_Pose": [ + -2706.806, + 1779.767, + 128.15, + 0, + 83.52, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_c.json b/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..82ea8751c1f2f6df34140265793f21ece563acad --- /dev/null +++ b/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the visible end of the short white railing enclosing the shrubs beneath the green tree.", + "Type": 0, + "Start_Pose": [ + -2706.806, + 1779.767, + 128.15, + 0, + 83.52, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_d.json b/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..956bd2c309e334687c80af9f5ea0f23c68a0beeb --- /dev/null +++ b/dataset/task/Tokyo/task_x-002707_y001780_z000128_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the storefront entrance beneath the large red-and-blue sign.", + "Type": 0, + "Start_Pose": [ + -2706.806, + 1779.767, + 128.15, + 0.0, + 83.52, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002776_y001651_z000128_t3_a.json b/dataset/task/Tokyo/task_x-002776_y001651_z000128_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a0e2509caaf62cf48b187fcb9b07fdc540354259 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002776_y001651_z000128_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the green tree, then proceed to the glass door with purple announcement under the white sign.", + "Type": 3, + "Start_Pose": [ + -2775.873, + 1650.906, + 128.15, + 0, + 80.64, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002776_y001651_z000128_t3_b.json b/dataset/task/Tokyo/task_x-002776_y001651_z000128_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..fd5597118e8af2dfa7936a67304452914fb959bf --- /dev/null +++ b/dataset/task/Tokyo/task_x-002776_y001651_z000128_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the gray lamp pole, then go to the green tree.", + "Type": 3, + "Start_Pose": [ + -2775.873, + 1650.906, + 128.15, + 0, + 80.64, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002776_y001651_z000128_t5_a_pd.json b/dataset/task/Tokyo/task_x-002776_y001651_z000128_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..14c6b1e757f4d91b6fff2d3e37365a22769f04f0 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002776_y001651_z000128_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the tomato by the green tree, then place it at the shop entrance beneath the white sign with black lettering.", + "Type": 5, + "Start_Pose": [ + -2775.873, + 1650.906, + 128.15, + 0, + 80.64, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2186.257, + 2530.701, + 105.27, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-002874_y000190_z000128_t3_a.json b/dataset/task/Tokyo/task_x-002874_y000190_z000128_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..82e532e125d28369e2a9c642769f648453691b37 --- /dev/null +++ b/dataset/task/Tokyo/task_x-002874_y000190_z000128_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue bike, then head toward the orange-signed storefront.", + "Type": 3, + "Start_Pose": [ + -2874.334, + 190.131, + 128.149, + 0.0, + -154.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003002_y000129_z000128_t3_a.json b/dataset/task/Tokyo/task_x-003002_y000129_z000128_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b45048de40d29758c6f6b6d343b7a994dc312ef2 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003002_y000129_z000128_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the bike in blue, then reach the orange apartment building entrance.", + "Type": 3, + "Start_Pose": [ + -3001.795, + 129.499, + 128.149, + 0.0, + -154.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003069_y001469_z000138_t0_a.json b/dataset/task/Tokyo/task_x-003069_y001469_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2ccbadd1133611de68c67648c27c16aa32637721 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003069_y001469_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the bicycle parked near the pink trees.", + "Type": 0, + "Start_Pose": [ + -3068.69, + 1469.025, + 138.15, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003069_y001469_z000138_t0_b.json b/dataset/task/Tokyo/task_x-003069_y001469_z000138_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f373971834e340471c0f72d411251367184f5259 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003069_y001469_z000138_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the metallic doorway surrounded by a thick white angular frame.", + "Type": 0, + "Start_Pose": [ + -3068.69, + 1469.025, + 138.15, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003195_y001147_z000138_t0_a.json b/dataset/task/Tokyo/task_x-003195_y001147_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8610b5686b39ad35974e7a54c8014073b6bc57 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003195_y001147_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the yellow barrier blocks on the plaza.", + "Type": 0, + "Start_Pose": [ + -3195.206, + 1146.822, + 138.15, + 0.0, + -154.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003195_y001147_z000138_t5_a_p.json b/dataset/task/Tokyo/task_x-003195_y001147_z000138_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..0d43f5603bdd2929e456b105e23322b8488c68de --- /dev/null +++ b/dataset/task/Tokyo/task_x-003195_y001147_z000138_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato near the yellow barrier blocks on the plaza.", + "Type": 5, + "Start_Pose": [ + -3195.206, + 1146.822, + 138.15, + 0, + -154.56, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4145.778, + 694.644, + 108.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_a.json b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a99583a4e8e69c59b459ca5aff846a53f5c487 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost cherry blossom tree.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_b.json b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..d5882d8203c167d3b7a3daef31a29688583c9fb4 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost cherry blossom tree.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_c.json b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..f32928397bc44898eaf99706a34beb259f493083 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the first orange traffic bollard from the left.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0, + 110.4, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_d.json b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..0821ef212d29b79c0debfbdf76e783bb67f319f6 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the left pillar of the canopy structure.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_e.json b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..59eae81d101001bf9fd57549cf3b4d7609a1ba49 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003262_y000469_z000132_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the second bench from the right near the right pillar.", + "Type": 2, + "Start_Pose": [ + -3262.075, + 469.49, + 131.659, + 0.0, + 110.4, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003412_y002120_z000144_t0_a.json b/dataset/task/Tokyo/task_x-003412_y002120_z000144_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3f2f9a3efe6845f63c9bcd7241f204b1952ec607 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003412_y002120_z000144_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the teal barrier on the ground by the red building.", + "Type": 0, + "Start_Pose": [ + -3412.263, + 2120.025, + 143.973, + 0.0, + -65.28, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003412_y002120_z000144_t2_a.json b/dataset/task/Tokyo/task_x-003412_y002120_z000144_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..aa2fec1bc7133fccb8d14d55d4e7dc230761de4c --- /dev/null +++ b/dataset/task/Tokyo/task_x-003412_y002120_z000144_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost orange traffic bollard.", + "Type": 2, + "Start_Pose": [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -65.28, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003412_y002120_z000144_t2_b.json b/dataset/task/Tokyo/task_x-003412_y002120_z000144_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e910d580f4b3ffabda4fbf329e3cb62a20027abf --- /dev/null +++ b/dataset/task/Tokyo/task_x-003412_y002120_z000144_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third bollard from the left.", + "Type": 2, + "Start_Pose": [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -65.28, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003412_y002120_z000144_t2_c.json b/dataset/task/Tokyo/task_x-003412_y002120_z000144_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..0b227e683499bc7ffa2a56c7b1d2e8c1c094b72e --- /dev/null +++ b/dataset/task/Tokyo/task_x-003412_y002120_z000144_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the third bollard from the right.", + "Type": 2, + "Start_Pose": [ + -3412.263, + 2120.025, + 144.138, + 0.0, + -65.28, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_a.json b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0b706e22dcf13432c851ef13beab34898b8ecf73 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second cherry blossom tree from the right.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_b.json b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..fad243f33755a47bf6c727e6dadddb3919ecb884 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second bench on the left side of the path.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_c.json b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..a918e8eb35ab71df404a5891b951c7705b67744c --- /dev/null +++ b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second blue double door from the right on the far building.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0, + 172.8, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_d.json b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4e7c79674c5d865bbeb6a521bc6079d1ecd9d8 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the rightmost blue door on the far building.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_e.json b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..f20c865256efc73fe9c3de365c582a4a4e66593d --- /dev/null +++ b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the third cherry blossom tree from the right.", + "Type": 2, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003419_y000776_z000138_t5_a_p.json b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..8e3820de856e3bb1140abd89acf882852601d632 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003419_y000776_z000138_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the green bell pepper near the second bench on the left side of the path.", + "Type": 5, + "Start_Pose": [ + -3418.725, + 775.763, + 138.15, + 0, + 172.8, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4293.551, + 1145.473, + 88.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_a.json b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..57eaabf26aa684b371948733b3fd836a2bbbde8c --- /dev/null +++ b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost green barrier railing on the curb.", + "Type": 2, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_b.json b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..375a482cec8e9f9f21ec0c9edfacb1479fbb4227 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second bollard from the left on the sidewalk.", + "Type": 2, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_c.json b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..0c8c0f1b9988c4193243ce7ecae2b2dd71d56718 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second white bollard from the right on the sidewalk.", + "Type": 2, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0, + 59.52, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_d.json b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..f584350306f5383da709bd18fcfcc9546c582477 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the root of the cherry blossom tree on the far left.", + "Type": 2, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0.0, + 59.52, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t5_a_p.json b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..51f097916726d3c50fe8a6107943ed42ce1fb6d6 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003603_y-000133_z000141_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the wicker basket near the root of the cherry blossom tree on the far left.", + "Type": 5, + "Start_Pose": [ + -3603.457, + -133.377, + 141.366, + 0, + 59.52, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2178.521, + 371.779, + 78.15, + 90, + 19.52, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_a.json b/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..737bb41781065d53f71933183ee519b1c1c2ba3e --- /dev/null +++ b/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost blue-framed door on the building.", + "Type": 2, + "Start_Pose": [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_b.json b/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2bed025886d39f935ecded3fbc74aaae3eec2b64 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost blue-framed door on the building.", + "Type": 2, + "Start_Pose": [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_c.json b/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..73141a91917b617a4831195c2f0a0dcf707e95c9 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second cherry blossom tree from the left.", + "Type": 2, + "Start_Pose": [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_d.json b/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..11c6e6cc24d2f2bf20b39be4ae8e93d75c42bd52 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003866_y001022_z000138_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the first cherry blossom tree from the left.", + "Type": 2, + "Start_Pose": [ + -3865.572, + 1021.851, + 138.15, + 0.0, + -154.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-003979_y002478_z000139_t0_a.json b/dataset/task/Tokyo/task_x-003979_y002478_z000139_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a8392bb66ee9ce55991689d6ba0f540c27ddc093 --- /dev/null +++ b/dataset/task/Tokyo/task_x-003979_y002478_z000139_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the store with the orange awning.", + "Type": 0, + "Start_Pose": [ + -3978.567, + 2478.334, + 138.745, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_a.json b/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2372ca9f67f83e2393ccf20786860d58321769ea --- /dev/null +++ b/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third yellow barrier from the right on the green road.", + "Type": 2, + "Start_Pose": [ + -4107.307, + -216.891, + 128.253, + 0, + -121.92, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_b.json b/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ad7d6604625d443eb9d2210c00f3b475bc1be618 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second traffic cone from the left.", + "Type": 2, + "Start_Pose": [ + -4107.307, + -216.891, + 128.253, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_c.json b/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..4c833de5a573ac6cd68556900d3bb0b873e0d38c --- /dev/null +++ b/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third yellow barrier from the left.", + "Type": 2, + "Start_Pose": [ + -4107.307, + -216.891, + 128.253, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_d.json b/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..d157a8ae025b2f8034b65f5b240598c776f027d5 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004107_y-000217_z000128_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the third traffic cone from the left.", + "Type": 2, + "Start_Pose": [ + -4107.307, + -216.891, + 128.253, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004194_y002204_z000138_t0_a.json b/dataset/task/Tokyo/task_x-004194_y002204_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..48830d6f217bc6a824270dd84766e2e2fd8e0f28 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004194_y002204_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the green bike bin near the storefront.", + "Type": 0, + "Start_Pose": [ + -4193.701, + 2203.791, + 138.15, + 0.0, + 143.04, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_a.json b/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9d13fa0c2ba710025a4042e8aa7849ef45c36b1d --- /dev/null +++ b/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the gray door on the building, then head to the entrance of the orange building.", + "Type": 3, + "Start_Pose": [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_b.json b/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ab2b0c25bc1e475cfa98df1510bad5a0bcc5a122 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the entrance of the orange building, then proceed to the AC unit.", + "Type": 3, + "Start_Pose": [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_c.json b/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..003a437ad28f3b8a6bdfda8ca11ac26e563d1d70 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the green tree, then move to the gray door.", + "Type": 3, + "Start_Pose": [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_d.json b/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..86a7949d7d0da9f1ec3d48afb26c6b7ffa634b78 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004199_y-000469_z000128_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the AC unit, then walk to the gray door on the building.", + "Type": 3, + "Start_Pose": [ + -4198.538, + -469.152, + 128.15, + 0.0, + 175.68, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004238_y000417_z000130_t3_a.json b/dataset/task/Tokyo/task_x-004238_y000417_z000130_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0945c0bf240641f26b12fbc30d2abda7873676d2 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004238_y000417_z000130_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue bicycle, then head toward the orange building entrance.", + "Type": 3, + "Start_Pose": [ + -4238.029, + 417.412, + 129.664, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004238_y000417_z000130_t3_b.json b/dataset/task/Tokyo/task_x-004238_y000417_z000130_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4c1883b148afc263a34e48774d02d6d4b3399cc3 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004238_y000417_z000130_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the AC near the green tree, then proceed to the orange building entrance.", + "Type": 3, + "Start_Pose": [ + -4238.029, + 417.412, + 129.664, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004238_y000417_z000130_t3_c.json b/dataset/task/Tokyo/task_x-004238_y000417_z000130_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..66e154970159fd97b07a75a801e384e03f8b7f44 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004238_y000417_z000130_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the metal pole on the sidewalk, then move to the blue bicycle.", + "Type": 3, + "Start_Pose": [ + -4238.029, + 417.412, + 129.664, + 0.0, + -95.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004238_y000417_z000130_t5_a_pd.json b/dataset/task/Tokyo/task_x-004238_y000417_z000130_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..6fd9d71285f9e33417a35f877fa2cece69c44a0c --- /dev/null +++ b/dataset/task/Tokyo/task_x-004238_y000417_z000130_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the trash bag at the AC near the green tree, then set it down near the orange building entrance.", + "Type": 5, + "Start_Pose": [ + -4238.029, + 417.412, + 129.664, + 0, + -95.04, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4878.24, + -432.585, + 51.469, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_a.json b/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..558eb1235bafa1bc4328df411a2f2a774baa3676 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue bike parked on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_b.json b/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..d70475d93c8dd5ab2305c02b539acb8d5556950f --- /dev/null +++ b/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the red-and-white traffic cone beside the turquoise barrier.", + "Type": 0, + "Start_Pose": [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_c.json b/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..c3f862345399e2790215e5d28c248a7f0fe91e8f --- /dev/null +++ b/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the frosted glass double doors beneath the gray metal awning and beside the turquoise vertical sign.", + "Type": 0, + "Start_Pose": [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_d.json b/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..13a8f6871957fba9fea89b8464e60e55777572ba --- /dev/null +++ b/dataset/task/Tokyo/task_x-004273_y002165_z000146_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the green shrub by the glass double doors.", + "Type": 0, + "Start_Pose": [ + -4272.53, + 2164.625, + 146.434, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_a.json b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5cf18e2ebb654d14771b43517ce79e9c428efaff --- /dev/null +++ b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the nearby streets for the parked blue bicycle, then approach it.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0.0, + -28.8, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_b.json b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..aabd51f2a45ea0cbfa0bebbc02222364c2af09e7 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around for the gray bicycle near a building entrance, then head toward it.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0.0, + -28.8, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_c.json b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..049a7a31ed7145dd8910f186fe2d5331bdba56f1 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the sidewalks for the green-and-white arched signboard, then approach the pillar closest to the shop entrance.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0.0, + -28.8, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_d.json b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_d.json new file mode 100644 index 0000000000000000000000000000000000000000..a96e0d972bb32f2c408561163144ee69f836a05d --- /dev/null +++ b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Find the orange building with glass doors, then walk to those doors.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0, + -28.8, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_e.json b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_e.json new file mode 100644 index 0000000000000000000000000000000000000000..7390f014267ea1af5ae61e298e0c8c0e88a873f4 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004284_y-000920_z000128_t1_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the area for the green-leafed tree near a gray bicycle, then make your way to it.", + "Type": 1, + "Start_Pose": [ + -4283.937, + -920.084, + 128.483, + 0, + -28.8, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004290_y002219_z000146_t3_a.json b/dataset/task/Tokyo/task_x-004290_y002219_z000146_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..41438357018414beedbf15a64e77ae2533c7d125 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004290_y002219_z000146_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the orange-red storefront entrance, then head to the green bicycle.", + "Type": 3, + "Start_Pose": [ + -4290.304, + 2219.474, + 146.486, + 0.0, + 169.92, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004290_y002219_z000146_t5_a_pd.json b/dataset/task/Tokyo/task_x-004290_y002219_z000146_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..e7467e3ba3602047b35989c3c9a7c73f106e206f --- /dev/null +++ b/dataset/task/Tokyo/task_x-004290_y002219_z000146_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra at the orange-red storefront entrance, then leave it near the green bicycle.", + "Type": 5, + "Start_Pose": [ + -4290.304, + 2219.474, + 146.486, + 0, + 169.92, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4896.792, + 2700.81, + 55.15, + 0, + 30, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_a.json b/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c53777f3f805f649133ed57ad35c417bfd3b2f0d --- /dev/null +++ b/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the first tree from the left.", + "Type": 2, + "Start_Pose": [ + -4317.283, + 2198.505, + 141.799, + 0, + -5.76, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_b.json b/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..6df8103938cde7044afd88c39ac72bb9680ae84c --- /dev/null +++ b/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second bench on the right side of the street.", + "Type": 2, + "Start_Pose": [ + -4317.283, + 2198.505, + 141.799, + 0.0, + -5.76, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_c.json b/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..89ac4916cd119f979a511ac42feabcc538243529 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second shop entrance on the right side.", + "Type": 2, + "Start_Pose": [ + -4317.283, + 2198.505, + 141.799, + 0.0, + -5.76, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_d.json b/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..d5724a1a57b951d397e348dcc6614237b4a92b3b --- /dev/null +++ b/dataset/task/Tokyo/task_x-004317_y002199_z000142_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the blue bike on the right.", + "Type": 2, + "Start_Pose": [ + -4317.283, + 2198.505, + 141.799, + 0.0, + -5.76, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_a.json b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f9a1ed8d6978ba2a2644b46d674a702486b36df4 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second orange traffic cone from the left along the street.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_b.json b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..50a64e78f8c73507194e7bc3e88f2f59c48f6e95 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second bollard from the right near the store.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_c.json b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..bc7191c41dcca6cb39fecf381a4ab72cb422f6e4 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the first bollard from the left near the store.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0, + 116.16, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_d.json b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..ddc3bbf95c9b0b5fedbc408fc022481ac30b8589 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the first orange cone from the left on the left sidewalk.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_e.json b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..ac398cdaa97e9499fae12c4bf8a4fa505ef93292 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004340_y002238_z000142_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the leftmost yellow bollard near the shop entrance.", + "Type": 2, + "Start_Pose": [ + -4340.145, + 2237.845, + 141.601, + 0.0, + 116.16, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004421_y002253_z000139_t1_a.json b/dataset/task/Tokyo/task_x-004421_y002253_z000139_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e6873ff1109e3d62593fd866d6ef7fa2b6a3cce9 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004421_y002253_z000139_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search around the corner stores for the parked green bicycle, then walk to it.", + "Type": 1, + "Start_Pose": [ + -4421.181, + 2252.809, + 139.002, + 0.0, + -139.2, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004421_y002253_z000139_t1_b.json b/dataset/task/Tokyo/task_x-004421_y002253_z000139_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..50a1eda511b897b27004ee28867b42aac901d6af --- /dev/null +++ b/dataset/task/Tokyo/task_x-004421_y002253_z000139_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the nearby storefronts for the purple notice posted on a shop door, then approach it.", + "Type": 1, + "Start_Pose": [ + -4421.181, + 2252.809, + 139.002, + 0.0, + -139.2, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004458_y000096_z000128_t1_a.json b/dataset/task/Tokyo/task_x-004458_y000096_z000128_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ea6eeba5bd513e0955582a3e40db9375754e00f5 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004458_y000096_z000128_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the area for the orange building and locate the gray bicycle parked near it, then approach the bicycle.", + "Type": 1, + "Start_Pose": [ + -4457.813, + 96.131, + 128.149, + 0.0, + -28.8, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004458_y000096_z000128_t1_b.json b/dataset/task/Tokyo/task_x-004458_y000096_z000128_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..17aa8f2fb87edc5eb69511dc53baba8e9d8d4893 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004458_y000096_z000128_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search nearby walls for the green notice posted on a gray block wall, then move toward it.", + "Type": 1, + "Start_Pose": [ + -4457.813, + 96.131, + 128.149, + 0.0, + -28.8, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004458_y000096_z000128_t1_c.json b/dataset/task/Tokyo/task_x-004458_y000096_z000128_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..8d62d5793aed92715ef3d21ff522e18a885b1159 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004458_y000096_z000128_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around for the red notice posted on a gray block wall, then make your way to it.", + "Type": 1, + "Start_Pose": [ + -4457.813, + 96.131, + 128.149, + 0.0, + -28.8, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004518_y000978_z000138_t3_a.json b/dataset/task/Tokyo/task_x-004518_y000978_z000138_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..962521edaaee1f354176aaa081599670377af13f --- /dev/null +++ b/dataset/task/Tokyo/task_x-004518_y000978_z000138_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the cherry blossom tree trunk, then head toward the glass double doors.", + "Type": 3, + "Start_Pose": [ + -4518.322, + 977.974, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004518_y000978_z000138_t3_b.json b/dataset/task/Tokyo/task_x-004518_y000978_z000138_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..28447ea18ff2caefa16ace04a09525980e8bee78 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004518_y000978_z000138_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the glass double doors, then walk to the green bush.", + "Type": 3, + "Start_Pose": [ + -4518.322, + 977.974, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004518_y000978_z000138_t3_c.json b/dataset/task/Tokyo/task_x-004518_y000978_z000138_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..3cb6a6fe8970829be8bec7108623bb0bbfedf5d7 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004518_y000978_z000138_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the cherry blossom tree trunk, then approach the green bush.", + "Type": 3, + "Start_Pose": [ + -4518.322, + 977.974, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004518_y000978_z000138_t5_a_pd.json b/dataset/task/Tokyo/task_x-004518_y000978_z000138_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..5657ce9eb007bf95a604eee36e391c87eee62ec7 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004518_y000978_z000138_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the plate from the glass double doors, then drop it near the green bush.", + "Type": 5, + "Start_Pose": [ + -4518.322, + 977.974, + 138.15, + 0, + 172.8, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5256.224, + 616.029, + 90.043, + -90, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004639_y002866_z000139_t0_a.json b/dataset/task/Tokyo/task_x-004639_y002866_z000139_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9e5f05ffc47eef6235b16653ec9411003562d7a4 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004639_y002866_z000139_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the parked bicycles on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -4638.587, + 2865.651, + 138.843, + 0.0, + -65.28, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004639_y002866_z000139_t0_b.json b/dataset/task/Tokyo/task_x-004639_y002866_z000139_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..34fc9d1f3e311b84897de51205de0dd084e7c9e1 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004639_y002866_z000139_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the orange and white bollard near the fence.", + "Type": 0, + "Start_Pose": [ + -4638.587, + 2865.651, + 138.843, + 0.0, + -65.28, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004639_y002866_z000139_t5_a_p.json b/dataset/task/Tokyo/task_x-004639_y002866_z000139_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..499657418b251188d283c221475a0ff9b8738647 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004639_y002866_z000139_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the candelabra near the orange and white bollard near the fence.", + "Type": 5, + "Start_Pose": [ + -4638.587, + 2865.651, + 138.843, + 0, + -65.28, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + -4294.653, + 2145.296, + 63.876, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004751_y000283_z000140_t1_a.json b/dataset/task/Tokyo/task_x-004751_y000283_z000140_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d12864891fdc627cd7ec5cc539aa666ea23446d3 --- /dev/null +++ b/dataset/task/Tokyo/task_x-004751_y000283_z000140_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the surrounding walls for the red notice posted on a gray wall, then walk to it.", + "Type": 1, + "Start_Pose": [ + -4751.367, + 283.376, + 140.043, + 0.0, + -147.84, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004751_y000283_z000140_t1_b.json b/dataset/task/Tokyo/task_x-004751_y000283_z000140_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..45d98d4261216af4479e701162769bdf86998edc --- /dev/null +++ b/dataset/task/Tokyo/task_x-004751_y000283_z000140_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the nearby area for the green notice on a gray wall, then head toward it.", + "Type": 1, + "Start_Pose": [ + -4751.367, + 283.376, + 140.043, + 0.0, + -147.84, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-004861_y002257_z000139_t1_a.json b/dataset/task/Tokyo/task_x-004861_y002257_z000139_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b52c9bf42e15dda4864d762ba33413f8920749ac --- /dev/null +++ b/dataset/task/Tokyo/task_x-004861_y002257_z000139_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the area for the bicycle rack holding orange bikes, then approach it.", + "Type": 1, + "Start_Pose": [ + -4861.211, + 2256.745, + 138.843, + 0.0, + 164.16, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005037_y001475_z000138_t0_a.json b/dataset/task/Tokyo/task_x-005037_y001475_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..eabd4fec5b0259affa8e47e0c5b81ddb2b4e55fa --- /dev/null +++ b/dataset/task/Tokyo/task_x-005037_y001475_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the green bicycle parked on the street.", + "Type": 0, + "Start_Pose": [ + -5037.349, + 1474.553, + 138.15, + 0.0, + 113.28, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005037_y001475_z000138_t0_b.json b/dataset/task/Tokyo/task_x-005037_y001475_z000138_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b7d86a739fbe657586c7e6065fd7fa16651ddddc --- /dev/null +++ b/dataset/task/Tokyo/task_x-005037_y001475_z000138_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the shop with the red striped awning.", + "Type": 0, + "Start_Pose": [ + -5037.349, + 1474.553, + 138.15, + 0.0, + 113.28, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005037_y001475_z000138_t5_a_p.json b/dataset/task/Tokyo/task_x-005037_y001475_z000138_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..653231b199c05f35350d839b2815facca15a1e40 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005037_y001475_z000138_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper near the shop with the red striped awning.", + "Type": 5, + "Start_Pose": [ + -5037.349, + 1474.553, + 138.15, + 0, + 113.28, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -4966.242, + 2735.925, + 94.434, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_a.json b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..747b3194e0e2d01294f7d4c2391cc617549c17a8 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost traffic cone in the row.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_b.json b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e1cf5faa2b949e116a977163f2da5e9bbd30da3e --- /dev/null +++ b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third cone from the right side.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_c.json b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..d8c8484340b4b2df25388173703cb4e03c1c87d5 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second green barrier from the left.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_d.json b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..a14ec824b484147cae7621052437d84dfd02cf99 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the third green barrier from the right.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_e.json b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..84233543447e4420a4fc071fb8372acd834faeb5 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second green barrier from the right.", + "Type": 2, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0.0, + 178.56, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005709_y002249_z000139_t5_a_p.json b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..361ef9fcff6f8c09996991b703584b6e13ff7b00 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005709_y002249_z000139_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the green bell pepper near the second green barrier from the left.", + "Type": 5, + "Start_Pose": [ + -5708.615, + 2248.98, + 138.843, + 0, + 178.56, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -6510.324, + 2422.77, + 88.303, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005885_y000574_z000138_t0_a.json b/dataset/task/Tokyo/task_x-005885_y000574_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ce56c08029cf63b15470914fabea29c36cf1493b --- /dev/null +++ b/dataset/task/Tokyo/task_x-005885_y000574_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the orange metal bollard.", + "Type": 0, + "Start_Pose": [ + -5885.438, + 573.937, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005885_y000574_z000138_t0_b.json b/dataset/task/Tokyo/task_x-005885_y000574_z000138_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..976152ac8bf8a78a95bf67afbd31ae564cd0c9b6 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005885_y000574_z000138_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the blue sign on the gray building.", + "Type": 0, + "Start_Pose": [ + -5885.438, + 573.937, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005885_y000574_z000138_t0_c.json b/dataset/task/Tokyo/task_x-005885_y000574_z000138_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..7cd22be1ebaf5b02e4d6fc1ab0d15c08bea8a605 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005885_y000574_z000138_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the pink sign on the gray building.", + "Type": 0, + "Start_Pose": [ + -5885.438, + 573.937, + 138.15, + 0.0, + 172.8, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005885_y000574_z000138_t5_a_p.json b/dataset/task/Tokyo/task_x-005885_y000574_z000138_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..0d343323db096b654098660e8dfba63bf25369c5 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005885_y000574_z000138_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the green bell pepper near the pink sign on the gray building.", + "Type": 5, + "Start_Pose": [ + -5885.438, + 573.937, + 138.15, + 0, + 172.8, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -6782.178, + 971.627, + 91.568, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005903_y000689_z000138_t1_a.json b/dataset/task/Tokyo/task_x-005903_y000689_z000138_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e4ea1f02e6b3db242313be5ad8a005e341b0fcc8 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005903_y000689_z000138_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around for the white stone bench near a wall, then walk to it.", + "Type": 1, + "Start_Pose": [ + -5903.235, + 689.246, + 138.15, + 0.0, + 18.24, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-005924_y002285_z000139_t1_a.json b/dataset/task/Tokyo/task_x-005924_y002285_z000139_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ced5761de32f7255d0d326976cc76322c1242c21 --- /dev/null +++ b/dataset/task/Tokyo/task_x-005924_y002285_z000139_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the nearby sidewalks for the parked green bicycle, then go to it.", + "Type": 1, + "Start_Pose": [ + -5923.776, + 2285.435, + 139.081, + 0.0, + 101.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006012_y002220_z000139_t1_a.json b/dataset/task/Tokyo/task_x-006012_y002220_z000139_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..24b6b3ce2382577d4e5124a8a6c49a4c9e832346 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006012_y002220_z000139_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the surrounding sidewalks for the parked green bicycle, then approach it.", + "Type": 1, + "Start_Pose": [ + -6011.975, + 2220.369, + 138.857, + 0.0, + -154.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006012_y002220_z000139_t1_b.json b/dataset/task/Tokyo/task_x-006012_y002220_z000139_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..3dda07878c55996452b31da71cc7cda43dce384c --- /dev/null +++ b/dataset/task/Tokyo/task_x-006012_y002220_z000139_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the storefront area for the bench near the yellow metal guard rails, then approach it.", + "Type": 1, + "Start_Pose": [ + -6011.975, + 2220.369, + 138.857, + 0.0, + -154.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_a.json b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1b3c7e4bc645fb63c23e2a866c0f828240795f94 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second door in front near the bush.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_b.json b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..d18ec2514054bb0291b3079fc0c9d3784e36ff83 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost traffic cone along the blue barriers.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_c.json b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..28b80cad231548a8680fc37b0469f9adff3dd8c4 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the first cone from the right by the barriers.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_d.json b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..6e6c770c0ffc8e0845db9596a80917d5354d1c92 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the first door in front near the bush.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_e.json b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..55ece889d2a796862f15add8d1ac414dc3baba37 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006277_y002537_z000145_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the third blue water barrier from the left.", + "Type": 2, + "Start_Pose": [ + -6277.058, + 2537.272, + 145.384, + 0.0, + -121.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_a.json b/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..446ef78e8fd2d2bb3c21d85ca8dd9e69b1ee5c19 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the cherry blossom tree with the thick trunk.", + "Type": 0, + "Start_Pose": [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_b.json b/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..c1c186f75c55b2c2ccb8b495aafd836c0e7eecc3 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the green bicycle parked by the yellow barriers.", + "Type": 0, + "Start_Pose": [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_c.json b/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..c4d44a020980b17d4c6e70dcb00e7fa0bdffab7d --- /dev/null +++ b/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the bench near the yellow metal barrier on the sidewalk.", + "Type": 0, + "Start_Pose": [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_d.json b/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..077f7a66487b16cdde3b7bf6471be411a9af85ab --- /dev/null +++ b/dataset/task/Tokyo/task_x-006322_y002107_z000139_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the white air conditioning unit on the ground.", + "Type": 0, + "Start_Pose": [ + -6321.987, + 2107.009, + 138.843, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006332_y001780_z000139_t3_a.json b/dataset/task/Tokyo/task_x-006332_y001780_z000139_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6888af0b6297fe1231598f81cecbd911abd4e59e --- /dev/null +++ b/dataset/task/Tokyo/task_x-006332_y001780_z000139_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the green bush on the sidewalk, then head to the purple sign.", + "Type": 3, + "Start_Pose": [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006332_y001780_z000139_t3_b.json b/dataset/task/Tokyo/task_x-006332_y001780_z000139_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..cab34bf0ce4fb0e938ef13d10ac4aadc616886e8 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006332_y001780_z000139_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the double door under the orange awning, then proceed to the orange guardrail.", + "Type": 3, + "Start_Pose": [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006332_y001780_z000139_t3_c.json b/dataset/task/Tokyo/task_x-006332_y001780_z000139_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..15d4bb8de54a14c4d6b36dec7c1dd4ebb2cb77d0 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006332_y001780_z000139_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the purple sign, then reach the orange guardrail.", + "Type": 3, + "Start_Pose": [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006332_y001780_z000139_t5_a_pd.json b/dataset/task/Tokyo/task_x-006332_y001780_z000139_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..1017a563c5e286ded7ec5fde6c60d954a2b05ac2 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006332_y001780_z000139_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the jerry can from the pink sign, then drop it near the orange guardrail.", + "Type": 5, + "Start_Pose": [ + -6331.831, + 1780.412, + 138.843, + 0, + -127.68, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -6734.398, + 1097.693, + 55.161, + 0, + 70, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006444_y000131_z000144_t1_a.json b/dataset/task/Tokyo/task_x-006444_y000131_z000144_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4627c0f1d21c5b58fc53415eea6df4221eb1636e --- /dev/null +++ b/dataset/task/Tokyo/task_x-006444_y000131_z000144_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around the nearby buildings for the blue door with a handle, then approach it.", + "Type": 1, + "Start_Pose": [ + -6444.132, + 131.123, + 143.602, + 0.0, + -73.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006490_y002017_z000139_t3_a.json b/dataset/task/Tokyo/task_x-006490_y002017_z000139_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d7636cdec8b46dffc6d6e644f687e0d29ad2704d --- /dev/null +++ b/dataset/task/Tokyo/task_x-006490_y002017_z000139_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the cherry blossom tree, then head toward the red traffic cone.", + "Type": 3, + "Start_Pose": [ + -6490.242, + 2017.278, + 138.843, + 0.0, + 50.88, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006490_y002017_z000139_t3_b.json b/dataset/task/Tokyo/task_x-006490_y002017_z000139_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d849a48f7c0ac5acfa9323770d971ddcb68c5e --- /dev/null +++ b/dataset/task/Tokyo/task_x-006490_y002017_z000139_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the green bicycle, then go to the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -6490.242, + 2017.278, + 138.843, + 0.0, + 50.88, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006490_y002017_z000139_t5_a_pd.json b/dataset/task/Tokyo/task_x-006490_y002017_z000139_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..804f7e9f71443718b9eff7c2c02836c617f837b5 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006490_y002017_z000139_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the ceramic vase from the cherry blossom tree, then drop it near the red traffic cone.", + "Type": 5, + "Start_Pose": [ + -6490.242, + 2017.278, + 138.843, + 0, + 50.88, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5961.945, + 2456.052, + 70.67, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006505_y001496_z000139_t0_a.json b/dataset/task/Tokyo/task_x-006505_y001496_z000139_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c510d754e9ef50e8e678dc31e6d3582144408d35 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006505_y001496_z000139_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the orange metal barrier.", + "Type": 0, + "Start_Pose": [ + -6504.568, + 1495.854, + 139.043, + 0.0, + -97.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006505_y001496_z000139_t0_b.json b/dataset/task/Tokyo/task_x-006505_y001496_z000139_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..84306bb951bbc3175c241fc5ba77fb4200ebcae6 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006505_y001496_z000139_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the white door near the orange metal barrier.", + "Type": 0, + "Start_Pose": [ + -6504.568, + 1495.854, + 139.043, + 0.0, + -97.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006505_y001496_z000139_t0_c.json b/dataset/task/Tokyo/task_x-006505_y001496_z000139_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..13c69fca50ce9dc22fb680febfad37f725aa7943 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006505_y001496_z000139_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the tall gray outdoor air-conditioning unit beside the brick archway.", + "Type": 0, + "Start_Pose": [ + -6504.568, + 1495.854, + 139.043, + 0.0, + -97.92, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006505_y001496_z000139_t5_a_p.json b/dataset/task/Tokyo/task_x-006505_y001496_z000139_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..85f3035a9a3d1c2c8dc4ad03eb51a9c417f82ae3 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006505_y001496_z000139_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the plate near the white door near the orange metal barrier.", + "Type": 5, + "Start_Pose": [ + -6504.568, + 1495.854, + 139.043, + 0, + -97.92, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -6626.635, + 618.414, + 88.843, + 90, + 90, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_a.json b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7dcc5511e80a9fa5864b4d1143a689926db5de17 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the white door on the tan building, then head to the blue door.", + "Type": 3, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_b.json b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4645c2034ce75a2e308bac44ce99781bb54a7f09 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the white door on the tan building, then proceed to the green shrub.", + "Type": 3, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_c.json b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..b7e266f18830f98e0b702c96883602f023b2ce1a --- /dev/null +++ b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the blue door, then move to the white door.", + "Type": 3, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_d.json b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..8a4b4b2aa0dd198a19429ee1d4244c5b273791f1 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the blue door, then reach the orange barrier.", + "Type": 3, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0.0, + -68.16, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006631_y001147_z000139_t5_a_pd.json b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..5c4e8eaf6aa9415d0d6c2bd7d427f5a2f381fc6a --- /dev/null +++ b/dataset/task/Tokyo/task_x-006631_y001147_z000139_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase at the blue door, then leave it near the orange barrier.", + "Type": 5, + "Start_Pose": [ + -6631.203, + 1147.417, + 138.843, + 0, + -68.16, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -5936.899, + 479.101, + 68.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_a.json b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..71bfa5731e98ebb93091026747cd11567a8be01a --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue door, then head toward the green bushes.", + "Type": 3, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_b.json b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..63bd3df63474613fd1b2df729167011ee394e040 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the cherry blossom tree, then proceed to the orange guardrail.", + "Type": 3, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_c.json b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..8e6e7746e8be2b27b11e94e1362b2c02c613c631 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the green bushes by the brick wall, then reach the blue door.", + "Type": 3, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_d.json b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..593b33114b020745e68748eaa30a35ea14e28052 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the green bushes, then approach the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000635_z000138_t5_a_pd.json b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..50e7049e8af3175daea2a5052b0cb857c6392260 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000635_z000138_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Lift the ceramic pot by the green bushes, then place it by the cherry blossom tree.", + "Type": 5, + "Start_Pose": [ + -6750.217, + 634.821, + 138.15, + 0, + 21.12, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -6321.565, + 781.77, + 55.843, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_a.json b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..53b42486495f645a5ae960ac7dd30909f1007a56 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue door on the wall.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_b.json b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..85798fb8a3952e49f6dcd6f8105f01233014e05f --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the cherry blossom tree.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_c.json b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..87923f0042098dc8095632b6e351a32f4c02762a --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the pair of turquoise barriers against the wall.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_d.json b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..a7dc04e9e323c99252200ac10b7299f66efd57f7 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the blue bicycle parked against the building.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_e.json b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_e.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb4ef85eb38eb5369fe9bbc1c3a6603b0e1f076 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000677_z000138_t0_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the orange bicycle parked against the building.", + "Type": 0, + "Start_Pose": [ + -6750.216, + 677.158, + 138.351, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_a.json b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e0a50aab87a749dc39b1ecbc730256e33d4bdc48 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue door, then head toward the blue bicycle.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_b.json b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..8637da9d936ee01633e82f0287d6a3d9b2fafdae --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the cherry blossom tree, then proceed to the green iron fence.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_c.json b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..930692600355ea2e2ec5ec0132b921b6105648c6 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the blue bicycle, then move to the orange bicycle.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_d.json b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_d.json new file mode 100644 index 0000000000000000000000000000000000000000..fd8f9dd9cf7573ddd8757d5a4ff1150ed600f308 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the blue door, then navigate to the orange bike.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0, + 21.12, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_e.json b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_e.json new file mode 100644 index 0000000000000000000000000000000000000000..bd9d99a05c55762d6fc10d4c52b37616916bbbee --- /dev/null +++ b/dataset/task/Tokyo/task_x-006750_y000694_z000138_t3_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the blue bicycle, then approach the blue door.", + "Type": 3, + "Start_Pose": [ + -6750.262, + 694.19, + 138.15, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006756_y000963_z000138_t0_a.json b/dataset/task/Tokyo/task_x-006756_y000963_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f46baf4139bccf0de936fe825dc5c8a2eb3137a5 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006756_y000963_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue bicycle parked under the covered walkway.", + "Type": 0, + "Start_Pose": [ + -6755.526, + 962.918, + 138.15, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006756_y000963_z000138_t0_b.json b/dataset/task/Tokyo/task_x-006756_y000963_z000138_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..847362c96a77228ef723d4a2613dc8f2e7b8b0fd --- /dev/null +++ b/dataset/task/Tokyo/task_x-006756_y000963_z000138_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the turquoise bin near the green bushes.", + "Type": 0, + "Start_Pose": [ + -6755.526, + 962.918, + 138.15, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006756_y000963_z000138_t0_c.json b/dataset/task/Tokyo/task_x-006756_y000963_z000138_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..cc00f4d423c29c210ab8a2c8ecec9d0da58ffea3 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006756_y000963_z000138_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the door on the brick-paved entrance of the covered alleyway.", + "Type": 0, + "Start_Pose": [ + -6755.526, + 962.918, + 138.15, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006776_y001966_z000138_t3_a.json b/dataset/task/Tokyo/task_x-006776_y001966_z000138_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..16c6404b80821b4ddad662f26c6b46c4085b3f62 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006776_y001966_z000138_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the orange traffic bollard, then head toward the cherry blossom tree.", + "Type": 3, + "Start_Pose": [ + -6775.617, + 1966.156, + 138.15, + 0.0, + 21.12, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006776_y001966_z000138_t5_a_pd.json b/dataset/task/Tokyo/task_x-006776_y001966_z000138_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..33a3fc6181401c5abb65557ec74b7f3a39eb6193 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006776_y001966_z000138_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag by the orange traffic bollard, then place it by the cherry blossom tree.", + "Type": 5, + "Start_Pose": [ + -6775.617, + 1966.156, + 138.15, + 0, + 21.12, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -6291.267, + 2153.802, + 58.843, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_a.json b/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a983b841ac8061456ecf26acde785ce6dd6f204c --- /dev/null +++ b/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the nearby courtyards for the parked orange bicycle, then go to it.", + "Type": 1, + "Start_Pose": [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_b.json b/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a07dd23819638629999263bb78da07dc6aea0578 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search around the buildings for the blue bicycle near a wall, then head toward it.", + "Type": 1, + "Start_Pose": [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_c.json b/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..eefbf2f575fe4fe1eeb8b4f48a28bb0fd0692085 --- /dev/null +++ b/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the surrounding area for a blooming cherry blossom tree, then walk to it.", + "Type": 1, + "Start_Pose": [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_d.json b/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_d.json new file mode 100644 index 0000000000000000000000000000000000000000..804dc45d6431d67e08e772b1be4181f9c7dc8ffa --- /dev/null +++ b/dataset/task/Tokyo/task_x-006793_y000545_z000138_t1_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Find the gray building with a blue door, then approach that door.", + "Type": 1, + "Start_Pose": [ + -6792.524, + 545.115, + 138.15, + 0.0, + -71.04, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_a.json b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..74f010740e8567f9b57583bc1dc01b0c602bc729 --- /dev/null +++ b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost turquoise barrier near the crosswalk.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_b.json b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..7e19ecbd383c56ba4cd8537154431252178a9031 --- /dev/null +++ b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third orange cone from the left.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_c.json b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..21b58ba1858b3a4580f516cfe16dcdf1eb63af49 --- /dev/null +++ b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the rightmost green fence in the row.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_d.json b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..70a69d31b8c070da94349aec07bbc56cead5fcba --- /dev/null +++ b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the second turquoise barrier from the left.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_e.json b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..388f1566e2111da7e415c82d85f074d3388a1368 --- /dev/null +++ b/dataset/task/Tokyo/task_x000005_y-000057_z000128_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the second turquoise barrier from the right.", + "Type": 2, + "Start_Pose": [ + 5.211, + -57.03, + 128.15, + 0.0, + -35.52, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_a.json b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..45672dc7abecda729cfa39a00ce7c5fa683945e9 --- /dev/null +++ b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second cherry blossom tree on the left side.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_b.json b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..34c0b02a9fedf2c77269cbd0d771f403cc0f9c39 --- /dev/null +++ b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the third tree from the right along the street.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_c.json b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..3bba9bd565cb7843a8b01481a7683ca14cf8daf1 --- /dev/null +++ b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the first cherry blossom tree on the right side.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0, + -151.68, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_d.json b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_d.json new file mode 100644 index 0000000000000000000000000000000000000000..99d2baa75c575bdcd76b87b56874c057b27f92b3 --- /dev/null +++ b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second cherry blossom tree on the right side.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_e.json b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_e.json new file mode 100644 index 0000000000000000000000000000000000000000..edc83283c9b20a272bbf7d1113b517fda4dfdae8 --- /dev/null +++ b/dataset/task/Tokyo/task_x000129_y000297_z000128_t2_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the rightmost yellow barrier near the silver building.", + "Type": 2, + "Start_Pose": [ + 128.939, + 296.867, + 128.149, + 0.0, + -151.68, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000152_y002665_z000129_t2_a.json b/dataset/task/Tokyo/task_x000152_y002665_z000129_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3a73bfe80ff12b7425b8bfc06d68065104c93c5c --- /dev/null +++ b/dataset/task/Tokyo/task_x000152_y002665_z000129_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the rightmost orange traffic cone.", + "Type": 2, + "Start_Pose": [ + 152.145, + 2665.387, + 128.77, + 0.0, + -157.44, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000152_y002665_z000129_t2_b.json b/dataset/task/Tokyo/task_x000152_y002665_z000129_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..101d2019c313aa7b33206eefe21b293f1fb2b25c --- /dev/null +++ b/dataset/task/Tokyo/task_x000152_y002665_z000129_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the first cherry blossom tree on the left.", + "Type": 2, + "Start_Pose": [ + 152.145, + 2665.387, + 128.77, + 0, + -157.44, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x000217_y002692_z000129_t2_a.json b/dataset/task/Tokyo/task_x000217_y002692_z000129_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ca42c0967d1514de532f09c830239cfddd5876a5 --- /dev/null +++ b/dataset/task/Tokyo/task_x000217_y002692_z000129_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the leftmost bollard near the curb.", + "Type": 2, + "Start_Pose": [ + 217.318, + 2692.463, + 128.77, + 0.0, + -157.44, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000348_y002747_z000129_t2_a.json b/dataset/task/Tokyo/task_x000348_y002747_z000129_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8051550efe39da0ca7592be5e0f85b9af592f679 --- /dev/null +++ b/dataset/task/Tokyo/task_x000348_y002747_z000129_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the second pillar from the right.", + "Type": 2, + "Start_Pose": [ + 347.664, + 2746.614, + 128.77, + 0.0, + -157.44, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000351_y000296_z000128_t0_a.json b/dataset/task/Tokyo/task_x000351_y000296_z000128_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..17e8c303233239817f8627fcfa1b39a589ea4ac3 --- /dev/null +++ b/dataset/task/Tokyo/task_x000351_y000296_z000128_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the storefront beneath the green awning at the corner of the building with the large red vertical sign.", + "Type": 0, + "Start_Pose": [ + 351.35, + 295.847, + 128.15, + 0.0, + 143.04, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000351_y000296_z000128_t0_b.json b/dataset/task/Tokyo/task_x000351_y000296_z000128_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..23ed69947bb09e9259bf312783222f2101746ee5 --- /dev/null +++ b/dataset/task/Tokyo/task_x000351_y000296_z000128_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the orange bicycle parked in front of the storefront.", + "Type": 0, + "Start_Pose": [ + 351.35, + 295.847, + 128.15, + 0, + 143.04, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x000351_y000296_z000128_t5_a_p.json b/dataset/task/Tokyo/task_x000351_y000296_z000128_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..145218fb454df2230cea4903dc25c0f1a0107190 --- /dev/null +++ b/dataset/task/Tokyo/task_x000351_y000296_z000128_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Grab the wicker basket near the orange bicycle parked on the street.", + "Type": 5, + "Start_Pose": [ + 351.35, + 295.847, + 128.15, + 0, + 143.04, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -460.118, + 1110.915, + 83.15, + 90, + 123.04, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_a.json b/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2f03c7ae1c4599c737193b3871073e2ec601b76a --- /dev/null +++ b/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search the nearby storefronts for the green notice on an orange door, then walk to it.", + "Type": 1, + "Start_Pose": [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_b.json b/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfd049f46efadfe9f193ac9346a442330869da3 --- /dev/null +++ b/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Look around for the pink cherry blossom tree near a green awning, then approach it.", + "Type": 1, + "Start_Pose": [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_c.json b/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..382b2e1068ef6bf8d4dcac17537f2135ec92d342 --- /dev/null +++ b/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Explore the nearby storefronts for the green awning, then approach it.", + "Type": 1, + "Start_Pose": [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_d.json b/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_d.json new file mode 100644 index 0000000000000000000000000000000000000000..f85ce922c74e53e0c418a7bb68f831fff81ddee1 --- /dev/null +++ b/dataset/task/Tokyo/task_x000411_y000845_z000128_t1_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Scan the surrounding buildings for the nearby orange bicycle, then make your way to it.", + "Type": 1, + "Start_Pose": [ + 410.618, + 845.196, + 128.15, + 0.0, + -64.32, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000413_y002774_z000128_t2_a.json b/dataset/task/Tokyo/task_x000413_y002774_z000128_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5500039f15bfd825eaaf60f388261c112f66cd67 --- /dev/null +++ b/dataset/task/Tokyo/task_x000413_y002774_z000128_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second pillar from the left.", + "Type": 2, + "Start_Pose": [ + 412.837, + 2773.689, + 128.396, + 0.0, + -157.44, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000420_y000233_z000128_t0_a.json b/dataset/task/Tokyo/task_x000420_y000233_z000128_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..56d1709bb184dd1319e42c28248fade6c3915091 --- /dev/null +++ b/dataset/task/Tokyo/task_x000420_y000233_z000128_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the yellow bollard on the sidewalk.", + "Type": 0, + "Start_Pose": [ + 419.607, + 233.39, + 128.149, + 0.0, + -178.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000420_y000233_z000128_t0_b.json b/dataset/task/Tokyo/task_x000420_y000233_z000128_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ef3cdcd297673b03dffb0069dc88de6f2a67e3a1 --- /dev/null +++ b/dataset/task/Tokyo/task_x000420_y000233_z000128_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the red-framed double door on the building.", + "Type": 0, + "Start_Pose": [ + 419.607, + 233.39, + 128.149, + 0.0, + -178.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000420_y000233_z000128_t0_c.json b/dataset/task/Tokyo/task_x000420_y000233_z000128_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..783d0711c9153b5b00c798a28a9d28ab3250ddc8 --- /dev/null +++ b/dataset/task/Tokyo/task_x000420_y000233_z000128_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the storefront beneath the green awning.", + "Type": 0, + "Start_Pose": [ + 419.607, + 233.39, + 128.149, + 0.0, + -178.56, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000484_y002458_z000128_t0_a.json b/dataset/task/Tokyo/task_x000484_y002458_z000128_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a86bc32612575ebaf3fb242af52d14aa681f1342 --- /dev/null +++ b/dataset/task/Tokyo/task_x000484_y002458_z000128_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the storefront with blue lower panels and a blue awning.", + "Type": 0, + "Start_Pose": [ + 483.844, + 2458.238, + 128.23, + 0.0, + -157.44, + 0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000484_y002458_z000128_t5_a_p.json b/dataset/task/Tokyo/task_x000484_y002458_z000128_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..300f037a580c8a44925da417f0088cca9f0bf7e8 --- /dev/null +++ b/dataset/task/Tokyo/task_x000484_y002458_z000128_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato near the small blue-roofed kiosk on the street.", + "Type": 5, + "Start_Pose": [ + 483.844, + 2458.238, + 128.23, + 0, + -157.44, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -576.339, + 1925.846, + 112.273, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x000684_y-000898_z000128_t0_a.json b/dataset/task/Tokyo/task_x000684_y-000898_z000128_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..af66ee9c9f5b5f2d852c5c6f49de52e5caa77c47 --- /dev/null +++ b/dataset/task/Tokyo/task_x000684_y-000898_z000128_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the glass door on the white building.", + "Type": 0, + "Start_Pose": [ + 684.29, + -898.43, + 128.149, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000684_y-000898_z000128_t0_b.json b/dataset/task/Tokyo/task_x000684_y-000898_z000128_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f3cd58e4fb7245c089cbd98d5462e2fb5ab1e3de --- /dev/null +++ b/dataset/task/Tokyo/task_x000684_y-000898_z000128_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the green tree with the visible trunk.", + "Type": 0, + "Start_Pose": [ + 684.29, + -898.43, + 128.149, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000684_y-000898_z000128_t0_c.json b/dataset/task/Tokyo/task_x000684_y-000898_z000128_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..5b98c84204b35793c614816576ad76b7ffe4de35 --- /dev/null +++ b/dataset/task/Tokyo/task_x000684_y-000898_z000128_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the green shrub near the trunk.", + "Type": 0, + "Start_Pose": [ + 684.29, + -898.43, + 128.149, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000684_y-000898_z000128_t5_a_p.json b/dataset/task/Tokyo/task_x000684_y-000898_z000128_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..92375a3d32eef96cf1d600df120277cae16c8b33 --- /dev/null +++ b/dataset/task/Tokyo/task_x000684_y-000898_z000128_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate near the green shrub near the trunk.", + "Type": 5, + "Start_Pose": [ + 684.29, + -898.43, + 128.149, + 0, + 24, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1104.564, + -446.117, + 88.15, + 90, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x000805_y-000860_z000136_t2_a.json b/dataset/task/Tokyo/task_x000805_y-000860_z000136_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..09b7dd8539ffee4ac482de282b5acc01338b74a3 --- /dev/null +++ b/dataset/task/Tokyo/task_x000805_y-000860_z000136_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the third traffic cone from the left.", + "Type": 2, + "Start_Pose": [ + 804.791, + -859.943, + 136.389, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000805_y-000860_z000136_t2_b.json b/dataset/task/Tokyo/task_x000805_y-000860_z000136_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f04b4fa1ff7323d4caf0748eb8b4b6f776aff883 --- /dev/null +++ b/dataset/task/Tokyo/task_x000805_y-000860_z000136_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the second window from the left on the building.", + "Type": 2, + "Start_Pose": [ + 804.791, + -859.943, + 136.389, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000805_y-000860_z000136_t2_c.json b/dataset/task/Tokyo/task_x000805_y-000860_z000136_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..61e5c78b0a12079d59a69bda0a41fa3c372f2489 --- /dev/null +++ b/dataset/task/Tokyo/task_x000805_y-000860_z000136_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second bench from the left near the building.", + "Type": 2, + "Start_Pose": [ + 804.791, + -859.943, + 136.389, + 0.0, + 24.0, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000991_y-000073_z000138_t0_a.json b/dataset/task/Tokyo/task_x000991_y-000073_z000138_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..85650dc8f413cf0cfd7506fff5f3771c91c7adaa --- /dev/null +++ b/dataset/task/Tokyo/task_x000991_y-000073_z000138_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the glass double door on the white building.", + "Type": 0, + "Start_Pose": [ + 990.631, + -73.091, + 138.15, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000991_y-000073_z000138_t0_b.json b/dataset/task/Tokyo/task_x000991_y-000073_z000138_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..bd2efca3c6ab4e4e23726e34933061bdc3c4f799 --- /dev/null +++ b/dataset/task/Tokyo/task_x000991_y-000073_z000138_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the yellow barrier near the building.", + "Type": 0, + "Start_Pose": [ + 990.631, + -73.091, + 138.15, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000991_y-000073_z000138_t0_c.json b/dataset/task/Tokyo/task_x000991_y-000073_z000138_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..8fa889c4c2951610a9f79765b4572d8b88a1b0c8 --- /dev/null +++ b/dataset/task/Tokyo/task_x000991_y-000073_z000138_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the bench near the door.", + "Type": 0, + "Start_Pose": [ + 990.631, + -73.091, + 138.15, + 0.0, + 53.76, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x000991_y-000073_z000138_t5_a_p.json b/dataset/task/Tokyo/task_x000991_y-000073_z000138_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..d56898a6c617e6ec91feb012b763721e152777bf --- /dev/null +++ b/dataset/task/Tokyo/task_x000991_y-000073_z000138_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket near the glass double door on the white building.", + "Type": 5, + "Start_Pose": [ + 990.631, + -73.091, + 138.15, + 0, + 53.76, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1523.363, + 400.054, + 68.146, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/Tokyo/task_x001211_y001952_z000139_t0_a.json b/dataset/task/Tokyo/task_x001211_y001952_z000139_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2fd086fcea2f31c6fb525f0357dbcc6ea9117cfd --- /dev/null +++ b/dataset/task/Tokyo/task_x001211_y001952_z000139_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the pink cherry blossom tree.", + "Type": 0, + "Start_Pose": [ + 1211.091, + 1952.032, + 138.554, + 0.0, + 113.28, + -0.0 + ] +} diff --git a/dataset/task/Tokyo/task_x001211_y001952_z000139_t0_b.json b/dataset/task/Tokyo/task_x001211_y001952_z000139_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..3020870badfd2c0edd233729a76111f98842a1b3 --- /dev/null +++ b/dataset/task/Tokyo/task_x001211_y001952_z000139_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the shop with the green awning.", + "Type": 0, + "Start_Pose": [ + 1211.091, + 1952.032, + 138.554, + 0.0, + 113.28, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000012_y002209_z000143_t1_a.json b/dataset/task/VictorianTrainStation/task_x-000012_y002209_z000143_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..325671a92cc1dbfe4826f6a5a6e83c5644e68d90 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000012_y002209_z000143_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Search for a ticket vending machine in this station hall; after locating it, proceed to its position.", + "Type": 1, + "Start_Pose": [ + -12.223, + 2209.454, + 143.15, + 0.0, + 178.481, + -0.0 + ], + "Exposure": 2.0 +} diff --git a/dataset/task/VictorianTrainStation/task_x-000017_y001735_z000143_t0_a.json b/dataset/task/VictorianTrainStation/task_x-000017_y001735_z000143_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..7ad4a4aee17e4218d6a402e092ea3f093e358a9f --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000017_y001735_z000143_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the ticket machine.", + "Type": 0, + "Start_Pose": [ + -16.842, + 1735.167, + 143.15, + -0.05, + -140.361, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000020_y-002685_z000143_t3_a.json b/dataset/task/VictorianTrainStation/task_x-000020_y-002685_z000143_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..75ef3f5d53eec6a31498c9da9d42b61a3eb4b9cf --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000020_y-002685_z000143_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "First, go to the left ticket machine, then go to the bench.", + "Type": 3, + "Start_Pose": [ + -19.736, + -2684.51, + 143.15, + -0.05, + -137.104, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000048_y-002530_z000143_t2_a.json b/dataset/task/VictorianTrainStation/task_x-000048_y-002530_z000143_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..37be024fc9479935f052f31022d8d540b93391d6 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000048_y-002530_z000143_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the second bench from the left along the station building wall.", + "Type": 2, + "Start_Pose": [ + -48.086, + -2530.419, + 143.15, + -0.05, + -56.013, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000109_y002803_z000143_t0_a.json b/dataset/task/VictorianTrainStation/task_x-000109_y002803_z000143_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c89cce64a05cbd5ceb8ab6f3c66a760674bf53d4 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000109_y002803_z000143_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk towards the bin near the far wall.", + "Type": 0, + "Start_Pose": [ + -108.622, + 2803.092, + 143.15, + -0.05, + 107.761, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_a.json b/dataset/task/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..58cb452419d0528cf52ccd11e76ed50f12ad3fd6 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the gap between the two ticket vending machines and navigate into that space.", + "Type": 1, + "Start_Pose": [ + -185.73, + -1924.551, + 143.15, + 0.0, + 138.481, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_b.json b/dataset/task/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..fe1b3650b7cb75a15cd732707c26f3246658fd0b --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000186_y-001925_z000143_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Determine where the bench beside the pair of ticket machines is situated, then make your way over to it.", + "Type": 1, + "Start_Pose": [ + -185.73, + -1924.551, + 143.15, + 0.0, + 138.481, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000210_y-000438_z000143_t0_a.json b/dataset/task/VictorianTrainStation/task_x-000210_y-000438_z000143_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..dd13a3da3e4051bdc0390ba23dd9334a07ecbf7d --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000210_y-000438_z000143_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk towards the pillar next to the railing.", + "Type": 0, + "Start_Pose": [ + -210.227, + -437.739, + 143.15, + -0.05, + -93.914, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000242_y-002219_z000143_t3_a.json b/dataset/task/VictorianTrainStation/task_x-000242_y-002219_z000143_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..77fa41323820c7a48ae588361d434579ef7af24d --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000242_y-002219_z000143_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the double ticket machines on the right first, then proceed to the green pillar.", + "Type": 3, + "Start_Pose": [ + -242.311, + -2219.034, + 143.15, + -0.05, + 157.989, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000372_y-002107_z000143_t3_a.json b/dataset/task/VictorianTrainStation/task_x-000372_y-002107_z000143_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..012147136244412cc9bc2e9be6ebbf1b65cca270 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000372_y-002107_z000143_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the rightmost trash bin first, then go to the ticket machines.", + "Type": 3, + "Start_Pose": [ + -372.296, + -2106.582, + 143.15, + -0.05, + -142.491, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000699_y-001928_z000149_t0_a.json b/dataset/task/VictorianTrainStation/task_x-000699_y-001928_z000149_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..718059deebfa1c89f6640b42930e13a903073b23 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000699_y-001928_z000149_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the wooden bench.", + "Type": 0, + "Start_Pose": [ + -699.471, + -1927.705, + 148.632, + -0.05, + -116.402, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_a_p.json b/dataset/task/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..312d2d1a14709f26b7141843e654700888046057 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can from the tiled floor near the red telephone booth.", + "Type": 5, + "Start_Pose": [ + -771.706, + 1197.122, + -688.939, + -0.05, + -11.279, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -56.057, + 1366.263, + -775.399, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_b_p.json b/dataset/task/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..47ed1e665fa120a117b3d104aa92db2d94a2d129 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x-000772_y001197_z-000689_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket from the closest wooden bench under the green arches.", + "Type": 5, + "Start_Pose": [ + -771.706, + 1197.122, + -688.939, + -0.05, + -11.279, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 43.422, + 954.183, + -759.573, + 90, + 0, + 0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000062_y003093_z000144_t3_a.json b/dataset/task/VictorianTrainStation/task_x000062_y003093_z000144_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a119fcc11e45525a5bd55427f4ce49e28f206527 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000062_y003093_z000144_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "First go to the bin, then proceed to the bench.", + "Type": 3, + "Start_Pose": [ + 61.801, + 3092.999, + 143.591, + -0.05, + 137.521, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000067_y-002692_z000143_t2_a.json b/dataset/task/VictorianTrainStation/task_x000067_y-002692_z000143_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..39c719c16f098998227b792b0fe4aea9382081e5 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000067_y-002692_z000143_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the ticket machine on your right.", + "Type": 2, + "Start_Pose": [ + 67.28, + -2691.791, + 143.15, + 0.0, + -133.365, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000089_y-002140_z000143_t0_a.json b/dataset/task/VictorianTrainStation/task_x000089_y-002140_z000143_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..28d4761377170b5735ebcd077468550b49156808 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000089_y-002140_z000143_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the dark trash bin near the ticket machines along the brick wall.", + "Type": 0, + "Start_Pose": [ + 89.285, + -2140.132, + 143.15, + -0.05, + -115.533, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000089_y-002140_z000143_t2_a.json b/dataset/task/VictorianTrainStation/task_x000089_y-002140_z000143_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5e2e2fa48a774bc35f673086cb654049dea236c5 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000089_y-002140_z000143_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the second arched window from the left along the stone facade.", + "Type": 2, + "Start_Pose": [ + 89.285, + -2140.132, + 143.15, + -0.05, + -115.533, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000089_y-002140_z000143_t5_a_p.json b/dataset/task/VictorianTrainStation/task_x000089_y-002140_z000143_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..15946afde84a516d283a9b3955fdfc2b8595dc8e --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000089_y-002140_z000143_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag near the dark trash bin by the ticket machines.", + "Type": 5, + "Start_Pose": [ + 89.285, + -2140.132, + 143.15, + -0.05, + -115.533, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -366.534, + -3095.021, + 55.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000166_y000942_z000144_t0_a.json b/dataset/task/VictorianTrainStation/task_x000166_y000942_z000144_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ebcb1beaacebb58bdd91296fea6f0e2e1bbcb049 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000166_y000942_z000144_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the bench.", + "Type": 0, + "Start_Pose": [ + 165.997, + 941.81, + 143.663, + -0.05, + -133.716, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000213_y-002538_z000143_t2_a.json b/dataset/task/VictorianTrainStation/task_x000213_y-002538_z000143_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e2f3e65ed48b95e5b64efd63d9e395be0559a145 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000213_y-002538_z000143_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the ticket machine closest to you in the left.", + "Type": 2, + "Start_Pose": [ + 212.656, + -2537.871, + 143.15, + 0.0, + -133.365, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000213_y001154_z000144_t2_a.json b/dataset/task/VictorianTrainStation/task_x000213_y001154_z000144_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..65d7324f529eeb22dc6c881461ba51271386ec95 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000213_y001154_z000144_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the third bench from the right along the station wall.", + "Type": 2, + "Start_Pose": [ + 213.222, + 1154.199, + 143.819, + -0.05, + 137.521, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000213_y001154_z000144_t2_b.json b/dataset/task/VictorianTrainStation/task_x000213_y001154_z000144_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..5f60fbb97843daa29ac4184858b020b3397454dd --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000213_y001154_z000144_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the first bench from the right, closest to the ticket machine.", + "Type": 2, + "Start_Pose": [ + 213.222, + 1154.199, + 143.819, + -0.05, + 137.521, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000213_y001154_z000144_t5_a_p.json b/dataset/task/VictorianTrainStation/task_x000213_y001154_z000144_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..a03830e8b41f2b8b777a5ae59f3e7b5de068cf5b --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000213_y001154_z000144_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato on the tiled floor near the ticket machine.", + "Type": 5, + "Start_Pose": [ + 213.222, + 1154.199, + 143.819, + -0.05, + 137.521, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -266.038, + 1403.973, + 114.215, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000227_y-002312_z000143_t0_a.json b/dataset/task/VictorianTrainStation/task_x000227_y-002312_z000143_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5b71f20d312fc82e80dfb633e035d84412f34921 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000227_y-002312_z000143_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the lattice pillar between the two ticket machines.", + "Type": 0, + "Start_Pose": [ + 227.058, + -2311.555, + 143.15, + 0.0, + -148.538, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000266_y-002806_z000143_t3_a.json b/dataset/task/VictorianTrainStation/task_x000266_y-002806_z000143_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6da458910af7a4958f1ea66642d978d2fa065da7 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000266_y-002806_z000143_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the bench on the right first, then go to the ticket machine.", + "Type": 3, + "Start_Pose": [ + 266.438, + -2806.47, + 143.15, + -0.05, + -109.851, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000616_y000980_z-000689_t3_a.json b/dataset/task/VictorianTrainStation/task_x000616_y000980_z-000689_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..51277607641d6a976b912de6e03a37318f75efca --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000616_y000980_z-000689_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the painting on the wall first, then go to the bench.", + "Type": 3, + "Start_Pose": [ + 616.007, + 979.96, + -689.056, + -0.05, + 157.989, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000681_y000954_z-000689_t3_a.json b/dataset/task/VictorianTrainStation/task_x000681_y000954_z-000689_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f470bb5b68b2797f52660a05682cc663f43a0599 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000681_y000954_z-000689_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the bench first, then go to the painting on the wall.", + "Type": 3, + "Start_Pose": [ + 681.437, + 953.51, + -689.056, + -0.05, + 157.989, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000699_y-002736_z000143_t3_a.json b/dataset/task/VictorianTrainStation/task_x000699_y-002736_z000143_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b217466f3b0207d4dff6618e1f665c91388404b0 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000699_y-002736_z000143_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the large double doors first, then go to the bench.", + "Type": 3, + "Start_Pose": [ + 698.976, + -2735.525, + 143.15, + 0.0, + -81.082, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x000728_y001014_z-000689_t0_a.json b/dataset/task/VictorianTrainStation/task_x000728_y001014_z-000689_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0614fe0d4de8b9f4a3850925b587707f6ae480a0 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x000728_y001014_z-000689_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the picture hanging on the wall.", + "Type": 0, + "Start_Pose": [ + 728.487, + 1013.82, + -689.056, + -0.05, + 150.15, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x001617_y001269_z-000689_t0_a.json b/dataset/task/VictorianTrainStation/task_x001617_y001269_z-000689_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a1b9e3f14eb8c3d28999f546686dec820e348bba --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x001617_y001269_z-000689_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the bench.", + "Type": 0, + "Start_Pose": [ + 1616.748, + 1269.071, + -689.056, + -0.05, + -36.0, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x001721_y001093_z-000689_t3_a.json b/dataset/task/VictorianTrainStation/task_x001721_y001093_z-000689_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..513c4c84193031ab7337fe41431e694505043530 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x001721_y001093_z-000689_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the red telephone booth, then continue to the bench visible under the iron arch beyond it.", + "Type": 3, + "Start_Pose": [ + 1720.921, + 1093.413, + -689.056, + 0.0, + 18.481, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x001733_y001038_z-000689_t3_a.json b/dataset/task/VictorianTrainStation/task_x001733_y001038_z-000689_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ca041f69690494ee8856c9c8c6deb9747dfb0fb9 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x001733_y001038_z-000689_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the nearest trash bin on the right first, then go to the bench on the left.", + "Type": 3, + "Start_Pose": [ + 1733.25, + 1038.365, + -689.056, + -0.05, + 9.189, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x001748_y-002605_z000143_t2_a.json b/dataset/task/VictorianTrainStation/task_x001748_y-002605_z000143_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4951b122f697a5a2247265c81e06352b2799ac98 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x001748_y-002605_z000143_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the second ticket machine from the left under the green iron arches.", + "Type": 2, + "Start_Pose": [ + 1748.444, + -2604.985, + 143.15, + -0.05, + 3.507, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002169_y-002199_z000143_t0_a.json b/dataset/task/VictorianTrainStation/task_x002169_y-002199_z000143_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..908101e8970e15903757512f9d42b10228be2599 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002169_y-002199_z000143_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the red telephone booth.", + "Type": 0, + "Start_Pose": [ + 2169.047, + -2199.282, + 143.15, + -0.05, + -85.773, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002176_y-002661_z000143_t3_a.json b/dataset/task/VictorianTrainStation/task_x002176_y-002661_z000143_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ef675fd2a7abd2928339511c5cc2603b69a05b3a --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002176_y-002661_z000143_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "First go to the green metal arch support, then go to the red phone booth.", + "Type": 3, + "Start_Pose": [ + 2175.937, + -2661.475, + 143.266, + -0.05, + -82.971, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002189_y-002358_z000143_t5_a_p.json b/dataset/task/VictorianTrainStation/task_x002189_y-002358_z000143_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..ef1bb79c8d51535fddc5811e3a0724f616fd26cb --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002189_y-002358_z000143_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket near the base of the green steel column along the platform.", + "Type": 5, + "Start_Pose": [ + 2188.661, + -2358.429, + 143.15, + -0.05, + 63.027, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2236.478, + -1890.207, + 53.316, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002324_y-001693_z000145_t2_a.json b/dataset/task/VictorianTrainStation/task_x002324_y-001693_z000145_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..65ef1c97f31e8f6130a442472c0eb9aae9c6821e --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002324_y-001693_z000145_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the second bench on the left side of the platform.", + "Type": 2, + "Start_Pose": [ + 2324.025, + -1692.833, + 145.067, + -0.05, + 77.175, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002329_y-001640_z000145_t2_a.json b/dataset/task/VictorianTrainStation/task_x002329_y-001640_z000145_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..09565dfa83681d351be32a533cda36f77fc796c3 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002329_y-001640_z000145_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the third wooden bench from the left along the platform.", + "Type": 2, + "Start_Pose": [ + 2329.027, + -1639.6, + 144.93, + -0.05, + 63.027, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002505_y-002591_z000143_t0_a.json b/dataset/task/VictorianTrainStation/task_x002505_y-002591_z000143_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..67425093261c2985d5df1ca32f528266fbef0795 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002505_y-002591_z000143_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the red phone booth.", + "Type": 0, + "Start_Pose": [ + 2505.423, + -2590.531, + 143.15, + 0.0, + -113.897, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002696_y-002920_z000145_t2_c.json b/dataset/task/VictorianTrainStation/task_x002696_y-002920_z000145_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..4f61f3e408af0253fe58d492b757ed9a6b43eb2b --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002696_y-002920_z000145_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the bench that is further away on the left side.", + "Type": 2, + "Start_Pose": [ + 2695.742, + -2920.151, + 144.792, + -0.05, + -22.49, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002760_y-002544_z000142_t3_a.json b/dataset/task/VictorianTrainStation/task_x002760_y-002544_z000142_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9251a1c6a5b83be5356939a7ddc49d6cd18b7340 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002760_y-002544_z000142_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "First go to the bench on the far left, then go to the double ticket machines.", + "Type": 3, + "Start_Pose": [ + 2760.401, + -2543.548, + 141.667, + -0.05, + -50.331, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002800_y-002736_z000142_t1_a.json b/dataset/task/VictorianTrainStation/task_x002800_y-002736_z000142_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f0a1344c2ff117b755b14c7f462a37a6d5bec12d --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002800_y-002736_z000142_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for two ticket machines standing side by side against the green metal framework, then navigate into the gap between them.", + "Type": 1, + "Start_Pose": [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -81.519, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x002800_y-002736_z000142_t1_b.json b/dataset/task/VictorianTrainStation/task_x002800_y-002736_z000142_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..5373806cbb1d4fe784a6c0f9c26f5aa2c82ebfcd --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x002800_y-002736_z000142_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the red telephone booth nearby; once you identify it, walk over to it.", + "Type": 1, + "Start_Pose": [ + 2799.55, + -2735.964, + 141.667, + 0.0, + -81.519, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x003074_y000842_z-000688_t3_a.json b/dataset/task/VictorianTrainStation/task_x003074_y000842_z-000688_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6eaf5e868a9ad6f085f3d0c85cf3a1b2d3aaac3e --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x003074_y000842_z-000688_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the red phone booth in front of you first, then go to the bench closest to you.", + "Type": 3, + "Start_Pose": [ + 3074.08, + 841.817, + -688.032, + -0.05, + 157.989, + 0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x003143_y-002450_z000142_t0_b.json b/dataset/task/VictorianTrainStation/task_x003143_y-002450_z000142_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..0f98c9af364682ec0c6976e5d147454eb9411d1a --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x003143_y-002450_z000142_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the red telephone booth.", + "Type": 0, + "Start_Pose": [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ] +} diff --git a/dataset/task/VictorianTrainStation/task_x003143_y-002450_z000142_t2_c.json b/dataset/task/VictorianTrainStation/task_x003143_y-002450_z000142_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..174cab6f3608e9ee3efe3b4406eeb2c793617fc9 --- /dev/null +++ b/dataset/task/VictorianTrainStation/task_x003143_y-002450_z000142_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Go to the second wooden bench from the left along the brick wall.", + "Type": 2, + "Start_Pose": [ + 3142.762, + -2449.712, + 141.667, + -0.05, + -115.533, + -0.0 + ] +} diff --git a/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_a_p.json b/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..f622322c4afe7e97ca4506784a4e2e6f4592aaa2 --- /dev/null +++ b/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper.", + "Type": 5, + "Start_Pose": [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3175.001, + -7367.59, + 71.025, + 6.473, + -143.71, + -79.242 + ] +} diff --git a/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_a_pd.json b/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..9f806b4f973f67c7fe05a390aadb161a39bede1a --- /dev/null +++ b/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra, then place it next to the stone lantern.", + "Type": 5, + "Start_Pose": [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3142.733, + -7542.52, + 63.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_b_p.json b/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..acc3254f7130717ca8134575b8b50cc4b86cc04f --- /dev/null +++ b/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2795.214, + -7356.763, + 123.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_b_pd.json b/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..ac93449138dd833056270d42eaed240eb8030151 --- /dev/null +++ b/dataset/task/eastern_Garden/task_x003019_y-007965_z000138_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket, then place it at the base of the large tree.", + "Type": 5, + "Start_Pose": [ + 3018.636, + -7965.043, + 138.005, + 0, + 80, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2869.011, + -7333.923, + 88.15, + 90, + 120, + 0 + ] +} diff --git a/dataset/task/ef_grounds/task_x015038_y-014298_z002039_t5_a_p.json b/dataset/task/ef_grounds/task_x015038_y-014298_z002039_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..5ebf3051225ad0a4eec7550b2ffc6c0b2d77688d --- /dev/null +++ b/dataset/task/ef_grounds/task_x015038_y-014298_z002039_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate.", + "Type": 5, + "Start_Pose": [ + 15037.923, + -14298.168, + 2039.04, + 0, + 10, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 15415.369, + -14290.619, + 1989.04, + 90, + 0, + 0 + ] +} diff --git a/dataset/task/hospital/task_x000051_y-003562_z000138_t5_a_p.json b/dataset/task/hospital/task_x000051_y-003562_z000138_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..e863c1044e2e4d6318c29976d9f3310715a4455f --- /dev/null +++ b/dataset/task/hospital/task_x000051_y-003562_z000138_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can near the yellow wet floor sign.", + "Type": 5, + "Start_Pose": [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -162.037, + -3054.938, + 53.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/hospital/task_x000051_y-003562_z000138_t5_a_pd.json b/dataset/task/hospital/task_x000051_y-003562_z000138_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..bccd1a0bab04df51452fe7569667980a38444e08 --- /dev/null +++ b/dataset/task/hospital/task_x000051_y-003562_z000138_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it on the nearest hospital bed on the left side of the corridor.", + "Type": 5, + "Start_Pose": [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -107.309, + -3146.367, + 66.912, + -0.048, + 151.815, + -69.68 + ] +} diff --git a/dataset/task/hospital/task_x000051_y-003562_z000138_t5_b_p.json b/dataset/task/hospital/task_x000051_y-003562_z000138_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..cf8300ad254b3cdf0319bb8570750dad98377316 --- /dev/null +++ b/dataset/task/hospital/task_x000051_y-003562_z000138_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate near the yellow mop bucket.", + "Type": 5, + "Start_Pose": [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1.218, + -2934.912, + 88.15, + 90, + 90, + 0 + ] +} diff --git a/dataset/task/hospital/task_x000051_y-003562_z000138_t5_b_pd.json b/dataset/task/hospital/task_x000051_y-003562_z000138_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..868507f5eeefc63a1af2cdc823654f374eb6a127 --- /dev/null +++ b/dataset/task/hospital/task_x000051_y-003562_z000138_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket, then place it next to the yellow mop bucket in the middle of the corridor.", + "Type": 5, + "Start_Pose": [ + 51.433, + -3561.711, + 138.15, + 0, + 80, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 210.826, + -3260.135, + 60.15, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/hospital/task_x000119_y-000504_z000138_t5_a_p.json b/dataset/task/hospital/task_x000119_y-000504_z000138_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..de2f06d008b9fe58f92dfb237d69cf34c6c7397c --- /dev/null +++ b/dataset/task/hospital/task_x000119_y-000504_z000138_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket near the open sliding door entrance.", + "Type": 5, + "Start_Pose": [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -153.525, + -927.358, + 75.15, + 90, + -140, + 0 + ] +} diff --git a/dataset/task/hospital/task_x000119_y-000504_z000138_t5_a_pd.json b/dataset/task/hospital/task_x000119_y-000504_z000138_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..140f002de7a4a7832886f315d5af1b97c02ac799 --- /dev/null +++ b/dataset/task/hospital/task_x000119_y-000504_z000138_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the jerry can, then place it near the wheelchair in the corridor.", + "Type": 5, + "Start_Pose": [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -101.696, + -835.225, + 58.15, + 0, + 90, + 0 + ] +} diff --git a/dataset/task/hospital/task_x000119_y-000504_z000138_t5_b_p.json b/dataset/task/hospital/task_x000119_y-000504_z000138_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..1118edde1518ae15e16e9e20ccf075ee3701d326 --- /dev/null +++ b/dataset/task/hospital/task_x000119_y-000504_z000138_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket from the floor near the blue wheelchair in the corridor.", + "Type": 5, + "Start_Pose": [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 145.192, + -1109.185, + 58.149, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/hospital/task_x000119_y-000504_z000138_t5_b_pd.json b/dataset/task/hospital/task_x000119_y-000504_z000138_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..65021411a7dd98d54d9d31e654816a70580778b0 --- /dev/null +++ b/dataset/task/hospital/task_x000119_y-000504_z000138_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it near the blue wheelchair.", + "Type": 5, + "Start_Pose": [ + 119.348, + -503.602, + 138.15, + 0, + -120, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -131.222, + -921.783, + 71.176, + -67.308, + -171.642, + -47.64 + ] +} diff --git a/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_a_p.json b/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..cb69971db23b9bd6dd46d2a32299c88cf6f6e6e3 --- /dev/null +++ b/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato near the brick ledge beneath the rightmost window panel.", + "Type": 5, + "Start_Pose": [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2106.724, + 5670.518, + 81.785, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_a_pd.json b/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..4022c27f0d3b5099cf805c76aa8962280d320907 --- /dev/null +++ b/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it by the leftmost open doorway in the room.", + "Type": 5, + "Start_Pose": [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1748.468, + 5662.377, + 66.785, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_b_p.json b/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..4bd121e02f3fd248298459804447eafdbd407866 --- /dev/null +++ b/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase.", + "Type": 5, + "Start_Pose": [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1313.17, + 5544.189, + 40.641, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_b_pd.json b/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..f176e23b846d45b43d612808097dedd9b0a1c7a7 --- /dev/null +++ b/dataset/task/modularBuilding/task_x-002011_y004829_z000112_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot, then place it on the floor next to the open door on the right side of the room.", + "Type": 5, + "Start_Pose": [ + -2010.623, + 4829.371, + 111.785, + 0, + 60, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1313.384, + 5161.857, + 30.641, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_a_p.json b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..1ceb5bd9409720d4d39ee91381bc3b3876b43069 --- /dev/null +++ b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase near the doorway under the blue-and-white striped awning.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 4647.636, + -4883.061, + 28.102, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_a_pd.json b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..ae0b8f8f71a7a7f40c8398b4e0efb42c5f2838e1 --- /dev/null +++ b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate, then place it on the ground beneath the blue-and-white striped awning.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4868.561, + -4635.192, + 58.024, + 90, + 0, + 0 + ] +} diff --git a/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_b_p.json b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..0684e6fbfccb015260833fecad856b5801baabff --- /dev/null +++ b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag near the sidewalk near the pile of snow beside the brick wall.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 4785.298, + -4651.914, + 53.551, + 30.424, + -153.703, + 115.379 + ] +} diff --git a/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_b_pd.json b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..78dd02b3930dea6242d242d7af76c7a4dfa695dc --- /dev/null +++ b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket, then place it on the sidewalk next to the red brick wall section below the large window.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4582.416, + -5105.165, + 48.907, + 90, + -160, + 0 + ] +} diff --git a/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_c_pd.json b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..3023f97f9ea0f971ee9df36fac5db7de09224a24 --- /dev/null +++ b/dataset/task/modularBuilding/task_x005335_y-004831_z000068_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket, then place it on the curb edge in front of the white-tiled wall.", + "Type": 5, + "Start_Pose": [ + 5335.49, + -4830.618, + 68.15, + 0, + -180, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4887.475, + -4634.959, + 27.782, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/modularBuilding/task_x006653_y-000882_z000068_t5_a_p.json b/dataset/task/modularBuilding/task_x006653_y-000882_z000068_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..15a23ed93225026f24eaa6387f431bf49d740c0e --- /dev/null +++ b/dataset/task/modularBuilding/task_x006653_y-000882_z000068_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + 6652.996, + -881.502, + 68.15, + 0, + -20, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 7373.391, + -1253.279, + 43.865, + -45.575, + 35.774, + 87.08 + ] +} diff --git a/dataset/task/modularBuilding/task_x006653_y-000882_z000068_t5_a_pd.json b/dataset/task/modularBuilding/task_x006653_y-000882_z000068_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd7eada5cf95a9c02e33c9f12045b4cb39a8283 --- /dev/null +++ b/dataset/task/modularBuilding/task_x006653_y-000882_z000068_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket, then place it on the stone steps leading to the building entrance.", + "Type": 5, + "Start_Pose": [ + 6652.996, + -881.502, + 68.15, + 0, + -20, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 7132.641, + -1290.465, + 48.044, + 90, + -40, + 0 + ] +} diff --git a/dataset/task/modularBuilding/task_x006653_y-000882_z000068_t5_b_p.json b/dataset/task/modularBuilding/task_x006653_y-000882_z000068_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..206011c223a18b3201cc8210bd4dcab1d48a2ea7 --- /dev/null +++ b/dataset/task/modularBuilding/task_x006653_y-000882_z000068_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the green bell pepper.", + "Type": 5, + "Start_Pose": [ + 6652.996, + -881.502, + 68.15, + 0, + -20, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 7430.801, + -743.542, + 39.498, + 2.295, + 144.844, + -75.861 + ] +} diff --git a/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_p.json b/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..8d22aca2058c448ac2025a89736a82c39096d942 --- /dev/null +++ b/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the plate.", + "Type": 5, + "Start_Pose": [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -153815.219, + -116377.797, + 4836.465, + 90, + 90, + 0 + ] +} diff --git a/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_pd.json b/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..78b4779c651dde81829f10ac2716166012f767f7 --- /dev/null +++ b/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag, then put it down near the tilted wooden pole.", + "Type": 5, + "Start_Pose": [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -153518.79, + -116770.161, + 4818.471, + -0.306, + 78.834, + -8.948 + ] +} diff --git a/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_p.json b/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..45aefeff0e9f23bfb56656c21f1824bb9da0b56d --- /dev/null +++ b/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase.", + "Type": 5, + "Start_Pose": [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -153610.672, + -116470.164, + 4854.457, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_pd.json b/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..315af54c00c047632a1111ec1c50b37867ab7902 --- /dev/null +++ b/dataset/task/postSoviet_Village/task_x-153902_y-116993_z004905_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket, then place it at the base of the vertical wooden pole.", + "Type": 5, + "Start_Pose": [ + -153901.846, + -116993.032, + 4905.025, + 0, + 60, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -153512.406, + -116666.258, + 4854.136, + 90, + 40, + 0 + ] +} diff --git a/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_p.json b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_p.json new file mode 100644 index 0000000000000000000000000000000000000000..f9c56282541efb81e6f03c2b88a021cc463c9faf --- /dev/null +++ b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the metal bucket.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -156179.828, + -115046.289, + 4801.555, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_pd.json b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..dbb2c19137085c5660512d535a63695c13c75288 --- /dev/null +++ b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot, then place it on the tree stump next to the wooden ladder.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -156122.703, + -115375.484, + 4792.113, + 0, + 0, + 0 + ] +} diff --git a/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_p.json b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..8bbef1ca41d30bc4c59e89aca668b86f52fb6ab0 --- /dev/null +++ b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the wicker basket near the wooden porch.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -155992.531, + -114885.234, + 4950.65, + 90, + 80.005, + 0 + ] +} diff --git a/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_pd.json b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..be330ff7dc1c9b759975be9c7b6cd765b9bb2a73 --- /dev/null +++ b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the trash bag, then place it beside the firewood stack under the porch roof.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -155808.969, + -115411.188, + 4785.94, + -0.857, + 108.112, + -16.547 + ] +} diff --git a/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_c_pd.json b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_c_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..c2d49325cddc279a4e2de7de729ef5788ed0cba4 --- /dev/null +++ b/dataset/task/postSoviet_Village/task_x-156096_y-115661_z004882_t5_c_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the candelabra, then place it on the wooden steps leading to the porch.", + "Type": 5, + "Start_Pose": [ + -156095.831, + -115660.789, + 4882.487, + 0, + 80, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -155892.047, + -115405.18, + 4806.817, + 0, + 0, + 0 + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_a/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..04a3cd69834f1b2c1867799a83d11633a8351a2e --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search for the base of the stone staircase where it meets the sandy ground floor; after locating it, navigate to that spot.", + "Type": 1, + "Start_Pose": [ + -44439.748, + 16169.339, + -22522.077, + 0.0, + -59.84, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -44439.748, + 16169.339, + -22522.077, + 0.0, + -59.84, + 0.0 + ], + [ + -44439.746, + 16169.339, + -22522.077, + 0.0, + -34.84, + 0.0 + ], + [ + -44439.746, + 16169.339, + -22522.077, + 0.0, + -9.84, + 0.0 + ], + [ + -44439.746, + 16169.339, + -22522.077, + 0.0, + 15.16, + -0.0 + ], + [ + -44318.267, + 16202.253, + -22529.287, + 0.0, + 15.16, + -0.0 + ], + [ + -44196.788, + 16235.167, + -22529.287, + 0.0, + 15.16, + -0.0 + ], + [ + -44196.788, + 16235.167, + -22529.287, + 0.0, + 40.16, + -0.0 + ], + [ + -44100.601, + 16316.337, + -22529.287, + 0.0, + 40.16, + -0.0 + ], + [ + -44004.413, + 16397.506, + -22529.287, + 0.0, + 40.16, + -0.0 + ], + [ + -43908.226, + 16478.676, + -22529.287, + 0.0, + 40.16, + -0.0 + ], + [ + -43812.039, + 16559.845, + -22524.854, + 0.0, + 40.16, + -0.0 + ], + [ + -43812.039, + 16559.845, + -22524.854, + 0.0, + 65.16, + -0.0 + ], + [ + -43759.167, + 16674.06, + -22525.685, + 0.0, + 65.16, + -0.0 + ], + [ + -43759.167, + 16674.06, + -22525.685, + 0.0, + 65.16, + -0.0 + ] + ], + "Rationale": [ + "From this spot on the sand I only see a row of ruined brick arches and open colonnade ahead, with no stone stairway anywhere in view. I will turn right to sweep my heading across the unseen part of this courtyard and look for a staircase meeting the sandy floor.", + "The rotation brought a tall gated archway and lit wall into view, but still no steps rising from the sand. I will continue turning right to keep scanning further along this wall for the base of a stone staircase.", + "Now the portcullis gate sits nearly centered ahead and the wall to either side is flat masonry with no visible steps. Another right turn should carry my view past the gate toward the corner of the courtyard where a stair could begin.", + "A stone staircase is now visible on the right side of the courtyard, climbing away from the sandy floor. With the target identified, I will stop scanning and walk forward to close the distance toward its lower end.", + "The staircase has grown larger on my right and its lowest steps meeting the sand are still some way off. I will keep walking forward across the open sand to shorten that gap before adjusting my heading.", + "The stairway now sits at the far right edge of my view and is partly cut off, so walking straight ahead would carry me past it. I will turn right to bring the steps and their base back toward the center of my heading.", + "The staircase is now framed roughly ahead of me, with its bottom steps resting where the wooden planks meet the sand. I will walk forward along this heading to commit to the approach toward that base.", + "The steps fill more of my view and the bottom tread with its plank landing is clearly ahead and slightly right. I will continue walking forward, since I am still several paces short of standing at the foot of the stairs.", + "The stone staircase is now clearly identified ahead of me, its lowest steps resting where the wooden planking meets the drifted sand. Since the target is already in view and roughly ahead, I stay committed and walk forward instead of scanning further. This step should close a good part of the remaining gap to the foot of the stairs.", + "The staircase has grown noticeably larger and its bottom step with the stone side rail is close in front of me, so the approach is still on track. I continue walking forward to reach the point where the steps actually meet the sandy floor. A little more distance should still remain after this stride.", + "I am nearly at the staircase, but its lower steps and the base of the rail sit toward the right side of my view while the ruined wall crowds the left. A small turn to the right should square my heading with the foot of the stairs before the final step in. This keeps the landing spot centered rather than drifting past it.", + "The staircase is now centered in front of me with the bottom step and the sand of the courtyard floor directly ahead. One more short walk forward should place me right at the base where the steps meet the ground.", + "I am standing directly at the bottom step of the stone staircase where it meets the sandy floor. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_b/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ecbf671d68486b6e38d459890045625f472ac23 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044440_y016169_z-022522_t1_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Locate the ground-level doorway that is half-covered by a metal grid gate and half open; once you have identified it, move toward that entrance.", + "Type": 1, + "Start_Pose": [ + -44439.748, + 16169.339, + -22522.077, + 0.0, + -59.84, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -44439.748, + 16169.339, + -22522.077, + 0.0, + -59.84, + 0.0 + ], + [ + -44439.746, + 16169.339, + -22522.077, + 0.0, + -34.84, + 0.0 + ], + [ + -44439.746, + 16169.339, + -22522.077, + 0.0, + -9.84, + 0.0 + ], + [ + -44315.739, + 16147.83, + -22519.891, + 0.0, + -9.84, + 0.0 + ], + [ + -44191.731, + 16126.321, + -22529.288, + 0.0, + -9.84, + 0.0 + ], + [ + -44067.724, + 16104.812, + -22529.288, + 0.0, + -9.84, + 0.0 + ], + [ + -43943.716, + 16083.303, + -22520.637, + 0.0, + -9.84, + 0.0 + ], + [ + -43819.709, + 16061.794, + -22529.288, + 0.0, + -9.84, + 0.0 + ], + [ + -43695.701, + 16040.285, + -22524.983, + 0.0, + -9.84, + 0.0 + ], + [ + -43571.694, + 16018.776, + -22524.844, + 0.0, + -9.84, + 0.0 + ], + [ + -43447.686, + 15997.267, + -22520.028, + 0.0, + -9.84, + 0.0 + ], + [ + -43323.679, + 15975.758, + -22527.618, + 0.0, + -9.84, + 0.0 + ], + [ + -43199.671, + 15954.249, + -22529.288, + 0.0, + -9.84, + 0.0 + ], + [ + -43075.664, + 15932.74, + -22525.843, + 0.0, + -9.84, + 0.0 + ], + [ + -42951.656, + 15911.231, + -22524.981, + 0.0, + -9.84, + 0.0 + ], + [ + -42827.649, + 15889.722, + -22524.981, + 0.0, + -9.84, + 0.0 + ], + [ + -42703.641, + 15868.213, + -22524.981, + 0.0, + -9.84, + 0.0 + ], + [ + -42579.634, + 15846.704, + -22524.981, + 0.0, + -9.84, + 0.0 + ], + [ + -42455.627, + 15825.195, + -22524.981, + 0.0, + -9.84, + 0.0 + ], + [ + -42455.627, + 15825.195, + -22524.981, + 0.0, + -9.84, + 0.0 + ] + ], + "Rationale": [ + "From here I mostly face a row of empty ruined arches, none of which shows the half-blocked doorway I need. At the right edge of my view I can just catch a pale lattice of metal bars beside a tall arch, so I will turn right to bring that promising opening into the center of my view.", + "The turn brought a tall pointed doorway into view on the right side, and its left half is closed off by a metal grid gate while the right half stands open to daylight and distant hills. It still sits off to my right rather than straight ahead, so I will turn right once more to square myself with that entrance before advancing.", + "The doorway with the metal grid over one half and clear daylight through the other is now centered ahead of me, so the search part of the task is settled. The sandy floor between me and it looks flat and unobstructed, so I will walk forward to close the distance to that entrance.", + "The gated arch has grown slightly larger and stays centered, confirming my heading is good. I will keep walking forward since I am still well back inside the hall and far from the threshold.", + "The grid bars filling the left half of the archway are now clearly resolved, and the open right half still frames the hillside beyond. Nothing blocks my path, so I continue stepping forward toward that entrance.", + "I am now on the plank flooring inside the passage with the half-gated doorway holding steady straight ahead. Since my alignment needs no correction, I will simply keep advancing toward it.", + "The arch now fills much more of my view, with the metal grid on the left and the open gap on the right clearly separated. I still have some distance to the threshold, so I will continue walking forward.", + "The gated entrance is close enough now that I can see the individual bars and the latch on the grid panel, with daylight spilling through the open side. My path stays clear, so I will step forward again to bring myself right up to that doorway.", + "The tall pointed archway ahead clearly matches the target: a metal lattice gate blocks its left half while the right half stands open onto the hills outside. My heading is already centered on that opening, so no turn is needed and I will keep walking straight toward it.", + "The half-gated archway now fills more of my view and the grille bars are noticeably larger, confirming the gap is closing. The plank floor ahead is clear apart from tufts of grass, so I will take another step forward along the same line.", + "I can now see the individual squares of the metal grid and the open right side of the doorway framing the hillside beyond. Nothing blocks the walkway, so continuing straight ahead should bring me closer to that entrance.", + "The gate's crossbar and latch are visible at close range and the arch has grown past the top of my view, so I am well inside the approach corridor. I stay committed to this straight line and step forward again.", + "The grid gate now occupies the left side of my view while the open half shows the sunlit valley and mountain directly ahead. The threshold is still a few paces off, so another forward step should close that remaining distance.", + "I am close enough that the stone jambs of the entrance flank my view on both sides and the open half reveals a road with carts outside. I will keep moving forward to reach the doorway itself.", + "The lattice gate is now beside me on the left and the open half of the entrance is directly in front, with the stone paving of the outer threshold just ahead. Another step should carry me right up to that passable side of the doorway.", + "The grid gate is nearly at arm's length on my left and the unblocked half of the entrance opens straight onto the outer terrace. I will advance once more to settle at the entrance itself.", + "The grid gate now fills the left half of the doorway while the right half stands open onto the valley, confirming this is the half-covered entrance I was told to find. I am nearly at the threshold with clear stone paving ahead, so I will keep walking straight into the gap to close the last of the distance.", + "The gate lattice is right beside me on the left and the open half of the doorway now dominates my view, so I am essentially standing in the entrance. One more step forward should place me squarely at the threshold of this half-blocked doorway.", + "I stand in the doorway with the metal grid gate covering its left half and the right half open to the valley. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044554_y015548_z-022529_t0_a/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-044554_y015548_z-022529_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..93b606cb2ea3a0b2dca3e9188003ffd4abba26fa --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044554_y015548_z-022529_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the pointed stone pillar in the sandy courtyard.", + "Type": 0, + "Start_Pose": [ + -44553.703, + 15548.054, + -22529.288, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -44553.703, + 15548.054, + -22529.288, + 0.0, + -151.68, + 0.0 + ], + [ + -44664.498, + 15488.347, + -22529.287, + 0.0, + -151.68, + 0.0 + ], + [ + -44775.293, + 15428.64, + -22529.287, + 0.0, + -151.68, + 0.0 + ], + [ + -44886.089, + 15368.933, + -22529.287, + 0.0, + -151.68, + 0.0 + ], + [ + -44996.884, + 15309.226, + -22529.287, + 0.0, + -151.68, + 0.0 + ], + [ + -45107.679, + 15249.519, + -22525.314, + 0.0, + -151.68, + 0.0 + ], + [ + -45218.474, + 15189.812, + -22522.587, + 0.0, + -151.68, + 0.0 + ], + [ + -45329.269, + 15130.105, + -22522.587, + 0.0, + -151.68, + 0.0 + ], + [ + -45440.064, + 15070.398, + -22522.587, + 0.0, + -151.68, + 0.0 + ], + [ + -45550.86, + 15010.691, + -22522.587, + 0.0, + -151.68, + 0.0 + ], + [ + -45661.655, + 14950.984, + -22529.288, + 0.0, + -151.68, + 0.0 + ], + [ + -45772.45, + 14891.277, + -22529.288, + 0.0, + -151.68, + 0.0 + ], + [ + -45772.45, + 14891.277, + -22529.288, + 0.0, + -151.68, + 0.0 + ] + ], + "Rationale": [ + "Across the sandy courtyard ahead I can pick out a narrow upright slab with a pointed top standing just left of the pale draped boulder, which matches the stone pillar I am told to reach. It sits almost straight ahead of my current heading, so no turn is needed and the open sand between us looks clear of obstacles. I will move forward to start closing that distance.", + "The pointed pillar and the draped boulder beside it now sit a little larger in view, confirming that my straight heading is carrying me toward the target. Nothing blocks the sand ahead apart from low tufts of grass I can walk past. I will continue forward without adjusting my orientation.", + "The pillar stands clearly in the middle distance, still slightly left of my view center and beside the draped rock, so my alignment remains good. The ripples of sand ahead are flat and passable, giving me a direct route. I will keep moving forward to reduce the remaining gap.", + "I can now see the pillar's slim silhouette against the ruined arcade wall, and the flat paving slabs set into the sand lead roughly in its direction. My heading still points at it, so another step forward is the simplest way to keep closing in. I will advance again.", + "The pointed stone and the draped boulder have grown noticeably, which tells me the straight approach is working and I am still several steps short. There is no need to turn since the pillar sits just left of my forward axis. I will move forward once more.", + "The pillar is now clearly a tall narrow slab rising from the sand ahead of me, with the round carving on its face beginning to show. It remains close to my heading, so continuing straight should bring me nearer without any reorientation. I will step forward again.", + "The stone pillar now occupies a good portion of the view just left of the draped boulder, but I am still standing out on the open sand rather than beside it. My heading remains true to the target, so more forward motion is the right move. I will keep advancing.", + "I can now make out the circular emblem on the pillar's face and the paved ring around its base, so I am getting close but not yet adjacent to it. A couple more forward steps should place me right at the pillar in the sandy courtyard. I will move forward again.", + "The pointed stone pillar stands just left of center on the sandy courtyard ahead, now large enough that I can see the rounded carving on its face. My heading still points straight at it, so no turn is needed and I will keep advancing to close the remaining gap.", + "The pillar now rises well above the surrounding sand and its stone circle at the base is clearly visible slightly left of my forward axis. I am close but not yet at it, so another straight step forward should bring me nearer without any heading change.", + "The pointed slab now fills a large part of my view just left of center and the draped boulder crowds the right edge, showing I am nearly at the pillar's base. One more forward step should place me right beside it, so I keep my current heading.", + "The pointed stone pillar stands directly in front of me, its inscribed face filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044554_y015548_z-022529_t0_b/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-044554_y015548_z-022529_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e881f0ec588ad71944c2d7ad39e78b91f068dde3 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044554_y015548_z-022529_t0_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Approach the white cloth-draped object near the ruins.", + "Type": 0, + "Start_Pose": [ + -44553.703, + 15548.054, + -22529.288, + 0.0, + -151.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -44553.703, + 15548.054, + -22529.288, + 0.0, + -151.68, + 0.0 + ], + [ + -44664.498, + 15488.347, + -22529.287, + 0.0, + -151.68, + 0.0 + ], + [ + -44775.293, + 15428.64, + -22529.287, + 0.0, + -151.68, + 0.0 + ], + [ + -44886.089, + 15368.933, + -22529.287, + 0.0, + -151.68, + 0.0 + ], + [ + -44996.884, + 15309.226, + -22529.287, + 0.0, + -151.68, + 0.0 + ], + [ + -45107.679, + 15249.519, + -22525.314, + 0.0, + -151.68, + 0.0 + ], + [ + -45218.474, + 15189.812, + -22522.587, + 0.0, + -151.68, + 0.0 + ], + [ + -45329.269, + 15130.105, + -22522.587, + 0.0, + -151.68, + 0.0 + ], + [ + -45440.064, + 15070.398, + -22522.587, + 0.0, + -151.68, + 0.0 + ], + [ + -45440.064, + 15070.398, + -22522.587, + 0.0, + -126.68, + 0.0 + ], + [ + -45515.246, + 14969.461, + -22522.587, + 0.0, + -126.68, + 0.0 + ], + [ + -45590.427, + 14868.524, + -22529.288, + 0.0, + -126.68, + 0.0 + ], + [ + -45665.608, + 14767.587, + -22529.288, + 0.0, + -126.68, + 0.0 + ], + [ + -45736.944, + 14666.748, + -22529.288, + 0.0, + -126.68, + 0.0 + ], + [ + -45736.944, + 14666.748, + -22529.288, + 0.0, + -126.68, + 0.0 + ] + ], + "Rationale": [ + "From the open sandy courtyard I can already pick out the small pale cloth-draped mound sitting against the arcaded ruin wall ahead and slightly right of my center. My heading points into that open sand with no obstruction between me and it, so I will move forward to begin closing the long gap.", + "The draped object stays just right of my view center and now looks marginally larger, which tells me my current heading is carrying me toward it. The sand ahead remains clear, so another forward step should keep reducing the distance without any need to reorient yet.", + "The pale draped shape by the ruin wall continues to grow in my view while staying near the middle of my heading, confirming the approach line is good. I will keep advancing over the flat sand since nothing blocks the path.", + "I can now clearly make out the folds of the white cloth over the object, and the standing stone slab to its left gives me a stable reference for my heading. The distance is still substantial, so I will continue straight forward.", + "The draped object sits ahead of me on the sand, noticeably nearer and drifting a little toward the right side of my view as I close in. The ground between us is smooth and open, so another forward step is the direct way to shorten the remaining gap.", + "The cloth-covered mound is now a distinct sunlit form to the right of my center, and I can see the ring of paving around its base. I will press forward again to bring myself within close range of it.", + "The draped object now occupies a large part of the right half of my view, so I am much closer than before but not yet beside it. Continuing straight over the open sand should keep tightening the distance before I need to correct my heading.", + "The cloth-covered object is close now, sitting on its paved patch to the right of my heading, with the standing stone just left of it. There is still a short stretch of open sand ahead, so I will advance once more to reach its vicinity.", + "The cloth-draped mound now sits well to the right of my heading, with the standing stone slab drifting into my center view. I will turn right by a small amount so the draped object moves toward the middle of my view and I can close the remaining distance in a straight line.", + "After the slight turn, the white cloth-draped mound is centered in my view with open sand and paving between us. I will move forward along this heading to reduce the remaining gap.", + "The draped mound is larger and still centered ahead of me, and the folds of the cloth are now clearly resolved, so my heading remains good. I will continue forward, since I am still several steps away from being beside it.", + "The covered object now fills much of the lower center of my view and its trailing cloth edge spreads across the ground just ahead of me. I will take another step forward to bring myself right up against it.", + "I am nearly touching the draped object, with its sloping cloth surface filling the left and center of my view. One more short step forward should place me directly at its edge, close enough to count as reaching it.", + "The white cloth-draped object is directly in front of me, filling my view at arm's length. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_a/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1ab23237b0129b4e22e8383e8e5949a5bc775a12 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Walk to the entrance of the pointed stone archway.", + "Type": 0, + "Start_Pose": [ + -44815.535, + 16246.692, + -22529.287, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -44815.535, + 16246.692, + -22529.287, + 0.0, + -0.0, + 0.0 + ], + [ + -44689.676, + 16246.692, + -22529.287, + 0.0, + 0.0, + 0.0 + ], + [ + -44563.817, + 16246.692, + -22522.601, + 0.0, + 0.0, + 0.0 + ], + [ + -44437.958, + 16246.692, + -22521.794, + 0.0, + 0.0, + 0.0 + ], + [ + -44312.099, + 16246.692, + -22529.102, + 0.0, + 0.0, + 0.0 + ], + [ + -44186.24, + 16246.692, + -22529.102, + 0.0, + 0.0, + 0.0 + ], + [ + -44060.381, + 16246.692, + -22529.102, + 0.0, + 0.0, + 0.0 + ], + [ + -43934.522, + 16246.692, + -22529.102, + 0.0, + 0.0, + 0.0 + ], + [ + -43934.522, + 16246.692, + -22529.102, + 0.0, + -25.0, + 0.0 + ], + [ + -43820.455, + 16193.502, + -22521.985, + 0.0, + -25.0, + 0.0 + ], + [ + -43706.388, + 16140.312, + -22524.936, + 0.0, + -25.0, + 0.0 + ], + [ + -43592.321, + 16087.121, + -22519.897, + 0.0, + -25.0, + 0.0 + ], + [ + -43478.254, + 16033.931, + -22524.993, + 0.0, + -25.0, + 0.0 + ], + [ + -43364.187, + 15980.741, + -22522.963, + 0.0, + -25.0, + 0.0 + ], + [ + -43250.12, + 15927.55, + -22520.114, + 0.0, + -25.0, + 0.0 + ], + [ + -43136.053, + 15874.36, + -22520.114, + 0.0, + -25.0, + 0.0 + ], + [ + -43136.053, + 15874.36, + -22520.114, + 0.0, + 0.0, + -0.0 + ], + [ + -43010.194, + 15874.36, + -22524.763, + 0.0, + 0.0, + -0.0 + ], + [ + -42884.335, + 15874.36, + -22524.763, + 0.0, + 0.0, + -0.0 + ], + [ + -42758.476, + 15874.36, + -22524.763, + 0.0, + 0.0, + -0.0 + ], + [ + -42632.617, + 15874.36, + -22524.763, + 0.0, + 0.0, + -0.0 + ], + [ + -42506.758, + 15874.36, + -22524.763, + 0.0, + 0.0, + -0.0 + ], + [ + -42506.758, + 15874.36, + -22524.763, + 0.0, + 0.0, + -0.0 + ] + ], + "Rationale": [ + "The pointed stone archway with its raised portcullis stands ahead of me, slightly left of center across this open courtyard, and it clearly matches the target I need to reach. Nothing blocks the sandy floor between us apart from a few flat planks, so I will step forward to begin closing the distance.", + "The archway has grown slightly larger in my view, confirming that walking straight ahead is bringing me closer to it. My heading still points near the opening, so I will continue forward rather than adjust yet.", + "The lit gate hall keeps expanding ahead of me and the stair block on the right is sliding out of my view, which tells me my straight course is closing on the arch. There is still a good stretch of sand between me and the threshold, so another forward step is the efficient choice.", + "The tall pointed opening now fills much more of my view and I can see grass and the distant hillside through the portcullis bars. Distance remains, so I will keep advancing on the same line toward the gate.", + "I am well into the courtyard now, with the arch clearly to my left of straight ahead and the timber wall bracing passing on my right. The floor ahead is clear sand and planking, so I will continue forward to keep shortening the gap.", + "The gate mouth and its stone jambs are close enough now that I can make out individual bars of the portcullis and the tufts of grass at the threshold. I still have several paces of open ground, so another forward step is warranted before I fine-tune my heading.", + "The wooden decking now runs right up to the gate passage, and the archway sits noticeably toward the left side of my view as I close in. I will take one more step forward while the way is clear before correcting my heading.", + "From here the pointed archway and its lit portcullis sit off to my left, while straight ahead I face only the braced stone wall and the timber post beside the opening. Turning left should swing the gate opening into the middle of my view so I can walk straight into the entrance.", + "After the slight leftward heading change, the pointed stone archway with its raised portcullis now sits ahead of me rather than off to my side, with open ground and mountains showing through it. The wooden planking in front of me looks clear, so I will step forward to begin closing the remaining distance to the entrance.", + "The archway is growing larger in front of me and the lattice of the portcullis is becoming easier to read, which tells me my heading is carrying me toward the gate. Nothing blocks the planked floor ahead, so I will continue advancing toward the entrance.", + "The tall pointed arch now fills much of the upper part of my view and the grass tufts near the gate sill are close by, so I still have some distance to cover before I stand at the entrance. I will take another step forward along the same heading.", + "I can now see the sunlit ground beyond the threshold through the opening, but the gate sill is still several paces ahead of me. Continuing straight forward should keep shrinking that gap without needing any turn yet.", + "The archway stones and the hanging portcullis are close enough now that they rise past the top of my view, confirming I am nearly under the gate structure. I will advance again to bring myself right up to the entrance.", + "The planked floor runs straight ahead toward the threshold and I can make out details of the road and torches outside, so only a short distance remains. Another forward step should place me nearly at the gate mouth.", + "I am nearly under the arch, with the raised portcullis at my left and the thick stone pier at my right narrowing the passage. I will step forward once more to reach the entrance proper.", + "Standing just inside the gate mouth, the actual opening and the outbound road sit slightly to the right of where I am facing, while the portcullis grid crowds the left of my view. I will turn right to square my heading with the passage so my final steps carry me straight to the entrance.", + "After settling my heading, the pointed archway's opening now lies straight ahead of me with the raised portcullis grille on my left and the stone pier on my right. The wooden walkway under me runs clear toward the threshold, so I will step forward to close the remaining gap to the entrance.", + "The archway opening has grown wider in my view and the outer road with its lamps is becoming visible beyond the gate. Nothing blocks the planks in front of me, so another step forward should bring me closer to the entrance line.", + "The portcullis bars now pass along my left edge and the massive stone pier fills my right, which tells me I am entering the deep gate passage. I will keep advancing along the boards to reach the archway's threshold.", + "I am inside the archway passage now, with the grille very near on my left and the ramp of the causeway sloping away in front. A further step should place me right at the opening where the stone floor meets the outer road.", + "The flooring beneath me has changed to the flat stone slabs of the gate mouth and the open valley now dominates my view. One more short step should set me squarely at the entrance of the pointed archway, so I take it before stopping.", + "I stand on the threshold slabs of the pointed archway with the open valley road directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_b/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27bafbb3097bbe5c460b8ee80eaa8c503d008c99 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t0_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the bottom of the wooden staircase.", + "Type": 0, + "Start_Pose": [ + -44815.535, + 16246.692, + -22529.287, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -44815.535, + 16246.692, + -22529.287, + 0.0, + -0.0, + 0.0 + ], + [ + -44689.676, + 16246.692, + -22529.287, + 0.0, + 0.0, + 0.0 + ], + [ + -44689.676, + 16246.692, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44575.609, + 16299.883, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44461.542, + 16353.073, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44347.475, + 16406.263, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44233.408, + 16459.454, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44119.341, + 16512.644, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44005.274, + 16565.834, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -43891.207, + 16619.025, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -43777.14, + 16672.215, + -22525.965, + 0.0, + 25.0, + -0.0 + ], + [ + -43777.14, + 16672.215, + -22525.965, + 0.0, + 25.0, + -0.0 + ] + ], + "Rationale": [ + "I can see the wooden staircase rising along the wall at the far right edge of my view, well beyond the open gate hall I am standing in. I will move forward first to enter the hall and cut down the large gap before worrying about heading. This should bring the stair and its lowest steps into a better part of my view.", + "The staircase is still pushed to the right margin of my view while the archway and gate dominate the center, so my heading is not pointed at the target. I will turn right to swing the stair toward the middle of my view. That should give me a straight lane to walk down toward its bottom steps.", + "The staircase now sits near the center of my view with its lower steps and the wooden landing in front of them clearly in sight. The paved floor ahead looks open, so I will move forward along this heading to close the distance.", + "The steps have grown noticeably larger and remain slightly right of center, which tells me my current heading is still carrying me toward them. Nothing blocks the sandy floor between me and the stair, so I will continue straight forward.", + "The lowest steps and the timber planking at the stair foot are clearly ahead of me, but still several paces off. My heading remains good, so another forward step is the simplest way to keep closing in.", + "The staircase now fills much of the right half of my view and I can make out individual treads and the stone base. I still have open ground before the bottom step, so I will keep advancing forward.", + "The wooden planking that leads onto the bottom step is close in front of me and the staircase rises steeply to my right. I am not yet standing at the foot of it, so I will move forward again to reach the base.", + "The bottom steps now dominate the right of my view and the plank floor in front of them is only a short step away. One more forward move should place me right at the foot of the staircase.", + "The staircase now fills the right side of my view and its lowest steps rise just ahead of the wooden planking, but I am still a couple of paces short of the base. I will keep moving forward along the planks to close that remaining gap toward the bottom step.", + "The bottom steps are very close now, filling the lower right of my view, and the plank floor ahead is still open. One more short advance should place me right at the foot of the staircase.", + "The lowest step of the wooden staircase is directly at my feet, filling the near view. The task is complete, so I stop here at the stair base." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d8a7ae5a614ee2afcf7c93ee5ab3b6626fb674b8 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-044816_y016247_z-022529_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Grab the wicker basket at the bottom of the wooden staircase.", + "Type": 5, + "Start_Pose": [ + -44815.535, + 16246.692, + -22529.287, + 0, + 0, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -43876.738, + 16695.199, + -22579.287, + 90, + 19.999, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -44815.535, + 16246.692, + -22529.287, + 0, + 0, + 0 + ], + [ + -44689.676, + 16246.692, + -22529.287, + 0.0, + 0.0, + 0.0 + ], + [ + -44689.676, + 16246.692, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44575.609, + 16299.883, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44461.542, + 16353.073, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44347.475, + 16406.263, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44233.408, + 16459.454, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44119.341, + 16512.644, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44005.274, + 16565.834, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44005.274, + 16565.834, + -22529.287, + 0.0, + 25.0, + -0.0 + ], + [ + -44005.274, + 16565.834, + -22529.287, + 0.0, + 25.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -43876.738, + 16695.199, + -22579.287, + 90.0, + 19.999, + 0.0 + ], + [ + -43876.738, + 16695.199, + -22579.287, + 90.0, + 19.999, + 0.0 + ], + [ + -43876.738, + 16695.199, + -22579.287, + 90.0, + 19.999, + 0.0 + ], + [ + -43876.738, + 16695.199, + -22579.287, + 90.0, + 19.999, + 0.0 + ], + [ + -43876.738, + 16695.199, + -22579.287, + 90.0, + 19.999, + 0.0 + ], + [ + -43876.738, + 16695.199, + -22579.287, + 90.0, + 19.999, + 0.0 + ], + [ + -43876.738, + 16695.199, + -22579.287, + 90.0, + 19.999, + 0.0 + ], + [ + -43876.738, + 16695.199, + -22579.287, + 90.0, + 19.999, + 0.0 + ], + [ + -43876.738, + 16695.199, + -22579.287, + 90.0, + 19.999, + 0.0 + ], + [ + -44014.852, + 16584.93, + -22559.181, + -28.202, + 75.144, + 1.862 + ], + [ + -44014.852, + 16584.93, + -22559.181, + -28.202, + 75.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1040.4, + 928.5, + 928.5, + 802.9, + 677.5, + 552.3, + 427.5, + 303.6, + 182.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The wooden staircase stands far off on the right side of this ruined hall, and the wicker basket I need lies at its foot, still small and distant. Nothing blocks the open flagstone floor ahead of me, so I will walk forward to cut down that distance before worrying about heading.", + "After stepping forward, the archway fills the center of my view while the staircase and the basket at its base sit off to my right edge. Walking straight now would carry me toward the gate instead of the target. I will turn right to bring the stair foot into the center of my path.", + "The turn has placed the wooden staircase roughly ahead of me, with the round woven basket resting against the bottom step. The stone floor between us is clear and level. I will walk forward along this heading to close in on the basket.", + "The staircase has grown larger and the basket at its foot is clearly the woven cylinder tipped against the lowest treads. My heading still points at it and the sandy floor ahead is open. Another step forward should keep shrinking the gap.", + "The stair structure and the basket beside it now occupy much of my view, so my alignment is holding without correction. There is still a fair stretch of open ground before I could reach out for it. I will continue walking straight toward the stair foot.", + "I can now see the wicker basket propped at the base of the steps in detail, its open mouth turned toward me. It is still several paces off, too far to grasp. I will keep advancing on the same line.", + "The basket sits just ahead at the bottom of the wooden staircase, large in my view but not yet within reach. The plank flooring in front of it is flat and clear. Another step forward should bring me close enough to attempt the grab.", + "The wicker basket now dominates the lower right of my view, its rim almost at my feet at the foot of the stairs. A final short step should put it squarely within grasping range. I will move forward once more before reaching for it.", + "The wicker basket now fills the lower right of my view at the foot of the wooden staircase, close enough that no further stepping is needed. My hands are still empty, so I will reach out and attempt to grasp it.", + "The wicker basket is now held in my hands rather than resting on the ground. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-045917_y015877_z-022529_t2_a/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-045917_y015877_z-022529_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c12accc822a635469fe868feb4b9a58c8391e1b5 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-045917_y015877_z-022529_t2_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the small pedestal on the far left.", + "Type": 2, + "Start_Pose": [ + -45917.285, + 15876.847, + -22529.288, + 0.0, + 140.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -45917.285, + 15876.847, + -22529.288, + 0.0, + 140.16, + -0.0 + ], + [ + -46013.924, + 15957.478, + -22529.287, + 0.0, + 140.16, + -0.0 + ], + [ + -46110.563, + 16038.109, + -22526.809, + 0.0, + 140.16, + -0.0 + ], + [ + -46207.203, + 16118.74, + -22525.89, + 0.0, + 140.16, + -0.0 + ], + [ + -46207.203, + 16118.74, + -22525.89, + 0.0, + 115.16, + -0.0 + ], + [ + -46260.711, + 16232.658, + -22526.462, + 0.0, + 115.16, + -0.0 + ], + [ + -46314.22, + 16346.576, + -22528.889, + 0.0, + 115.16, + -0.0 + ], + [ + -46367.729, + 16460.494, + -22529.244, + 0.0, + 115.16, + -0.0 + ], + [ + -46421.237, + 16574.412, + -22529.244, + 0.0, + 115.16, + -0.0 + ], + [ + -46474.746, + 16688.33, + -22529.244, + 0.0, + 115.16, + -0.0 + ], + [ + -46528.254, + 16802.248, + -22529.244, + 0.0, + 115.16, + -0.0 + ], + [ + -46581.763, + 16916.166, + -22529.244, + 0.0, + 115.16, + -0.0 + ], + [ + -46635.272, + 17030.084, + -22529.244, + 0.0, + 115.16, + -0.0 + ], + [ + -46688.78, + 17144.002, + -22529.244, + 0.0, + 115.16, + -0.0 + ], + [ + -46688.78, + 17144.002, + -22529.244, + 0.0, + 115.16, + -0.0 + ] + ], + "Rationale": [ + "A line of low stone markers stands across the paved floor along the arcade, and the one ending that row on the left sits directly beside the leftmost grated arch. They all look alike, so I hold my target by that arch rather than by its place in the row. I will step forward to close the distance.", + "The pale pedestal beside the left grated arch is a little larger now but still far across the open pavement. Nothing blocks the flagstones between us, so continuing straight is the cheapest way to gain ground. I will walk forward again.", + "The arches and the stones beneath them keep growing, and my target beside the left grated arch is now clearly left of my heading. I am still too far out to commit to a turn, so more straight distance first serves better. I will step forward once more.", + "My straight heading is carrying me toward the middle of the row, while the pedestal by the left grated arch lies off to my left. A modest swing left should put it near the center of my view so the rest of the walk stays direct. I will turn left.", + "The turn has brought the left end of the arcade around, and more markers have swung into the right of my view as a result. My target is still the small pale pedestal standing in the grass beside the left grated arch, now roughly ahead of me. I will walk forward toward it.", + "The pedestal beside the left grated arch sits ahead of me with open sand and flagstone in between. My heading looks good, so no correction is needed yet. I will keep walking forward.", + "The arches now fill much of my view and the slender pale pedestal by the grated arch stands clearly in the grass ahead. Its base is still several paces off, so I am not close enough to stop. I will advance again.", + "A broader stone block has come up close on my right, but the slim pedestal in the grass by the grated arch is the one I am walking to. It still stands a few paces ahead and slightly left. I will move forward to close that gap.", + "The wide block has swung past into my right foreground, leaving my line to the slim pedestal in the grass clear. It sits ahead and just left of center, still a good stride or two away against the grating. I will keep walking toward it.", + "The bulky block is sliding off my right edge, and the slender pedestal stands plainly in the grass strip ahead of me. Open sand and flagstone run right up to its base. I will advance again.", + "Up close the arcade no longer reads as a countable row, so I hold to the slim pedestal itself, standing in the grass under the tall grated opening ahead. Another marker shows further right, but mine is the nearer pale shaft slightly left. I will step forward.", + "The pedestal now sits near the middle of my view with the grass bed rising around its foot. Only a few paces of sand separate us and my heading needs no correction. I will continue straight in.", + "The pale shaft has grown tall in front of me, its weathered face catching the low light just left of my heading. One more step should bring me level with its base rather than leave me short of it. I will move forward.", + "The weathered pedestal now stands within arm's reach at my left, its base in the grass beside me. I have arrived at it, so stopping here is right." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-045917_y015877_z-022529_t2_b/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-045917_y015877_z-022529_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9632567075fabae96625ba2487ba210dc66811b7 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-045917_y015877_z-022529_t2_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Head toward the cross-shaped headstone right of center.", + "Type": 2, + "Start_Pose": [ + -45917.285, + 15876.847, + -22529.288, + 0.0, + 140.16, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -45917.285, + 15876.847, + -22529.288, + 0.0, + 140.16, + -0.0 + ], + [ + -45917.285, + 15876.847, + -22529.287, + 0.0, + 165.16, + -0.0 + ], + [ + -46038.946, + 15909.082, + -22529.287, + 0.0, + 165.16, + -0.0 + ], + [ + -46160.607, + 15941.317, + -22529.287, + 0.0, + 165.16, + -0.0 + ], + [ + -46282.268, + 15973.552, + -22529.287, + 0.0, + 165.16, + -0.0 + ], + [ + -46403.929, + 16005.787, + -22529.287, + 0.0, + 165.16, + -0.0 + ], + [ + -46525.59, + 16038.022, + -22528.317, + 0.0, + 165.16, + -0.0 + ], + [ + -46647.251, + 16070.257, + -22526.934, + 0.0, + 165.16, + -0.0 + ], + [ + -46768.912, + 16102.492, + -22525.352, + 0.0, + 165.16, + -0.0 + ], + [ + -46890.573, + 16134.727, + -22522.677, + 0.0, + 165.16, + -0.0 + ], + [ + -46890.573, + 16134.727, + -22522.677, + 0.0, + 140.16, + -0.0 + ], + [ + -46987.212, + 16215.358, + -22522.677, + 0.0, + 140.16, + -0.0 + ], + [ + -47083.851, + 16295.989, + -22523.117, + 0.0, + 140.16, + -0.0 + ], + [ + -47180.49, + 16376.621, + -22529.218, + 0.0, + 140.16, + -0.0 + ], + [ + -47277.129, + 16457.252, + -22529.218, + 0.0, + 140.16, + -0.0 + ], + [ + -47373.769, + 16537.883, + -22529.218, + 0.0, + 140.16, + -0.0 + ], + [ + -47373.769, + 16537.883, + -22529.218, + 0.0, + 140.16, + -0.0 + ] + ], + "Rationale": [ + "Among the markers ahead, the one standing right of center is topped by a carved cross, unlike the plain slabs around it, so that cross-topped stone is what I am heading for. Straight ahead the floor is broken by grass tufts and nearer stones, while the flagstones to my right run clear into the ruin. I turn right to take that open line.", + "The graves now sit off to my left while a wide, unobstructed stretch of paving opens in front of me. The cross-topped headstone is still far off, so distance is what I need first. I walk forward along this clear line.", + "The stones on my left have grown slightly larger, confirming I am closing on the burial ground rather than drifting past it. Nothing blocks the paving in front of me. I keep walking forward.", + "The arcade on my left and the grave markers beneath it keep expanding in my view, so this heading is carrying me deeper into the ruin. The cross-topped headstone remains too distant to turn in toward it yet. Another stride forward is the useful move.", + "Grass borders the right edge of my path but the paved lane ahead stays wide and clear. The markers to my left are noticeably nearer now, though not yet abreast of me. I continue forward.", + "The graves are now close on my left, with the lit archway still well ahead of me down the open floor. I have not drawn level with the cross-topped stone yet, so stopping here would leave me short. I step forward again.", + "A cross silhouette now reads clearly among the stones on my left, matching the marker I set out for. It still sits behind my shoulder line rather than beside me, so I need more ground along this lane. I walk forward once more.", + "The cross-topped headstone stands out plainly on my left, its arms and knotwork visible above the plainer slabs. Several nearer markers have already slipped behind me, so I hold to that carved cross rather than any new stone entering view. Advancing a little further should bring it alongside me.", + "The ringed cross sits ahead and to my left now, its knotted head clear above a low plinth, but this lane still runs past it rather than up to it. A bit more ground should bring me abreast of the stone before I swing in toward it. I step forward.", + "I have drawn level with the ringed cross, which now stands off my left shoulder across open ground, while my heading points on down an empty stretch of paving. Continuing straight would only carry me past it. I turn left so the carved stone comes in front of me.", + "The turn has set the ringed cross near the middle of my view, standing on its plinth in front of the arcade with bare sand between us. Only distance separates me from it now. I walk toward it.", + "The carved marker has grown taller ahead and its base is easier to make out, yet several paces of open sand still lie between us. My line onto it is clean, with the plainer slabs sitting well off to either side. I continue walking.", + "The ringed head and its knotwork are now plainly resolved straight in front of me, resting on the heavy stepped base. I am still short of standing at the stone, so pausing here would leave a gap. I press on.", + "The cross fills much of the view ahead, its shaft and base close enough that the surrounding markers have dropped to the edges. A stride or two more should put me right at the plinth. I keep moving toward it.", + "Only a short patch of sand remains between me and the stepped base of the carved cross rising in front of me. I want to be standing at the stone rather than merely near it. I take one more step forward.", + "The cross-topped headstone stands immediately before me, its shaft filling my view at arm's length. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-045917_y015877_z-022529_t2_c/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-045917_y015877_z-022529_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8bc97a29e9590e5cda64d5133caf8e3daf3213ae --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-045917_y015877_z-022529_t2_c/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Move to the leftmost arched window with lattice grille.", + "Type": 2, + "Start_Pose": [ + -45917.285, + 15876.847, + -22529.288, + 0.0, + 140.16, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -45917.285, + 15876.847, + -22529.288, + 0.0, + 140.16, + -0.0 + ], + [ + -46013.924, + 15957.478, + -22529.287, + 0.0, + 140.16, + -0.0 + ], + [ + -46110.563, + 16038.109, + -22526.809, + 0.0, + 140.16, + -0.0 + ], + [ + -46207.203, + 16118.74, + -22525.89, + 0.0, + 140.16, + -0.0 + ], + [ + -46303.842, + 16199.371, + -22525.379, + 0.0, + 140.16, + -0.0 + ], + [ + -46400.481, + 16280.002, + -22529.357, + 0.0, + 140.16, + -0.0 + ], + [ + -46497.12, + 16360.633, + -22529.288, + 0.0, + 140.16, + -0.0 + ], + [ + -46593.759, + 16441.264, + -22529.288, + 0.0, + 140.16, + -0.0 + ], + [ + -46690.398, + 16521.895, + -22529.288, + 0.0, + 140.16, + -0.0 + ], + [ + -46690.398, + 16521.895, + -22529.288, + 0.0, + 115.16, + -0.0 + ], + [ + -46743.907, + 16635.813, + -22529.288, + 0.0, + 115.16, + -0.0 + ], + [ + -46797.416, + 16749.731, + -22529.288, + 0.0, + 115.16, + -0.0 + ], + [ + -46850.924, + 16863.649, + -22529.288, + 0.0, + 115.16, + -0.0 + ], + [ + -46904.433, + 16977.567, + -22529.288, + 0.0, + 115.16, + -0.0 + ], + [ + -46904.433, + 16977.567, + -22529.288, + 0.0, + 90.16, + -0.0 + ], + [ + -46904.784, + 17103.426, + -22529.288, + 0.0, + 90.16, + -0.0 + ], + [ + -46905.136, + 17229.284, + -22529.288, + 0.0, + 90.16, + -0.0 + ], + [ + -46905.487, + 17355.143, + -22529.288, + 0.0, + 90.16, + -0.0 + ], + [ + -46905.839, + 17481.001, + -22529.288, + 0.0, + 90.16, + -0.0 + ], + [ + -46906.19, + 17606.86, + -22529.288, + 0.0, + 90.16, + -0.0 + ], + [ + -46906.19, + 17606.86, + -22529.288, + 0.0, + 90.16, + -0.0 + ] + ], + "Rationale": [ + "Along the wall ahead and to my left runs a row of arched openings, and the one furthest left stands bare while the next one over is filled with a lattice grille and lit from behind by the low sun. That backlit grilled arch is what I am heading for. It is still far across the open floor, so I step forward.", + "The sunlit grilled arch on the left has grown only slightly, so most of the courtyard still separates us. The paving in front of me is clear of the standing stones clustered further in. I keep walking straight to close that distance.", + "The arcade is widening across my view as I gain ground, with my backlit grilled arch holding on the left. Nothing blocks the sandy stone floor between me and the wall. Another stride forward should bring the window row noticeably nearer.", + "My target arch is drifting toward the left edge of my view as I advance, which is what I expect while walking on a heading that still points past it. The grave markers ahead sit off my line. I continue forward rather than turning this early.", + "The grass strip at the base of the window wall is now clearly visible, so the arcade is within reach of a few more strides. The grilled arch I chose still glows at the left of my view. Walking on keeps shortening the gap before I need to change heading.", + "More markers and another grilled opening have come into view on the right, but I am not counting the row again; I am following the one sunlit grilled arch at its left end. It sits near the left border of my view and still some distance off. I press forward across the open sand.", + "The tall carved headstone stands to the right of my line, leaving the flagstones directly ahead free. My sunlit grilled arch is close to slipping off the left edge of my view, so I still need lateral ground before it sits in front of me. I take another step forward.", + "The wall of grilled arches now fills the left half of my view and the bright one I am going to is at its far edge. The sandy floor between me and the grass verge is still open, so I gain more ground on this heading before reorienting toward it.", + "My heading now runs past the window wall entirely: only a carved headstone and the nearer openings fill my view, while the bright grilled arch I chose has slipped out of sight beyond the left edge. Swinging left should bring it back in front of me before I walk any further.", + "The turn has put the backlit grilled arch back in view, sitting just left of centre with the sun burning through its lattice. Open flagstones and sand run between me and the grass verge under the wall. I walk on to close that remaining stretch.", + "My arch has grown noticeably and its arched head now reaches the top of my view, but the grass band at the wall's foot is still several strides off. The markers standing nearby sit clear of my path. I keep advancing on this heading.", + "The grass and daffodils along the base of the wall now stretch across the near ground, so I am almost at the arcade itself. My grilled arch glows on the left of my view and needs a little more forward ground before I square up to it. Another stride ahead.", + "This close the openings no longer read as a countable row; the piers loom and only two or three faces of lattice fit in my view at once, so I hold to the one arch with the sun blazing through it, off to my left. The grass is right at my feet now. I step forward once more.", + "The sunlit lattice is pushed hard against the left side of my view while my body still faces along the wall rather than into it. Turning left should put that grille squarely ahead so my last strides carry me straight up to it.", + "The turn has set the glowing lattice dead ahead between its two stone piers, with a headstone to either side of my line but nothing across it. Only a short band of grass separates me from the opening. I walk straight in.", + "The grille stays centred and its bars are resolving individually now, with the sunlit slope beyond showing through. I am not yet close enough to be standing at the opening, so I take another step toward it.", + "The two piers flanking my grille now frame the whole upper half of my view, and the bars run from sill to arch without anything crossing between us. A band of grass still lies underfoot before the stone sill. I advance again to eat into it.", + "The grille is close enough now that I can see the ground and the hillside through its squares rather than just glare, and its latch bar sits near my eye level. I am still a stride short of standing right against the stonework. Another step should put me at it.", + "The lattice now spans my whole view with only a sliver of pier showing at each side, so I am nearly against the arch itself. A last patch of grass separates my feet from its base. I take one more step to stand directly at the opening.", + "I am standing right at the grilled arch, its bars filling my view with the valley beyond. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t2_a/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..56997ddd1f76e5cf9565530bf41ec7d31b35bf6a --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t2_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Approach the leftmost arched window with the grille.", + "Type": 2, + "Start_Pose": [ + -46481.583, + 15676.37, + -22522.651, + 0.0, + 178.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -46481.583, + 15676.37, + -22522.651, + 0.0, + 178.56, + -0.0 + ], + [ + -46607.401, + 15679.533, + -22522.55, + 0.0, + 178.56, + -0.0 + ], + [ + -46733.221, + 15682.696, + -22522.55, + 0.0, + 178.56, + -0.0 + ], + [ + -46859.04, + 15685.859, + -22525.867, + 0.0, + 178.56, + -0.0 + ], + [ + -46984.859, + 15689.022, + -22529.08, + 0.0, + 178.56, + -0.0 + ], + [ + -47110.678, + 15692.184, + -22522.604, + 0.0, + 178.56, + -0.0 + ], + [ + -47236.498, + 15695.347, + -22529.076, + 0.0, + 178.56, + -0.0 + ], + [ + -47362.317, + 15698.51, + -22522.723, + 0.0, + 178.56, + -0.0 + ], + [ + -47362.317, + 15698.51, + -22522.723, + 0.0, + 153.56, + -0.0 + ], + [ + -47475.011, + 15754.55, + -22522.723, + 0.0, + 153.56, + -0.0 + ], + [ + -47587.705, + 15810.59, + -22527.499, + 0.0, + 153.56, + -0.0 + ], + [ + -47700.4, + 15866.63, + -22529.287, + 0.0, + 153.56, + -0.0 + ], + [ + -47813.094, + 15922.67, + -22522.779, + 0.0, + 153.56, + -0.0 + ], + [ + -47925.788, + 15978.71, + -22522.779, + 0.0, + 153.56, + -0.0 + ], + [ + -48038.483, + 16034.75, + -22522.779, + 0.0, + 153.56, + -0.0 + ], + [ + -48151.177, + 16090.79, + -22525.879, + 0.0, + 153.56, + -0.0 + ], + [ + -48263.871, + 16146.83, + -22526.779, + 0.0, + 153.56, + -0.0 + ], + [ + -48263.871, + 16146.83, + -22526.779, + 0.0, + 128.56, + -0.0 + ], + [ + -48342.323, + 16245.247, + -22526.536, + 0.0, + 128.56, + -0.0 + ], + [ + -48420.776, + 16343.663, + -22528.194, + 0.0, + 128.56, + -0.0 + ], + [ + -48420.776, + 16343.663, + -22528.194, + 0.0, + 153.56, + -0.0 + ], + [ + -48478.007, + 16404.642, + -22529.288, + 0.0, + 153.56, + -0.0 + ], + [ + -48478.007, + 16404.642, + -22529.288, + 0.0, + 153.56, + -0.0 + ] + ], + "Rationale": [ + "From here the ruined facade shows three grilled openings: a tall central lattice with a smaller arched window on either side of it. The left-hand arch, the one set against the grey rubble wall at the end of the facade rather than the ivy-draped stonework, is the one I want. I step forward across the open flagstones to close that distance.", + "The arched window on the left of the facade is still well ahead and slightly off to my left, with nothing but flagstone and grass tufts between us. I keep walking straight to gain ground before any turn is worth making.", + "The stonework is filling more of my view, and the arched grille window on the left side of the facade is growing steadily. Since it remains far off, I continue straight forward rather than adjusting my heading yet.", + "I can now make out the individual bars of the arched window at the left of the wall, so I am closing usefully. The ground in front of me is flat paving with low daffodil clumps I can walk over, so I press forward again.", + "The arched window I am heading for now sits noticeably left of the tall central lattice in my view, but it is still several paces off. I take another step forward to keep shortening the gap before correcting my facing.", + "The wall is close enough that the warm light behind the arched grille on the left is clearly visible through the bars. I advance once more along the boards and paving, since a straight step still brings me nearer to it.", + "I am nearly at the foot of the facade now, and the arched window I chose has drifted toward the left edge of what I can see as I come in on the central lattice. One more forward step should bring me level enough that a turn will point me properly at it.", + "My heading is carrying me at the tall central lattice, while the arched grille window I set out for lies off to my left past the pier. I turn left to swing that arch toward the middle of my view so my next steps can carry me straight to it.", + "The turn worked: the arched grille window now sits ahead of me, framed between the ruined stonework rather than hidden behind the pier. Open paving and low daffodil clumps run straight to its foot, so I walk forward on this new heading.", + "The arch is growing and holding near the middle of my view, which tells me my heading is good and needs no further adjustment yet. I take another stride along the flagstones toward it.", + "Warm light now pours through the bars of that arch and I can pick out the moulded stone ring around its head. Nothing stands between me and it but a band of daffodils I can walk through, so I keep advancing.", + "The great lattice has slid off to my right and the arch I chose now dominates the upper left of my view, so the row of openings no longer reads as a row from here. I keep following that arch itself and step forward again.", + "Only my arch and the heavy pier beside it fill the scene now, its grille tall enough that I must look up its full height. A few more paces of clear paving remain before I stand at it, so I continue straight.", + "I can see the base of the grille where it meets the sill and the grass growing at its foot, so I am within a couple of strides. Another step forward should bring me properly up against the opening.", + "The red sandstone of the surrounding wall now crowds my right while the barred opening sits to my left front. Since I am not yet level with the arch itself, I press on rather than turning here.", + "The grille is close enough that the ironwork and the meadow beyond it read clearly through the bars, but my path still runs past its face rather than up to it. I step forward once more to draw level with the opening.", + "Bare red sandstone now crowds most of my view and the barred opening has slipped to the far left edge, so walking straight would only scrape along the wall face. I turn left to bring that grille back in front of me before taking another step.", + "The turn has opened the grille out again, its ironwork and the green slope beyond it now sitting ahead of me rather than at the margin. Clear paving runs along the base of the opening, so I walk forward to close on it.", + "The bars have grown large enough that I can count the rivets on them, yet I am still a stride short of standing at the opening itself. Nothing blocks the paving underfoot, so I take another step in.", + "I am nearly at the ironwork, but my facing runs along it at an angle, with the pier crossing the left of my view rather than the grille sitting square in front. I turn right to square up on the opening before my final step.", + "The grille now faces me squarely, with only a short stretch of paving between my feet and its lower bars. A last short step should bring me right up against the arched opening.", + "The barred arch fills my view at arm's length, with the meadow showing through its ironwork. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t2_b/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f376fe6a219aabbbd9348b7d4b438f61da9ce65a --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t2_b/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the base of the central large arched door.", + "Type": 2, + "Start_Pose": [ + -46481.583, + 15676.37, + -22522.651, + 0, + 178.56, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -46481.583, + 15676.37, + -22522.651, + 0, + 178.56, + 0 + ], + [ + -46607.401, + 15679.533, + -22522.55, + 0.0, + 178.56, + -0.0 + ], + [ + -46733.221, + 15682.696, + -22522.55, + 0.0, + 178.56, + -0.0 + ], + [ + -46859.04, + 15685.859, + -22525.867, + 0.0, + 178.56, + -0.0 + ], + [ + -46984.859, + 15689.022, + -22529.08, + 0.0, + 178.56, + -0.0 + ], + [ + -47110.678, + 15692.184, + -22522.604, + 0.0, + 178.56, + -0.0 + ], + [ + -47236.498, + 15695.347, + -22529.076, + 0.0, + 178.56, + -0.0 + ], + [ + -47362.317, + 15698.51, + -22522.723, + 0.0, + 178.56, + -0.0 + ], + [ + -47488.136, + 15701.673, + -22522.723, + 0.0, + 178.56, + -0.0 + ], + [ + -47613.955, + 15704.836, + -22522.723, + 0.0, + 178.56, + -0.0 + ], + [ + -47739.775, + 15707.999, + -22524.872, + 0.0, + 178.56, + -0.0 + ], + [ + -47865.594, + 15711.162, + -22524.872, + 0.0, + 178.56, + -0.0 + ], + [ + -47991.413, + 15714.324, + -22522.728, + 0.0, + 178.56, + -0.0 + ], + [ + -48117.232, + 15717.487, + -22512.653, + 0.0, + 178.56, + -0.0 + ], + [ + -48243.052, + 15720.65, + -22522.275, + 0.0, + 178.56, + -0.0 + ], + [ + -48368.871, + 15723.813, + -22520.64, + 0.0, + 178.56, + -0.0 + ], + [ + -48494.69, + 15726.976, + -22524.862, + 0.0, + 178.56, + -0.0 + ], + [ + -48494.69, + 15726.976, + -22524.862, + 0.0, + 178.56, + -0.0 + ] + ], + "Rationale": [ + "Three gated arches stand in this ruined facade, and the middle one is by far the tallest and widest, its pointed lattice gate rising far above the small arch on either side. That tall central gate is my target, and it lies straight ahead of my heading. I will walk forward toward its base.", + "The large central lattice gate has grown noticeably in my view and stays centered on my heading, so my line of travel is good. A wide stretch of paving and grass still separates me from its threshold. I will keep walking straight ahead.", + "The tall central gate now dominates the middle of my view, with the two smaller arches spreading further apart on either side as I close in. Nothing blocks the paved ground between me and it, only low grass tufts. I continue straight forward.", + "The crown of the big arched gate has climbed out of the top of my view, which tells me I am much nearer than before. Its base is still several strides off across the flagstones. I keep advancing on the same line.", + "The wide lattice of the central gate now fills the middle of my view and I can pick out the individual iron bars. The ground ahead runs level and unobstructed to its foot. I press forward again.", + "A run of weathered planking now leads from just in front of me toward the foot of the big central gate, giving me a clean approach line. The gate's latch bar is visible at chest height beyond the grass. I step forward along it.", + "I am close enough that the flanking arches have slid to the far edges of my view while the tall gate occupies the center. The planks under my feet continue straight to its threshold. I keep moving toward it.", + "The stone jambs and the massive lattice of the gate now span nearly my whole view, so I am only a short distance from its base. The strip of grass at its foot is still ahead of me rather than beneath me. I take another step forward to close that gap.", + "The planking runs right up to the gate's threshold, and the tall lattice now rises past the top of my view with only its lower courses visible. A few paces of decking still lie between me and the stone sill. I continue straight ahead.", + "The two flanking arches have dropped to the very edges of my view, so the big gate is effectively the whole scene in front of me. The grass tufts along its foot are still a couple of strides distant across the boards. I step forward again.", + "Only the near jamb column and the gate's grid remain in view, the smaller openings having slid out entirely as I closed in. The green hills beyond read clearly through the bars, meaning I am nearly at the sill. I keep walking toward it.", + "The gate's central latch hangs almost level with my gaze and the individual bars are thick and distinct now. A short run of planking still lies between my feet and the grass at its base. I advance once more.", + "The lattice has widened until its bars frame the whole view and the stone column beside it is close enough to show its weathered grain. I am within a couple of paces of the threshold. I move ahead to close the last of it.", + "The grid squares have grown large enough that I can see the rivets on the iron bands, and the grass fringe at the gate's foot is now just short of my boards. Another step or two should put me right against the base. I keep going.", + "The gate now fills my view from edge to edge, with the jamb barely clinging to the left side. The grass along its sill is almost underfoot, so one more stride should bring me flush to the base. I step forward.", + "Only a few grid squares and the tussocks at the sill remain in front of me, the stonework having passed out of view on both sides. A final short step should set me directly at the gate's base. I take it.", + "The gate's bars fill my view at arm's length, its grassy sill just beneath me. I am at the base of the big arched gate, so I stop here." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t2_c/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9579c46992460f8d3fd52dc2aaf10bc771eb1ef5 --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t2_c/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Head toward the ivy-covered arched door on the right.", + "Type": 2, + "Start_Pose": [ + -46481.583, + 15676.37, + -22522.651, + 0, + 178.56, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -46481.583, + 15676.37, + -22522.651, + 0, + 178.56, + 0 + ], + [ + -46607.401, + 15679.533, + -22522.55, + 0.0, + 178.56, + -0.0 + ], + [ + -46733.221, + 15682.696, + -22522.55, + 0.0, + 178.56, + -0.0 + ], + [ + -46859.04, + 15685.859, + -22525.867, + 0.0, + 178.56, + -0.0 + ], + [ + -46859.04, + 15685.859, + -22525.867, + 0.0, + -156.44, + 0.0 + ], + [ + -46974.407, + 15635.552, + -22529.114, + 0.0, + -156.44, + 0.0 + ], + [ + -47089.775, + 15585.245, + -22529.114, + 0.0, + -156.44, + 0.0 + ], + [ + -47205.143, + 15534.938, + -22529.114, + 0.0, + -156.44, + 0.0 + ], + [ + -47320.51, + 15484.631, + -22519.139, + 0.0, + -156.44, + 0.0 + ], + [ + -47435.878, + 15434.324, + -22518.955, + 0.0, + -156.44, + 0.0 + ], + [ + -47551.246, + 15384.017, + -22520.965, + 0.0, + -156.44, + 0.0 + ], + [ + -47666.613, + 15333.71, + -22525.23, + 0.0, + -156.44, + 0.0 + ], + [ + -47781.981, + 15283.403, + -22521.972, + 0.0, + -156.44, + 0.0 + ], + [ + -47897.349, + 15233.096, + -22522.562, + 0.0, + -156.44, + 0.0 + ], + [ + -47897.349, + 15233.096, + -22522.562, + 0.0, + -131.44, + 0.0 + ], + [ + -47980.647, + 15138.746, + -22514.628, + 0.0, + -131.44, + 0.0 + ], + [ + -48063.945, + 15044.396, + -22520.332, + 0.0, + -131.44, + 0.0 + ], + [ + -48147.243, + 14950.045, + -22526.237, + 0.0, + -131.44, + 0.0 + ], + [ + -48147.243, + 14950.045, + -22526.237, + 0.0, + -156.44, + 0.0 + ], + [ + -48262.61, + 14899.738, + -22529.442, + 0.0, + -156.44, + 0.0 + ], + [ + -48377.978, + 14849.431, + -22529.442, + 0.0, + -156.44, + 0.0 + ], + [ + -48493.345, + 14799.124, + -22529.442, + 0.0, + -156.44, + 0.0 + ], + [ + -48493.345, + 14799.124, + -22529.442, + 0.0, + -156.44, + 0.0 + ] + ], + "Rationale": [ + "Two arched doorways flank the tall latticed window ahead, and the right hand one is the one hung with trailing ivy, so that ivy is what I will follow from here. It stands well back across the flagstones, so I walk straight forward to close the gap.", + "The ivy-draped arch has grown slightly larger but is still far off, sitting to the right of my current heading. The paving between us is clear, so I take another step forward before worrying about angle.", + "The ivy-covered arch now fills more of the right side of my view as the ruin wall looms closer. Distance is still the limiting factor rather than heading, so I keep walking straight ahead.", + "From this closer position the ivy-hung arch has drifted well off to the right edge of my view while my heading points at the big lattice window instead. I turn right so my body faces the ivy arch and I can walk at it directly.", + "The turn has brought the ivy-framed arch near the middle of my view, with its glowing opening clearly visible. Another doorway has appeared in the wall further right, but the ivy is what marks my target, so I step forward toward it.", + "The ivy-covered arch sits just ahead of my heading and is clearly larger than a moment ago, so my direction is good. The sandy paving between us looks open, so I continue walking toward it.", + "The ivy trailing over the arch is now distinct against the red stone, and its lit opening is close ahead of me. Nothing blocks the flat ground between, so I keep advancing on it.", + "The ivy arch now dominates the view ahead, its grille and glowing opening plainly in front of me. I still have several paces of open floor to cover, so I walk forward again.", + "The ivy strands hanging down the arch are individually visible now, and the grille behind them is bright with sunlight just off to my right. Flat sand and plank flooring run unbroken toward it, so I keep walking.", + "The arch's stonework and the tulip bed at its foot are close enough to make out clearly, which tells me my heading is still true. A few more paces of open ground remain, so I advance again.", + "The ivy gateway now rises past the top of my view, so I am within a short distance of it. The sandy floor ahead stays clear of the scattered planks, and I step forward once more.", + "Only the lower half of the ivy arch fits in front of me now, its grille glowing just right of centre. That is still ground I can cross directly, so I continue toward it.", + "The red pier beside the gateway is looming into the middle of my view while the lit grille sits to its right. I still have room to close in before adjusting, so I take another step.", + "At this range the stone pier of the ivy gateway takes up the centre of my view and the open bay in front of the grille lies off to my right. I turn right so my path runs into that clear approach rather than into the masonry.", + "The turn has cleared the pier from my path, leaving the ivy-hung grille glowing to my left front and flagstones running straight on. I walk forward into that bay to draw level with the doorway.", + "The ivy gateway is beside me on the left now, its bars close above the tulip bed at its foot. The paving carries on toward it, so I keep moving in to reach its threshold.", + "The barred gateway stands off my left shoulder now, and a broad band of tulips spreads across the flagstones between me and its foot. I keep walking along the open paving so I can come abreast of the opening before turning in on it.", + "I am level with the gateway now, its grille and the piers framing it filling the left of my view while my heading runs past it into the tulips. Turning left should square me onto the opening so the last paces take me straight at it.", + "The turn has swung the barred archway into the centre of my view, with the green fields showing through its lattice. Only a short stretch of stone and tulips separates me from it, so I walk straight in.", + "The ironwork has grown noticeably taller in front of me and the flanking piers now edge my view, confirming I am aimed at the opening itself. The tulips sit to the right of my line, leaving bare stone to walk on, so I advance again.", + "The grille now spans almost my whole view, its individual bars and the latch plate clear in front of me. A pace or so of ground is left, so I step in to bring myself right up to the threshold.", + "The ivy gateway's bars stand directly before me at arm's reach, filling my view. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t5_a_p/infos.json b/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c79ac6cc915582a5a57a307abc867aa58c9388a --- /dev/null +++ b/dataset/trajectory/Demonstration_Castle/task_x-046482_y015676_z-022523_t5_a_p/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Lift the tomato at the base of the central large arched window.", + "Type": 5, + "Start_Pose": [ + -46481.583, + 15676.37, + -22522.651, + 0, + 178.56, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -48123.492, + 15717.586, + -22554.574, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -46481.583, + 15676.37, + -22522.651, + 0, + 178.56, + 0 + ], + [ + -46607.401, + 15679.533, + -22522.55, + 0.0, + 178.56, + -0.0 + ], + [ + -46733.221, + 15682.696, + -22522.55, + 0.0, + 178.56, + -0.0 + ], + [ + -46859.04, + 15685.859, + -22525.867, + 0.0, + 178.56, + -0.0 + ], + [ + -46984.859, + 15689.022, + -22529.08, + 0.0, + 178.56, + -0.0 + ], + [ + -47110.678, + 15692.184, + -22522.604, + 0.0, + 178.56, + -0.0 + ], + [ + -47236.498, + 15695.347, + -22529.076, + 0.0, + 178.56, + -0.0 + ], + [ + -47362.317, + 15698.51, + -22522.723, + 0.0, + 178.56, + -0.0 + ], + [ + -47488.136, + 15701.673, + -22522.723, + 0.0, + 178.56, + -0.0 + ], + [ + -47613.955, + 15704.836, + -22522.723, + 0.0, + 178.56, + -0.0 + ], + [ + -47739.775, + 15707.999, + -22524.872, + 0.0, + 178.56, + -0.0 + ], + [ + -47865.594, + 15711.162, + -22524.872, + 0.0, + 178.56, + -0.0 + ], + [ + -47865.594, + 15711.162, + -22524.872, + 0.0, + 178.56, + -0.0 + ], + [ + -47991.413, + 15714.324, + -22522.728, + 0.0, + 178.56, + -0.0 + ], + [ + -47991.413, + 15714.324, + -22522.728, + 0.0, + 178.56, + -0.0 + ], + [ + -47991.413, + 15714.324, + -22522.728, + 0.0, + 178.56, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -48123.492, + 15717.586, + -22554.574, + 0.0, + 0.0, + 0.0 + ], + [ + -47991.34, + 15692.962, + -22552.464, + -28.202, + -131.295, + 1.862 + ], + [ + -47991.34, + 15692.962, + -22552.464, + -28.202, + -131.295, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1642.4, + 1516.6, + 1390.7, + 1264.8, + 1139.0, + 1013.1, + 887.3, + 761.4, + 635.6, + 509.7, + 383.8, + 258.0, + 258.0, + 132.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The tall latticed arched window stands directly ahead, and a small red tomato rests on the ground at its base, still far across the stone courtyard. My heading already lines up with it, so no turn is needed. I will walk forward to close that distance.", + "The archway and its lattice fill more of my view now, confirming that walking straight is bringing me toward the target. The tomato at the window base remains centered and clearly out of reach. I will keep stepping forward along this same line.", + "The central window now dominates the view and the tomato sits just above the grass line, still small and distant. Nothing blocks the open paving between me and it. I will continue advancing on this unchanged heading.", + "The tomato is slightly larger and remains squarely ahead of me at the foot of the central arch, so my alignment is still good. It is well beyond arm's reach from here. Another forward step should keep closing the gap.", + "The tomato is now clearly visible against the pale flagstones ahead, but the intervening grass and paving still separate us. My path stays open and my heading needs no correction. I will walk forward again to shorten the remaining distance.", + "The red tomato sits on the planking at the foot of the tall central arched window, still small and well ahead of me, roughly centered in my view. My heading already points straight at it, so no turn is needed. I will keep walking forward to close the remaining distance.", + "The tomato has grown noticeably larger and stays near the middle of my view, confirming my straight-line approach is closing distance. Nothing blocks the flat planked ground between me and the window base. I will step forward again.", + "The tomato now rests clearly on the boards just left of center, with the lattice window rising directly behind it. It is still too far for me to reach from here. Another forward step should bring me closer to a workable grasping distance.", + "The tomato is plainly visible on the wooden boards at the base of the central window and is growing steadily in my view as I close in. It remains beyond arm's length, so an interaction attempt now would be premature. I will continue advancing along this heading.", + "The tomato now fills a good part of the lower center of my view, sitting on the loose boards right below the lattice window. I am close but likely not yet within grasping range. I will take another step forward before attempting to lift it.", + "The red tomato sits on the wooden planks at the foot of the central arched window, straight ahead and still a couple of paces off. It is centered in my view, so no turn is needed and I will simply walk forward to close that gap for a grasp.", + "The tomato now fills a good part of the lower center of my view, resting on the planks right at the base of the arched window. It looks near enough to reach, so I will try to grasp and lift it rather than step closer first.", + "My grasp attempt did not take hold, since my hands remain empty. I must have stopped slightly short of the tomato for the reach to connect. I will take one more step forward to shorten the remaining distance before trying again.", + "The tomato now sits at the very bottom edge of my view, close against the planks directly in front of me, much nearer than during my earlier unsuccessful attempt. From this range it should be within reach, so I will attempt the grasp again.", + "The tomato is now held in my hand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_d/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27c6144288c25bae6a783ffdd785331c3bf331ed --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000059_y000361_z000098_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Continue past the others and stop by the garden lamp that is furthest from you near the house at the end of the driveway.", + "Type": 2, + "Start_Pose": [ + -58.636, + 360.632, + 98.383, + 0.0, + 70.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -58.636, + 360.632, + 98.383, + 0.0, + 70.36, + -0.0 + ], + [ + -16.334, + 479.169, + 105.536, + 0.0, + 70.36, + -0.0 + ], + [ + 25.969, + 597.706, + 115.521, + 0.0, + 70.36, + -0.0 + ], + [ + 68.271, + 716.243, + 113.949, + 0.0, + 70.36, + -0.0 + ], + [ + 120.635, + 807.118, + 117.521, + 0.0, + 70.36, + -0.0 + ], + [ + 176.746, + 896.483, + 123.425, + 0.0, + 70.36, + -0.0 + ], + [ + 176.746, + 896.483, + 123.425, + 0.0, + 95.36, + -0.0 + ], + [ + 175.571, + 1021.319, + 131.672, + 0.0, + 95.36, + -0.0 + ], + [ + 189.25, + 1132.071, + 138.989, + 0.0, + 95.36, + -0.0 + ], + [ + 189.25, + 1132.071, + 138.989, + 0.0, + 70.36, + -0.0 + ], + [ + 231.553, + 1250.607, + 146.82, + 0.0, + 70.36, + -0.0 + ], + [ + 231.553, + 1250.607, + 146.82, + 0.0, + 70.36, + -0.0 + ] + ], + "Rationale": [ + "A line of short garden lamps runs up the left edge of the driveway, and the one I want is the last of them, standing beside the house where the garage wall meets the front corner. The nearer lamps are only markers I pass by, so I will walk forward along the driveway toward that far one.", + "The house and the parked red car have grown larger, so my heading up the driveway is good. The lamp beside the garage corner is still well ahead, so I will keep walking forward.", + "The nearest lamps on the left are now level with me and passing by, which confirms I am continuing past them rather than stopping at one. The lamp by the house corner remains further up the drive, so I keep advancing.", + "The car's rear now fills the right of my view, so the clear concrete lane beside it is where I can keep going. The lamp near the house corner is still ahead on the left, so I will step forward again.", + "The porch and the garage door are close now, and two lamps remain between me and the house end of the drive. I will keep moving forward along the pavement to close on the last one.", + "My heading has drifted toward the lawn and shrubs on the left, while the paved lane beside the parked car runs slightly to my right. I will turn right to square myself with the driveway so I can continue cleanly to its far end by the house.", + "Now the garage door sits squarely ahead and the remaining pavement leads straight to the house wall. The last lamp stands at the left grass edge near that corner, so I will walk forward to draw alongside it.", + "The garage wall is close and the lamp I am heading for has slid to the far left of my view as I come up beside it. A further step forward should bring me level with it at the top of the driveway.", + "The lamp I am heading for has slipped to the very edge of my view, with only the garage door filling what is ahead of me. I will turn left to bring that lamp and the grass strip it stands on back into the center of my view before the last step.", + "The lamp now sits clearly in front of me on the grass beside the garage wall, at the top end of the driveway with no further lamps beyond it. One more step forward should put me right beside it.", + "The last garden lamp stands directly beside me at the driveway's end by the house wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000188_y001567_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000188_y001567_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..65bc0084a521dd0851b2d30ada844784b6776cd1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000188_y001567_z000168_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the shelf unit on the right.", + "Type": 2, + "Start_Pose": [ + -187.799, + 1566.988, + 168.15, + -0.199, + 18.661, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -187.799, + 1566.988, + 168.15, + -0.199, + 18.661, + 0.0 + ], + [ + -187.799, + 1566.988, + 168.15, + -0.199, + 43.661, + 0.0 + ], + [ + -93.218, + 1639.009, + 168.15, + -0.199, + 43.661, + 0.0 + ], + [ + -2.167, + 1725.9, + 168.15, + -0.199, + 43.661, + 0.0 + ], + [ + -2.167, + 1725.9, + 168.15, + -0.199, + 68.661, + -0.0 + ], + [ + 43.631, + 1843.13, + 168.15, + -0.199, + 68.661, + -0.0 + ], + [ + 89.429, + 1960.36, + 168.15, + -0.199, + 68.661, + -0.0 + ], + [ + 135.227, + 2077.59, + 168.15, + -0.199, + 68.661, + -0.0 + ], + [ + 135.227, + 2077.59, + 168.15, + -0.199, + 68.661, + -0.0 + ] + ], + "Rationale": [ + "Two shelving racks stand side by side against the far wall to my right, and the one further right, topped with the large pale box near the corner, is the unit I want. My heading points at the empty middle of the garage, so I turn right to bring that rack toward the center of my view.", + "The two racks now sit ahead of me, slightly right of center, with clear open concrete between us. Nothing blocks the path, so I walk forward to close distance on the rack topped with the pale box.", + "The racks and their blue crates are noticeably larger and more detailed now, confirming I am closing in on them. I continue walking forward, since the remaining floor ahead is still empty.", + "As I have advanced, the shelving has drifted toward the right edge of my view, and the unit with the pale box on top sits furthest from me on that side. I turn right so my heading points squarely at that rack before continuing.", + "The racks are now centered ahead of me with the pale-boxed one on the right of the pair. With the heading correct and the floor clear, I step forward to keep closing the gap.", + "The shelving now fills much of my view and the crates are close enough to read individually. I keep walking toward the rack carrying the tall pale box to bring myself right up to it.", + "At this range the two units no longer read as a neat pair; the frame is dominated by the rack with the pale box and its stacked crates directly ahead. I take one more step forward to stand right at it.", + "The rack's shelves, tins and pale box fill my view at arm's reach. I have arrived at the target shelf unit, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000419_y001186_z000143_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000419_y001186_z000143_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..75737c2487947455dc394c73821864a7c27044b3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000419_y001186_z000143_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "First go to the garden lamp closest to you, then go to the red car.", + "Type": 3, + "Start_Pose": [ + -418.609, + 1185.814, + 142.54, + -0.199, + 26.275, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "LookUp", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -418.609, + 1185.814, + 142.54, + -0.199, + 26.275, + -0.0 + ], + [ + -305.754, + 1241.529, + 146.221, + -0.199, + 26.275, + -0.0 + ], + [ + -305.754, + 1241.529, + 146.221, + -0.199, + 51.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + 51.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + 76.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + 101.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + 101.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + 101.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + 76.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + 51.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + 26.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + 1.275, + 0.0 + ], + [ + -227.02, + 1339.718, + 148.02, + -0.199, + -23.725, + 0.0 + ], + [ + -111.798, + 1289.079, + 148.122, + -0.199, + -23.725, + 0.0 + ], + [ + -46.09, + 1277.701, + 148.122, + -0.199, + -23.725, + 0.0 + ], + [ + -46.09, + 1277.701, + 148.122, + -0.199, + -23.725, + 0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the garden lamps mounted along the garage wall on my right, with the far corner lantern the nearest one on my path. I will walk forward along the concrete to close that gap before turning toward it.", + "My forward walk has brought me alongside the garage, but my heading still points past it down the driveway. Turning right should swing my line of travel toward the wall lamps so I can walk straight at the nearest one.", + "The garage front now stretches across my view and the lamp I want sits near its far corner, still a few paces off. I will step forward along the pavement to bring myself under that lantern.", + "I am now close against the garage, so the wall fills my view and the corner lantern has slipped off to my right. A right turn should bring that lamp and the corner it hangs on back in front of me.", + "The corner lantern has appeared at the top right of my view, still only clipped at the edge of the frame. Another right turn should place me squarely facing the corner where that lamp is mounted.", + "I am standing right at the corner of the garage and the lantern is above head height, cut off near the top of my view. Looking up should give me a clear sight of the lamp fixture directly overhead.", + "The garden lantern hangs plainly above me, close enough that its glass and bracket fill the upper part of my view against the sky. I have reached this lamp. I mark reaching it and turn my attention to the red car parked back on the driveway.", + "The lamp beside me is behind my shoulder now and my view faces the fence and the neighboring roof, with nothing of the driveway in sight. The red car sits back the way I came, to my left, so I will turn left to swing my heading around toward it.", + "With the garden lamp behind me, my view is filled by the garage door and the corner of the siding, so the red car parked on the driveway is nowhere in sight. Swinging left continues to sweep my heading back toward the open driveway, where that car should reappear.", + "The garage door now runs away to my left and the concrete driveway opens along its base, but the red car is still outside my field of view. I will keep rotating left so more of the driveway, and the car standing on it, comes into the frame.", + "The driveway and the neighboring houses have opened up ahead, and a sliver of red paint has appeared at the far left edge of my view. Another left turn should bring that car properly into view instead of leaving it clipped at the border.", + "The red car's front end is clearly visible now, but it sits well off to my left while my heading still points along the garage wall. One more left turn should place the car near the center of my view so I can walk straight at it.", + "The red car now sits square in front of me on the driveway, angled across my path with its hood and headlights facing my way. My heading is good, so I will walk forward to close the remaining stretch of pavement between us.", + "The red car's hood and headlight now fill the lower left of my view, so only a short gap remains. I will take one more step forward to stand right at the vehicle.", + "The red car is right beside me, its hood filling the near foreground within arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000545_y001123_z000138_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000545_y001123_z000138_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..30fa61d6d7745bf6ad41ec826480d5fb476ac4e0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000545_y001123_z000138_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the wall lamp on the right side of the garage door.", + "Type": 2, + "Start_Pose": [ + -545.172, + 1123.331, + 138.412, + -0.199, + 26.275, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "LookUp", + "TurnLeft", + "LookUp", + "MoveBackward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -545.172, + 1123.331, + 138.412, + -0.199, + 26.275, + -0.0 + ], + [ + -432.317, + 1179.046, + 142.093, + -0.199, + 26.275, + -0.0 + ], + [ + -319.463, + 1234.761, + 145.773, + -0.199, + 26.275, + -0.0 + ], + [ + -319.463, + 1234.761, + 145.773, + -0.199, + 51.275, + 0.0 + ], + [ + -319.463, + 1234.761, + 145.773, + -0.199, + 76.275, + 0.0 + ], + [ + -289.602, + 1357.025, + 148.263, + -0.199, + 76.275, + 0.0 + ], + [ + -267.793, + 1459.012, + 148.266, + -0.199, + 76.275, + 0.0 + ], + [ + -267.793, + 1459.012, + 148.266, + -0.199, + 76.275, + 0.0 + ], + [ + -267.793, + 1459.012, + 148.266, + -0.199, + 51.275, + 0.0 + ], + [ + -267.793, + 1459.012, + 148.266, + -0.199, + 51.275, + 0.0 + ], + [ + -325.597, + 1386.925, + 148.266, + -0.199, + 51.275, + 0.0 + ], + [ + -325.597, + 1386.925, + 148.266, + -0.199, + 51.275, + 0.0 + ] + ], + "Rationale": [ + "Two carriage lamps flank this garage door, one on the near wall to the left of the opening and one mounted past its right edge on the projecting corner wall; that right-hand lamp is my target. I am still out on the grass beside the driveway, so I will walk forward to close the distance toward it.", + "The lamp beyond the right edge of the garage door has grown noticeably larger and sits high on the corner wall ahead of me. I am still several paces short of it, so I will keep walking forward along the driveway edge.", + "Walking straight ahead has pushed the target lamp far to the upper right of my view, near the frame edge, while the garage door fills most of what I see. I will turn right to bring that corner-mounted lamp back toward the center of my view before continuing.", + "The turn brought the corner lamp into view, but it still sits well right of center with the neighboring fence opening up on that side. I will turn right once more so my heading points more directly at that lamp on the outer corner of the garage wall.", + "The lamp on the corner past the right edge of the garage door now sits ahead and slightly left, with clear grass and driveway between me and that wall. I will walk forward to close the remaining distance to it.", + "The lamp now hangs high at the upper left edge of my view, right where the garage door face meets the projecting corner wall. Only a short stretch of grass separates me from that corner, so I will step forward again to draw level with it.", + "That last step brought me almost against the siding, and the corner wall now fills the left half of my view with the lamp lost somewhere above the frame. I will look up to raise my gaze along the wall and bring the mounted lamp back into sight.", + "Raising my gaze gave me only siding and open sky, so the lamp is not on this side of the corner from my current heading. The wall carrying it runs off to my left, so I will turn left to swing my view back onto that face.", + "The turn put the garage door and the corner wall back in front of me, but my gaze sits level with the siding and the lamp is mounted well above this band. I will look up again to lift my view toward its bracket on the corner.", + "Tilted up, I catch only the dark underside of the fixture clipped at the very top of my view, which means I have pressed in too close beneath the corner for the lamp to sit properly in front of me. I will step back to regain the distance that should bring the whole lamp into view.", + "The lamp on the corner past the garage door's right edge hangs directly overhead, within arm's reach. I am at it, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-000655_y001069_z000135_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000655_y001069_z000135_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9957afea2aa41c19db1aea25edcc3c7dd3b63f46 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-000655_y001069_z000135_t3_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "First go to the red car, then go to the garage door.", + "Type": 3, + "Start_Pose": [ + -655.498, + 1068.864, + 134.813, + -0.199, + 26.275, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -655.498, + 1068.864, + 134.813, + -0.199, + 26.275, + -0.0 + ], + [ + -655.498, + 1068.864, + 134.813, + -0.199, + 1.275, + -0.0 + ], + [ + -529.671, + 1071.664, + 134.998, + -0.199, + 1.275, + -0.0 + ], + [ + -403.844, + 1074.465, + 135.183, + -0.199, + 1.275, + -0.0 + ], + [ + -278.017, + 1077.265, + 135.368, + -0.199, + 1.275, + -0.0 + ], + [ + -152.19, + 1080.066, + 135.553, + -0.199, + 1.275, + -0.0 + ], + [ + -152.19, + 1080.066, + 135.553, + -0.199, + 1.275, + -0.0 + ], + [ + -152.19, + 1080.066, + 135.553, + -0.199, + 26.275, + -0.0 + ], + [ + -152.19, + 1080.066, + 135.553, + -0.199, + 51.275, + 0.0 + ], + [ + -80.734, + 1178.521, + 142.057, + -0.199, + 51.275, + 0.0 + ], + [ + -80.734, + 1178.521, + 142.057, + -0.199, + 76.275, + 0.0 + ], + [ + -57.449, + 1301.215, + 148.125, + -0.199, + 76.275, + 0.0 + ], + [ + -27.588, + 1423.479, + 164.327, + -0.199, + 76.275, + 0.0 + ], + [ + -27.588, + 1423.479, + 164.327, + -0.199, + 76.275, + 0.0 + ] + ], + "Rationale": [ + "The red car sits off to my left on the driveway while my heading points at the garage wall ahead. I will turn left to bring the car near the center of my view before walking toward it.", + "The red car now sits roughly ahead of me across the grass and driveway, with open ground between us. I will walk forward to close that distance.", + "The car has grown noticeably larger and its side is squarely in front of me, so my heading remains good. I keep stepping forward to shorten the remaining gap.", + "I am on the paved driveway now and the red car fills much of the view just ahead. Another step forward should bring me right up beside it.", + "The car's flank is close enough that its wheels and doors dominate my view, yet I still have a little space to cover. I will advance one more step to stand right at the vehicle.", + "The red car's door and window are directly in front of me, close enough to touch. I have reached the red car, and I mark reaching it as I set off for the garage door on my right.", + "Standing at the red car, my view is blocked by its bodywork while the garage sits off to my right along the driveway. I will turn right to swing my heading toward that side of the house.", + "Turning has opened the view past the car's hood, and the white garage door is now showing at the right edge. I will turn right again to bring it squarely in front of me.", + "The wide white garage door now fills the right side of my view and the red car sits behind my left shoulder, so the path along the driveway is clear ahead. I will walk forward over the concrete to close the remaining distance to that door.", + "After stepping up the driveway, the garage door still sits off to the right of my heading while the porch and house wall take the left half of my view. I will turn right to bring the door squarely in front of me before advancing again.", + "The paneled garage door is now centered directly ahead with clear concrete between me and its base. I will step forward along that straight line to close in on it.", + "The door's raised panels now span my whole view and only a narrow strip of driveway remains at its bottom edge. I will take one more step forward to stand right at the garage door.", + "The garage door's panels fill my view at arm's length, so I am standing at it. The task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001280_y-002147_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001280_y-002147_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f54857cf444464a8754d65ddc73338f9c1e9a27c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001280_y-002147_z000169_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the television.", + "Type": 0, + "Start_Pose": [ + -1279.834, + -2147.411, + 168.943, + -0.051, + 103.082, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1279.834, + -2147.411, + 168.943, + -0.051, + 103.082, + 0.0 + ], + [ + -1308.322, + -2024.818, + 168.943, + -0.051, + 103.082, + -0.0 + ], + [ + -1336.809, + -1902.226, + 168.943, + -0.051, + 103.082, + -0.0 + ], + [ + -1365.297, + -1779.633, + 168.943, + -0.051, + 103.082, + -0.0 + ], + [ + -1392.535, + -1697.515, + 168.943, + -0.051, + 103.082, + -0.0 + ], + [ + -1392.535, + -1697.515, + 168.943, + -0.051, + 128.082, + -0.0 + ], + [ + -1477.057, + -1619.317, + 168.15, + -0.051, + 128.082, + -0.0 + ], + [ + -1477.057, + -1619.317, + 168.15, + -0.051, + 153.082, + -0.0 + ], + [ + -1523.866, + -1567.72, + 169.07, + -0.051, + 153.082, + -0.0 + ], + [ + -1523.866, + -1567.72, + 169.07, + -0.051, + 153.082, + -0.0 + ] + ], + "Rationale": [ + "From the kitchen edge I can see through to the living area, where a small television glows on a low cabinet ahead and slightly to my right. The runner rug gives me a clear straight path, so I will move forward to start closing that long distance.", + "The lit television on the white cabinet is now clearly larger in the right half of my view, confirming I am heading the right way. The corridor between the cabinets and the dining area is still open, so I will continue straight ahead.", + "I am now inside the dining and living space with the television visible to my right on its cabinet, but still several steps away. The floor ahead past the round table is clear, so another forward step should reduce the gap before I turn toward the screen.", + "The dining table and window fill most of my view while the television sits near the right edge, meaning I have not yet drawn level with it. I will push forward a bit more to bring myself alongside the cabinet area before reorienting.", + "My heading now points at the windows and curtain while the television and its cabinet sit off to my right. A small right turn should swing the screen toward the middle of my view so I can approach it directly.", + "The turn brought the television and its low white dresser into clear view ahead of me, with the ottoman off to the side and open floor between us. I will move forward to close the remaining distance to the screen.", + "I am close to the cabinet now, but the television screen sits to the right of my view center with the lamp and window filling the middle. A short right turn should square me up on the screen for the final step in.", + "The television is now framed near the center of my view with its lit menu clearly readable and only a short gap of floor left. I will take one more forward step to stand directly in front of it.", + "The television fills the center of my view at arm's length on its stand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0baf403f049bb2b4aeb0238c5431740e96dd99fe --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001411_y-000146_z000098_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the spot where the white fence meets the green bushes.", + "Type": 0, + "Start_Pose": [ + -1411.433, + -145.543, + 98.15, + 0.0, + -73.308, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1411.433, + -145.543, + 98.15, + 0.0, + -73.308, + 0.0 + ], + [ + -1411.433, + -145.543, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1429.619, + -270.081, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1447.805, + -394.619, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1465.991, + -519.158, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1484.177, + -643.696, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1502.363, + -768.234, + 98.15, + 0.0, + -98.308, + 0.0 + ], + [ + -1520.548, + -892.772, + 115.585, + 0.0, + -98.308, + 0.0 + ], + [ + -1538.734, + -1017.31, + 116.554, + 0.0, + -98.308, + 0.0 + ], + [ + -1538.734, + -1017.31, + 116.554, + 0.0, + -123.308, + 0.0 + ], + [ + -1607.849, + -1122.495, + 113.203, + 0.0, + -123.308, + 0.0 + ], + [ + -1654.571, + -1203.723, + 113.215, + 0.0, + -123.308, + 0.0 + ], + [ + -1654.571, + -1203.723, + 113.215, + 0.0, + -123.308, + 0.0 + ] + ], + "Rationale": [ + "From the street I can see a white picket fence running along the left part of the yard and a dark green hedge continuing behind the parked car, so the seam between them lies off to my left of center. A parked car sits directly ahead and blocks the straight line of sight toward that seam. I will turn left to bring the fence and hedge boundary into the middle of my view before advancing.", + "Now the picket fence and the hedge line are both clearly framed ahead of me, with their meeting point near the middle of my view and the car pushed off to my right. The yard is still far across the road and driveway, so distance is what I need to reduce. I will move forward along this heading to close on that junction.", + "The fence pickets and hedge are noticeably larger than a moment ago, confirming that this heading is carrying me toward the boundary between them. I am still out on the paved area with the lawn strip ahead. I will continue forward to keep shrinking the gap.", + "The hedge now spans much of the center of my view and the white fence runs off to my left, with the point where they meet still ahead and slightly left. Nothing blocks the path between me and the grass. Another forward step should bring me close enough to judge the exact junction.", + "I have reached the curb and lawn, and the fence-to-hedge transition is plainly visible just left of center where the pickets end and the dense green begins. The target is still several steps out, beyond the walkway. I will move forward again to keep approaching it.", + "The hedge and fence are close enough now that I can see individual pickets and leaf texture, and their junction sits ahead on my left. I am not yet at the spot itself, since the paved walkway still lies between us. Forward motion remains the right way to close that remaining distance.", + "The hedge now dominates the right and center of my view while the white fence continues to my left, placing the meeting point just a short way ahead. There is still open grass and walkway between me and it, so I have room to advance. I will step forward once more toward that boundary.", + "I am nearly level with the hedge, and the last fence pickets are visible at my left where the dense green growth takes over. Closing a little more should put me right at that seam rather than beside the middle of the hedge. I will move forward again to tighten the position.", + "The dense green hedge now fills most of my view, and the white picket fence is squeezed against the far left edge, so the seam between them sits outside my forward heading. I will turn left to swing that fence-to-hedge junction toward the center of my view before closing in further.", + "The junction is now framed clearly ahead, with the run of white pickets on the left ending against the leafy hedge just right of center. My heading points at that meeting point, so I will move forward to close the remaining gap.", + "The last picket post and the first mass of hedge leaves are now large in front of me, with the boundary between them near the middle of my view. One more short step forward should bring me right up to the spot where the white fence meets the bushes.", + "I am standing directly at the seam where the white fence rail ends against the leafy green bushes, both within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001435_y-001672_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001435_y-001672_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff89d852e3149c9748d5010584e672f0825590e5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001435_y-001672_z000168_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the small white table on the left.", + "Type": 2, + "Start_Pose": [ + -1434.861, + -1672.316, + 168.15, + -0.301, + -83.396, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1434.861, + -1672.316, + 168.15, + -0.301, + -83.396, + -0.0 + ], + [ + -1434.861, + -1672.316, + 168.15, + -0.301, + -108.396, + -0.0 + ], + [ + -1470.644, + -1791.663, + 168.149, + -0.301, + -108.396, + -0.0 + ], + [ + -1508.452, + -1911.392, + 168.149, + -0.301, + -108.396, + -0.0 + ], + [ + -1508.452, + -1911.392, + 168.149, + -0.301, + -133.396, + -0.0 + ], + [ + -1594.921, + -2002.842, + 168.149, + -0.301, + -133.396, + -0.0 + ], + [ + -1681.39, + -2094.293, + 168.149, + -0.301, + -133.396, + -0.0 + ], + [ + -1767.858, + -2185.744, + 168.566, + -0.301, + -133.396, + -0.0 + ], + [ + -1767.858, + -2185.744, + 168.566, + -0.301, + -133.396, + -0.0 + ] + ], + "Rationale": [ + "Ahead of me is the kitchen counter run, while the far left of my view opens onto a lighter room where a small white side table sits against the wall beneath a wall sconce. That white table on the left is what I need to reach, so I will turn left to bring it into the center of my view.", + "The turn has swung the open floor into view, and the small white table with its drawer now sits ahead of me against the pale wall by the sconce. The path across the wood floor between the bookshelf and the pillar looks clear, so I will walk forward to close the distance.", + "I have gained ground and the white drawered table on its striped rug now reads larger to my left of center. Nothing blocks the floor between me and it, so I will keep walking forward.", + "The white table with its single drawer now sits noticeably left of my heading, with the framed panel and sconces above it, while my forward path aims at the blank wall and the pillar on the right. I will turn left to face the table squarely before advancing again.", + "The turn has lined the small white table up ahead of me, centered under the decorative panel between the two sconces. The striped runner leads straight to it with nothing in the way, so I will step forward along it.", + "The white table is clearly closer now, its drawer pull, red candle and small dish all distinct against the wall. I am still a few paces short of standing at it, so I will keep moving forward.", + "The table now fills much of the lower right of my view, with the candle and book plainly on top and the wall panel directly above it. One more step forward should bring me right up beside it.", + "The small white table with the red candle stands directly before me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001508_y-001894_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001508_y-001894_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fdca9192ab5a43fbd1e94c8c05c9cf5e980ae7ba --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001508_y-001894_z000168_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Find the television and go to it.", + "Type": 1, + "Start_Pose": [ + -1507.994, + -1894.03, + 168.307, + -0.248, + -31.304, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1507.994, + -1894.03, + 168.307, + -0.248, + -31.304, + -0.0 + ], + [ + -1507.994, + -1894.03, + 168.307, + -0.248, + -6.304, + -0.0 + ], + [ + -1507.994, + -1894.03, + 168.307, + -0.248, + 18.696, + 0.0 + ], + [ + -1507.994, + -1894.03, + 168.307, + -0.248, + 43.696, + -0.0 + ], + [ + -1507.994, + -1894.03, + 168.307, + -0.248, + 68.696, + 0.0 + ], + [ + -1507.994, + -1894.03, + 168.307, + -0.248, + 93.696, + -0.0 + ], + [ + -1514.946, + -1831.429, + 168.15, + -0.248, + 93.696, + -0.0 + ], + [ + -1521.051, + -1831.428, + 168.15, + -0.248, + 93.696, + -0.0 + ], + [ + -1527.157, + -1831.428, + 168.15, + -0.248, + 93.696, + -0.0 + ], + [ + -1521.201, + -1923.635, + 168.15, + -0.248, + 93.696, + -0.0 + ], + [ + -1521.201, + -1923.635, + 168.15, + -0.248, + 68.696, + 0.0 + ], + [ + -1474.409, + -1807.067, + 168.15, + -0.248, + 68.696, + 0.0 + ], + [ + -1474.409, + -1807.067, + 168.15, + -0.248, + 93.696, + -0.0 + ], + [ + -1471.757, + -1684.129, + 168.15, + -0.248, + 93.696, + -0.0 + ], + [ + -1471.757, + -1684.129, + 168.15, + -0.248, + 118.696, + -0.0 + ], + [ + -1523.886, + -1573.918, + 169.044, + -0.248, + 118.696, + -0.0 + ], + [ + -1523.886, + -1573.918, + 169.044, + -0.248, + 143.696, + -0.0 + ], + [ + -1524.767, + -1560.824, + 169.044, + -0.248, + 143.696, + -0.0 + ], + [ + -1524.767, + -1560.824, + 169.044, + -0.248, + 143.696, + -0.0 + ] + ], + "Rationale": [ + "I am standing in a kitchen facing counters, cabinets, an oven and a refrigerator, and I see no television anywhere in this view. Since nothing here matches the target, I will turn right to begin a steady scan of the room in one consistent direction. This should bring the adjacent walls and any open doorway into my view.", + "The rotation has brought a bright window and a small side table into the right of my view, which suggests the kitchen opens toward another living area that way. There is still no television in sight, so I will keep turning right in the same direction. More of that adjacent space should come into view.", + "I can now see a curtained window, a tall linen cabinet and the edge of a dining table with chairs, so the room genuinely continues in this direction. No television has appeared yet, so I will continue the same rightward scan rather than commit early. The rest of that seating area should become visible.", + "I am now looking straight at the dining nook with its round table, chairs and bright windows, and I still do not see a television here. Because a dining area usually adjoins a living space, I will keep turning right to uncover the wall beyond this corner. That continued scan may reveal seating and a media surface.", + "At the right edge of my view I can now make out a screen glowing on top of a low dresser, with a sofa in front of it, so the television is in that living area. I will turn right once more to bring it closer to the center of my view before walking toward it. That should give me a clean heading for the approach.", + "Scanning to the right from the kitchen has brought a living area into view, and a television screen is clearly lit on the low dresser under the far window. That is the target, so I stop scanning and walk forward toward it instead of continuing the rotation. The open floor beside the dining table should let me close much of the distance in one step.", + "The television is now larger and closer to the center of my view, confirming my heading is good. I keep walking forward to shorten the remaining gap to the dresser it sits on. The upholstered sectional and ottoman on my right side of the floor may narrow the route, so I will watch how much ground this step actually covers.", + "My last step barely changed the view, so the sofa arm directly ahead of me appears to be holding me in place rather than letting me advance. The television is still several steps away across the room, so I try one more forward step to test whether I can squeeze past the furniture. If the scene stays this static, the route straight ahead is blocked.", + "Two forward steps in a row have produced almost no change in the scene, so the couch pressed against me is clearly blocking this line toward the television. I back up to pull away from the furniture and open enough room to reorient. From a bit further out I should be able to see the free floor on either side of the seating.", + "Backing off has restored a wider view, and I can now see the sofa bulk that stopped me sitting between me and the television. Clear hardwood floor runs past the dining table on my left, so I turn left to line up with that gap instead of pushing at the blocked route. This heading may let me work around the seating and approach the screen from the open side.", + "My earlier straight push toward the television stalled almost immediately because the large sofa sits directly in that path, so I backed off and swung left onto the open floor. From here the bare wood strip past the dining table looks clear of furniture, so I will walk forward along it to get around the seating group. The television is still glowing at the right edge of my view, which keeps my bearing on it while I take this detour.", + "Walking along the open floor has carried me past the seating group, and now only the dining table, wardrobe, and windows fill my view, with the television off to my right. I will turn right to swing my heading back toward that corner so the set comes into the middle of my view again. This should give me a clear line of approach that no longer runs into the sofa.", + "The turn brought the television back into view, sitting on the low dresser under the far window with the candle lamp beside it. The floor between me and that wall looks open, with the ottoman set off to the right of my path. I will walk forward to close the distance toward the set.", + "That advance brought me in close, but my heading has drifted so the curtain and dining window fill most of my view and the television is pushed to the far right edge. I will turn right to bring the set back into the center of my view before continuing. That should leave me squarely facing the dresser it stands on.", + "The television is now centered ahead of me on the dresser, with its lit screen and the lamp clearly in view. Only a short stretch of open floor separates me from that wall, so I will step forward to close in on it.", + "I am now very close to the dresser and the television, but the screen sits at the right edge of my view and is partly cut off while the lamp and window fill the center. Turning right should bring the television into the middle of my view so I can judge the remaining distance straight ahead.", + "The television is now centered in front of me on the dresser, with the corner wall just behind it. I will take one short step forward to close the small remaining gap and stand directly at the television.", + "The television fills the view directly in front of me at arm's length on the dresser. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001524_y-001577_z000169_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001524_y-001577_z000169_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..301a4f2246de667f84f4e26435877f59e81ebe3e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001524_y-001577_z000169_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the cooker hood above the stove.", + "Type": 0, + "Start_Pose": [ + -1523.671, + -1576.937, + 168.919, + -0.051, + -28.74, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "LookUp", + "MoveBackward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1523.671, + -1576.937, + 168.919, + -0.051, + -28.74, + 0.0 + ], + [ + -1523.671, + -1576.937, + 168.919, + -0.051, + -53.74, + -0.0 + ], + [ + -1449.232, + -1678.422, + 168.191, + -0.051, + -53.74, + -0.0 + ], + [ + -1374.792, + -1779.908, + 168.85, + -0.051, + -53.74, + -0.0 + ], + [ + -1300.353, + -1881.393, + 168.85, + -0.051, + -53.74, + -0.0 + ], + [ + -1282.587, + -1979.733, + 168.943, + -0.051, + -53.74, + -0.0 + ], + [ + -1282.587, + -1979.733, + 168.943, + -0.051, + -28.74, + -0.0 + ], + [ + -1282.587, + -1979.733, + 168.943, + -0.051, + -3.74, + -0.0 + ], + [ + -1282.587, + -1979.733, + 168.943, + -0.051, + -3.74, + -0.0 + ], + [ + -1374.79, + -1973.705, + 168.943, + -0.051, + -3.74, + -0.0 + ], + [ + -1374.79, + -1973.705, + 168.943, + -0.051, + -3.74, + -0.0 + ], + [ + -1374.79, + -1973.705, + 168.943, + -0.051, + -3.74, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the kitchen counter run and the dark cooker hood over the stove off to my left, while the dining table sits directly ahead of me. Turning left should swing my heading onto the open kitchen aisle so the hood and stove sit near the center of my view for a straight approach.", + "The kitchen aisle now runs ahead of me with the striped rug leading toward the counters, and the hood over the stove is visible ahead beside the tall white refrigerator. The floor looks clear, so I will step forward to close the distance toward the stove wall.", + "The cabinetry and the hood over the range have grown noticeably larger, which tells me my heading down the aisle is good. I still have several steps of clear floor, so I will keep advancing toward the stove area.", + "I am now well inside the kitchen with the range, oven, and the hood above it clearly ahead and slightly right of my center. Another step forward should bring me close enough to the counter to work with the hood overhead.", + "The cooktop, sink, and the underside of the hood now fill much of my view, so I am only a short step from the counter edge. I will move forward a little more to stand right at the stove run before turning to face the hood.", + "Standing at the counter, my heading now points along the sink section, so the cooktop and the hood above it lie off to my right rather than in front of me. I will turn right to begin bringing the stove and its hood back toward the center of my view.", + "The gas burners have come into the right side of my view, but I am still angled partly toward the sink and the blank wall. A second right turn should square my heading onto the cooktop so the hood sits directly above my line of sight.", + "I am squared up on the cooktop now, with all four burners centered below me and only the blank backsplash wall above them. The hood is mounted higher than my current line of sight, so I will tilt my gaze upward to bring it into view.", + "I am standing right against the stove counter, and with my head raised all I can see is the dark underside of the hood and the blank wall filling my view. I am too close to hold the hood as a whole in sight, so I will step back to open up some distance from the counter. That should let the hood and the stove below it sit properly in front of me.", + "From this slightly withdrawn spot the stove with its burners is directly ahead of me and the cooker hood is partly cut off at the upper edge of my view. Raising my gaze should center the hood above the stove and confirm I am standing right in front of it.", + "The cooker hood above the stove is fully in view directly in front of me at close range. The task is complete, so I will stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001599_y-001830_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001599_y-001830_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a7ee27460135396d31eb7f72af763af573b1e2f8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001599_y-001830_z000168_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Move to the wall lamp.", + "Type": 0, + "Start_Pose": [ + -1599.398, + -1830.451, + 168.15, + -0.051, + -98.045, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1599.398, + -1830.451, + 168.15, + -0.051, + -98.045, + -0.0 + ], + [ + -1617.012, + -1955.071, + 168.15, + -0.051, + -98.045, + -0.0 + ], + [ + -1634.626, + -2079.692, + 168.15, + -0.051, + -98.045, + -0.0 + ], + [ + -1652.24, + -2204.312, + 168.79, + -0.051, + -98.045, + -0.0 + ], + [ + -1652.24, + -2204.312, + 168.79, + -0.051, + -98.045, + -0.0 + ], + [ + -1652.24, + -2204.312, + 168.79, + -0.051, + -98.045, + -0.0 + ] + ], + "Rationale": [ + "I can see the lit wall lamp mounted on the narrow pillar ahead of me, roughly straight along my heading past the small side table and rug. Since it is still far across the room, I will move forward to close the distance without needing to change my facing.", + "The lamp on the pillar is now larger and still near the center of my view, so my heading remains good. I will keep moving forward to shorten the remaining gap to the wall.", + "The wall lamp now fills the upper part of my view on the pillar directly in front of me, showing I am close and aligned. I will advance once more to reach a position right beneath it.", + "I am now standing right up against the wall, so my forward view shows only blank wall surface and the lamp has passed above my line of sight. I will tilt my view upward to bring the wall lamp back into sight and confirm I am directly at it.", + "The wall lamp is directly overhead in my view, close against the wall I am standing at. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001642_y-002138_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001642_y-002138_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..39691197249451de1c9a1452211b7e2be498d486 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001642_y-002138_z000169_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "First go to the refrigerator, then go to the dining table.", + "Type": 3, + "Start_Pose": [ + -1642.466, + -2137.782, + 168.793, + -0.051, + 70.455, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1642.466, + -2137.782, + 168.793, + -0.051, + 70.455, + -0.0 + ], + [ + -1600.36, + -2019.175, + 168.371, + -0.051, + 70.455, + -0.0 + ], + [ + -1600.36, + -2019.175, + 168.371, + -0.051, + 45.455, + 0.0 + ], + [ + -1512.074, + -1929.475, + 168.371, + -0.051, + 45.455, + 0.0 + ], + [ + -1512.074, + -1929.475, + 168.371, + -0.051, + 20.455, + 0.0 + ], + [ + -1394.151, + -1885.491, + 168.941, + -0.051, + 20.455, + 0.0 + ], + [ + -1394.151, + -1885.491, + 168.941, + -0.051, + -4.545, + 0.0 + ], + [ + -1284.081, + -1895.328, + 168.943, + -0.051, + -4.545, + 0.0 + ], + [ + -1284.081, + -1895.328, + 168.943, + -0.051, + -4.545, + 0.0 + ], + [ + -1284.081, + -1895.328, + 168.943, + -0.051, + 20.455, + -0.0 + ], + [ + -1284.081, + -1895.328, + 168.943, + -0.051, + 45.455, + 0.0 + ], + [ + -1284.081, + -1895.328, + 168.943, + -0.051, + 70.455, + 0.0 + ], + [ + -1284.081, + -1895.328, + 168.943, + -0.051, + 95.455, + 0.0 + ], + [ + -1284.081, + -1895.328, + 168.943, + -0.051, + 120.455, + 0.0 + ], + [ + -1347.874, + -1786.834, + 168.943, + -0.051, + 120.455, + 0.0 + ], + [ + -1347.874, + -1786.834, + 168.943, + -0.051, + 95.455, + 0.0 + ], + [ + -1358.972, + -1697.901, + 168.943, + -0.051, + 95.455, + 0.0 + ], + [ + -1358.972, + -1697.901, + 168.943, + -0.051, + 95.455, + 0.0 + ] + ], + "Rationale": [ + "From this doorway the room opens ahead, with a pale appliance edge just visible past the pillar on my far left and the dining table under the window beyond the sofa. I need to be clear of this narrow entry before I can swing toward the kitchen side, so I will walk forward into the open floor.", + "Straight ahead I only see the sofa, the television and the round table by the window, while the kitchen side lies off to my left past the tall white cabinets. The refrigerator I want is not in view from this heading. I will turn left to bring the kitchen area in front of me.", + "The turn has brought the white refrigerator into view on the left, standing between the tall glazed cabinets and the kitchen recess. It is still well across the striped rug from me. I will walk forward to close that distance.", + "Walking forward has pushed the refrigerator to the very left margin of my view, with the paneled cabinet doors now filling the center. If I keep this heading I will pass it by. I will turn left to put the appliance back toward the middle of my path.", + "The refrigerator now stands clearly ahead of me beside the stove and range hood, with the open floor of the kitchen between us. Nothing blocks the strip of boards leading toward it. I will step forward to close in on it.", + "I am close enough now that the refrigerator has slid off to my left and the glazed cabinet doors and side table occupy the center of my view. To finish squarely at the appliance I need it in front of me. I will turn left to face it.", + "The refrigerator is now centered in front of me, its two handles and door seam plainly visible between the counter and the cabinets. Only a short stretch of floor separates us. I will walk forward to stand right at it.", + "The pale enameled door of the refrigerator fills my whole view, its seam between the freezer and lower compartment right in front of me. I have reached the refrigerator. I mark reaching it and set off for the round dining table by the windows.", + "The pale refrigerator door fills my whole view, so I am standing right against it and there is nothing more to gain here. I now need the dining table, which lies back out in the open room behind my right shoulder. I will turn right to swing my view off this appliance face and start recovering the room.", + "The refrigerator has slid to my left edge and glazed cabinet doors now dominate ahead, so I am still facing cabinetry rather than open floor. The dining area lies further around to my right. I will keep turning right to bring the room beyond these cupboards into view.", + "The cabinet run still fills most of my view, but on the right a side table with a plant and a louvered wardrobe show the room opening that way. The dining table should sit just past them. I will turn right again to bring that opening in front of me.", + "A round table with upholstered chairs has appeared at the right edge beneath the window, which is the dining spot I want. My heading is still angled into the cabinet wall on my left. I will turn right to bring that table more centrally ahead of me.", + "The dining table and its chairs sit ahead of me now, but I am aimed straight into the chair backs and the curtained window wall, with clear floor only off to the right. I will turn right once more to line up on that open lane so I can walk in beside the table rather than into a chair.", + "I now have clear floor ahead into the living area, with the dining table and its chairs standing off to my left by the big window. Nothing blocks the lane between me and that part of the room. I will walk forward to close the remaining distance to the table.", + "Moving up has brought me level with the dining table, but only its near edge and a candlestick show at my left while the television cabinet sits ahead. My heading is past the table rather than onto it. I will turn left to put the table squarely in front of me.", + "The round dining table with its chairs and candlestick is centered directly ahead of me with clear floor between us. A short advance should bring me right up to its edge. I will step forward to finish closing on it.", + "The round dining table with its candlestick and chairs is directly before me, within arm's reach. Both destinations are now reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001689_y-001836_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001689_y-001836_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e332ebaee3f8c07a7a35b14bdffa0f57ce39cbc7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001689_y-001836_z000168_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go toward the candle holder on the table.", + "Type": 0, + "Start_Pose": [ + -1689.471, + -1836.413, + 168.15, + -0.051, + 5.847, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1689.471, + -1836.413, + 168.15, + -0.051, + 5.847, + 0.0 + ], + [ + -1565.547, + -1831.917, + 168.15, + -0.051, + 5.847, + 0.0 + ], + [ + -1565.547, + -1831.917, + 168.15, + -0.051, + 30.847, + -0.0 + ], + [ + -1460.217, + -1809.358, + 168.15, + -0.051, + 30.847, + -0.0 + ], + [ + -1460.217, + -1809.358, + 168.15, + -0.051, + 55.847, + -0.0 + ], + [ + -1389.559, + -1705.204, + 168.941, + -0.051, + 55.847, + -0.0 + ], + [ + -1389.559, + -1705.204, + 168.941, + -0.051, + 80.847, + -0.0 + ], + [ + -1389.559, + -1705.204, + 168.941, + -0.051, + 80.847, + -0.0 + ] + ], + "Rationale": [ + "I can see the round dining table by the far windows on the right, with a candle holder standing on it. The couch blocks a straight line from here, so I will move forward across the open floor toward the kitchen side to close distance first.", + "After advancing, the dining table and its chairs sit at the right edge of my view while the kitchen cabinets fill the center. I will turn right to swing my heading toward the table so the candle holder comes into the middle of my view.", + "The dining table with the candelabra on it is now clearly in view ahead and slightly right, still several steps away across the striped rug. I will move forward to shorten that gap.", + "I am closer now, but the table and its candle holder have drifted to the right edge of my view while the wardrobe and window wall sit in front of me. Turning right should re-center the candle holder before I advance again.", + "The dining table with the candle holder is now centered ahead of me with clear floor in between. I will move forward to come up close to the table.", + "I am right at the table edge now, but the candle holder sits low and to the right of my view with the wardrobe filling the left side. A small turn right should bring the candle holder squarely in front of me.", + "The candle holder stands directly in front of me at the near edge of the dining table, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001785_y001747_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001785_y001747_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a9ebd20c5686bed2cb002f074e8d7da7b3111fdf --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001785_y001747_z000168_t4_a/infos.json @@ -0,0 +1,95 @@ +{ + "Instruction": "Open the white paneled door to the left of the washing machine.", + "Type": 4, + "Start_Pose": [ + -1784.989, + 1747.0, + 168.024, + 0.0, + 97.994, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1784.989, + 1747.0, + 168.024, + 0.0, + 97.994, + 0.0 + ], + [ + -1799.622, + 1871.008, + 168.15, + 0.0, + 97.994, + -0.0 + ], + [ + -1813.897, + 1976.684, + 168.15, + 0.0, + 97.994, + -0.0 + ], + [ + -1813.897, + 1976.684, + 168.15, + 0.0, + 72.994, + -0.0 + ], + [ + -1765.749, + 2048.245, + 168.15, + 0.0, + 72.994, + -0.0 + ], + [ + -1765.749, + 2048.245, + 168.15, + 0.0, + 72.994, + -0.0 + ], + [ + -1765.749, + 2048.245, + 168.15, + 0.0, + 72.994, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door is straight ahead across the tiled laundry room, with the washing machine standing to its right just as the task describes. I am still several steps back, so I will move forward to close the gap toward that door.", + "The paneled door and its brass handle are now clearly larger in front of me, slightly to the left, with the washing machine at my right. I am still out of reach of the handle, so another step forward should bring me into interaction range.", + "My heading has drifted so that most of my view is the blank wall and the washing powder box on the machine, with only a sliver of the door edge at the far left. I will turn left to bring the paneled door and its handle back into the center of my view before approaching further.", + "The door now faces me squarely with its brass handle visible on the left side of the panel. A short step forward should place me close enough to operate that handle.", + "The white paneled door surface now fills my entire view, so I am standing directly against it and within reach of its latch. I will attempt to open it, which should swing the door clear and reveal the space beyond.", + "The paneled door now stands swung open beside me, revealing the lit room with a dresser and rug beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001921_y-001573_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001921_y-001573_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a4e7cfce03d7e4ea8a7dc80be902b553de804356 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001921_y-001573_z000168_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the closet.", + "Type": 0, + "Start_Pose": [ + -1921.44, + -1573.327, + 168.15, + -0.248, + -131.655, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1921.44, + -1573.327, + 168.15, + -0.248, + -131.655, + -0.0 + ], + [ + -2005.091, + -1667.363, + 168.15, + -0.248, + -131.655, + -0.0 + ], + [ + -2088.741, + -1761.399, + 168.15, + -0.248, + -131.655, + -0.0 + ], + [ + -2172.392, + -1855.435, + 168.15, + -0.248, + -131.655, + -0.0 + ], + [ + -2256.042, + -1949.471, + 168.15, + -0.248, + -131.655, + -0.0 + ], + [ + -2256.042, + -1949.471, + 168.15, + -0.248, + -131.655, + -0.0 + ] + ], + "Rationale": [ + "From the bedroom doorway view I can see the built-in closet with its paneled doors and stack of drawers set into the far wall ahead of me, roughly straight along my heading. The open floor between the two beds is clear, so I will move forward to start closing the distance to it.", + "The closet unit now fills more of my view and sits slightly left of center, but still well within my forward path. Nothing blocks the floor ahead, so another forward step should bring me noticeably closer.", + "The closet cabinetry now dominates the left half of my view with its drawers and door handles clearly detailed, so I am close but not yet at it. I will continue forward to finish closing the remaining gap.", + "The closet panels and drawer pulls now occupy nearly my whole view, meaning I am only a short step away from standing at it. I will take one more forward step to settle directly in front of the closet doors.", + "The closet's paneled doors and their two knobs fill my view directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-001969_y-001632_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001969_y-001632_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..80af4cd572b73122875d6b9276d4617ea0471896 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-001969_y-001632_z000168_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the painting on the right side of your view.", + "Type": 2, + "Start_Pose": [ + -1968.678, + -1631.547, + 168.15, + -0.051, + -119.31, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1968.678, + -1631.547, + 168.15, + -0.051, + -119.31, + 0.0 + ], + [ + -2030.29, + -1741.294, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2098.053, + -1819.08, + 168.15, + -0.051, + -119.31, + -0.0 + ], + [ + -2098.053, + -1819.08, + 168.15, + -0.051, + -94.31, + -0.0 + ], + [ + -2098.053, + -1819.08, + 168.15, + -0.051, + -69.31, + -0.0 + ], + [ + -2081.824, + -1935.568, + 168.15, + -0.051, + -69.31, + -0.0 + ], + [ + -2081.824, + -1935.568, + 168.15, + -0.051, + -44.31, + -0.0 + ], + [ + -2028.166, + -2021.508, + 168.15, + -0.051, + -44.31, + -0.0 + ], + [ + -2028.166, + -2021.508, + 168.15, + -0.051, + -44.31, + -0.0 + ], + [ + -2028.166, + -2021.508, + 168.15, + -0.051, + -44.31, + -0.0 + ] + ], + "Rationale": [ + "Two framed pictures hang in this bedroom, a palm tree scene on the far wall beside the door and, on the right wall above the bed, a darker framed painting of clouds over water, which is my target. I will walk forward to close the open floor between me and that side of the room.", + "The cloudy seascape painting has drifted to the very edge of my view as I advance, so it now lies well to my right rather than ahead. Another step forward should carry me deeper into the room and give me space to swing toward that wall.", + "Facing this way I only see the wardrobe, the door and the palm tree picture, while the cloud painting I want lies off past my right shoulder. Turning right should start bringing that wall back into my view.", + "The cloud-and-water painting has come back into view, but it sits at the far right edge while the palm tree picture and the door occupy the middle. Another turn to the right should bring my target nearer the centre of my heading.", + "The cloudy seascape now hangs ahead and slightly right of my heading, with clear floor between me and that wall. I will step forward to shorten the distance to it.", + "I am close to the wall now and the painting sits off to the right of my heading, with the door filling the left half of my view. Turning right should square me up with the painting's wall.", + "The cloud-and-water painting is now centred ahead of me on the wall near the corner, with only a short stretch of floor left. Stepping forward should bring me right up to it.", + "Standing this close, the painting is cut off at the top of my view and I mostly see the wallpaper below it. I will look up so the whole framed picture sits in front of me for a clear check.", + "The framed cloud-and-water painting fills my view at arm's length. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002114_y-002156_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002114_y-002156_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..719f52c912573e94f27c43cf9f60ba66ae253c1d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002114_y-002156_z000168_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Navigate to the painting visible on the wall at the end of the hallway.", + "Type": 0, + "Start_Pose": [ + -2113.529, + -2155.583, + 168.282, + -0.248, + 156.454, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2113.529, + -2155.583, + 168.282, + -0.248, + 156.454, + -0.0 + ], + [ + -2218.071, + -2152.146, + 168.792, + -0.248, + 156.454, + -0.0 + ], + [ + -2291.501, + -2169.777, + 168.792, + -0.248, + 156.454, + -0.0 + ], + [ + -2405.574, + -2153.296, + 168.792, + -0.248, + 156.454, + -0.0 + ], + [ + -2520.923, + -2110.705, + 168.15, + -0.248, + 156.454, + -0.0 + ], + [ + -2636.302, + -2060.427, + 168.15, + -0.248, + 156.454, + -0.0 + ], + [ + -2636.302, + -2060.427, + 168.15, + -0.248, + -178.546, + -0.0 + ], + [ + -2724.761, + -2035.613, + 168.15, + -0.248, + -178.546, + -0.0 + ], + [ + -2724.761, + -2035.613, + 168.15, + -0.248, + -153.546, + -0.0 + ], + [ + -2832.684, + -2078.234, + 168.15, + -0.248, + -153.546, + -0.0 + ], + [ + -2832.684, + -2078.234, + 168.15, + -0.248, + -153.546, + -0.0 + ], + [ + -2832.684, + -2078.234, + 168.15, + -0.248, + -153.546, + -0.0 + ] + ], + "Rationale": [ + "From the start of this narrow hallway a large wall panel blocks most of my left view, but through the opening ahead I can see a small framed picture hanging on the far wall past the desk. That framed piece matches the painting I am asked to reach, so I will move forward along the corridor to close distance and open up the view.", + "The framed painting on the far wall is noticeably larger now, so my heading down the corridor is carrying me toward it. The floor ahead past the cabinet is still clear, so I will continue straight to keep reducing the distance.", + "The corridor is opening into a room and the painting is now clearly visible above the desk on the right-hand wall ahead. I am still several steps away, so another forward step should bring me properly into the room and nearer the target wall.", + "I am inside the room now with the two doors on the left and the painting hanging on the wall to my right, still at a distance. Continuing straight keeps closing the gap before I need to turn toward that wall.", + "The painting has slid toward the right edge of my view as I advance, which tells me I am nearly level with the wall it hangs on. One more forward step should put me close enough to that corner before I reorient toward the frame.", + "I am close to the far end of the room and the painting is now clipped at the very right edge of my view, with the door filling the space straight ahead. I will turn right to bring the framed painting back into the center of my view and set a heading toward it.", + "The turn worked and the painting is now fully in view on the wall to my right, above the small cabinet and desk. I will step forward to shorten the remaining distance to that wall.", + "I am now close to the wall, with the door filling most of my view and the painting pushed up toward the right corner. Turning right again should square me up with the painting so it sits centrally in front of me.", + "The framed painting is now roughly centered ahead on the wall above the low cabinet, so my heading is aligned with it. I will step forward to close the remaining gap, though the desk and chair on my right mean I should keep to the clear floor along the wall.", + "I am now close under the painting, and it is clipped at the top edge of my view while most of what I see is blank wall and the counter with the bowl. Tilting my gaze up should bring the whole framed picture into clear view for confirmation.", + "The framed painting is fully visible and centered directly in front of me at close range on the wall. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002146_y002338_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002146_y002338_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dd6b48e23738804bc640517085422f9fdba26c5d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002146_y002338_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the white door on the right side of the small dresser.", + "Type": 4, + "Start_Pose": [ + -2145.664, + 2337.899, + 168.15, + 0.0, + -53.215, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2145.664, + 2337.899, + 168.15, + 0.0, + -53.215, + 0.0 + ], + [ + -2145.664, + 2337.899, + 168.15, + 0.0, + -28.215, + 0.0 + ], + [ + -2041.106, + 2274.792, + 168.943, + 0.0, + -28.215, + 0.0 + ], + [ + -1930.201, + 2215.288, + 168.943, + 0.0, + -28.215, + 0.0 + ], + [ + -1819.297, + 2155.784, + 168.943, + 0.0, + -28.215, + 0.0 + ], + [ + -1819.297, + 2155.784, + 168.943, + 0.0, + -28.215, + 0.0 + ], + [ + -1819.297, + 2155.784, + 168.943, + 0.0, + -53.215, + 0.0 + ], + [ + -1747.557, + 2146.958, + 168.15, + 0.0, + -53.215, + 0.0 + ], + [ + -1747.557, + 2146.958, + 168.15, + 0.0, + -53.215, + 0.0 + ], + [ + -1747.557, + 2146.958, + 168.15, + 0.0, + -53.215, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here the small white dresser sits ahead against the wall, and the white door I need is the one just to its right along the hallway. I will turn right to swing my heading down that hallway so the target door and the floor in front of it come into a usable part of my view. This should give me a straight approach line instead of facing the corner wall.", + "The hallway is now open in front of me, with the dresser on my left and the white door set in the wall beyond it. The door is still far off, so I will move forward along the clear runner to close that distance. Nothing blocks the path ahead.", + "The dresser has slipped to my left edge and the white door is larger and slightly left of center, so I am on the right line but still too far to touch its handle. I will continue forward down the hallway to bring the handle within reach. The route stays unobstructed.", + "The white door now fills much of my left-forward view and I can make out its brass knob, but I am still a step short of comfortable interaction range. I will advance once more so the handle sits directly in front of me. The doorway to the lit room on my right keeps the passage clear.", + "I am now standing close against the white door beside the dresser wall, with its knob and lever handle plainly in view. Since this matches the door named in my task, I will try to open it from here. If my position is slightly off center from the handle, the attempt may not take hold.", + "My interaction attempt just now left the white door still shut, and I can see why: the door fills only the left part of my view while the doorway into the lit room sits ahead on my right, so I am angled past the panel rather than squarely at it. I will turn left to bring the door face and its handle into the center of my view. That should give me a proper heading for another try at the latch.", + "Now the white door panel fills my view with its handle and deadbolt visible on the right side of the door, so my heading is finally square to it. My earlier attempt from farther back did not move the door at all, which suggests I was not close enough to reach the latch. I will step forward to close that gap and bring the handle within reach.", + "The brass lever handle and lock of the white door now fill the center of my view at close range, so the latch should be within reach from here. My earlier attempt from a skewed, more distant pose left the door shut, but this alignment looks much better. I will try opening the door again.", + "The white door now stands open, revealing the tiled bathroom with tub and vanity beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002151_y-001580_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002151_y-001580_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a8db5f93a728c158a46bc2c215092d9062e6ad48 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002151_y-001580_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Cross the bedroom to the white door between the two framed pictures and open it.", + "Type": 4, + "Start_Pose": [ + -2150.59, + -1580.376, + 168.15, + 0.0, + -79.585, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2150.59, + -1580.376, + 168.15, + 0.0, + -79.585, + 0.0 + ], + [ + -2122.588, + -1700.306, + 168.15, + 0.0, + -79.585, + 0.0 + ], + [ + -2099.835, + -1824.092, + 168.15, + 0.0, + -79.585, + 0.0 + ], + [ + -2081.848, + -1947.852, + 168.15, + 0.0, + -79.585, + 0.0 + ], + [ + -2081.848, + -1947.852, + 168.15, + 0.0, + -104.585, + 0.0 + ], + [ + -2113.106, + -2048.238, + 168.15, + 0.0, + -104.585, + 0.0 + ], + [ + -2113.106, + -2048.238, + 168.15, + 0.0, + -104.585, + 0.0 + ], + [ + -2113.106, + -2048.238, + 168.15, + 0.0, + -104.585, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this side of the bedroom I can see the white panel door on the far wall, flanked by the two framed pictures that match the task description. The floor between the bed and the wardrobes is clear, so I will move forward to close the distance toward that door.", + "The door with its pictures on either side now fills more of my view, confirming I am heading the right way. The path ahead is still open floor, so I will continue forward to get within reach of the handle.", + "The doorway is close now and I can pick out the brass handle and lock plate on its left side. I am still too far to operate the handle, so another forward step should bring me right up to the door.", + "Standing this close, the door has drifted to the left edge of my view while the wall and picture on the right dominate, so I am not squarely facing the panel. I will turn left to bring the door and its handle back to the center of my view before reaching for it.", + "The door is now centered ahead with the handle clearly in front of me, and the framed picture sits on the wall to my left. A short step forward should place me within arm's reach of that handle for the opening attempt.", + "I am directly against the door with the lever handle and lock filling my view, so the latch is well within reach. I will try to operate the handle now, which should release the latch and swing the door open.", + "The door now stands open, revealing the space and wall beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002181_y000020_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002181_y000020_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bc6ead116729a7c9975bc36ccd079dc4b788855e --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002181_y000020_z000098_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the right end of the white fence.", + "Type": 2, + "Start_Pose": [ + -2180.687, + 20.056, + 98.15, + -0.301, + -91.739, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2180.687, + 20.056, + 98.15, + -0.301, + -91.739, + -0.0 + ], + [ + -2184.506, + -105.743, + 98.15, + -0.301, + -91.739, + -0.0 + ], + [ + -2184.506, + -105.743, + 98.15, + -0.301, + -66.739, + -0.0 + ], + [ + -2134.803, + -221.37, + 98.15, + -0.301, + -66.739, + -0.0 + ], + [ + -2085.099, + -336.997, + 98.15, + -0.301, + -66.739, + -0.0 + ], + [ + -2035.396, + -452.624, + 98.15, + -0.301, + -66.739, + -0.0 + ], + [ + -1985.692, + -568.251, + 107.293, + -0.301, + -66.739, + -0.0 + ], + [ + -1935.989, + -683.878, + 120.736, + -0.301, + -66.739, + -0.0 + ], + [ + -1886.285, + -799.505, + 118.727, + -0.301, + -66.739, + -0.0 + ], + [ + -1836.581, + -915.132, + 113.294, + -0.301, + -66.739, + -0.0 + ], + [ + -1786.878, + -1030.759, + 113.294, + -0.301, + -66.739, + -0.0 + ], + [ + -1727.803, + -1135.045, + 113.214, + -0.301, + -66.739, + -0.0 + ], + [ + -1727.803, + -1135.045, + 113.214, + -0.301, + -66.739, + -0.0 + ] + ], + "Rationale": [ + "From across the street I can see the whole white picket fence spanning the front yard, and its right end is the corner post where the fence stops and the tall hedge takes over. I will walk forward off the road toward the yard to close that gap.", + "I am now near the curb, but I am facing the middle of the fence rather than the post where it meets the hedge, which sits off to my right. A small turn to the right should line my heading up with the walkway leading toward that end of the fence.", + "My heading now runs down the length of the fence, with the point where the pickets give way to the hedge ahead of me and the parked car off to the right of the driveway. I will step forward along this line to close on that fence end.", + "The pickets are noticeably nearer and the spot where they end against the hedge is still ahead of me, so my heading remains good. I keep walking forward without adjusting direction.", + "The fence has swung further to my left as I advance, while the junction with the hedge stays comfortably ahead in view. Another step forward should bring me closer to that end of the fence.", + "I am walking beside the fence now, with grass and a low shrub bordering the path but nothing blocking it. The place where the pickets stop and the hedge starts is still short of me, so I continue forward.", + "The fence is close on my left and the hedge that meets it now fills much of the view ahead, meaning I am nearly level with the end of the pickets. I step forward again to reach that corner.", + "The pickets end just ahead at a squared post where the hedge begins, and I am a few paces short of it. I will keep advancing along the walk to draw level with that post.", + "The last few pickets and the capped post that terminates them sit just off my left shoulder, with the hedge running on past. A short step forward should bring me level with that terminating post rather than leaving me alongside the middle boards.", + "The capped post is now large in my left view and the pickets past it fall away behind me, so I am nearly abreast of where the fence stops. The paved strip ahead is clear, so I advance a little more to stand at that post.", + "The post at the fence's end is close on my left and the ivy-topped hedge fills the right side, meaning only a pace or so separates me from it. I take one more short step to close that remaining gap.", + "The squared end post of the picket fence stands right beside me. I have reached the fence's right end, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002325_y-000491_z000120_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002325_y-000491_z000120_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6c081552ae0c391e7f50fcf88d016c44427287e7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002325_y-000491_z000120_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the point where the white picket fence meets the hedge.", + "Type": 0, + "Start_Pose": [ + -2324.826, + -490.743, + 119.831, + -0.051, + -27.206, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2324.826, + -490.743, + 119.831, + -0.051, + -27.206, + 0.0 + ], + [ + -2212.891, + -548.285, + 120.892, + -0.051, + -27.206, + -0.0 + ], + [ + -2100.956, + -605.826, + 121.954, + -0.051, + -27.206, + -0.0 + ], + [ + -1989.021, + -663.368, + 122.987, + -0.051, + -27.206, + -0.0 + ], + [ + -1989.021, + -663.368, + 122.987, + -0.051, + -52.206, + -0.0 + ], + [ + -1911.892, + -762.824, + 120.254, + -0.051, + -52.206, + -0.0 + ], + [ + -1834.762, + -862.28, + 116.348, + -0.051, + -52.206, + -0.0 + ], + [ + -1757.633, + -961.736, + 113.245, + -0.051, + -52.206, + -0.0 + ], + [ + -1680.503, + -1061.192, + 113.245, + -0.051, + -52.206, + -0.0 + ], + [ + -1680.503, + -1061.192, + 113.245, + -0.051, + -77.206, + -0.0 + ], + [ + -1680.503, + -1061.192, + 113.245, + -0.051, + -102.206, + 0.0 + ], + [ + -1692.733, + -1167.402, + 113.215, + -0.051, + -102.206, + 0.0 + ], + [ + -1692.733, + -1167.402, + 113.215, + -0.051, + -102.206, + 0.0 + ] + ], + "Rationale": [ + "From the sidewalk I can see the white picket fence running along the yard on my left and a tall hedge continuing along the same property line further ahead, so the junction I need is down this walkway. I will move forward along the paved sidewalk to close that distance and get a clearer view of where the pickets end and the hedge begins.", + "The picket fence and the hedge behind it have both grown larger in view, confirming they belong to the same continuous boundary I am following. The sidewalk ahead remains open, so I will keep moving forward toward the point where the two meet.", + "The hedge now dominates the left-hand property line and the picket fence extends toward me at the near end, but the transition between them is still off to my left front. Another step forward should bring me alongside that stretch of boundary before I adjust my heading.", + "My heading is drifting along the street while the fence and hedge boundary lies to my left, with the parked car and roadway taking the center of my view. I will turn left to put the sidewalk and the fence-to-hedge line squarely in front of me so I can walk straight at the target.", + "After turning, the sidewalk with the picket fence on the left and the hedge running beside it is now directly ahead of me. I will move forward along this walkway to close in on the seam where the pickets give way to the hedge.", + "The fence pickets on my left and the hedge beyond them are noticeably closer, and the boundary line still continues past my current position. I will step forward again to reach the section where the fence terminates against the hedge.", + "I am now walking right beside the fence, and the hedge fills the boundary just ahead of the last pickets, so the meeting point is only a short distance further. I will continue forward to bring myself level with that junction.", + "The hedge now spans most of my forward view and the picket fence ends against it just to my left, which is the point named in the task. One more step forward should place me right at that fence and hedge junction before I turn to face it.", + "The clipped hedge fills most of my view straight ahead, and only the tops of the white pickets appear far to my left, so the junction of fence and hedge lies off my current heading. I will turn left to bring that fence line and its end against the hedge into the center of my view.", + "Turning has already brought the picket fence into the lower left of my view with the hedge continuing to the right, but the point where the two actually meet still sits left of my center. Another left turn should place that fence-to-hedge junction squarely ahead before I close the last distance.", + "The white picket fence now runs across my view on the left and ends at a squared post right where the hedge begins, so my heading is on the meeting point. I will move forward to close the remaining gap and stand at that junction.", + "The white fence post stands directly before me with the hedge foliage pressing against it. The task is complete, so I stop here at that meeting point." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002421_y-002167_z000169_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002421_y-002167_z000169_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1ab81f5685f32df6546e41bafece5de5aaaa93c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002421_y-002167_z000169_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the door on the right.", + "Type": 2, + "Start_Pose": [ + -2420.922, + -2167.172, + 168.793, + -0.051, + 157.082, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2420.922, + -2167.172, + 168.793, + -0.051, + 157.082, + -0.0 + ], + [ + -2536.846, + -2118.161, + 168.214, + -0.051, + 157.082, + -0.0 + ], + [ + -2646.597, + -2068.985, + 168.15, + -0.051, + 157.082, + -0.0 + ], + [ + -2735.63, + -2010.675, + 168.15, + -0.051, + 157.082, + -0.0 + ], + [ + -2851.554, + -1961.664, + 168.15, + -0.051, + 157.082, + -0.0 + ], + [ + -2851.554, + -1961.664, + 168.15, + -0.051, + -177.918, + -0.0 + ], + [ + -2902.95, + -1965.594, + 168.15, + -0.051, + -177.918, + -0.0 + ], + [ + -2902.95, + -1965.594, + 168.15, + -0.051, + -177.918, + -0.0 + ] + ], + "Rationale": [ + "Two pale panel doors face me across this room, and the one on the right, standing next to the framed landscape print and the desk with the chair, is where I am headed. Nothing blocks the open wooden floor between us, so I walk forward toward it.", + "The door beside the framed print has grown larger ahead of me and its brass knob is now clearly visible. The floor in front stays clear, so I keep walking straight toward it.", + "The door I am heading for now dominates the view, with its frame and lever handle plainly readable and the other door slipping to the edge behind me. I am still several paces short of it, so I continue advancing.", + "The panelled door and its brass lever fill the view directly ahead, but there is still a short stretch of floor before I stand at it. I step forward again to close that remaining gap.", + "I am close enough that only the door's left jamb and the adjoining wall fill my view, so my heading is skewed off the leaf itself. I turn right to bring the door panel and its handle back to the center of my view.", + "The turn worked: the door leaf with its lever and knob now sits squarely in front of me. A short step forward should place me right at the door.", + "The panelled face of the right-hand door fills my view at arm's length, with its handle just off my shoulder. I have arrived, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002424_y-000050_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002424_y-000050_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c589dc202095cc1f8461f3e8033da365e15c1e89 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002424_y-000050_z000098_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Navigate to the mailbox first, and then proceed to the red doorway.", + "Type": 3, + "Start_Pose": [ + -2424.055, + -49.54, + 98.15, + -0.301, + -120.316, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2424.055, + -49.54, + 98.15, + -0.301, + -120.316, + 0.0 + ], + [ + -2487.584, + -158.187, + 98.15, + -0.301, + -120.316, + -0.0 + ], + [ + -2551.113, + -266.834, + 98.15, + -0.301, + -120.316, + -0.0 + ], + [ + -2614.641, + -375.48, + 98.625, + -0.301, + -120.316, + -0.0 + ], + [ + -2614.641, + -375.48, + 98.625, + -0.301, + -120.316, + -0.0 + ], + [ + -2614.641, + -375.48, + 98.625, + -0.301, + -95.316, + -0.0 + ], + [ + -2614.641, + -375.48, + 98.625, + -0.301, + -70.316, + 0.0 + ], + [ + -2572.249, + -493.983, + 119.61, + -0.301, + -70.316, + 0.0 + ], + [ + -2529.856, + -612.486, + 113.898, + -0.301, + -70.316, + 0.0 + ], + [ + -2529.856, + -612.486, + 113.898, + -0.301, + -95.316, + 0.0 + ], + [ + -2541.516, + -737.802, + 113.898, + -0.301, + -95.316, + 0.0 + ], + [ + -2553.177, + -863.118, + 121.059, + -0.301, + -95.316, + 0.0 + ], + [ + -2564.837, + -988.434, + 129.338, + -0.301, + -95.316, + 0.0 + ], + [ + -2564.837, + -988.434, + 129.338, + -0.301, + -70.316, + 0.0 + ], + [ + -2522.444, + -1106.936, + 137.167, + -0.301, + -70.316, + 0.0 + ], + [ + -2480.052, + -1225.439, + 144.995, + -0.301, + -70.316, + 0.0 + ], + [ + -2480.052, + -1225.439, + 144.995, + -0.301, + -95.316, + 0.0 + ], + [ + -2500.168, + -1342.474, + 164.47, + -0.301, + -95.316, + 0.0 + ], + [ + -2511.668, + -1451.69, + 165.149, + -0.301, + -95.316, + 0.0 + ], + [ + -2511.668, + -1451.69, + 165.149, + -0.301, + -95.316, + 0.0 + ] + ], + "Rationale": [ + "From the street I can see the white mailbox on its wooden post standing at the edge of the lawn ahead, with the red front door of the house beyond it. Nothing blocks the ground between me and that post, so I will walk forward to close the distance on the mailbox.", + "The mailbox has grown noticeably larger and now sits just left of my heading, so my line of travel is good. I am still several paces short of it, so I will keep walking forward.", + "The mailbox now fills a good part of my view with the U.S. MAIL lettering readable and its red flag raised. I am not yet standing beside it, so another step forward should bring me right up to the post.", + "The mailbox fills my view from arm's length, its lettering and raised flag right in front of me. I have arrived at the mailbox. I mark reaching it before setting off toward the red door on the porch across the lawn.", + "Standing at the mailbox, the post and box crowd the middle of my view while the red door sits off to the right along the house front. I will turn right to swing my heading away from the mailbox and toward that doorway.", + "The mailbox has slid to the left edge and the red door with its walkway is now visible ahead, though still left of true center of my heading and partly framed by the hedge. Another right turn should clear the post from my path and put the walkway squarely in front of me.", + "The porch and the red door are now clear in front of me with the paved walk running up to them and no post in the way. I will step forward to begin closing the distance across the yard toward that door.", + "The house front has grown larger and the red door sits ahead on my left with the white picket fence to the right of the walk. The path stays open, so I will keep walking forward toward the door.", + "The red front door sits well to the left of my current heading, while the picket fence and driveway fill the right of my view. I will turn left to swing the doorway and the walkway feeding it onto my centerline before I close any more distance.", + "The red door now sits squarely ahead at the end of the concrete walkway, with the lawn open in front of me. I will step forward along that line to cut down the remaining distance to the porch.", + "The doorway has grown larger and stays centered above the walkway, with flowering shrubs set back on either side of the paving. Nothing blocks the strip of concrete ahead, so I will keep walking straight toward it.", + "The porch roof and railings now fill the upper part of my view, and the red door with its glass panes stands just beyond the last stretch of walkway. Another step forward should bring me right up to the porch decking.", + "I am at the foot of the porch, but my line up the walkway meets the decking slightly off from the doorway rather than straight in front of it. I will turn right to shift my approach along the porch so I can come at the red door squarely.", + "With this heading the red door sits to my left and the open porch boards run ahead of me past the railing. I will step forward onto the decking to bring myself level with the doorway.", + "The door has slid further toward my left edge as I move along the porch front, and the boards ahead of me remain clear between the posts. One more step should place me in front of the doorway rather than short of it.", + "The red door is now off at my left shoulder while I face down the length of the porch. I will turn left to put the doorway back in front of me before covering the last short distance.", + "The red door now sits squarely ahead of me across the open porch boards, with the railing well clear to my right. Nothing blocks the straight run to it, so I will step forward to close the remaining distance.", + "The red door and its brass knob now fill most of my view, so only a short gap remains. I will take one more step forward to stand right at it.", + "The red door's panel and brass knob are directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002443_y-002139_z000169_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002443_y-002139_z000169_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3bcc7f382c353e852b23ac4064ba07176446f91b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002443_y-002139_z000169_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Follow the striped runner to the red grid-window door at the far left and open it.", + "Type": 4, + "Start_Pose": [ + -2443.183, + -2138.829, + 168.793, + 0.0, + 131.333, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2443.183, + -2138.829, + 168.793, + 0.0, + 131.333, + 0.0 + ], + [ + -2526.305, + -2044.324, + 168.661, + 0.0, + 131.333, + -0.0 + ], + [ + -2526.305, + -2044.324, + 168.661, + 0.0, + 106.333, + -0.0 + ], + [ + -2561.699, + -1923.544, + 168.661, + 0.0, + 106.333, + -0.0 + ], + [ + -2596.837, + -1802.764, + 168.788, + 0.0, + 106.333, + -0.0 + ], + [ + -2596.837, + -1802.764, + 168.788, + 0.0, + 81.333, + -0.0 + ], + [ + -2572.042, + -1683.322, + 168.793, + 0.0, + 81.333, + -0.0 + ], + [ + -2553.076, + -1558.9, + 168.15, + 0.0, + 81.333, + -0.0 + ], + [ + -2553.076, + -1558.9, + 168.15, + 0.0, + 81.333, + -0.0 + ], + [ + -2553.076, + -1558.9, + 168.15, + 0.0, + 81.333, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The red door with the grid window is visible at the far left of this room, and the striped runner on the floor points straight toward it. I will step forward to close some of that distance before turning down the runner's line.", + "Moving up has brought me closer, but the red door is now clipped at the left edge of my view while a plain white door faces me ahead. I will turn left so the runner and the red target door come into the center of my view.", + "The turn has lined me up with the striped runner, and the red grid-window door now sits at the end of this short hallway. With a clear floor between us, I will move forward along the runner toward it.", + "The red door has grown noticeably larger and the runner still leads straight to it with nothing blocking the path. I will take another step forward to keep closing on the doorway.", + "As I advanced, the red door drifted to the left side of my view while a blank wall now fills the right half. I will turn left to bring the door back to the center so my approach stays square to it.", + "The red door with its nine-pane window is centered ahead of me now, with the runner ending just before it. I will move forward along that line to get within reach of the door.", + "The door now fills most of my view and its brass knob is visible at the left of the frame, but I am still a step short of comfortable reach. I will move forward once more to stand right at the door before trying the handle.", + "I am pressed right up to the red door, with its grid window and red panel filling my view, so I am clearly within interaction range. I will attempt to open it, which should release the latch and swing the door.", + "The red grid-window door now stands open, showing the porch and yard ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002477_y001461_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002477_y001461_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..87f8093bde031d94118fc112530ce774508dd712 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002477_y001461_z000168_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white door set into the brick garage wall between the storage racks.", + "Type": 4, + "Start_Pose": [ + -2476.671, + 1460.755, + 168.15, + 0.0, + 48.336, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2476.671, + 1460.755, + 168.15, + 0.0, + 48.336, + -0.0 + ], + [ + -2393.005, + 1554.779, + 168.15, + 0.0, + 48.336, + -0.0 + ], + [ + -2309.339, + 1648.802, + 168.15, + 0.0, + 48.336, + -0.0 + ], + [ + -2225.672, + 1742.826, + 168.15, + 0.0, + 48.336, + -0.0 + ], + [ + -2142.006, + 1836.85, + 168.15, + 0.0, + 48.336, + -0.0 + ], + [ + -2059.828, + 1852.959, + 168.15, + 0.0, + 48.336, + -0.0 + ], + [ + -2059.828, + 1852.959, + 168.15, + 0.0, + 48.336, + -0.0 + ], + [ + -2059.828, + 1852.959, + 168.15, + 0.0, + 48.336, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the middle of the garage I can already see the white door set into the block wall ahead, flanked by the storage rack and workbench on the left and the tall rack on the right. It is far too distant to reach the handle, so I will move straight forward along my current heading to close that gap.", + "The door is noticeably larger in view now and still sits slightly right of my center line, but my heading carries me toward it without needing a turn. I will continue forward to keep closing distance across the open concrete floor.", + "The white door now fills a good part of my view and its brass handle is visible on the right side of the panel. I am still a couple of paces short of contact range, so I will keep advancing straight at it.", + "I am close enough that the door and its lever handle dominate my view, with the brick wall edge to my right. One more short step forward should place me within arm's reach of the handle for the opening attempt.", + "The handle is now right in front of me and the panel almost touches my viewpoint, so only a small final adjustment is needed. I will take a short step forward to settle firmly into interaction range with the door.", + "I am pressed up against the white door panel with the frame and brick jamb directly beside me, and it is still shut. This is the right position to reach the latch, so I will attempt to open the door now.", + "The white door now stands swung open, revealing the lit room and floor beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002556_y-001875_z000169_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002556_y-001875_z000169_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..066704f89ecf4f7df06e56e2ba7cb3e6327bbed4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002556_y-001875_z000169_t3_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "First, go to the office chair by the desk. Then, go to the tall cabinet near the wall.", + "Type": 3, + "Start_Pose": [ + -2556.199, + -1874.524, + 168.793, + -0.051, + -107.92, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2556.199, + -1874.524, + 168.793, + -0.051, + -107.92, + 0.0 + ], + [ + -2556.199, + -1874.524, + 168.793, + -0.051, + -132.92, + -0.0 + ], + [ + -2641.906, + -1966.691, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2729.246, + -2039.939, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2793.748, + -2103.379, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2793.748, + -2103.379, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2730.825, + -2035.714, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2667.903, + -1968.049, + 168.15, + -0.051, + -132.92, + -0.0 + ], + [ + -2667.903, + -1968.049, + 168.15, + -0.051, + -107.92, + -0.0 + ], + [ + -2667.903, + -1968.049, + 168.15, + -0.051, + -82.92, + -0.0 + ], + [ + -2667.903, + -1968.049, + 168.15, + -0.051, + -57.92, + -0.0 + ], + [ + -2601.059, + -2074.69, + 168.15, + -0.051, + -57.92, + -0.0 + ], + [ + -2534.215, + -2180.101, + 168.793, + -0.051, + -57.92, + -0.0 + ], + [ + -2534.215, + -2180.101, + 168.793, + -0.051, + -57.92, + -0.0 + ] + ], + "Rationale": [ + "From here the dark office chair tucked under the desk sits well to the left of my heading, while the tall cabinet stands off to the right against the far wall. Since the chair is the place I need to reach first, I will turn left to bring it toward the center of my view before walking.", + "The desk corner with its high-backed chair is now roughly ahead of me on the left, with open floor between us. I will walk forward to close that distance toward the chair.", + "The chair and its desk fill more of my view now and lie almost straight ahead, so my heading still leads to them. Several steps of floor remain, so I will keep walking forward.", + "The chair back and the desk hutch now dominate my view, yet I am still a stride short of standing beside it. I will step forward once more to come right up to the chair.", + "The padded chair back is directly in front of me with the desk top and its shelves within arm's reach. I have arrived at the office chair by the desk. I mark reaching it, then set off for the tall cabinet standing against the far wall.", + "I am pressed close against the chair and the desk corner, with walls tight on both sides and no room to swing around here. Backing up should open the floor behind me so I can turn toward the tall cabinet on the far side of the room.", + "The chair and desk have receded a little, but I am still inside the narrow desk alcove with the side cabinet close by. Another step back should put me in the open floor where I can turn freely toward the tall cabinet.", + "I now have open floor around me, with the desk and chair squarely ahead and the low partition wall on my right marking the way back into the wider room. The tall cabinet stands beyond that side, so I will turn right to bring it into view.", + "The tall cabinet with its paneled doors and stack of drawers is only clipped at the right edge of my view, while the desk and chair still dominate the left. I will turn right again to swing that cabinet toward the center of my heading before walking to it.", + "The tall cabinet now stands clearly in view, but it sits right of center with the console table and plant blocking the straight line ahead of me. One more turn right should put the cabinet squarely in front so I can walk toward it across the striped rug.", + "The tall cabinet against the wall is now centered in my view with clear floor and rug between us. I will walk forward to close that distance.", + "The cabinet's doors and drawer fronts now fill the left half of my view, so I am close but still a short stretch of rug away from standing at it. I will step forward once more to finish closing that gap.", + "The tall cabinet's paneled door and drawer front fill my view at arm's length. I am standing at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002583_y-000930_z000126_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002583_y-000930_z000126_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..399e37b00747682eff360d4f38bd4dc03644031a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002583_y-000930_z000126_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the area and go to the mailbox.", + "Type": 1, + "Start_Pose": [ + -2583.223, + -930.147, + 125.648, + -0.15, + -57.011, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2583.223, + -930.147, + 125.648, + -0.15, + -57.011, + 0.0 + ], + [ + -2583.223, + -930.147, + 125.648, + -0.15, + -32.011, + -0.0 + ], + [ + -2583.223, + -930.147, + 125.648, + -0.15, + -7.011, + -0.0 + ], + [ + -2583.223, + -930.147, + 125.648, + -0.15, + 17.989, + 0.0 + ], + [ + -2583.223, + -930.147, + 125.648, + -0.15, + 42.989, + 0.0 + ], + [ + -2583.223, + -930.147, + 125.648, + -0.15, + 67.989, + 0.0 + ], + [ + -2583.223, + -930.147, + 125.648, + -0.15, + 92.989, + 0.0 + ], + [ + -2589.786, + -804.46, + 117.345, + -0.15, + 92.989, + 0.0 + ], + [ + -2596.348, + -678.772, + 113.949, + -0.15, + 92.989, + 0.0 + ], + [ + -2596.348, + -678.772, + 113.949, + -0.15, + 117.989, + -0.0 + ], + [ + -2655.414, + -567.634, + 117.537, + -0.15, + 117.989, + -0.0 + ], + [ + -2655.414, + -567.634, + 117.537, + -0.15, + 117.989, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see the front porch, the red door, and the shrubs along the house wall, with no mailbox anywhere in view. Since mailboxes usually sit out near the street rather than against the facade, I will turn right to begin a steady scan away from the house.", + "The view now runs along the side of the house toward a white picket fence and trees, and I can just make out a street with parked cars beyond it, but no mailbox yet. Continuing the same rightward scan should open up more of that street frontage where a mailbox is most likely to stand.", + "More of the roadway and the neighboring houses are visible now behind the picket fence, yet nothing along this stretch resembles a mailbox. I will keep rotating right in the same direction to sweep the remaining street frontage rather than stop on an empty stretch of fence.", + "Ahead I see the road, the sidewalk, and houses across the street, but the near curb in this part of the view holds only fence posts and grass. Maintaining the same rightward scan should bring the sidewalk edge on my right side into view, which is a plausible spot for a mailbox.", + "The scan has now reached the open street with a driveway and garage across the way, and the sidewalk running along my side continues off to the right. I will turn right once more to cover that remaining curbside strip where a mailbox would typically be planted.", + "A mailbox on a wooden post has come into view near the right edge of my sight, standing in the grass beside the sidewalk at the curb. I will turn right to bring that post toward the center of my heading so I can walk straight at it.", + "The mailbox post now sits ahead of me, slightly right of center, on the grass between the sidewalk and the road. The paved walkway in front of me is clear, so I will step forward to close the distance to it.", + "The mailbox has grown noticeably larger and is clearly on its post ahead to my right, so my previous step closed distance correctly. The walkway continues to be clear, so I will keep walking forward to get within reach of it.", + "The mailbox on its wooden post now stands clearly on the right edge of my view, close to the sidewalk beside me. Since it sits off to my right rather than straight ahead, I will turn right to bring it into the center of my heading before closing the last bit of distance.", + "The mailbox is now roughly centered in front of me with clear sidewalk and grass between us, and no fence or obstacle in the way. I will step forward to close the remaining gap so I am standing right at the post.", + "The mailbox and its post fill the foreground directly in front of me at arm's length. The task goal is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002598_y-001565_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002598_y-001565_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..99b9de63e78826bd77d819c5000e800086595192 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002598_y-001565_z000168_t2_a/infos.json @@ -0,0 +1,56 @@ +{ + "Instruction": "Go to the closet on your right.", + "Type": 2, + "Start_Pose": [ + -2597.968, + -1565.315, + 168.15, + -0.051, + -50.766, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2597.968, + -1565.315, + 168.15, + -0.051, + -50.766, + -0.0 + ], + [ + -2518.364, + -1662.801, + 168.793, + -0.051, + -50.766, + -0.0 + ], + [ + -2465.034, + -1747.397, + 168.714, + -0.051, + -50.766, + -0.0 + ], + [ + -2465.034, + -1747.397, + 168.714, + -0.051, + -50.766, + -0.0 + ] + ], + "Rationale": [ + "Two storage pieces are in sight: a chest of drawers off in the room to my left, and a tall white closet standing against the wall on my right side of the passage. That right-hand closet is my target, so I walk straight ahead to close the gap.", + "The white closet now fills much of my view, its door and handle only a short distance ahead beside the corner wall. I step forward again to come right up to its front.", + "The closet's panel fills my view at arm's length, leaving no gap between me and it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002892_y-001868_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002892_y-001868_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c9419e9e258758848d5e38f7d4bfb943ad630d2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002892_y-001868_z000168_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the cabinet on the right.", + "Type": 2, + "Start_Pose": [ + -2891.664, + -1867.951, + 168.15, + -0.051, + -32.787, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2891.664, + -1867.951, + 168.15, + -0.051, + -32.787, + 0.0 + ], + [ + -2785.856, + -1936.106, + 168.15, + -0.051, + -32.787, + -0.0 + ], + [ + -2785.856, + -1936.106, + 168.15, + -0.051, + -7.787, + -0.0 + ], + [ + -2661.157, + -1953.159, + 168.15, + -0.051, + -7.787, + -0.0 + ], + [ + -2661.157, + -1953.159, + 168.15, + -0.051, + 17.213, + 0.0 + ], + [ + -2540.936, + -1915.914, + 168.793, + -0.051, + 17.213, + 0.0 + ], + [ + -2540.936, + -1915.914, + 168.793, + -0.051, + 17.213, + 0.0 + ] + ], + "Rationale": [ + "Two cabinets are in view: a drawer chest against the left wall and a tall white double door cabinet recessed into the right wall, which is my target. It sits well ahead of me down the room, so I will walk forward to close the open floor between us before turning toward it.", + "After advancing, the tall double door cabinet sits off to my right edge while my heading still points down the corridor past the drawer chest. I will turn right to bring that cabinet into the center of my view so I can walk straight at it.", + "The tall white double door cabinet now stands near the middle of my view, framed between the wall pillars. It is still several steps away across the striped rug, so I will walk forward to close that distance.", + "The cabinet has grown much larger but has drifted toward the right side of my view as I approached, so walking straight now would carry me past its face. I will turn right to square up with the paneled doors before stepping closer.", + "The tall double door cabinet fills the left of my view and I am now facing its panels almost head on. A short walk forward should bring me right up against it, close enough to count as standing at it.", + "The cabinet's paneled doors and both knobs fill my view at arm's length. I have reached it, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002904_y-000896_z000123_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002904_y-000896_z000123_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5036ae80953dcb6cbd1369dddc510776fa11f4d8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002904_y-000896_z000123_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Cross the front lawn to the red door on the porch and open it.", + "Type": 4, + "Start_Pose": [ + -2903.797, + -895.811, + 123.38, + 0.0, + -43.522, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2903.797, + -895.811, + 123.38, + 0.0, + -43.522, + 0.0 + ], + [ + -2812.535, + -982.482, + 129.106, + 0.0, + -43.522, + 0.0 + ], + [ + -2721.274, + -1069.152, + 134.832, + 0.0, + -43.522, + 0.0 + ], + [ + -2630.012, + -1155.823, + 140.557, + 0.0, + -43.522, + 0.0 + ], + [ + -2630.012, + -1155.823, + 140.557, + 0.0, + -68.522, + 0.0 + ], + [ + -2583.93, + -1272.942, + 148.132, + 0.0, + -68.522, + 0.0 + ], + [ + -2537.847, + -1390.061, + 165.064, + 0.0, + -68.522, + 0.0 + ], + [ + -2537.847, + -1390.061, + 165.064, + 0.0, + -93.522, + 0.0 + ], + [ + -2544.62, + -1452.109, + 165.15, + 0.0, + -93.522, + 0.0 + ], + [ + -2544.62, + -1452.109, + 165.15, + 0.0, + -93.522, + 0.0 + ], + [ + -2544.62, + -1452.109, + 165.15, + 0.0, + -93.522, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The red door sits on the porch ahead and to my left, well beyond the open grass in front of me. I will move forward across the lawn to close that distance before worrying about final alignment.", + "The red door has grown larger in view, so my heading is still carrying me usefully toward the porch. I will continue forward, since the grass and paved walk ahead look clear of blocking objects.", + "The porch decking and steps are now clearly in front of me with the red door just off to my left. Another forward step should bring me close enough that only a small heading correction remains.", + "I am close to the porch, but the door has slid to the far left edge of my view and I am facing along the house wall instead of at it. Turning left should swing the red door toward the center of my view so I can advance straight at it.", + "The red door now sits near the middle of my view with clear porch decking between us. I will step forward onto the porch to get within reach of the handle.", + "The door face and its brass knob are close and slightly left, and the boards ahead are still clear. One more forward step should place me at arm's length from the latch.", + "At this range the door has drifted to my left and half my view is taken up by the siding to its right, so I am not squared to the latch. Turning left should bring the door and its knob back to the center for a clean interaction.", + "The red door is now centered squarely in front of me with the knob clearly visible on its right side. A short forward step should close the last gap so the latch is within reach.", + "The red door's glazed panel and white muntins now fill my view with its frame squarely centered, so I am directly in front of it and within arm's reach. Having just closed the last bit of distance to the latch side, this is the right moment to act on the target rather than reposition again. I will reach for the handle and attempt to open the door, which should swing it inward.", + "The red door now stands open with the interior hallway visible ahead. The task goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-002957_y-000524_z000110_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002957_y-000524_z000110_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c25ee03ee3bb590ee7a39b7c2fcbc2186eb5f771 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-002957_y-000524_z000110_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the small bush located near the stop sign.", + "Type": 0, + "Start_Pose": [ + -2956.784, + -524.379, + 109.819, + -0.301, + -141.028, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2956.784, + -524.379, + 109.819, + -0.301, + -141.028, + 0.0 + ], + [ + -2956.784, + -524.379, + 109.819, + -0.301, + -166.028, + 0.0 + ], + [ + -3078.918, + -554.767, + 111.616, + -0.301, + -166.028, + 0.0 + ], + [ + -3201.051, + -585.155, + 114.219, + -0.301, + -166.028, + 0.0 + ], + [ + -3323.185, + -615.543, + 114.647, + -0.301, + -166.028, + 0.0 + ], + [ + -3323.185, + -615.543, + 114.647, + -0.301, + 168.972, + 0.0 + ], + [ + -3446.718, + -591.468, + 114.947, + -0.301, + 168.972, + 0.0 + ], + [ + -3446.718, + -591.468, + 114.947, + -0.301, + 168.972, + 0.0 + ] + ], + "Rationale": [ + "From this driveway I can spot the stop sign far off to my left, past the hedge and the parked red car, so my current heading points too far right of it. I will turn left to bring the stop sign and the low greenery around it into the center of my view before advancing.", + "The stop sign now sits ahead of me near the center, with a walkway leading toward it between the hedge on my right and the trash bin on my left. I will move forward along this open pavement to start closing the distance to the small bush beside that sign.", + "I can see the stop sign growing larger ahead of me, but I am still several steps short of the shrubs at its base. The pavement in front of me remains unobstructed, so I will continue forward to keep closing in.", + "The stop sign and the leafy bush at its foot are clearly resolved just ahead and slightly to my left, and the walkway between the hedge and the grass is still clear. I will take another step forward to reduce the remaining gap.", + "I am now close to the stop sign, but it has drifted to the left side of my view while the sidewalk carries me straight past it. I will turn left so the sign and the small bush growing beside it sit in front of me for the final approach.", + "With the stop sign now centered ahead of me and the leafy bush at its base just a short distance away, only a small gap remains. I will move forward one more step to bring myself right up beside that bush.", + "The small leafy bush fills the near foreground directly at the base of the stop sign in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003132_y-000254_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003132_y-000254_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9fdf42491684c0d0a5028d1b4a75408b01772bfd --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003132_y-000254_z000098_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Go to the end of the white picket fence closest to the brown garage door.", + "Type": 0, + "Start_Pose": [ + -3132.153, + -253.925, + 98.206, + -0.301, + 104.663, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3132.153, + -253.925, + 98.206, + -0.301, + 104.663, + 0.0 + ], + [ + -3132.153, + -253.925, + 98.206, + -0.301, + 79.663, + 0.0 + ], + [ + -3109.57, + -130.111, + 98.206, + -0.301, + 79.663, + 0.0 + ], + [ + -3086.986, + -6.296, + 98.206, + -0.301, + 79.663, + 0.0 + ], + [ + -3064.403, + 117.518, + 98.206, + -0.301, + 79.663, + 0.0 + ], + [ + -3064.403, + 117.518, + 98.206, + -0.301, + 54.663, + 0.0 + ], + [ + -2991.609, + 220.188, + 98.206, + -0.301, + 54.663, + 0.0 + ], + [ + -2918.815, + 322.858, + 98.206, + -0.301, + 54.663, + 0.0 + ], + [ + -2846.021, + 425.528, + 109.726, + -0.301, + 54.663, + 0.0 + ], + [ + -2846.021, + 425.528, + 109.726, + -0.301, + 79.663, + 0.0 + ], + [ + -2823.437, + 549.342, + 119.317, + -0.301, + 79.663, + 0.0 + ], + [ + -2800.854, + 673.157, + 113.804, + -0.301, + 79.663, + 0.0 + ], + [ + -2800.854, + 673.157, + 113.804, + -0.301, + 54.663, + 0.0 + ], + [ + -2800.854, + 673.157, + 113.804, + -0.301, + 54.663, + 0.0 + ] + ], + "Rationale": [ + "From the road I can see the long white picket fence running along the far side, and the brown garage door sits well to my left at the end of that run. My current heading points across the street rather than along it, so I will turn left to bring the garage and the fence line toward the center of my view. That should give me a clean heading for walking toward the fence end nearest the garage.", + "The house with the brown garage door and its picket fence are now roughly ahead of me, but still far across the street. I will step forward along the road to close that distance while keeping the fence line in view.", + "The pickets and the brown garage door look larger than before, so my heading is carrying me toward the right property. There is still a stretch of road and grass between me and the fence, so I will keep advancing.", + "The curb and the grass strip in front of the pickets are now clearly resolved low in my view, confirming steady progress toward the fence. I will take another step forward to get within a few paces of the fence line before adjusting my heading.", + "I am close to the fence line now, but the brown garage door and the driveway that marks the near end of the pickets sit off to my left while the fence trails away to my right. A left turn should point me toward that garage side of the fence rather than along the middle of the run. That keeps the intended end of the fence in the controllable center of my view as I continue.", + "With the turn done, the garage door and the driveway beside the fence are now near the center of my view, so my heading is good. I will move forward along the street to close on the section of fence nearest that garage.", + "The pickets and the driveway apron are noticeably nearer, and the garage front is filling more of my view. I am still not beside the fence, so I will continue forward to shorten the remaining gap.", + "I am nearly level with the driveway that meets the near end of the picket fence, with the brown garage door directly beyond it. One more step forward should bring me close enough to that fence end to make a final heading adjustment.", + "The brown garage door sits ahead of me and the white picket fence runs to my right, with its nearest terminating post beyond the driveway apron on that side. A utility pole also stands directly in my forward path, so I will turn right to bring the fence line and its end squarely ahead before advancing.", + "With the pole no longer blocking me, the picket fence and its end post nearest the brown garage door lie ahead across the paved apron. I will step forward to close the remaining distance toward that end of the fence.", + "The pickets now fill much more of my lower view and the flowering shrub beside the garage is clearly resolved, so I am close but not yet at the fence end. I will advance once more to reach the terminating section next to the driveway.", + "I am now right at the fence, whose final corner post stands just to my left where the pickets stop at the driveway. Turning left should place that terminating end and the brown garage door together in front of me for a clean stopping pose.", + "I stand at the terminating post of the white picket fence, directly beside the brown garage door and its driveway. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003191_y-000931_z000126_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003191_y-000931_z000126_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7177eb16e93eba76f68a6aaf840523b6097be61b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003191_y-000931_z000126_t4_a/infos.json @@ -0,0 +1,205 @@ +{ + "Instruction": "Pass the white garage door and open the red main entrance on the porch.", + "Type": 4, + "Start_Pose": [ + -3191.102, + -931.449, + 125.594, + -0.248, + -63.024, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3191.102, + -931.449, + 125.594, + -0.248, + -63.024, + -0.0 + ], + [ + -3191.102, + -931.449, + 125.594, + -0.248, + -38.024, + -0.0 + ], + [ + -3091.957, + -1008.976, + 130.716, + -0.248, + -38.024, + -0.0 + ], + [ + -2992.812, + -1086.504, + 135.838, + -0.248, + -38.024, + -0.0 + ], + [ + -2992.812, + -1086.504, + 135.838, + -0.248, + -13.024, + -0.0 + ], + [ + -2870.192, + -1114.867, + 137.711, + -0.248, + -13.024, + -0.0 + ], + [ + -2772.892, + -1156.356, + 140.379, + -0.248, + -13.024, + -0.0 + ], + [ + -2650.272, + -1184.72, + 142.253, + -0.248, + -13.024, + -0.0 + ], + [ + -2650.272, + -1184.72, + 142.253, + -0.248, + -38.024, + -0.0 + ], + [ + -2650.272, + -1184.72, + 142.253, + -0.248, + -63.024, + -0.0 + ], + [ + -2593.181, + -1296.884, + 148.266, + -0.248, + -63.024, + -0.0 + ], + [ + -2536.089, + -1409.048, + 165.034, + -0.248, + -63.024, + -0.0 + ], + [ + -2536.089, + -1409.048, + 165.034, + -0.248, + -88.024, + -0.0 + ], + [ + -2536.089, + -1409.048, + 165.034, + -0.248, + -88.024, + -0.0 + ], + [ + -2532.36, + -1451.874, + 165.149, + -0.248, + -88.024, + -0.0 + ], + [ + -2532.36, + -1451.874, + 165.149, + -0.248, + -88.024, + -0.0 + ], + [ + -2532.36, + -1451.874, + 165.149, + -0.248, + -88.024, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the driveway the white garage door fills the left side of my view, while the covered porch with the red entrance door sits further to my right along the front of the house. I will turn right so my heading moves off the garage and toward the porch frontage that I need to reach. That should put the red door and the walkway leading to it in front of me.", + "The porch is now ahead of me with the red entrance door visible under the roof, past the end of the garage wall. The paved strip in front of me looks clear of the shrubs and lamp post, so I will move forward to close distance on the porch. This should bring the entrance door within a workable approach range.", + "The red door is larger and clearer now, but I am still out beyond the brick planter and porch railing, too far to reach a handle. The path ahead of me remains open, so I will keep moving forward toward the house front. Each step should bring the entrance and its porch edge closer.", + "Directly ahead of me the porch front is walled off by the raised brick planter box and the railing, so continuing straight would only press me against that barrier rather than reach the red door. Turning right swings my heading onto the open lawn and walkway that runs along the house front toward the porch step. That should give me a passable route around the planter instead of a blocked approach.", + "With my heading now along the front of the house, the walkway and grass ahead are clear of the planter that blocked the straight approach. I will move forward along this side route to get past the planting bed and nearer the porch decking. From there the red entrance should become approachable.", + "The white garage door is already behind me and the red entrance door now sits at the far left edge of my view, meaning I am still short of being abreast of the porch. I will move forward along the front walk to close the remaining lateral gap toward the porch steps. The low shrubs beside the path may slow me slightly, but the route ahead still looks open.", + "The red door has slid further to my left as I advance, so I am not yet level with the porch decking I need to step onto. Continuing forward along the walk should bring me even with the porch and the step up beside the planter. The path ahead remains clear of the fence and the shrubs on my right.", + "My heading now points down the walk past the house, and the red entrance has slipped out of view off my left side while only porch posts, railing and decking remain there. Turning left should swing the porch and the red door back into the center of my view so I can head toward them. Continuing straight would only carry me farther along the yard and away from the entrance.", + "The red main entrance is back in view but sits well off to the left side of my field, so my heading is still angled along the porch rather than at the door. I will turn left again to bring the door closer to the center of my view before advancing. That should give me a straight line across the decking to the doorway.", + "The red main entrance is now roughly centered ahead of me with the porch deck running straight to its threshold. I will move forward to close the remaining distance so the door and its knob come within reach. Nothing on the decking between me and the door blocks that approach.", + "The red entrance door stands just ahead on my left along the porch wall, with its brass knob clearly visible. I will move forward to close the last bit of distance so the door comes within arm's reach before I try the handle.", + "I am now beside the red door, but my heading points along the siding so only the door's edge and knob sit at the left of my view. Turning left should square my facing onto the door panel and knob, which is the alignment I need for an interaction attempt.", + "The red door panel now fills my view with the brass knob and keyhole plate directly in front of me, so I am facing the main entrance squarely. I will attempt to open it, which should release the latch and swing the door inward.", + "My attempt at the knob left the red door still shut, so I was likely a bit too far back for the handle to register. I will step forward against the door face to shorten that gap before trying the latch again.", + "I am now pressed close to the door, with its glass panes and frame filling my view after the earlier attempt failed to move it. From this contact distance I will try the latch again, which should let the red entrance swing open.", + "The red entrance door stands open with the interior hallway visible ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003195_y001072_z000135_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003195_y001072_z000135_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..df6d1d89ee626ad7b44cd42e4467bfe559d5c38c --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003195_y001072_z000135_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the junction where the white picket fence meets the solid white privacy fence.", + "Type": 0, + "Start_Pose": [ + -3195.34, + 1072.315, + 135.038, + -0.051, + 177.557, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3195.34, + 1072.315, + 135.038, + -0.051, + 177.557, + 0.0 + ], + [ + -3321.085, + 1077.68, + 135.392, + -0.051, + 177.557, + -0.0 + ], + [ + -3446.829, + 1083.045, + 135.747, + -0.051, + 177.557, + -0.0 + ], + [ + -3572.574, + 1088.409, + 136.101, + -0.051, + 177.557, + -0.0 + ], + [ + -3572.574, + 1088.409, + 136.101, + -0.051, + -157.443, + -0.0 + ], + [ + -3688.804, + 1040.129, + 134.027, + -0.051, + -157.443, + -0.0 + ], + [ + -3805.035, + 991.85, + 131.384, + -0.051, + -157.443, + -0.0 + ], + [ + -3921.265, + 943.57, + 128.211, + -0.051, + -157.443, + -0.0 + ], + [ + -3921.265, + 943.57, + 128.211, + -0.051, + -157.443, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the tall solid white privacy fence running across my front left and the shorter white picket fence continuing along the street on my right, and the two clearly meet at the corner post ahead to my right. I will walk forward across the grass to close distance on that junction before refining my heading.", + "The privacy fence panels look larger now and the picket section on my right has grown, so my forward motion is closing on the seam between them. I will keep stepping forward across the lawn since the junction is still some distance ahead.", + "The solid fence now spans most of my view and the transition to the picket fence sits near the right edge, meaning I am nearly level with the corner. I will advance once more over the grass to bring that junction within close reach.", + "I am close to the fence line but my heading points straight into the solid panels, while the junction with the picket fence lies off to my right. I will turn right to place that meeting point in the center of my view so I can approach it directly.", + "After turning, the end post of the solid privacy fence and the start of the picket fence now sit near the center right of my view, so my heading is aligned with the junction. I will step forward along the fence line to close the remaining gap.", + "The corner post where the solid fence ends and the picket fence begins is noticeably nearer and holds the center of my view. I will continue forward to stand beside that junction rather than stopping short of it.", + "I am nearly at the seam, with the tall solid panel filling my left side and the picket fence turning away to my right just past its end post. One more step forward should place me right at the junction of the two fences.", + "I stand at the corner post where the solid privacy fence ends and the white picket fence begins, both within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003251_y-000130_z000098_t2_b/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003251_y-000130_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..563c95a9a0ed17884336c9fe228d20ccbfee4491 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003251_y-000130_z000098_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the wooden roadblock sign on the left.", + "Type": 2, + "Start_Pose": [ + -3250.608, + -130.12, + 98.334, + -0.248, + -168.821, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3250.608, + -130.12, + 98.334, + -0.248, + -168.821, + 0.0 + ], + [ + -3374.078, + -154.521, + 98.334, + -0.248, + -168.821, + 0.0 + ], + [ + -3374.078, + -154.521, + 98.334, + -0.248, + 166.179, + -0.0 + ], + [ + -3496.292, + -124.455, + 98.334, + -0.248, + 166.179, + -0.0 + ], + [ + -3618.505, + -94.388, + 98.334, + -0.248, + 166.179, + -0.0 + ], + [ + -3618.505, + -94.388, + 98.334, + -0.248, + 141.179, + -0.0 + ], + [ + -3716.562, + -15.49, + 98.334, + -0.248, + 141.179, + -0.0 + ], + [ + -3814.619, + 63.409, + 98.334, + -0.248, + 141.179, + -0.0 + ], + [ + -3814.619, + 63.409, + 98.334, + -0.248, + 141.179, + -0.0 + ] + ], + "Rationale": [ + "Two wooden sawhorse barricades stand across this closed street, and my target is the leftmost one, the sign set against the left curb beside the low concrete blocks. It is still far off down the road, so I will walk straight ahead to close the distance before adjusting my heading.", + "My chosen barricade, the wooden sign by the left curb, is drifting toward the edge of my view while my heading points down the middle of the road. I will turn left to bring it back into the center of my path so I can walk straight at it.", + "The turn has brought the wooden barricade on the left side of the closed street back into view, sitting well left of the other sign. The pavement between us is clear, so I will walk forward to shorten the gap.", + "The wooden sign near the left curb is growing larger but is still several strides away, and nothing blocks the lane in front of me. I will keep walking forward to reach it.", + "The wooden barricade I am heading for now sits far out to my left, while a concrete block and the other sign occupy the center and right of my view. I will turn left so my body faces it directly before advancing again.", + "The turn has placed the wooden sign near the left curb roughly ahead of me, with open pavement between us. I will step forward to close the remaining distance.", + "The wooden barricade fills much of the left of my view now, but I am still a stride or two short of standing at it. One more step forward should bring me right up beside it.", + "The wooden ROAD CLOSED barricade fills the near left of my view, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d40ec3323d43994fce24f1d79420f17ab65b271d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003270_y-000115_z000098_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Move toward the first concrete barrier on the left.", + "Type": 2, + "Start_Pose": [ + -3270.161, + -114.627, + 98.15, + -0.301, + 161.817, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3270.161, + -114.627, + 98.15, + -0.301, + 161.817, + 0.0 + ], + [ + -3389.733, + -75.353, + 98.15, + -0.301, + 161.817, + -0.0 + ], + [ + -3389.733, + -75.353, + 98.15, + -0.301, + 136.817, + -0.0 + ], + [ + -3481.505, + 10.775, + 98.15, + -0.301, + 136.817, + -0.0 + ], + [ + -3573.276, + 96.903, + 98.15, + -0.301, + 136.817, + -0.0 + ], + [ + -3665.048, + 183.031, + 98.15, + -0.301, + 136.817, + -0.0 + ], + [ + -3665.048, + 183.031, + 98.15, + -0.301, + 111.817, + -0.0 + ], + [ + -3711.822, + 299.874, + 98.15, + -0.301, + 111.817, + -0.0 + ], + [ + -3758.596, + 416.717, + 116.007, + -0.301, + 111.817, + -0.0 + ], + [ + -3758.596, + 416.717, + 116.007, + -0.301, + 136.817, + -0.0 + ], + [ + -3758.596, + 416.717, + 116.007, + -0.301, + 136.817, + -0.0 + ] + ], + "Rationale": [ + "A line of concrete blocks and road closed barricades spans the street ahead, and the one nearest the left curb, tucked against the big tree, is the barrier I want. The blocks all look alike, so I hold my target by that tree and curb rather than by its shape. I will step forward to close the distance.", + "I am still aimed straight down the middle of the road, while the block at the left curb beside the big tree sits well off to my left. Turning left should swing my heading onto it so my next steps carry me toward it instead of past it.", + "The turn has brought the block beside the big tree into the left portion of my view with clear pavement between us. Nothing blocks that lane of approach, so I will walk forward to shorten the gap.", + "The block against the curb under the big tree has grown larger and the fence line behind it is clearer, so I am gaining on it but still a fair way off. I will keep walking forward along this heading.", + "The curbside block by the tree now fills a good part of my left view, with the nearer barricade and its sign passing off to my right. The way ahead along the curb is still clear, so I will advance again.", + "At this range the block I am after has slid toward the left side of my view behind the tree trunk, while the nearer block and barricade crowd my center. Turning left should put the curbside block back in front of me so I can close on it directly.", + "The turn has set the block beside the tree in the middle of my view, with grass and curb between us and no obstruction in the way. I will step forward to close the last of the distance to it.", + "The concrete block now stands just ahead of me at the foot of the big tree, close enough that I can read its yellow band and the sidewalk beside it. One more step forward should bring me right up alongside it.", + "I am right up against the concrete block now, but it has slipped to the bottom right corner of my view with the tree trunk crowding it, and my heading points off along the fence line instead. A short turn to the right should bring the block squarely in front of me at this arm's length distance.", + "The concrete block beside the big tree stands directly in front of me, close enough to touch. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003271_y-002005_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003271_y-002005_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e151a3ce5a6afd8bb6eb20beae076d382521201a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003271_y-002005_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Turn away from the storage racks, locate the white side door, and open it instead of the garage door.", + "Type": 4, + "Start_Pose": [ + -3271.425, + -2004.707, + 168.15, + 0.0, + 163.929, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3271.425, + -2004.707, + 168.15, + 0.0, + 163.929, + 0.0 + ], + [ + -3271.425, + -2004.707, + 168.15, + 0.0, + 138.929, + -0.0 + ], + [ + -3271.425, + -2004.707, + 168.15, + 0.0, + 113.929, + -0.0 + ], + [ + -3322.474, + -1889.666, + 168.15, + 0.0, + 113.929, + -0.0 + ], + [ + -3322.474, + -1889.666, + 168.15, + 0.0, + 88.929, + -0.0 + ], + [ + -3320.122, + -1763.829, + 168.15, + 0.0, + 88.929, + -0.0 + ], + [ + -3320.122, + -1763.829, + 168.15, + 0.0, + 88.929, + -0.0 + ], + [ + -3317.801, + -1656.444, + 168.15, + 0.0, + 88.929, + -0.0 + ], + [ + -3317.801, + -1656.444, + 168.15, + 0.0, + 88.929, + -0.0 + ], + [ + -3317.801, + -1656.444, + 168.15, + 0.0, + 88.929, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "I am facing the two loaded storage racks directly, and no door is visible anywhere in this view. The task tells me to turn away from these shelves and find the white side door, so I will rotate left to begin sweeping the rest of the room. Anything door sized should appear along the walls that are currently out of my field of view.", + "A large pale paneled surface has appeared at the left edge while the shelving still occupies most of my view. I will continue turning left to bring that wall fully in front of me and check whether a white side door stands near it. Only a wider look at that side of the room can tell me which opening is which.", + "The wide light colored panel now fills the left half of my view with clear floor between me and it, and the racks are safely off to my right. I will move forward across that open floor to get near the wall, since a white side door would sit close to this bay and is easier to distinguish from short range. The route ahead looks unobstructed.", + "From this closer position the pale panel is angled off to my left while a rack edge crowds the right side of my view. I will turn left to square up with that wall so I can see its full width and any door frame or handle along it. Facing it head on gives me a usable heading for an interaction attempt.", + "I am now squared up with the broad light colored paneled surface, but I am still standing back from it with floor visible at its base. I will move forward to close that gap and get within reach, where I can make out the panel's edges and try the door. Being closer should also reveal whether a separate white side door sits beside it.", + "The pale door panel now fills my whole view, so I judge myself close enough to reach its surface and act on it. I will try the open interaction from here and see whether the door releases.", + "My open attempt just now left the panel unchanged, with the same flat surface and bolt fittings still sealed in front of me, so I was likely not positioned on the actual latch region. I will step forward to close the remaining gap and bring the door hardware within a more reliable interaction range.", + "From this closer stance I can now see the metal bracket and bolt rod hardware centered directly ahead, which is the fitting my earlier attempt from farther back did not engage. I will try the open interaction again at this tighter alignment, which should have a better chance of releasing the door.", + "The doorway ahead now stands open onto the driveway and street outside. The task condition is satisfied, so I stop acting here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003279_y000017_z000098_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003279_y000017_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..48ddf823d9dc469df4407785eb4368dc4d0f4444 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003279_y000017_z000098_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the second concrete barrier on the right.", + "Type": 2, + "Start_Pose": [ + -3278.662, + 16.55, + 98.15, + -0.051, + -157.06, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3278.662, + 16.55, + 98.15, + -0.051, + -157.06, + -0.0 + ], + [ + -3394.567, + -32.506, + 98.15, + -0.051, + -157.06, + -0.0 + ], + [ + -3510.473, + -81.561, + 98.15, + -0.051, + -157.06, + -0.0 + ], + [ + -3626.378, + -130.617, + 98.15, + -0.051, + -157.06, + -0.0 + ], + [ + -3742.283, + -179.673, + 98.15, + -0.051, + -157.06, + -0.0 + ], + [ + -3742.283, + -179.673, + 98.15, + -0.051, + -132.06, + -0.0 + ], + [ + -3826.597, + -273.116, + 98.15, + -0.051, + -132.06, + -0.0 + ], + [ + -3826.597, + -273.116, + 98.15, + -0.051, + -132.06, + -0.0 + ] + ], + "Rationale": [ + "Down the closed road, the concrete barriers on the right side sit in a row, and counting from the middle outward the second one is the block set at the foot of the large tree by the curb. That tree marks it clearly, so I will keep it as my target and walk forward along the road toward it.", + "The barrier standing against the big tree on the right is still some distance off, though it has grown a little in my view. Nothing blocks the open lane I am walking in, so I will continue forward to close the gap.", + "The road closed sign and its sawhorse now fill the middle of my view, while the barrier at the tree base sits to their right along the grass strip. I am still short of it, so I will step forward again.", + "I am nearly level with the near barrier and the sign, and the block by the tree trunk lies just beyond it on my right. One more step forward should bring me alongside that target.", + "The barrier at the tree base now sits well off to my right, near the edge of my view behind the nearer block. Walking straight would carry me past it, so I will turn right to put that barrier in front of me.", + "The turn has put the barrier at the foot of the big tree squarely ahead of me, with the nearer block off to my left. It is still a stride or two away, so I will move forward to stand beside it.", + "The concrete barrier at the foot of the big tree is right beside me, close enough to touch. I have reached my target, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-003980_y-000698_z000115_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003980_y-000698_z000115_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d93fb6104783faaf78b0e1d4ae954ef292776adc --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-003980_y-000698_z000115_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the street lamp beside the red car.", + "Type": 0, + "Start_Pose": [ + -3980.245, + -698.225, + 115.46, + -0.498, + 174.417, + -0.0 + ], + "Action": [ + "LookUp", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3980.245, + -698.225, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -3980.245, + -698.225, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4105.502, + -685.981, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4230.759, + -673.737, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4356.016, + -661.493, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4481.274, + -649.249, + 115.46, + -0.498, + 174.417, + -0.0 + ], + [ + -4481.274, + -649.249, + 115.46, + -0.498, + 149.417, + 0.0 + ], + [ + -4589.621, + -585.216, + 116.295, + -0.498, + 149.417, + 0.0 + ], + [ + -4589.621, + -585.216, + 116.295, + -0.498, + 149.417, + 0.0 + ] + ], + "Rationale": [ + "The red car is parked at the curb straight ahead of me, and a tall pole rises just behind it, but my view is cut off before its top. I will tilt my gaze upward to check whether that pole carries a lamp fixture, which should confirm it as the street lamp beside the red car.", + "With my gaze raised I can see the curved lamp head on the pole standing just beside the parked red car, so the target is identified. The sidewalk runs straight toward it, so I will move forward to start closing the gap.", + "The red car and the lamp pole beside it now fill more of my view, confirming my heading is still on the target. The paved path ahead remains clear, so I will keep moving forward to reduce the remaining distance.", + "I am closer now, with the pole rising just left of the red car's front and the street beyond in clear view. Another forward step should bring me near the base of the lamp at the curb.", + "The car body now dominates the right of my view and the pole shaft stands close on the left, so I am nearly at the curb strip. I will advance once more to close the last of the distance toward the lamp base.", + "The lamp pole has drifted to the left edge of my view while the red car fills the center and right, so my heading is no longer aimed at the target. I will turn left to bring the pole back toward the middle of my view before the final step.", + "The lamp pole is now centered in front of me with the red car just to its right at the curb, so my heading is aligned with the target. I will take one more step forward to stand right at the base of the lamp.", + "The street lamp pole stands directly in front of me at arm's length with the red car beside it at the curb. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004063_y000269_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004063_y000269_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..83a5efef17c148484b90ba492b5a40ab43e61328 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004063_y000269_z000098_t0_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the large tree between the red brick house and the gray house.", + "Type": 0, + "Start_Pose": [ + -4063.248, + 269.111, + 98.15, + -0.399, + 177.675, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4063.248, + 269.111, + 98.15, + -0.399, + 177.675, + -0.0 + ], + [ + -4063.248, + 269.111, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -4179.376, + 220.593, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -4295.504, + 172.075, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -4411.632, + 123.557, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -4527.76, + 75.039, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -4643.888, + 26.522, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -4760.016, + -21.996, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -4876.144, + -70.514, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -4992.272, + -119.032, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -5108.4, + -167.55, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -5224.528, + -216.068, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -5340.656, + -264.586, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -5456.784, + -313.104, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -5572.912, + -361.622, + 98.15, + -0.399, + -157.325, + -0.0 + ], + [ + -5572.912, + -361.622, + 98.15, + -0.399, + -157.325, + -0.0 + ] + ], + "Rationale": [ + "From this spot across the street I can see the red brick house ahead and a gray house set to its right, with a large leafy tree rising in the gap between them. That tree sits right of my current heading, so I will turn right to bring it toward the center of my view before advancing. This should give me a straight line to walk toward it.", + "After the turn, the tall tree standing between the brick house and the gray house is now near the middle of my view, so my heading looks correct. It is still far off, on the far side of the road, so I will step forward to begin closing that distance.", + "The tree between the two houses has grown noticeably larger and stays close to the center of my view, which confirms I am moving along a good line. A parked red car sits well to the right of my path and does not block me, so I will keep advancing.", + "The brick house and its white picket fence are spreading toward the left edge of my view while the trunk of the target tree is becoming clearer ahead of me. Nothing obstructs the roadway between us, so another forward step should shorten the remaining gap.", + "The large tree is now clearly framed by the brick house on its left and the gray house behind the white fence on its right, matching the target described in the task. It still stands beyond the far curb, so I will continue forward toward it.", + "The tree's trunk and lower branches now fill much of the upper middle of my view, showing that I am much closer than before. The lane in front of me is empty, so I will take another step forward to keep closing on it.", + "The base of the large tree is coming into view above the grass strip beyond the near curb, with the brick house to its left and the fenced gray house to its right. I am still on the road surface rather than beside the trunk, so I will advance again.", + "The tree now dominates the left-center of my view and its trunk rises straight out of the lawn just past the curb, with the gray house's fence stretching to the right. A few more steps should bring me level with the trunk, so I will keep moving forward.", + "The large tree with the pale trunk sits ahead on the left side of the street, right in the gap between the red brick house and the gray shingled house, so it matches the target described in my task. My heading already runs parallel to that curb with the tree slightly ahead, so I will step forward to keep closing the remaining distance.", + "The tree's trunk and the white picket fence beside it have grown noticeably larger, confirming my forward steps are shortening the gap along this straight route. Nothing blocks the pavement in front of me, so another forward step should bring the tree closer to the center of my view.", + "The trunk of the target tree now rises directly ahead of me over the grass strip, with the red brick house to its left and the gray house behind it on the right. Since I am still out on the roadway rather than beside the tree, I will continue forward to close the last stretch.", + "The curb, the lawn shrubs, and the tree base are now close and low in my view, showing I am nearly level with the target. I will advance again to reduce the remaining few steps between me and the trunk.", + "The trunk is now thick and close, framed by the brick house on the left and the gray house on the right, exactly the tree named in my task. A short further advance should place me right beside it rather than a couple of steps out on the road.", + "The base of the trunk sits just in front of me on the lawn, with the shrub and sidewalk within arm's reach. One more forward step should bring me directly alongside the tree, close enough to consider the destination reached.", + "I stand right beside the large tree's trunk, between the red brick house and the gray house. The task goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004206_y-000040_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004206_y-000040_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0415dbf65373d3205d1f7c61f3890e587292b14b --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004206_y-000040_z000098_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the red car.", + "Type": 0, + "Start_Pose": [ + -4205.659, + -40.09, + 98.15, + -0.051, + -125.353, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4205.659, + -40.09, + 98.15, + -0.051, + -125.353, + -0.0 + ], + [ + -4278.483, + -142.741, + 98.15, + -0.051, + -125.353, + -0.0 + ], + [ + -4278.483, + -142.741, + 98.15, + -0.051, + -150.353, + -0.0 + ], + [ + -4387.865, + -204.998, + 98.15, + -0.051, + -150.353, + -0.0 + ], + [ + -4497.248, + -267.254, + 98.15, + -0.051, + -150.353, + -0.0 + ], + [ + -4606.631, + -329.511, + 98.15, + -0.051, + -150.353, + -0.0 + ], + [ + -4716.013, + -391.768, + 109.17, + -0.051, + -150.353, + -0.0 + ], + [ + -4716.013, + -391.768, + 109.17, + -0.051, + -125.353, + -0.0 + ], + [ + -4788.837, + -494.419, + 120.186, + -0.051, + -125.353, + -0.0 + ], + [ + -4788.837, + -494.419, + 120.186, + -0.051, + -125.353, + -0.0 + ] + ], + "Rationale": [ + "The red car is parked along the far curb, sitting left of center in my view with a good stretch of road still between us. My heading is roughly usable, so I will step forward along the street to begin closing that gap.", + "The red car is still offset to the left of my heading, with the pole and grass strip taking up the center and right of my view. I will turn left to bring the car closer to the middle of my view before advancing further.", + "After the turn the red car sits near the center of my view, so my heading now points at it. I will walk forward along the road to reduce the remaining distance.", + "The red car is growing larger and stays centered ahead of me, confirming my heading is still good. I will continue stepping forward since there is nothing blocking the roadway between us.", + "The car's front end and wheels are now clearly detailed just ahead and slightly right of center, so I am within a few steps of it. I will advance again to keep closing the distance.", + "The red car now fills a large part of the right side of my view and I am nearly beside its front corner. One more forward step should bring me right up next to it.", + "The car has drifted off to my right and its body is running out past the edge of my view, so my heading is now angled past its front. I will turn right to bring the car back squarely in front of me.", + "The red car is squarely in front of me now, only a step or two away along the curb. I will take one more step forward to stand right at it before considering the task done.", + "The red car's hood fills the lower half of my view, an arm's length ahead. The task is complete, so I stop here rather than move closer." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004225_y-000155_z000098_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004225_y-000155_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a6cc9dbda97464310359aec2a86e33ef62130cc8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004225_y-000155_z000098_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "First go to the left end of the light-brown wooden fence, then head over to the red car.", + "Type": 3, + "Start_Pose": [ + -4224.942, + -155.412, + 98.15, + -0.051, + -125.353, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4224.942, + -155.412, + 98.15, + -0.051, + -125.353, + -0.0 + ], + [ + -4297.765, + -258.063, + 98.15, + -0.051, + -125.353, + -0.0 + ], + [ + -4297.765, + -258.063, + 98.15, + -0.051, + -100.353, + 0.0 + ], + [ + -4320.384, + -381.873, + 104.724, + -0.051, + -100.353, + 0.0 + ], + [ + -4343.002, + -505.683, + 121.225, + -0.051, + -100.353, + 0.0 + ], + [ + -4365.621, + -629.493, + 115.367, + -0.051, + -100.353, + 0.0 + ], + [ + -4365.621, + -629.493, + 115.367, + -0.051, + -75.353, + -0.0 + ], + [ + -4333.796, + -751.261, + 115.367, + -0.051, + -75.353, + -0.0 + ], + [ + -4301.97, + -873.03, + 123.211, + -0.051, + -75.353, + -0.0 + ], + [ + -4301.97, + -873.03, + 123.211, + -0.051, + -75.353, + -0.0 + ], + [ + -4301.97, + -873.03, + 123.211, + -0.051, + -100.353, + 0.0 + ], + [ + -4301.97, + -873.03, + 123.211, + -0.051, + -125.353, + -0.0 + ], + [ + -4301.97, + -873.03, + 123.211, + -0.051, + -150.353, + -0.0 + ], + [ + -4301.97, + -873.03, + 123.211, + -0.051, + -175.353, + -0.0 + ], + [ + -4427.416, + -883.227, + 116.403, + -0.051, + -175.353, + -0.0 + ], + [ + -4552.861, + -893.423, + 115.255, + -0.051, + -175.353, + -0.0 + ], + [ + -4552.861, + -893.423, + 115.255, + -0.051, + 159.647, + 0.0 + ], + [ + -4670.862, + -849.649, + 122.112, + -0.051, + 159.647, + 0.0 + ], + [ + -4785.095, + -806.515, + 115.844, + -0.051, + 159.647, + 0.0 + ], + [ + -4785.095, + -806.515, + 115.844, + -0.051, + 159.647, + 0.0 + ] + ], + "Rationale": [ + "The light-brown wooden fence stands off to my right past the grass median, while the red car is parked along the curb to my left. My first destination is the near left end of that fence, so I will step forward across the strip to cut down the distance before turning toward it.", + "After stepping forward the fence still sits off at the right edge of my view, partly screened by the tree and shrubs. I will turn right so the wooden panels move toward the middle of my heading and I can walk straight at their left end.", + "The turn has brought the tall light-brown fence into the right half of my view with clear grass and a walkway leading that way. Nothing blocks the line, so I will walk forward to close on it.", + "The fence has grown larger ahead on my right and the near post of its left-hand panel is becoming distinct. I am still several paces short of it, so I keep walking forward along the open sidewalk.", + "The lattice-topped fence now fills much of the right side, its nearest edge close to the walkway I am on. Another stride forward should bring me level with that near left end.", + "I am beside the fence now, but my heading runs along the sidewalk rather than at the boards themselves. Turning right should square me onto the left end of the light-brown panels so I can step right up to it.", + "The turn put the wooden fence squarely in front of me, with the end post of the left panel just off to the side of my path. A step forward should carry me onto the grass right against that end of the fence.", + "The light-brown boards and their lattice top now dominate my view with the left end post at the edge of my path, so only a short gap remains. I will take one more step forward to stand at that end of the fence.", + "The light-brown wooden boards and their lattice top fill my view at arm's length, and the last panel ends right here where the yard opens back toward the street. I have reached the left end of this wooden fence. I mark reaching it and now turn my attention to the red car parked along the road behind me.", + "Standing this close, the fence boards block everything, so I cannot see the road where the red car sits. I will turn left to swing my heading off the planks and back toward the open street side of the yard.", + "The fence post and its edge have slid into the left of my view, with a sliver of grass and pavement beyond it. That opening is the direction of the road, so I will keep turning left to bring the street fully in front of me.", + "The sidewalk, lawn and the houses across the road now fill the left half of my view while the fence has slipped to the right edge. The red car should lie further round to the left along this roadside, so I will turn left again.", + "The red car has appeared at the far left edge of my view, parked at the curb beyond the grass strip. One more left turn should place it squarely ahead so I can walk straight at it.", + "The red car now sits centred in my view at the curb, with only lawn and sidewalk between us. With my heading already on it, I will walk forward to close that gap.", + "The red car has grown noticeably larger and its wheels and doors are clearly ahead of me, but I am still back on the grass. Another step forward should bring me up close beside it.", + "The red car now dominates my view but its body runs off past the left edge, so I am aimed at its rear rather than at the car itself. I will turn left to bring the whole vehicle back in front of me before closing the last of the distance.", + "The red car now sits squarely ahead of me along the curb, its full side profile centered in my view. Nothing blocks the strip of grass and pavement between us, so I will walk forward to close the remaining gap.", + "The red car's doors and windows now fill most of my view, so only a short gap remains. I will step forward once more to stand right at its side.", + "The red car's roof and glass are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004477_y000827_z000115_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004477_y000827_z000115_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..26a9637d02598d69c24434493e1d65e3afb20964 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004477_y000827_z000115_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the smaller tree beside the blue house.", + "Type": 0, + "Start_Pose": [ + -4476.996, + 826.875, + 115.46, + -0.051, + 91.375, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4476.996, + 826.875, + 115.46, + -0.051, + 91.375, + 0 + ], + [ + -4480.016, + 952.698, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4483.036, + 1078.52, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4486.056, + 1204.343, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4489.077, + 1330.166, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4492.097, + 1455.989, + 115.46, + -0.051, + 91.375, + -0.0 + ], + [ + -4492.097, + 1455.989, + 115.46, + -0.051, + 66.375, + -0.0 + ], + [ + -4441.659, + 1571.299, + 115.629, + -0.051, + 66.375, + -0.0 + ], + [ + -4391.221, + 1686.61, + 118.297, + -0.051, + 66.375, + -0.0 + ], + [ + -4340.783, + 1801.92, + 121.564, + -0.051, + 66.375, + -0.0 + ], + [ + -4290.345, + 1917.23, + 124.831, + -0.051, + 66.375, + -0.0 + ], + [ + -4290.345, + 1917.23, + 124.831, + -0.051, + 66.375, + -0.0 + ] + ], + "Rationale": [ + "The blue-grey two-story house stands ahead at the end of the walkway, and beside it on the left of the path I can see a slimmer, smaller tree, while the much thicker trunk near the road on my right is clearly the larger one. My heading along the concrete path already points toward that pair, so I will move forward to close the long open distance. This should bring the smaller tree into clearer view for a later alignment.", + "The house has grown slightly larger and the smaller tree left of the walkway is still well ahead of me, past the fence line. Nothing blocks the paved path, so continuing straight is the most direct way to keep shrinking that gap. I will move forward again.", + "The slim tree beside the blue house now sits well up in my view on the left, its trunk crossing the fence behind it, which tells me I am much nearer than at the start. It is still several steps away, so I keep advancing along the walkway rather than turning yet. Another forward step should place me close enough to commit to a turn.", + "The smaller tree's trunk is now thick and close on my left, with its base on the lawn just short of my position. I am not yet level with it, so I continue straight to draw even before changing heading. Moving forward should shorten the remaining offset.", + "The smaller tree beside the blue house is close on my left and its root patch is nearly abreast of me, while the house has shifted toward the right of my view. One more step along the walkway should put me level with the tree so a left turn faces it squarely. I will keep going forward.", + "I am now essentially level with the smaller tree, whose trunk sits at the far left edge of my view while my heading still points down the walkway toward the house. Turning left should swing that trunk toward the center of my view so I can walk straight at it. I will rotate left rather than continue past it.", + "The turn worked, and the smaller tree beside the blue house now stands near the center of my view with open lawn between us. With the heading set, I will step forward to close that last short gap toward its trunk.", + "The trunk of the smaller tree is centered and noticeably wider than a moment ago, so my straight approach is closing distance as intended. I am still a couple of steps short of standing beside it, and the lawn ahead is unobstructed. I will move forward again.", + "The smaller tree beside the pale blue house stands directly ahead of me, its trunk centered in my view with the lawn open in front. Nothing blocks the grass between us, so I will move forward again to keep closing the remaining gap.", + "The trunk now fills much of my view and its root patch is clearly visible just ahead, showing I am nearly beside the tree. One more forward step should bring me close enough alongside it to consider the approach complete.", + "The smaller tree's trunk fills my view at arm's length, with the blue house right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-004557_y001554_z000115_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004557_y001554_z000115_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8c5a13bd805151080310440256f268adfda3de4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-004557_y001554_z000115_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "First go to the base of the tree, then move toward the window beneath the roofline of the house.", + "Type": 3, + "Start_Pose": [ + -4556.711, + 1553.8, + 115.46, + -0.051, + 34.671, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4556.711, + 1553.8, + 115.46, + -0.051, + 34.671, + 0.0 + ], + [ + -4556.711, + 1553.8, + 115.46, + -0.051, + 59.671, + -0.0 + ], + [ + -4493.157, + 1662.434, + 113.604, + -0.051, + 59.671, + -0.0 + ], + [ + -4429.602, + 1771.068, + 115.628, + -0.051, + 59.671, + -0.0 + ], + [ + -4366.048, + 1879.702, + 119.745, + -0.051, + 59.671, + -0.0 + ], + [ + -4366.048, + 1879.702, + 119.745, + -0.051, + 59.671, + -0.0 + ], + [ + -4366.048, + 1879.702, + 119.745, + -0.051, + 34.671, + -0.0 + ], + [ + -4262.538, + 1951.298, + 126.45, + -0.051, + 34.671, + -0.0 + ], + [ + -4262.538, + 1951.298, + 126.45, + -0.051, + 9.671, + -0.0 + ], + [ + -4138.467, + 1972.441, + 134.487, + -0.051, + 9.671, + -0.0 + ], + [ + -4014.397, + 1993.585, + 142.525, + -0.051, + 9.671, + -0.0 + ], + [ + -3890.327, + 2014.728, + 148.151, + -0.051, + 9.671, + -0.0 + ], + [ + -3766.256, + 2035.871, + 148.151, + -0.051, + 9.671, + -0.0 + ], + [ + -3642.186, + 2057.014, + 148.151, + -0.051, + 9.671, + -0.0 + ], + [ + -3518.116, + 2078.157, + 148.151, + -0.051, + 9.671, + -0.0 + ], + [ + -3394.045, + 2099.3, + 148.151, + -0.051, + 9.671, + -0.0 + ], + [ + -3269.975, + 2120.443, + 148.151, + -0.051, + 9.671, + -0.0 + ], + [ + -3145.905, + 2141.586, + 148.151, + -0.051, + 9.671, + -0.0 + ], + [ + -3021.834, + 2162.729, + 148.151, + -0.051, + 9.671, + -0.0 + ], + [ + -3021.834, + 2162.729, + 148.151, + -0.051, + -15.329, + 0.0 + ], + [ + -2900.453, + 2129.457, + 148.151, + -0.051, + -15.329, + 0.0 + ], + [ + -2900.453, + 2129.457, + 148.151, + -0.051, + -15.329, + 0.0 + ] + ], + "Rationale": [ + "The big tree stands to my right, its trunk rising near the fence line at the edge of my view. Before walking to its base I want it centered ahead of me, so I will turn right to face it squarely.", + "The trunk now sits close to the middle of my view with open lawn between me and it. Nothing blocks the grass ahead, so I will walk straight forward to close the distance to its base.", + "The trunk has grown noticeably wider and the ring of bare soil around its roots is now visible ahead. I am still several paces short of standing at the base, so I will keep walking straight toward it.", + "The bark now fills a broad band of my view and the roots spread out just ahead on the grass. One more step forward should bring me right up against the base of the trunk.", + "The trunk fills my view from ground to top edge, with the flared roots and dark soil right at my feet. I am standing at the base of the tree. I mark reaching it, then I am setting off for the window under the roofline of the house.", + "The trunk blocks most of what lies ahead, while the pale gabled house with its small window sits off to my left behind the hedge. To head for that window I will turn left and bring the house wall into view.", + "The gabled house and its small window are now clear on the left, with wide open lawn stretching between me and the far corner of the yard. I will walk forward to start closing that distance.", + "The house with the window under its gable still sits well to my left, while my heading points along the fence toward empty lawn. I will turn left again to line my path up with that wall and its window.", + "The gabled end of the house now sits squarely ahead of me, with the small window under its peak centered in my path. The lawn between us is open and unobstructed, so I will walk straight forward to close that distance.", + "The window beneath the roofline has grown slightly larger and stays near the middle of my view, confirming my heading is good. Nothing blocks the grass ahead, so I keep walking toward it.", + "The pale siding and the framed window under the gable keep filling more of my view as I close in, and the hedge runs along my right without crowding my line. I will step forward again to shorten the gap.", + "The window sits a little left of center now, but the wall is still comfortably ahead and the grass is clear. Another forward step should bring me nearer without needing a turn yet.", + "I can now make out the window frame and the darker glass clearly under the roof peak, so I am getting close. The lane between hedge and house stays open, and I continue walking forward.", + "The siding boards are resolving into individual lines and the window is noticeably bigger, so only a short stretch of lawn remains. I will advance again to bring myself right up under it.", + "The house wall now dominates the left of my view with the window clearly framed beneath the roof edge. There is still grass between me and the siding, so I keep stepping forward toward the window.", + "Through the glass I can now see pale interior walls, which means I am nearly at the window. A further step forward should place me directly at it.", + "The window under the roof edge sits close to the middle of the pale siding ahead, with the hedge running along my right and open lawn straight in front. Nothing blocks the line between me and that wall, so I will keep walking to shrink the remaining gap.", + "The window frame now fills a large part of my view and the room behind the glass is becoming readable, which tells me I am much nearer the wall. The lawn ahead is still clear, so I will step forward again to finish closing on it.", + "My last step carried me close enough that the siding dominates the view and the window has slid out to the far left edge, nearly leaving my sight. Turning left should swing the window back toward the centre of my view before I close the final distance.", + "The window sits squarely ahead of me again, its white frame and the lit room beyond clearly centred on the siding. With my heading now aimed at it, I will take one more step to bring myself right up beneath it.", + "I stand directly at the window beneath the roofline, its frame filling my view with the room clearly visible inside. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-005619_y002066_z000117_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005619_y002066_z000117_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..48caaad94e395d390e1809e7449db23a91419856 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005619_y002066_z000117_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the large tree directly in front.", + "Type": 2, + "Start_Pose": [ + -5619.356, + 2065.996, + 117.303, + -0.051, + -115.854, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5619.356, + 2065.996, + 117.303, + -0.051, + -115.854, + -0.0 + ], + [ + -5674.24, + 1952.735, + 117.799, + -0.051, + -115.854, + -0.0 + ], + [ + -5729.125, + 1839.473, + 121.86, + -0.051, + -115.854, + -0.0 + ], + [ + -5729.125, + 1839.473, + 121.86, + -0.051, + -90.854, + -0.0 + ], + [ + -5731.001, + 1713.628, + 121.674, + -0.051, + -90.854, + -0.0 + ], + [ + -5732.877, + 1587.783, + 120.93, + -0.051, + -90.854, + -0.0 + ], + [ + -5734.753, + 1461.938, + 120.751, + -0.051, + -90.854, + -0.0 + ], + [ + -5736.628, + 1336.093, + 120.572, + -0.051, + -90.854, + -0.0 + ], + [ + -5738.504, + 1210.248, + 120.393, + -0.051, + -90.854, + -0.0 + ], + [ + -5738.504, + 1210.248, + 120.393, + -0.051, + -90.854, + -0.0 + ] + ], + "Rationale": [ + "The big broad-crowned tree on the grass strip between the sidewalk and the road stands directly ahead of me, its trunk far thicker than the slender trees further down the block. The paved walk toward it is clear, so I step forward to close the distance.", + "The heavy trunk and spreading canopy of that tree now loom noticeably larger, confirming I am on the right line toward it. The route along the walk stays open, so I keep walking forward.", + "As I advanced, the thick trunk drifted out toward the right edge of my view and the canopy is now mostly overhead rather than in front of me. I turn right to swing my heading back onto the tree so the approach stays straight.", + "The turn has put the wide trunk back near the middle of my view, with the grass verge running straight toward its base. With the heading corrected, I walk forward again to close on it.", + "The trunk sits squarely ahead and its bark texture is becoming distinct, so my line is good. I continue stepping forward along the verge toward it.", + "The tree now fills much of the middle of my view, its crown cut off above me while the base is still a few paces off. I keep walking forward to reach the foot of the trunk.", + "The trunk is close enough that individual bark ridges stand out and it dominates the center of my view. A couple more steps should bring me right up beside it, so I move forward again.", + "The massive trunk now takes up the right half of my view and its root flare is nearly at my feet on the grass strip. One more step forward should put me level with the tree.", + "The big tree's bark fills my view at arm's length beside me on the verge. I have arrived at it, so the task is done and stopping here is right." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x-005810_y000404_z000114_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005810_y000404_z000114_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..838d337d9791032b850bd2483dc0392d14c765c9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x-005810_y000404_z000114_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Explore the area and go to the mailbox.", + "Type": 1, + "Start_Pose": [ + -5810.459, + 404.054, + 113.949, + -0.051, + -173.884, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5810.459, + 404.054, + 113.949, + -0.051, + -173.884, + 0.0 + ], + [ + -5810.459, + 404.054, + 113.949, + -0.051, + -148.884, + 0.0 + ], + [ + -5810.459, + 404.054, + 113.949, + -0.051, + -123.884, + -0.0 + ], + [ + -5810.459, + 404.054, + 113.949, + -0.051, + -98.884, + 0.0 + ], + [ + -5810.459, + 404.054, + 113.949, + -0.051, + -73.884, + -0.0 + ], + [ + -5775.523, + 283.141, + 116.746, + -0.051, + -73.884, + -0.0 + ], + [ + -5775.523, + 283.141, + 116.746, + -0.051, + -48.884, + -0.0 + ], + [ + -5692.76, + 188.321, + 119.486, + -0.051, + -48.884, + -0.0 + ], + [ + -5692.76, + 188.321, + 119.486, + -0.051, + -48.884, + -0.0 + ] + ], + "Rationale": [ + "My view is filled with the brick house facade, a trimmed hedge, and a white picket fence, with no mailbox anywhere in sight. I will turn right to begin a consistent scan of the surrounding yard and street edge where a mailbox is likely to stand.", + "The rotation has brought a walkway and a neighboring house into view, but there is still no mailbox in this sector. I will keep turning right in the same direction to extend the scan toward the open side of the property.", + "Now I can see the sidewalk running along the fence toward a tree line, which suggests the street frontage lies further to my right. I will continue the rightward scan toward that curb area, since mailboxes are usually set near the street.", + "A wooden post with a white mailbox has appeared near the right edge of my view, close to the curb and a parked red car. I will turn right once more to bring that mailbox nearer the center of my view before walking toward it.", + "The mailbox on its post now sits ahead of me along the grass strip beside the sidewalk, clearly identified as my target. I will walk forward along the sidewalk to close the remaining distance to it.", + "The forward step brought me noticeably closer, and the mailbox now stands just right of my heading at the curb. I will turn right to face it directly so the last approach step lands beside it.", + "The mailbox and its wooden post are close ahead on my left with the open road beyond, so I still have a short gap to cover. I will step forward once more to stand right at the mailbox.", + "The mailbox is directly beside me, filling the near left of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000192_y-001806_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000192_y-001806_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b104beec10bceeba499d56128f8102428ce1347f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000192_y-001806_z000168_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the painting on the right wall.", + "Type": 2, + "Start_Pose": [ + 192.254, + -1806.432, + 168.15, + -0.148, + -87.622, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 192.254, + -1806.432, + 168.15, + -0.148, + -87.622, + -0.0 + ], + [ + 192.254, + -1806.432, + 168.15, + -0.148, + -62.622, + -0.0 + ], + [ + 250.131, + -1918.193, + 168.15, + -0.148, + -62.622, + -0.0 + ], + [ + 308.008, + -2029.955, + 168.15, + -0.148, + -62.622, + -0.0 + ], + [ + 365.886, + -2141.716, + 168.15, + -0.148, + -62.622, + -0.0 + ], + [ + 365.886, + -2141.716, + 168.15, + -0.148, + -37.622, + -0.0 + ], + [ + 464.923, + -2195.342, + 168.15, + -0.148, + -37.622, + -0.0 + ], + [ + 464.923, + -2195.342, + 168.15, + -0.148, + -37.622, + -0.0 + ], + [ + 464.923, + -2195.342, + 168.15, + -0.148, + -37.622, + -0.0 + ] + ], + "Rationale": [ + "The framed pyramid picture hangs on the right-hand wall above the low white dresser, well off to the side of my current heading toward the fireplace. I will turn right so that wall and its picture come into the center of my view before I start walking.", + "The pyramid picture above the dresser now sits ahead and slightly right, with clear open floor between me and it. I will walk forward to close that distance.", + "The pyramid picture over the dresser is noticeably larger and the bookcase has slid off to my left, so my heading is good. Another step forward should bring me closer to it.", + "The pyramid picture and the dresser beneath it fill much more of my view now, and the floor ahead is still clear. I will keep walking to get within close range of that wall.", + "I am close to the wall now, and the pyramid picture has drifted to the upper right while a blank stretch of wall crowds my left. Turning right should square me up with the picture and the dresser under it.", + "The pyramid picture is centered ahead above the dresser and the hallway opens to my right, so nothing blocks my path. I will step forward to stand right in front of it.", + "I am now standing at the dresser, but the picture hangs high enough that only its lower frame edge shows at the top of my view. I will look up to bring the whole framed pyramid scene into sight and confirm I am at it.", + "The framed pyramid painting on this wall fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000205_y-002157_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000205_y-002157_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a520e0edb0c3e8b8a042d767d54c1eacee363cc --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000205_y-002157_z000168_t0_a/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Go to the bench.", + "Type": 0, + "Start_Pose": [ + 204.762, + -2157.366, + 168.149, + -0.301, + 0.131, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 204.762, + -2157.366, + 168.149, + -0.301, + 0.131, + 0.0 + ], + [ + 330.619, + -2157.078, + 168.149, + -0.301, + 0.131, + 0.0 + ], + [ + 330.619, + -2157.078, + 168.149, + -0.301, + 25.131, + -0.0 + ], + [ + 444.562, + -2103.628, + 168.149, + -0.301, + 25.131, + -0.0 + ], + [ + 444.562, + -2103.628, + 168.149, + -0.301, + 25.131, + -0.0 + ] + ], + "Rationale": [ + "From the hallway entrance I can already see the low upholstered bench set against the right-hand wall, well ahead of me down the corridor. The runner rug gives me a clear, unobstructed path, so I will move forward along the hallway to close the distance toward it.", + "The bench now appears larger and sits toward the right edge of my view, meaning my heading down the corridor points past it rather than at it. I will turn right so the bench moves into the center of my view and my forward direction lines up with it.", + "After turning, the bench sits ahead of me near the center-right of my view with open floor between us. I will move forward to cover that last stretch and bring myself right up beside the bench.", + "The bench is directly in front of me at arm's length, filling the lower part of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000271_y-000866_z000121_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000271_y-000866_z000121_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1ffa5d5f5dcd7f5b16f859bc8a5091e44a9af6eb --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000271_y-000866_z000121_t0_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the red car across the road.", + "Type": 0, + "Start_Pose": [ + 270.75, + -866.148, + 121.424, + -0.148, + 139.782, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 270.75, + -866.148, + 121.424, + -0.148, + 139.782, + 0.0 + ], + [ + 270.75, + -866.148, + 121.424, + -0.148, + 114.782, + -0.0 + ], + [ + 231.874, + -751.867, + 113.879, + -0.148, + 114.782, + -0.0 + ], + [ + 231.874, + -751.867, + 113.879, + -0.148, + 89.782, + -0.0 + ], + [ + 232.352, + -626.01, + 113.879, + -0.148, + 89.782, + -0.0 + ], + [ + 232.831, + -500.152, + 120.173, + -0.148, + 89.782, + -0.0 + ], + [ + 233.31, + -374.294, + 98.15, + -0.148, + 89.782, + -0.0 + ], + [ + 233.789, + -248.437, + 98.15, + -0.148, + 89.782, + -0.0 + ], + [ + 234.268, + -122.579, + 98.15, + -0.148, + 89.782, + -0.0 + ], + [ + 234.747, + 3.279, + 98.15, + -0.148, + 89.782, + -0.0 + ], + [ + 235.226, + 129.136, + 98.15, + -0.148, + 89.782, + -0.0 + ], + [ + 235.226, + 129.136, + 98.15, + -0.148, + 114.782, + -0.0 + ], + [ + 182.47, + 243.404, + 98.15, + -0.148, + 114.782, + -0.0 + ], + [ + 129.714, + 357.673, + 98.15, + -0.148, + 114.782, + -0.0 + ], + [ + 76.958, + 471.941, + 104.631, + -0.148, + 114.782, + -0.0 + ], + [ + 24.203, + 586.209, + 114.22, + -0.148, + 114.782, + -0.0 + ], + [ + 24.203, + 586.209, + 114.22, + -0.148, + 89.782, + -0.0 + ], + [ + 24.682, + 712.067, + 113.949, + -0.148, + 89.782, + -0.0 + ], + [ + 24.682, + 712.067, + 113.949, + -0.148, + 89.782, + -0.0 + ] + ], + "Rationale": [ + "A dense hedge fills the right half of my view and hides most of the street, but at the far left I can see the road and a dark red car sitting in a driveway on the opposite side. Turning left should swing that side of the street toward the center of my view and clear the hedge from my path. I will turn left to bring the red car into a workable heading before advancing.", + "With the hedge now pushed to my right edge, I can see the street and the red car parked in the driveway across it, up and to my left. The sidewalk ahead of me is open, so stepping forward should close some of the gap and give a cleaner view past the roadside trees. I will move forward along the walkway.", + "I am now at the curb strip, but a thick tree trunk sits right in the middle of my view and the red car in the driveway across the road is off to the left of it. A left turn should put the target near the center and square me up to face straight across the street. I will turn left before committing to the crossing.", + "The red car is now centered across the street in the driveway in front of the garage, with the roadway clear between us. My heading points straight at it, so moving forward should carry me toward the curb and into the crossing. I will advance along this line.", + "The mailbox that was beside me has dropped out of view and the road surface now fills the lower part of my sight, confirming I am moving onto the crossing. The red car remains dead ahead in the driveway and is growing larger. I will keep pushing forward to close the distance.", + "I am mid-road with the lane markings running beneath me and the target red car still lined up ahead in front of the garage. Nothing is crossing my path, so continuing straight should carry me toward the far curb. I will move forward again.", + "The red car and the driveway behind it keep expanding in my view as the far curb and hedge line come closer. My heading is still holding on the target, so another forward step should shorten the remaining gap. I will continue straight ahead.", + "The opposite curb, trash bin, and hedge row are now close in front of me, with the red car just beyond them at the top of its driveway. Since the driveway apron lies directly on my line, moving forward should let me leave the road and continue up toward the car. I will step forward again.", + "The red car is clearly visible ahead in the driveway on the far side of the road, roughly straight along my heading. The roadway still occupies the near ground between us, so I will keep moving forward to close that gap.", + "I have advanced across the road and the far curb with its trash bin now sits close on my left, while the red car grows larger ahead. Since my heading still points into the driveway area, another forward step should bring me nearer the target.", + "From this position the red car sits a little to the right of my forward direction, with the hedge and lawn taking up the center of my view. I will turn right to bring the car back toward the middle of my view before continuing.", + "After the heading adjustment the red car and the driveway leading to it are laid out ahead of me with clear pavement in between. I will step forward along the driveway to continue reducing the distance.", + "I am now on the driveway itself and the red car's rear fills more of my view than a moment ago. The pavement remains unobstructed, so I continue forward toward it.", + "The rear bumper and license plate of the red car are now clearly readable, meaning I am only a short distance away. I will take another forward step to close in on it.", + "The red car is very near, sitting just left of my heading with the garage door right behind it. One more forward step should place me directly at the car rather than short of it.", + "I am right beside the driveway spot, but the red car has drifted to the left edge of my view and is partly cut off. I will turn left to bring the car back to the center of my view before finishing the approach.", + "The red car now sits squarely centered in my view on the driveway, with its rear plate and taillights directly ahead of me and no obstruction on the concrete between us. Since my heading is already aligned with the car, one more step forward should close the small remaining gap and bring me right up to it.", + "The red car's rear fills my view at arm's length across the road. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000355_y-002121_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000355_y-002121_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16b9d40ab1c9593f2be9ec16966a8961439cf7ea --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000355_y-002121_z000168_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Follow the striped hallway runner to the white door at the far end and open it.", + "Type": 4, + "Start_Pose": [ + 354.669, + -2120.826, + 168.15, + 0.0, + -2.773, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 354.669, + -2120.826, + 168.15, + 0.0, + -2.773, + 0.0 + ], + [ + 480.381, + -2126.915, + 168.15, + 0.0, + -2.773, + 0.0 + ], + [ + 606.092, + -2133.004, + 168.94, + 0.0, + -2.773, + 0.0 + ], + [ + 731.804, + -2139.093, + 168.94, + 0.0, + -2.773, + 0.0 + ], + [ + 857.516, + -2145.182, + 168.94, + 0.0, + -2.773, + 0.0 + ], + [ + 983.227, + -2151.271, + 168.94, + 0.0, + -2.773, + 0.0 + ], + [ + 1108.939, + -2157.36, + 168.94, + 0.0, + -2.773, + 0.0 + ], + [ + 1234.65, + -2163.449, + 168.23, + 0.0, + -2.773, + 0.0 + ], + [ + 1252.999, + -2168.315, + 168.15, + 0.0, + -2.773, + 0.0 + ], + [ + 1252.999, + -2168.315, + 168.15, + 0.0, + 22.227, + -0.0 + ], + [ + 1252.999, + -2168.315, + 168.15, + 0.0, + 22.227, + -0.0 + ], + [ + 1252.999, + -2168.315, + 168.15, + 0.0, + 22.227, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The striped runner stretches straight down the hallway ahead of me and ends at a white door at the far end, which is my target. Nothing blocks the center of the carpet, so I will move forward along the runner to begin closing that distance.", + "The white door at the end of the hall is still small and distant, and the runner continues straight under my feet toward it. Side furniture stays clear of my path, so another forward step along the carpet should keep me tracking the correct route.", + "The door is growing larger and remains centered in my view, confirming my heading is aligned with the hallway. Since the corridor stays open ahead, I will continue moving forward rather than adjusting my orientation.", + "I can now make out the panel detail of the white door and a side door on my right that is not my target. The straight route ahead is still clear, so I will keep advancing toward the far white door.", + "The target door now fills a large part of my view and its brass handle is visible, but I am still too far back to reach it. I will move forward again to close the remaining gap in the corridor.", + "The white door and its handle are directly ahead and the runner has ended, meaning I am at the hallway's far end. One more forward step should bring me within arm's reach of the door before I attempt anything with it.", + "The white door now fills my whole view with its frame and handle clearly within a short reach. I will step forward once more to settle squarely in front of the door leaf.", + "I am pressed almost against the door, seeing only its raised panel surface, so I only need a slight nudge rather than a full stride. This small forward adjustment should place me firmly at the door face so the handle is within interaction range.", + "I am right up against the white door at the end of the runner, so close that only its panel molding fills my view and the latch side is off to my right. I will turn right to square my heading on the handle side of the door so an opening attempt has a clear line to the latch.", + "After the slight rightward turn I am facing the door panel at contact range with the latch side now within reach. Since this is the white door at the far end of the striped runner, I will attempt to open it now, which should swing it clear of the frame.", + "The white door now stands open, revealing the bathroom beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000497_y-001665_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000497_y-001665_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..da0f19c38e9597e1b27bc8d39f4dd75955f20067 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000497_y-001665_z000168_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the door first, then proceed to the alarm clock on the bedside table.", + "Type": 3, + "Start_Pose": [ + 496.984, + -1664.971, + 168.15, + 0.0, + -85.879, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 496.984, + -1664.971, + 168.15, + 0.0, + -85.879, + 0.0 + ], + [ + 496.984, + -1664.971, + 168.15, + 0.0, + -60.879, + 0.0 + ], + [ + 496.984, + -1664.971, + 168.15, + 0.0, + -35.879, + 0.0 + ], + [ + 598.962, + -1738.097, + 204.01, + 0.0, + -35.879, + 0.0 + ], + [ + 700.94, + -1811.86, + 168.15, + 0.0, + -35.879, + 0.0 + ], + [ + 700.94, + -1811.86, + 168.15, + 0.0, + -60.879, + 0.0 + ], + [ + 762.19, + -1921.809, + 168.15, + 0.0, + -60.879, + 0.0 + ], + [ + 762.19, + -1921.809, + 168.15, + 0.0, + -60.879, + 0.0 + ], + [ + 762.19, + -1921.809, + 168.15, + 0.0, + -85.879, + 0.0 + ], + [ + 762.19, + -1921.809, + 168.15, + 0.0, + -110.879, + 0.0 + ], + [ + 762.19, + -1921.809, + 168.15, + 0.0, + -135.879, + 0.0 + ], + [ + 762.19, + -1921.809, + 168.15, + 0.0, + -160.879, + 0.0 + ], + [ + 661.943, + -1936.655, + 168.15, + 0.0, + -160.879, + 0.0 + ], + [ + 549.778, + -1934.776, + 168.15, + 0.0, + -160.879, + 0.0 + ], + [ + 549.778, + -1934.776, + 168.15, + 0.0, + -160.879, + 0.0 + ] + ], + "Rationale": [ + "From here I can see both places I need: the white panelled door standing in the far right wall, and the bedside table with the small red alarm clock beside the bed on my left. The door comes first, so I will turn right to bring that side of the room into the middle of my view.", + "The door now sits ahead of me, but the bed still juts into the floor directly in front, and the open carpet lies further to my right past the wardrobe. I will turn right again so my heading follows that clear stretch of floor toward the door corner.", + "The door stands clearly ahead and slightly left, with unobstructed carpet running between me and the wardrobe wall. I will walk forward to cut that distance down.", + "The door and its brass handle are noticeably larger now, though still set off to my left past the louvred wardrobe. There is still open floor between me and that wall, so I will keep walking forward to close in.", + "I have drawn level with the wardrobe, and the door has slid to the far left edge of my view where only part of its panel shows. I will turn left to swing the doorway back in front of me before advancing again.", + "The panelled door with its brass lever now fills the left half of my view squarely ahead, with clear carpet at its base. I will step forward to bring myself right up to it.", + "The door panel and its jamb are right against me, close enough that the moulding and wallpaper seam fill my whole view. I have reached the door. I mark reaching it here, then set off across the room for the alarm clock on the bedside table.", + "The door is done with, and the bedside table with its lamp and alarm clock lies back on the other side of the room, behind my current heading. I will turn left to begin swinging my view away from this doorway and back into the bedroom.", + "The white door panel still fills almost my whole view, so I am too close and turned toward it to see the room behind me. I will turn left again to keep swinging my heading away from this doorway and open up the side of the bedroom where the bedside table with the alarm clock stands.", + "The handle and door edge have slid to the left side of my view, so I am beginning to clear the doorway but still face mostly blank panel. Another left turn should bring the open bedroom, and the bedside table along the far wall, into view.", + "The room has opened up on my left, and I can already glimpse the lit lamp on the pale bedside cabinet past the wall panels. One more left turn should place that bedside table roughly ahead of me so I can walk straight at it.", + "The bedside table with its lit lamp and the small dark clock now sits ahead and slightly left, with clear carpet between me and it. I will walk forward to close the distance along the bed's side.", + "The bedside table is noticeably larger now and the red digits of the alarm clock are readable beside the lamp. I will step forward once more to bring myself right up to the table.", + "The alarm clock with its glowing red digits sits directly before me at the near corner of the bedside table. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000577_y001950_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000577_y001950_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d441583621147894d0a2090719c1853629b92905 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000577_y001950_z000168_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search the area and go to the kitchen sink.", + "Type": 1, + "Start_Pose": [ + 576.821, + 1949.707, + 168.15, + 0.0, + -109.455, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 576.821, + 1949.707, + 168.15, + 0.0, + -109.455, + 0.0 + ], + [ + 576.821, + 1949.707, + 168.15, + 0.0, + -84.455, + 0.0 + ], + [ + 576.821, + 1949.707, + 168.15, + 0.0, + -59.455, + 0.0 + ], + [ + 576.821, + 1949.707, + 168.15, + 0.0, + -34.455, + 0.0 + ], + [ + 576.821, + 1949.707, + 168.15, + 0.0, + -9.455, + 0.0 + ], + [ + 700.97, + 1929.032, + 168.15, + 0.0, + -9.455, + 0.0 + ], + [ + 825.119, + 1908.357, + 168.15, + 0.0, + -9.455, + 0.0 + ], + [ + 825.119, + 1908.357, + 168.15, + 0.0, + 15.545, + -0.0 + ], + [ + 946.375, + 1942.086, + 168.15, + 0.0, + 15.545, + -0.0 + ], + [ + 1067.63, + 1975.816, + 168.15, + 0.0, + 15.545, + -0.0 + ], + [ + 1067.63, + 1975.816, + 168.15, + 0.0, + -9.455, + 0.0 + ], + [ + 1191.779, + 1955.141, + 168.15, + 0.0, + -9.455, + 0.0 + ], + [ + 1191.779, + 1955.141, + 168.15, + 0.0, + -34.455, + 0.0 + ], + [ + 1295.558, + 1883.935, + 168.15, + 0.0, + -34.455, + 0.0 + ], + [ + 1399.338, + 1812.729, + 168.15, + 0.0, + -34.455, + 0.0 + ], + [ + 1399.338, + 1812.729, + 168.15, + 0.0, + -34.455, + 0.0 + ] + ], + "Rationale": [ + "I am standing in a living space with a television on a dresser, a small side table and a chandelier, and nothing here resembles a kitchen counter or sink. I will turn right to begin a consistent scan of this room for a doorway or kitchen cue.", + "The rotation has only brought a sofa, curtained window and rug into view, still clearly living room furniture rather than kitchen fixtures. I will keep turning right in the same direction to extend the scan past this wall.", + "Now I see the sofa against the window with a bookshelf and floor lamp to its right, which suggests the room continues in that direction. I will continue the same rightward scan to reveal what lies beyond the bookshelf wall.", + "Past the pillar on the right I can now make out white cabinetry, a range hood and a bright open room, a strong sign the kitchen is over there. I will turn right once more to bring that kitchen area toward the center of my heading.", + "The kitchen cabinetry, oven and chairs are now framed ahead of me with a staircase along the right wall and clear floor in between. I will walk forward along this open lane to close distance on the kitchen where a sink should be.", + "The kitchen counters, hood and dining table are noticeably larger now, so my heading down this hallway is correct. I will step forward again to get past the bookshelf and pillar into the kitchen space.", + "A wide pillar now fills the left half of my view while the kitchen with its range, hood and dining set sits to the right of it. I will turn right to put the kitchen opening squarely ahead before continuing.", + "The kitchen is now centered ahead with the refrigerator, oven and long counters in plain sight and open floor leading in. I will walk forward into the kitchen to look along the counter run for the sink.", + "The kitchen is clearly ahead of me now, with the refrigerator, range and glass-front cabinets lining the far wall and the dining table off to the right. I do not yet see a sink basin from this distance, so I will step forward again to bring the whole counter run into view.", + "From this closer position I can make out a counter with a faucet at the far left edge of my view, past the refrigerator. Turning left should swing that section of counter toward the center of my view so I can head straight at it.", + "The long counter run is now centered ahead of me, with a faucet and basin area to the left of the refrigerator above a dishwasher. I will walk forward to close the gap to that counter.", + "I am close to the cabinet wall, and the faucet with its basin sits noticeably to the left of my current heading while the refrigerator blocks the center. A left turn should place the sink squarely in front of me before I advance further.", + "The sink with its tall faucet is now framed near the center of my view along the counter, with the side door beyond it on the left. Stepping forward should bring me up to the basin.", + "The double basin and faucet are close ahead of me under the upper cabinets, but I am still a step short of standing at the counter edge. One more step forward should put me directly at the sink.", + "The kitchen sink's double basin and faucet are directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000770_y-000104_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000770_y-000104_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..272f61b163b3a0a738607668752f81fddf9e3f45 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000770_y-000104_z000098_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Go to the red car.", + "Type": 0, + "Start_Pose": [ + 770.043, + -103.862, + 98.112, + 0.0, + 156.091, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 770.043, + -103.862, + 98.112, + 0.0, + 156.091, + -0.0 + ], + [ + 654.984, + -52.853, + 98.112, + 0.0, + 156.091, + -0.0 + ], + [ + 539.925, + -1.844, + 98.112, + 0.0, + 156.091, + -0.0 + ], + [ + 539.925, + -1.844, + 98.112, + 0.0, + 131.091, + -0.0 + ], + [ + 457.203, + 93.011, + 98.112, + 0.0, + 131.091, + -0.0 + ], + [ + 374.481, + 187.867, + 98.112, + 0.0, + 131.091, + -0.0 + ], + [ + 291.76, + 282.723, + 98.112, + 0.0, + 131.091, + -0.0 + ], + [ + 209.038, + 377.578, + 98.112, + 0.0, + 131.091, + -0.0 + ], + [ + 209.038, + 377.578, + 98.112, + 0.0, + 106.091, + -0.0 + ], + [ + 174.154, + 498.507, + 107.076, + 0.0, + 106.091, + -0.0 + ], + [ + 139.271, + 619.435, + 113.949, + 0.0, + 106.091, + -0.0 + ], + [ + 104.387, + 740.363, + 113.949, + 0.0, + 106.091, + -0.0 + ], + [ + 104.387, + 740.363, + 113.949, + 0.0, + 106.091, + -0.0 + ] + ], + "Rationale": [ + "I can already see a red car parked in a driveway ahead on the left side of the street, past the trash bin and hedges. Since it is still far off, I will move forward along the road to begin closing that distance before adjusting my heading.", + "The red car now appears noticeably larger against the white garage on my left, so my forward motion is closing on it. The road ahead is still clear, so I will keep moving forward to shorten the remaining gap.", + "The red car has drifted to the far left edge of my view as I advanced along the street, which means continuing straight would carry me past it. I will turn left to swing my heading toward the driveway and bring the car back into the center of my view.", + "After the turn the red car sits ahead of me in the driveway beside the garage, roughly within my forward path. I will move forward toward it to cut down the remaining distance.", + "The red car and the garage behind it are growing in my view, confirming I am tracking toward the right target. Nothing blocks the curb and driveway line in front of me, so I will continue forward.", + "I am close enough now that the red car's rear and license plate are becoming legible in front of the garage. I will push forward again to keep reducing the gap toward it.", + "The red car fills much more of my left-forward view and the driveway pavement is directly under me, so I still have room to advance. I will move forward once more to get near the car.", + "At this range the red car sits off to my left front rather than straight ahead, so a straight advance would slide past its rear toward the hedge and fence. I will turn left to square my heading onto the car before closing the last stretch.", + "The red car now sits near the center of my view on the driveway ahead, with its rear plate squarely facing me, so my heading is well aligned with the target. The open concrete driveway between us is clear, so I will move forward to close the remaining distance.", + "The red car has grown noticeably larger and its license plate is readable, confirming I am closing on it along a good heading. There is still several car lengths of empty driveway in front of me, so another forward step should bring me closer.", + "The car's rear bumper and tail lights now fill much of the lower view, so only a short gap remains. I will take one more forward step to finish closing that gap and stand right at the red car.", + "The red car's rear fills my view at arm's length, directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000785_y001899_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000785_y001899_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dd404c95a5e6b8588531c08704933238deff9b3a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000785_y001899_z000168_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Explore the house and go to the refrigerator.", + "Type": 1, + "Start_Pose": [ + 785.475, + 1899.127, + 168.15, + 0.0, + -23.723, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 785.475, + 1899.127, + 168.15, + 0.0, + -23.723, + 0.0 + ], + [ + 785.475, + 1899.127, + 168.15, + 0.0, + 1.277, + -0.0 + ], + [ + 911.303, + 1901.932, + 168.15, + 0.0, + 1.277, + -0.0 + ], + [ + 1037.13, + 1904.737, + 168.15, + 0.0, + 1.277, + -0.0 + ], + [ + 1067.911, + 1935.799, + 168.15, + 0.0, + 1.277, + -0.0 + ], + [ + 1189.784, + 1946.195, + 168.15, + 0.0, + 1.277, + -0.0 + ], + [ + 1315.612, + 1948.999, + 168.15, + 0.0, + 1.277, + -0.0 + ], + [ + 1315.612, + 1948.999, + 168.15, + 0.0, + -23.723, + 0.0 + ], + [ + 1415.751, + 1900.797, + 168.15, + 0.0, + -23.723, + 0.0 + ], + [ + 1415.751, + 1900.797, + 168.15, + 0.0, + -23.723, + 0.0 + ] + ], + "Rationale": [ + "From this living area I can see a bright kitchen with white cabinets, a range hood and an oven off to my right, past the partition wall, which is the most likely place to find a refrigerator. A wall panel currently blocks part of that opening, so I will turn right to bring the kitchen doorway fully into view before advancing.", + "The turn has opened up the kitchen ahead of me, with cabinets, a range hood, an oven and a dining table clearly visible down the hallway. The floor between me and that room looks clear, so I will walk forward to close distance and look for the refrigerator among those cabinets.", + "The kitchen counter, oven and glass-front cabinets are larger now, but a wall on my left still hides part of the room, and no refrigerator is clearly identifiable yet. I will keep walking forward so more of the kitchen wall comes into view.", + "As I advance, a tall white appliance that looks like a fridge has appeared to the left of the glass-front cabinets, partly hidden behind the wall edge. I will continue forward to enter the kitchen and confirm that it is the refrigerator.", + "Now inside the kitchen, I can see the full run of counters with a sink on the left, the oven and hood to the right, and a white refrigerator standing between the tall cabinets ahead. I will walk forward to close the remaining distance toward it.", + "The refrigerator is clearly identifiable slightly left of center, with its freezer door and handles visible beside the glass-paneled cabinet. There is still open floor between me and it, so I will step forward again to get close.", + "I am very close to the counter now, and the refrigerator sits at the left edge of my view while the stove and hood fill the center. I will turn left to put the refrigerator in front of me before taking the last step.", + "The turn has brought the refrigerator into the center of my view, standing between the sink counter and the tall glass-front cabinet. A short walk forward should place me directly in front of it, close enough to count as reaching it.", + "The refrigerator's door panel and both handles fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000818_y000972_z000128_t5_a_pd/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000818_y000972_z000128_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2a147859fe57ef29ca7c873b9138a6d260c2b641 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000818_y000972_z000128_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the wicker basket lid on the ground, then place it near the small tree next to the row of green bushes.", + "Type": 5, + "Start_Pose": [ + 818.202, + 972.423, + 128.442, + -0.01, + 39.062, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1229.429, + 1210.185, + 78.209, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 818.202, + 972.423, + 128.442, + -0.01, + 39.062, + 0 + ], + [ + 915.927, + 1051.734, + 133.682, + -0.01, + 39.062, + -0.0 + ], + [ + 1013.652, + 1131.046, + 138.921, + -0.01, + 39.062, + -0.0 + ], + [ + 1013.652, + 1131.046, + 138.921, + -0.01, + 14.062, + -0.0 + ], + [ + 1135.74, + 1161.626, + 140.941, + -0.01, + 14.062, + -0.0 + ], + [ + 1135.74, + 1161.626, + 140.941, + 0.0, + 14.062, + -0.0 + ], + [ + 1135.74, + 1161.626, + 140.941, + 0.0, + -10.938, + 0.0 + ], + [ + 1259.312, + 1137.745, + 139.364, + 0.0, + -10.938, + 0.0 + ], + [ + 1382.885, + 1113.863, + 137.786, + 0.0, + -10.938, + 0.0 + ], + [ + 1506.457, + 1089.982, + 136.208, + 0.0, + -10.938, + 0.0 + ], + [ + 1630.03, + 1066.1, + 134.931, + 0.0, + -10.938, + 0.0 + ], + [ + 1753.602, + 1042.218, + 133.384, + 0.0, + -10.938, + 0.0 + ], + [ + 1753.602, + 1042.218, + 133.384, + 0.0, + 14.062, + -0.0 + ], + [ + 1875.69, + 1072.798, + 135.365, + 0.0, + 14.062, + -0.0 + ], + [ + 1997.777, + 1103.378, + 137.345, + 0.0, + 14.062, + -0.0 + ], + [ + 1927.935, + 1085.885, + 136.212, + 0.0, + 14.062, + -0.0 + ], + [ + 1927.935, + 1085.885, + 136.212, + 0.0, + 14.062, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1229.429, + 1210.185, + 78.209, + 0.0, + 0.0, + 0.0 + ], + [ + 1229.429, + 1210.185, + 78.209, + 0.0, + 0.0, + 0.0 + ], + [ + 1229.429, + 1210.185, + 78.209, + 0.0, + 0.0, + 0.0 + ], + [ + 1229.429, + 1210.185, + 78.209, + 0.0, + 0.0, + 0.0 + ], + [ + 1229.429, + 1210.185, + 78.209, + 0.0, + 0.0, + 0.0 + ], + [ + 1129.959, + 1182.192, + 109.895, + -28.202, + 64.207, + 1.862 + ], + [ + 1139.007, + 1181.774, + 110.168, + -28.189, + 39.219, + 1.872 + ], + [ + 1262.366, + 1158.905, + 109.058, + -28.193, + 39.21, + 1.872 + ], + [ + 1385.981, + 1135.013, + 107.478, + -28.198, + 39.212, + 1.868 + ], + [ + 1509.8, + 1111.088, + 105.538, + -28.196, + 39.209, + 1.865 + ], + [ + 1633.658, + 1087.151, + 103.779, + -28.193, + 39.218, + 1.869 + ], + [ + 1757.346, + 1063.236, + 101.958, + -28.219, + 39.188, + 1.85 + ], + [ + 1747.364, + 1063.851, + 103.184, + -28.192, + 64.21, + 1.872 + ], + [ + 1869.68, + 1093.301, + 104.78, + -28.206, + 64.2, + 1.864 + ], + [ + 1992.041, + 1123.957, + 106.25, + -28.205, + 64.2, + 1.852 + ], + [ + 1995.837, + 1102.893, + 101.212, + 90.0, + 14.062, + 0.0 + ], + [ + 1995.837, + 1102.893, + 101.212, + 90.0, + 14.062, + 0.0 + ] + ], + "PD_Dist_2D": [ + 475.0, + 351.3, + 229.8, + 229.8, + 105.5, + 21.4, + 20.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.3, + 22.5, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The task is to collect the wicker basket lid lying on the lawn, and I can see a round woven object resting in the grass ahead of me near the porch planter. It is far too distant to reach, so I walk straight forward to close that gap.", + "The woven basket lid is now clearly resting in the grass ahead and slightly to my left, larger than before, so my previous step brought me closer. It is still several paces off, so I keep walking forward toward it.", + "The wicker lid now sits close in the grass but off to my lower left, while my heading points along the porch railing instead. I turn left to bring it into the centre of my view so a straight approach lines up with it.", + "With the turn done, the wicker lid lies ahead of me on the grass beside the walkway rather than off to one side. I step forward once more to stand right over it so a grasp should be within reach.", + "The wicker basket lid is now directly at my feet at the near edge of my view, close enough that no further stepping is needed. I attempt to pick it up so I can carry it toward the small tree by the green bushes.", + "The grasp worked, and the wicker lid is now held in my hands rather than lying in the grass. The planting area with the small tree and the row of green bushes lies away to my left, so I turn left to face that direction before carrying it over.", + "I am holding the wicker lid and now face the open lawn where a slim tree stands beside the trimmed hedge and the line of shrubs along the low wall. That drop area is still well ahead, so I walk forward to carry the lid toward it.", + "The slender tree and the row of green bushes along the low wall are growing larger ahead of me, so the transport is progressing. I am still short of the tree, so I continue walking forward with the lid.", + "The basket lid is still in my hands, so I can keep carrying it across the open lawn. The slender tree standing in front of the trimmed green bushes along the low wall is still some distance ahead, so I step forward again to close that gap.", + "The tree and the row of clipped bushes along the low brick wall are noticeably larger now, confirming I am closing on the drop area with the lid in hand. I am still too far out on the grass for a placement that counts as near the tree, so I advance again.", + "The trunk of the small tree and the hedge line are close ahead, and the lid is still carried. A few more paces should bring me within placing range of the tree base, so I continue straight forward.", + "The small tree's trunk now sits right of my heading, with the bush row running along the wall behind it. Continuing straight would carry me past it on the left, so I turn right to put the trunk near the center of my view before finishing the approach.", + "The tree trunk is now centered ahead with the green bushes lined up behind it, so my heading points at the intended placement spot. I still hold the lid and remain several paces back on the grass, so I walk forward toward the trunk.", + "The trunk fills much of the view and the bushes and low wall are just beyond it, but I am not yet right at the tree base. One more step should place me close enough that the lid would rest near the tree beside the bush row.", + "I am now standing right at the small tree, its trunk immediately in front of me with the row of green bushes along the wall just behind. This is the spot the task calls for, so I release the wicker lid here, which should leave it resting on the grass beside the trunk.", + "The wicker lid now rests on the grass at the base of the small tree, with the green bushes just behind it. The task is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000873_y001839_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000873_y001839_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bac0df6718bc62f4d4aabc4d9f185a215c1f685a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000873_y001839_z000168_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Find the refrigerator.", + "Type": 1, + "Start_Pose": [ + 872.711, + 1838.564, + 168.15, + -0.05, + -88.647, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 872.711, + 1838.564, + 168.15, + -0.05, + -88.647, + 0.0 + ], + [ + 872.711, + 1838.564, + 168.15, + -0.05, + -63.647, + -0.0 + ], + [ + 872.711, + 1838.564, + 168.15, + -0.05, + -38.647, + -0.0 + ], + [ + 872.711, + 1838.564, + 168.15, + -0.05, + -13.647, + 0.0 + ], + [ + 872.711, + 1838.564, + 168.15, + -0.05, + 11.353, + 0.0 + ], + [ + 996.107, + 1863.34, + 168.15, + -0.05, + 11.353, + 0.0 + ], + [ + 996.107, + 1863.34, + 168.15, + -0.05, + 36.353, + -0.0 + ], + [ + 1071.433, + 1941.081, + 168.15, + -0.05, + 36.353, + -0.0 + ], + [ + 1071.433, + 1941.081, + 168.15, + -0.05, + 11.353, + -0.0 + ], + [ + 1071.433, + 1941.081, + 168.15, + -0.05, + -13.647, + 0.0 + ], + [ + 1190.124, + 1924.87, + 168.15, + -0.05, + -13.647, + 0.0 + ], + [ + 1312.43, + 1895.175, + 168.15, + -0.05, + -13.647, + 0.0 + ], + [ + 1415.618, + 1865.888, + 168.15, + -0.05, + -13.647, + 0.0 + ], + [ + 1415.618, + 1865.888, + 168.15, + -0.05, + -13.647, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a sofa, curtained window and a bookcase, all typical of a living area with no refrigerator anywhere in sight. I will turn right to begin a consistent scan of the room and look for a doorway leading toward a kitchen.", + "The new heading shows the tall bookcase with cabinets beneath it and a floor lamp, still clearly living room furnishings rather than a kitchen. I will keep turning right in the same direction to uncover the wall beyond the shelving.", + "Ahead is the bookcase against a plain wall with the lamp beside it, and the right side of my view is just blank wall, so there is nothing target-relevant here. Continuing the same rightward scan should reveal whether that wall ends in an opening to another room.", + "At the right edge of my view I can now see past the wall into a brighter room with upper cabinets, a range hood and a dining chair, a strong sign of a kitchen. I will turn right again to bring that opening in front of me, since the refrigerator is most likely in there.", + "The passage past the wall is now roughly ahead of me, with the kitchen counter, range and dining table visible down that opening. I will walk forward along the clear floor to close the distance toward that kitchen area.", + "After stepping forward, a wall now fills the left half of my view and the kitchen with its table and cabinets sits off to the right. I will turn right to face the kitchen squarely instead of walking into that wall.", + "The kitchen is now centered ahead, with the range, hood, cabinets and the round dining table clearly in front of me. I will walk forward to enter the room, where a refrigerator should stand somewhere along the cabinet run.", + "I am inside the kitchen now, but the visible stretch holds only the range, hood and glass-front cabinets, with the counter run continuing out of view past my left edge. I will turn left to sweep that unexamined section, where a refrigerator is likely to sit.", + "The full kitchen run is now open in front of me, and I can see a tall white refrigerator with a rounded top set between the cabinets on the left side of my view. I will turn left again to bring that appliance closer to the center of my heading so I can walk straight at it.", + "The refrigerator is now near the middle of my view, framed by the counter with the sink on its left and the glass-front pantry doors on its right. The floor ahead is clear open wood, so I will step forward to close the distance to it.", + "The refrigerator has grown noticeably larger and stays centered, confirming my heading is good. I am still several paces from the cabinet line, so I will keep walking forward toward it.", + "The refrigerator now dominates the view with its two chrome door handles clearly visible just ahead of me. One more step forward should bring me right up to it for a close, unambiguous confirmation.", + "The refrigerator door with its chrome handle fills my view at arm's length. The target is found, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000876_y001753_z000468_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000876_y001753_z000468_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a2558f5463e0912bbc343d091a5a5230db180ff --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000876_y001753_z000468_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Head over to the bathtub at the far end of the bathroom.", + "Type": 0, + "Start_Pose": [ + 876.413, + 1752.764, + 468.149, + -0.301, + -158.587, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 876.413, + 1752.764, + 468.149, + -0.301, + -158.587, + 0.0 + ], + [ + 759.243, + 1706.815, + 468.149, + -0.301, + -158.587, + 0.0 + ], + [ + 642.074, + 1660.866, + 468.149, + -0.301, + -158.587, + 0.0 + ], + [ + 524.904, + 1614.917, + 468.15, + -0.301, + -158.587, + 0.0 + ], + [ + 524.904, + 1614.917, + 468.15, + -0.301, + -158.587, + 0.0 + ], + [ + 524.904, + 1614.917, + 468.15, + -0.301, + -158.587, + 0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the whole bathroom, and the bathtub with its shower curtain sits against the tiled wall at the far end, roughly straight ahead of me. My heading already points down the open tile floor past the toilet, so no turn is needed and I will move forward to begin closing the distance.", + "The tub now fills more of my view and the curtain rail and fixtures are clearly resolved, confirming I am on a direct line toward it. The floor between me and the tub remains clear, so I will keep moving forward to close the remaining gap.", + "I am now close to the alcove, with the tiled wall and the tub's near edge just a short step ahead and slightly right of center. One more forward step should bring me right up beside the bathtub at the far end of the room.", + "I am standing right at the alcove wall, so my level gaze shows mostly tile with only the tub rim at the bottom edge. I will look down to bring the bathtub fully into view and confirm I am positioned beside it.", + "The bathtub in the far tiled alcove is directly below me, filling my view within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000876_y001753_z000468_t5_a_p/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000876_y001753_z000468_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4fe9907064d945fe7d81553c4da5df925a929b52 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000876_y001753_z000468_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the jerry can near the bathtub at the far end of the bathroom.", + "Type": 5, + "Start_Pose": [ + 876.413, + 1752.764, + 468.149, + -0.301, + -158.587, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 544.401, + 1595.477, + 393.605, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 876.413, + 1752.764, + 468.149, + -0.301, + -158.587, + 0 + ], + [ + 759.243, + 1706.815, + 468.149, + -0.301, + -158.587, + 0.0 + ], + [ + 759.243, + 1706.815, + 468.149, + -0.301, + -158.587, + 0.0 + ], + [ + 642.074, + 1660.866, + 468.149, + -0.301, + -158.587, + 0.0 + ], + [ + 642.074, + 1660.866, + 468.149, + 0.0, + -158.587, + 0.0 + ], + [ + 642.074, + 1660.866, + 468.149, + 0.0, + -158.587, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 544.401, + 1595.477, + 393.605, + 0.0, + 0.0, + 0.0 + ], + [ + 544.401, + 1595.477, + 393.605, + 0.0, + 0.0, + 0.0 + ], + [ + 544.401, + 1595.477, + 393.605, + 0.0, + 0.0, + 0.0 + ], + [ + 544.401, + 1595.477, + 393.605, + 0.0, + 0.0, + 0.0 + ], + [ + 650.438, + 1641.209, + 438.257, + -28.202, + -108.442, + 1.862 + ], + [ + 650.438, + 1641.209, + 438.257, + -28.202, + -108.442, + 1.862 + ] + ], + "PD_Dist_2D": [ + 367.4, + 242.0, + 242.0, + 117.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The red jerry can is standing on the tiled floor beside the bathtub at the far end of this bathroom, well beyond my reach. My heading already points straight down the open lane between the toilet and the vanity, so I will walk forward to close that distance before attempting any grasp.", + "The jerry can now sits clearly ahead of me at the foot of the tub, centered in my view with nothing between us. I will try to grasp it from here, hoping I am already close enough for my hands to reach the handle.", + "My hands are still empty, so that grasp attempt did not take hold. The most likely reason is that I stopped short of reach. I will step forward again along the same heading toward the tub before trying once more.", + "The jerry can now fills the lower part of my view right beside the tub rim, much closer than when my earlier grasp failed to take hold. From this distance its handle should be within reach, so I will attempt the pick again.", + "The red jerry can is now held in my hands, lifted away from the bathroom floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000990_y001652_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000990_y001652_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..76a3ad48f6fedffd8777783c5eb7b973414ab2fe --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000990_y001652_z000168_t4_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Open the white paneled door just beyond the staircase.", + "Type": 4, + "Start_Pose": [ + 990.138, + 1652.458, + 168.15, + 0.0, + 131.927, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 990.138, + 1652.458, + 168.15, + 0.0, + 131.927, + 0.0 + ], + [ + 906.041, + 1746.097, + 168.15, + 0.0, + 131.927, + -0.0 + ], + [ + 906.041, + 1746.097, + 168.15, + 0.0, + 156.927, + -0.0 + ], + [ + 870.886, + 1790.419, + 168.15, + 0.0, + 156.927, + -0.0 + ], + [ + 799.92, + 1848.006, + 168.15, + 0.0, + 156.927, + -0.0 + ], + [ + 799.92, + 1848.006, + 168.15, + 0.0, + -178.073, + 0.0 + ], + [ + 674.132, + 1843.773, + 168.15, + 0.0, + -178.073, + 0.0 + ], + [ + 548.344, + 1839.541, + 168.15, + 0.0, + -178.073, + 0.0 + ], + [ + 548.344, + 1839.541, + 168.15, + 0.0, + 156.927, + -0.0 + ], + [ + 454.551, + 1893.773, + 168.15, + 0.0, + 156.927, + -0.0 + ], + [ + 454.551, + 1893.773, + 168.15, + 0.0, + 156.927, + -0.0 + ], + [ + 454.551, + 1893.773, + 168.15, + 0.0, + 156.927, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits in the far wall past the staircase, well across the room from me. I will move forward over the open floor to close some of that distance before adjusting my heading.", + "After advancing, the target door has drifted toward the right edge of my view while the staircase fills the left side. Turning right should bring the door closer to the center of my heading so I can keep approaching it directly.", + "The paneled door is now roughly ahead of me with the living room furniture off to the right and clear floor in between. I will move forward to continue closing on it.", + "The door has grown noticeably larger and its handle is becoming distinct, so I am still too far to reach it. Another forward step should bring me within interaction range without bumping into the wall corner on my left.", + "From here the door has shifted a bit left of center, but the wall corner on my left crowds that side of the passage. Turning right should square me with the wall pocket in front of the door so I can step straight in toward the handle.", + "The door and its handle are clearly visible ahead on the left side of the wall, with unobstructed floor in front of me. I will move forward to shorten the remaining gap to the handle.", + "The door panels and brass lever now fill much of the left of my view, so I am close but not yet at arm's reach. One more forward step should place me right at the door for the handle interaction.", + "I am very close to the wall now, and the door with its lever handle has slid to the far left edge while the wall and picture dominate the center. Turning left should recenter the door and its handle in front of me for a clean interaction.", + "The white paneled door now fills most of my view with its lever handle roughly centered ahead of me, so my heading is right but I am still a step short of contact range. I will move forward to close that last gap and bring the handle within reach for an interaction.", + "I am now right at the door with the brass lever and deadbolt filling my view, close enough to operate them. The door is still shut, so I will try the handle to open this white paneled door as the task requires.", + "The white paneled door stands swung open, revealing the room beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x000993_y001940_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x000993_y001940_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e722c4ac501a6f9ac651899379a6f28dd005d9c8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x000993_y001940_z000168_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search the environment for the gas stove and navigate to it.", + "Type": 1, + "Start_Pose": [ + 992.881, + 1939.729, + 168.15, + -0.05, + -170.208, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 992.881, + 1939.729, + 168.15, + -0.05, + -170.208, + 0.0 + ], + [ + 992.881, + 1939.729, + 168.15, + -0.05, + 164.792, + 0.0 + ], + [ + 992.881, + 1939.729, + 168.15, + -0.05, + 139.792, + 0.0 + ], + [ + 992.881, + 1939.729, + 168.15, + -0.05, + 114.792, + -0.0 + ], + [ + 992.881, + 1939.729, + 168.15, + -0.05, + 89.792, + 0.0 + ], + [ + 992.881, + 1939.729, + 168.15, + -0.05, + 64.792, + 0.0 + ], + [ + 992.881, + 1939.729, + 168.15, + -0.05, + 39.792, + 0.0 + ], + [ + 992.881, + 1939.729, + 168.15, + -0.05, + 14.792, + 0.0 + ], + [ + 1114.569, + 1971.862, + 168.15, + -0.05, + 14.792, + 0.0 + ], + [ + 1236.257, + 2003.995, + 168.15, + -0.05, + 14.792, + 0.0 + ], + [ + 1345.325, + 2009.401, + 168.15, + -0.05, + 14.792, + 0.0 + ], + [ + 1417.427, + 2039.541, + 168.15, + -0.05, + 14.792, + 0.0 + ], + [ + 1417.427, + 2039.541, + 168.15, + -0.05, + 14.792, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a living area with a television, an armchair, a staircase and a closed white door, so no gas stove is in sight. I will begin a steady leftward scan of the room to look for a kitchen area.", + "The view now faces the staircase and the hallway door, still with no cooking appliance or counter anywhere. I will keep rotating left in the same direction to open up the part of the floor plan hidden behind the stairs.", + "Ahead of me is only the flight of stairs and its railing, which blocks any useful view of the rest of the ground floor. Continuing the same leftward sweep should carry my heading past the staircase toward the unseen adjoining room.", + "A window with the neighboring building outside has come into view beside the stairs, so I am now looking at an exterior wall rather than a kitchen. I will continue turning left to sweep further along that wall.", + "I am facing a large window and the newel post, with no appliance visible yet along this wall. Keeping the same leftward rotation should reveal the room continuing past the window frame.", + "At the left edge I can now make out white upper cabinets and a dining table with chairs, a strong cue that the kitchen lies in that direction. I will turn left again to bring that cabinet run fully into view.", + "The kitchen is now open in front of me and I can see a range hood above a cooktop with an oven beneath it on the left wall. One more left turn should place that stove closer to the center of my heading before I walk toward it.", + "The gas cooktop with its hood and the oven below is now roughly ahead of me across the kitchen floor, with clear open flooring between us. I will walk forward to close that distance toward the stove.", + "The kitchen run is now clearly in front of me and I can see the gas cooktop with its burners set into the counter under the range hood, just left of the dining table. Since the target is identified but still several steps away, I will keep walking straight ahead to close that distance.", + "The gas stove with its four burners and the oven below is now centered in my view, so my heading onto it is good. It is still a couple of body lengths off, so I will step forward again to bring it within close range.", + "I am close enough now that the burner grates, countertop, and the hood above fill most of my view, but the counter is not yet within arm's reach. One more short step forward should place me directly at the stove.", + "The gas stove's burner grates are directly in front of me at arm's reach. The search and navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001005_y001791_z000168_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001005_y001791_z000168_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..128f6541706738f55933b806c66c5d25f10a8074 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001005_y001791_z000168_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Go to the television.", + "Type": 0, + "Start_Pose": [ + 1004.527, + 1791.077, + 168.15, + 0.0, + 164.813, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1004.527, + 1791.077, + 168.15, + 0.0, + 164.813, + -0.0 + ], + [ + 883.063, + 1824.048, + 168.15, + 0.0, + 164.813, + -0.0 + ], + [ + 883.063, + 1824.048, + 168.15, + 0.0, + -170.187, + 0.0 + ], + [ + 775.889, + 1831.128, + 168.15, + 0.0, + -170.187, + 0.0 + ], + [ + 775.889, + 1831.128, + 168.15, + 0.0, + -145.187, + 0.0 + ], + [ + 674.995, + 1789.864, + 168.15, + 0.0, + -145.187, + 0.0 + ], + [ + 574.467, + 1752.695, + 169.119, + 0.0, + -145.187, + 0.0 + ], + [ + 499.338, + 1692.341, + 169.119, + 0.0, + -145.187, + 0.0 + ], + [ + 499.338, + 1692.341, + 169.119, + 0.0, + -145.187, + 0.0 + ] + ], + "Rationale": [ + "I can already see the television switched on and sitting on a low white dresser across the room to my right. The floor straight ahead is clear, so I will move forward to close some of that distance before refining my heading.", + "The television sits well off to my right, near the edge of my view, while my heading points at the blank wall and the white door ahead. I will turn right to bring the screen closer to the center of my view before continuing forward.", + "The television is now much closer to the middle of my view, with the rug and open floor between us. I will move forward along this heading to reduce the remaining distance to the media dresser.", + "The screen still sits a little right of my center, with the tall cabinet and the side wall further round on that same side. A further right turn should square my body more directly on the television and the wall it stands against.", + "The television and its dresser are now framed ahead of me with the rug leading directly toward them. I will move forward to keep closing the gap.", + "The screen has grown noticeably larger and its on-screen text is now readable, so I am getting close but still a couple of steps away. I will step forward again toward the television.", + "The television now dominates my view at close range with its bright display just ahead and slightly left. One more forward step should bring me right up to it.", + "The television panel and its frame fill my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001030_y001798_z000168_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001030_y001798_z000168_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..900a779112716d5ab393a3ca520975a157fd51e5 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001030_y001798_z000168_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Cross the living room to the white paneled door on the far wall and open it.", + "Type": 4, + "Start_Pose": [ + 1029.65, + 1797.871, + 168.15, + 0.0, + -176.849, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1029.65, + 1797.871, + 168.15, + 0.0, + -176.849, + 0.0 + ], + [ + 1029.65, + 1797.871, + 168.15, + 0.0, + 158.151, + -0.0 + ], + [ + 912.832, + 1844.711, + 168.15, + 0.0, + 158.151, + -0.0 + ], + [ + 796.013, + 1891.551, + 168.15, + 0.0, + 158.151, + -0.0 + ], + [ + 679.195, + 1938.391, + 168.15, + 0.0, + 158.151, + -0.0 + ], + [ + 679.195, + 1938.391, + 168.15, + 0.0, + -176.849, + 0.0 + ], + [ + 553.526, + 1931.473, + 168.15, + 0.0, + -176.849, + 0.0 + ], + [ + 447.158, + 1924.649, + 168.15, + 0.0, + -176.849, + 0.0 + ], + [ + 447.158, + 1924.649, + 168.15, + 0.0, + -176.849, + 0.0 + ], + [ + 447.158, + 1924.649, + 168.15, + 0.0, + -176.849, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door on the far wall sits left of my current heading, while the sofa and TV cabinet crowd the right side of my view. I will turn left so the door and the open stretch of wood floor leading to it line up ahead of me.", + "The paneled door now stands roughly ahead of me across a clear stretch of flooring, with the staircase to my left and furniture well clear on my right. I will move forward to close the distance across the living room.", + "The door has grown larger in view and its handle is starting to resolve, so my heading is still carrying me toward it. I will continue forward since nothing blocks the floor between me and that wall.", + "I am now close enough that the door frame fills much of the view and the brass handle is clearly visible, but I am still short of arm's reach. Another step forward should bring me nearer to the door face before I try the handle.", + "The door has drifted to the right side of my view and I am seeing it at an angle, with the near wall edge cutting into the left of the frame. I will turn right to square my heading onto the door face before approaching the handle.", + "The door now sits face on in front of me with its handle side and the adjacent light switch both visible, so my heading is squared up. I will step forward to bring the handle within reach.", + "The door panels and the brass lever fill nearly my whole view, so I am very near the surface but likely just outside comfortable interaction range. One more short step forward should place the handle directly in front of me.", + "I am pressed up against the door with the brass knob and deadbolt filling the right of my view, so the latch is well within reach. I will attempt to open the door from this position.", + "The white paneled door now stands open, revealing the room beyond through the empty doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001109_y002031_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001109_y002031_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c84d1d750181c991e8264b0e9dc60c9c25c405d3 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001109_y002031_z000168_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Go to the television first. After that, move to the curtain near your starting point.", + "Type": 3, + "Start_Pose": [ + 1108.623, + 2031.217, + 168.149, + -0.301, + -148.504, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1108.623, + 2031.217, + 168.149, + -0.301, + -148.504, + 0.0 + ], + [ + 1001.308, + 1965.464, + 168.149, + -0.301, + -148.504, + 0.0 + ], + [ + 893.992, + 1899.712, + 168.149, + -0.301, + -148.504, + 0.0 + ], + [ + 786.677, + 1833.959, + 168.149, + -0.301, + -148.504, + 0.0 + ], + [ + 680.952, + 1797.562, + 168.149, + -0.301, + -148.504, + 0.0 + ], + [ + 574.997, + 1752.593, + 169.15, + -0.301, + -148.504, + 0.0 + ], + [ + 499.163, + 1697.165, + 169.15, + -0.301, + -148.504, + 0.0 + ], + [ + 499.163, + 1697.165, + 169.15, + -0.301, + -148.504, + 0.0 + ], + [ + 499.163, + 1697.165, + 169.15, + -0.301, + -123.504, + -0.0 + ], + [ + 499.163, + 1697.165, + 169.15, + -0.301, + -98.504, + -0.0 + ], + [ + 512.994, + 1788.548, + 168.181, + -0.301, + -98.504, + -0.0 + ], + [ + 526.657, + 1879.931, + 168.181, + -0.301, + -98.504, + -0.0 + ], + [ + 526.657, + 1879.931, + 168.181, + -0.301, + -73.504, + 0.0 + ], + [ + 526.657, + 1879.931, + 168.181, + -0.301, + -48.504, + 0.0 + ], + [ + 526.657, + 1879.931, + 168.181, + -0.301, + -23.504, + 0.0 + ], + [ + 526.657, + 1879.931, + 168.181, + -0.301, + 1.496, + 0.0 + ], + [ + 652.472, + 1883.217, + 168.181, + -0.301, + 1.496, + 0.0 + ], + [ + 778.286, + 1886.503, + 168.181, + -0.301, + 1.496, + 0.0 + ], + [ + 778.286, + 1886.503, + 168.181, + -0.301, + -23.504, + 0.0 + ], + [ + 893.701, + 1836.309, + 168.181, + -0.301, + -23.504, + 0.0 + ], + [ + 893.701, + 1836.309, + 168.181, + -0.301, + -48.504, + 0.0 + ], + [ + 893.701, + 1836.309, + 168.181, + -0.301, + -73.504, + 0.0 + ], + [ + 929.438, + 1715.632, + 168.181, + -0.301, + -73.504, + 0.0 + ], + [ + 929.438, + 1715.632, + 168.181, + -0.301, + -98.504, + 0.0 + ], + [ + 910.827, + 1591.159, + 168.181, + -0.301, + -98.504, + 0.0 + ], + [ + 910.827, + 1591.159, + 168.181, + -0.301, + -98.504, + 0.0 + ] + ], + "Rationale": [ + "The lit television screen sits on the low cabinet against the far wall, straight ahead across the open floor. Nothing blocks the lane between the sofa and the staircase, so I will walk forward to begin closing that distance.", + "The television is larger and still centered in my view, confirming my heading is good. The floor ahead of the sofa stays clear, so another step forward should keep shrinking the gap.", + "The television and its cabinet now dominate the wall in front of me, with only the small side table and rug between us. I will keep walking straight since no turn is needed to stay lined up.", + "The screen is close enough now that the shelf above it and the tall cabinet beside it fill my view. I am not yet at the set, so I will step forward again to reach it.", + "The television screen now spans most of my view and the cabinet edge is nearly within arm's reach. One more step forward should bring me right up to the set.", + "I am almost against the stand, with the glowing panel filling the left of my view. A short final step forward should place me directly at the television.", + "The glowing screen and its frame are right against me, with the shelf bracket and cabinet edge crowding the rest of my view. I am standing at the television. I mark reaching it and now set off for the curtained window back where I began.", + "Pressed this close to the television, I see only the screen edge and the wall behind it, which gives me no route back toward the curtained window near where I started. Turning right should swing my view off this wall and open the room again.", + "I am pressed right against the television cabinet, with only blank wall and the tall cupboard filling my view. The screen is already reached, so I turn right again to swing my heading off this corner toward the open room and the curtained window back near where I started.", + "Even after turning, flat wall and the cupboard still fill everything because I am standing almost on top of the console. Rather than keep spinning inside this tight corner, I step backward to pull away from the wall and recover open floor behind me.", + "Backing off has opened things up: the television and cupboard now sit ahead of me and the rug and floor show at the right. I am still close in, so I step back once more to reach the roomier middle of the space where I can turn freely.", + "I now have clear floor around me, the television at my left and a curtained window with seating to my right. I turn right to start swinging my heading off the screen and toward the far side of the house, the direction I came from.", + "The turn has brought the window with its drawn curtains and the couch into the centre of my view, but this is the far corner, not the entry area where I began. I keep turning right to continue sweeping toward the open living space beyond the couch.", + "Sofa, bookcase and standing lamp now line the wall in front of me, still not the side of the house where I set out. I turn right again to keep rotating my heading toward the wider, more open part of the room.", + "The room now opens out past the bookcase toward the kitchen, and a wooden landing rail appears at the right edge of my view. That railing marks the stairway beside my starting spot, so I turn right once more to face that route.", + "The staircase stands plainly ahead on my right with an unobstructed lane of floor running past the couch toward it. That is the corner of the house I set out from, so I walk forward to close the distance to it and the curtained window there.", + "The floor ahead stays open past the bookcase, with the staircase climbing on my right, so I am back in the part of the house where I set out. I keep walking forward to reach the seating area where the draped window hangs.", + "Straight ahead of me the kitchen and dining table open up, which is away from the window I want. I turn left toward the bookcase and the living room wall, where the curtains should be.", + "The bookcase and its floor lamp now sit ahead of me with clear floor in between. I step forward to bring myself alongside that wall, where the curtained window should come into view.", + "The bookcase and lamp fill my view at close range and no drapery is visible from this heading. I turn left to swing my gaze along the wall where the window should stand.", + "A pale curtain has just edged into the far left of my view beside a curtain rod. Another left turn should bring that drapery into the middle of my view so I can walk straight at it.", + "The window and its long curtain now sit ahead and slightly left, with the sofa arm beside them and clear floor between us. I walk forward to close that remaining gap.", + "I am close to the wall now and the hanging curtain sits along the left side of my view while the shelves crowd the right. A left turn should put the drapery squarely in front of me.", + "The tall curtain and its window are centered right in front of me with only a short stretch of floor left. I step forward to stand at the drapery itself.", + "The pleated curtain fabric fills my whole view at arm's length. I am at the curtain, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001122_y002097_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001122_y002097_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0c011e093546e4506f8c8207b32f50f02eab7f32 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001122_y002097_z000168_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the door first, then continue to the cabinet beside the refrigerator.", + "Type": 3, + "Start_Pose": [ + 1122.341, + 2096.873, + 168.15, + 0.0, + -36.81, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1122.341, + 2096.873, + 168.15, + 0.0, + -36.81, + 0.0 + ], + [ + 1122.341, + 2096.873, + 168.15, + 0.0, + -61.81, + 0.0 + ], + [ + 1181.796, + 1985.943, + 168.15, + 0.0, + -61.81, + 0.0 + ], + [ + 1241.252, + 1875.012, + 168.15, + 0.0, + -61.81, + 0.0 + ], + [ + 1300.707, + 1764.082, + 168.15, + 0.0, + -61.81, + 0.0 + ], + [ + 1300.707, + 1764.082, + 168.15, + 0.0, + -86.81, + 0.0 + ], + [ + 1307.711, + 1638.418, + 168.15, + 0.0, + -86.81, + 0.0 + ], + [ + 1330.305, + 1552.394, + 168.15, + 0.0, + -86.81, + 0.0 + ], + [ + 1330.305, + 1552.394, + 168.15, + 0.0, + -86.81, + 0.0 + ], + [ + 1330.305, + 1552.394, + 168.15, + 0.0, + -61.81, + 0.0 + ], + [ + 1330.305, + 1552.394, + 168.15, + 0.0, + -36.81, + 0.0 + ], + [ + 1330.305, + 1552.394, + 168.15, + 0.0, + -11.81, + 0.0 + ], + [ + 1330.305, + 1552.394, + 168.15, + 0.0, + 13.19, + -0.0 + ], + [ + 1330.305, + 1552.394, + 168.15, + 0.0, + 38.19, + -0.0 + ], + [ + 1330.305, + 1552.394, + 168.15, + 0.0, + 63.19, + -0.0 + ], + [ + 1387.071, + 1664.724, + 168.15, + 0.0, + 63.19, + -0.0 + ], + [ + 1419.702, + 1775.222, + 168.15, + 0.0, + 63.19, + -0.0 + ], + [ + 1415.848, + 1881.057, + 168.15, + 0.0, + 63.19, + -0.0 + ], + [ + 1415.848, + 1881.057, + 168.15, + 0.0, + 63.19, + -0.0 + ] + ], + "Rationale": [ + "The white panelled entry door with its narrow side windows sits far off to my left edge, while the counters and refrigerator fill the right side of my view. I will turn left so that door lies ahead of me and I can walk straight at it.", + "The entry door and its sidelights now sit in the left half of my view with clear open floor stretching toward them. Nothing blocks that stretch, so I will walk forward to close the gap.", + "The door has grown larger and its brass knob is now distinct, confirming my heading is good. I will keep walking forward since the floor ahead remains clear.", + "The door and its two glazed sidelights now dominate the left-centre of my view and the trim details are sharp, so I am still several steps short. I will advance again to bring myself right up to it.", + "I am close now, but the door has drifted to the left side of my view while the dishwasher and counter take the right. A left turn should square me up with the door before I step the last of the way.", + "The door is now centred in my view with a sidelight on either side, so my heading is straight at it. A step forward should bring me almost to the threshold.", + "The door's panels and its brass lever fill my view at close range, with only a short strip of floor left before the threshold. I will take one more step to stand directly at it.", + "The pale door surface is right against my face, too near to focus on, which means there is no floor left between me and it. I have reached the entry door. I mark reaching it, and now I turn my attention to the cabinet standing beside the refrigerator.", + "I am standing right at the door, close enough that its blank panel fills everything ahead of me. With that stop behind me, my remaining destination is the cabinet next to the refrigerator, back along the kitchen wall behind my right shoulder. I will turn right to begin swinging my heading off the door and toward that side of the room.", + "The edge of the door and its casing are sliding into view on the right, so my heading is coming off the doorway but the kitchen is still hidden. A single turn step is far from enough to face back down the counter run. I will turn right again to keep rotating toward the cabinets.", + "Now I see the door casing and the narrow sidelight window, meaning I am still aimed at the entry wall rather than into the room. The refrigerator and the cabinet beside it lie further around to my right. I will turn right once more to keep bringing that wall into view.", + "Cabinetry is finally appearing on the right, an upper glass-front unit above a counter with canisters on it. That confirms my rotation is opening onto the kitchen run, but the view is still mostly the entry wall. I will turn right again to put the counter line ahead of me.", + "The counter, dishwasher and sink are now centered, so I am looking across the cabinet run rather than along it. The refrigerator is not yet in sight, which tells me it sits further to my right down the same wall. I will turn right again to face along the length of that run.", + "Looking down the counter I can now pick out the refrigerator and the tall glass-front cabinet standing beside it near the far end of the run. My heading is still a little short of that line, with open floor to the right. I will turn right once more to aim straight along the aisle toward them.", + "The aisle now runs straight ahead between the counter on my left and the open floor, with the refrigerator and the tall cabinet beside it standing at the far end. My heading finally matches that path, so turning further would only cost alignment. I will step forward to close the distance.", + "The refrigerator and the tall cabinet next to it have grown noticeably larger ahead of me, confirming the last step carried me down the aisle correctly. I am still several paces short of standing beside them. I will keep walking forward to reach the cabinet at the refrigerator's side.", + "The rounded white refrigerator now fills my left side, and the tall glass-paned cabinet standing right beside it is just ahead along this narrow run. One more step should bring me level with that cabinet rather than its edge.", + "The glass-paned cabinet beside the refrigerator stands directly at my side, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001148_y001993_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001148_y001993_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..71b42be40bebd71ffac73b65734ea3445a9f4364 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001148_y001993_z000168_t1_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Find the gas stove beneath the range hood and go to it.", + "Type": 1, + "Start_Pose": [ + 1147.591, + 1992.878, + 168.149, + -0.301, + 81.276, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1147.591, + 1992.878, + 168.149, + -0.301, + 81.276, + -0.0 + ], + [ + 1147.591, + 1992.878, + 168.149, + -0.301, + 56.276, + -0.0 + ], + [ + 1147.591, + 1992.878, + 168.149, + -0.301, + 31.276, + -0.0 + ], + [ + 1147.591, + 1992.878, + 168.149, + -0.301, + 6.276, + -0.0 + ], + [ + 1269.545, + 1998.135, + 168.149, + -0.301, + 6.276, + -0.0 + ], + [ + 1394.659, + 2011.794, + 168.149, + -0.301, + 6.276, + -0.0 + ], + [ + 1394.659, + 2011.794, + 168.149, + -0.301, + 6.276, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a dining table with a candlestick and two bright windows on a plain wall, with no cooktop or range hood anywhere in view. A hint of cabinetry-free wall on the right suggests the kitchen lies off to my side, so I will turn left to begin a consistent scan of the room.", + "Turning has revealed white upper cabinets and a countertop at the far left edge of my view, a strong sign that the kitchen work area continues in that direction. The gas stove and its hood are still out of sight, so I will keep turning left to bring that cabinet wall into view.", + "I can now see a range hood mounted above a gas cooktop on the left side of my view, with the oven beneath it, so the target is identified. I will continue turning left to face that kitchen wall more squarely and open up a clear walking line past the dining table.", + "The kitchen wall is now in front of me and the gas cooktop with its range hood sits ahead, still several steps away across open floor. The wood floor between me and that counter looks clear, so I will walk forward to close the distance.", + "The gas burners and the stainless hood directly above them now fill much of my view, confirming I am approaching the right appliance. I am still a short distance from the counter, so I will step forward again to stand right at the stove.", + "The four gas burners are directly in front of me with the range hood immediately overhead. The task is complete, so I stop here at the stove." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001243_y001636_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001243_y001636_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..132ba5b9fce5a71bc55c5b5d666c510fdd514c1f --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001243_y001636_z000168_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Find the refrigerator and move close to it.", + "Type": 1, + "Start_Pose": [ + 1242.918, + 1635.677, + 168.149, + -0.301, + -97.284, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1242.918, + 1635.677, + 168.149, + -0.301, + -97.284, + 0.0 + ], + [ + 1242.918, + 1635.677, + 168.149, + -0.301, + -72.284, + -0.0 + ], + [ + 1242.918, + 1635.677, + 168.149, + -0.301, + -47.284, + 0.0 + ], + [ + 1242.918, + 1635.677, + 168.149, + -0.301, + -22.284, + -0.0 + ], + [ + 1242.918, + 1635.677, + 168.149, + -0.301, + 2.716, + -0.0 + ], + [ + 1242.918, + 1635.677, + 168.149, + -0.301, + 27.716, + -0.0 + ], + [ + 1354.335, + 1694.212, + 168.149, + -0.301, + 27.716, + -0.0 + ], + [ + 1354.335, + 1694.212, + 168.149, + -0.301, + 52.716, + -0.0 + ], + [ + 1419.475, + 1794.036, + 168.149, + -0.301, + 52.716, + -0.0 + ], + [ + 1419.475, + 1794.036, + 168.149, + -0.301, + 52.716, + -0.0 + ] + ], + "Rationale": [ + "From my starting spot I only see a narrow recess with a candle on a shelf and a window in a plain wall, with no refrigerator anywhere in view. I will turn right to begin a consistent scan of this room for the appliance or a kitchen cue.", + "This heading shows a closed panel door beside another window, which is an exit rather than a kitchen area. I will keep rotating right in the same direction to bring more of the room into view.", + "Turning further has brought a corner into view where light wood flooring and a glass-front upper cabinet with a countertop appear at the right edge. That cabinetry is a strong kitchen cue, so I will continue turning right to face that side of the room.", + "I now see a kitchen run with a countertop, a stainless dishwasher, and glass-front wall cabinets, but no refrigerator yet in this portion. I will turn right again to follow the counter line, since the appliance is likely at the far end of it.", + "The sink and cabinet run are centered ahead, and a tall pale cabinet body is just entering the right edge of my view. I will turn right once more to expose the end of the kitchen where a refrigerator would most plausibly stand.", + "The refrigerator is now clearly visible, a rounded white unit standing at the far end of the counter run next to the range. It is still several steps away, so I will walk forward along the open floor to close the distance.", + "Moving up the galley has brought me alongside the counter, and the refrigerator now sits off to my right rather than straight ahead. I will turn right to put it directly in front of me before advancing further.", + "The refrigerator is now framed ahead of me with its handles clearly in view and clear floor between us. I will step forward to finish closing the remaining gap and stand right beside it.", + "The refrigerator fills my view right in front of me, its handles within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001260_y001944_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001260_y001944_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53736063e2229bb29dfd8f15e35a8d7111c8e8f9 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001260_y001944_z000168_t1_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Search the area and navigate to the curtain.", + "Type": 1, + "Start_Pose": [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -54.939, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -54.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -79.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -104.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -129.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -154.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -179.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + 155.061, + -0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + 130.061, + -0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + 105.061, + -0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + 80.061, + -0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + 55.061, + -0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + 30.061, + -0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + 5.061, + -0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -19.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -44.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -69.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -94.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -119.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -144.939, + 0.0 + ], + [ + 1260.452, + 1943.5, + 168.15, + 0.0, + -169.939, + 0.0 + ], + [ + 1143.643, + 1925.545, + 168.15, + 0.0, + -169.939, + 0.0 + ], + [ + 1049.199, + 1936.256, + 168.15, + 0.0, + -169.939, + 0.0 + ], + [ + 1049.199, + 1936.256, + 168.15, + 0.0, + -144.939, + 0.0 + ], + [ + 946.178, + 1863.957, + 168.15, + 0.0, + -144.939, + 0.0 + ], + [ + 946.178, + 1863.957, + 168.15, + 0.0, + -119.939, + 0.0 + ], + [ + 883.365, + 1754.893, + 168.15, + 0.0, + -119.939, + 0.0 + ], + [ + 883.365, + 1754.893, + 168.15, + 0.0, + -94.939, + 0.0 + ], + [ + 872.529, + 1629.501, + 168.15, + 0.0, + -94.939, + 0.0 + ], + [ + 872.529, + 1629.501, + 168.15, + 0.0, + -94.939, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see kitchen counters, upper cabinets, a refrigerator and the exterior door with narrow sidelights, and none of these is a curtain. Since no curtained window is in view, I will begin a steady leftward scan of this room to uncover the parts of the space behind me.", + "The rotation has brought a tall bank of glass-front cabinets and the entry door with its slim side windows into view, but those windows are bare and no curtain appears. I will keep turning left in the same direction to continue sweeping this room instead of stopping on an uninformative wall.", + "Now the pantry cabinets dominate the view and only a small uncovered window sits at the far right, so the curtain is still not found here. Continuing the same leftward rotation should carry my view past this cabinet wall toward whatever lies beyond it.", + "A blank wall and the side of the cabinetry now block most of my view, giving me almost no useful information about the target. I will keep rotating left, since the sliver of open floor at the left edge suggests another room adjoins this one.", + "Through the opening on my left I can now see a staircase, a hallway and an interior door in a larger adjoining room, which is a more likely place for a curtained window than this kitchen. I will continue turning left to bring that opening fully into view before deciding how to move.", + "From this heading I can see a staircase, an open hallway toward an interior door, and a tall window on the far left, but none of these windows show any hanging fabric. Since no curtain is in view yet, I will keep rotating left in the same direction to sweep the rest of this larger room. The bright window wall on my left is the most promising place for drapery, so continuing this scan should bring it into view.", + "The wide window beside the staircase is now fully visible and it is bare, with only a frame and no drapes, so the target is still not found here. I will continue turning left in the same direction to reveal the part of the room hidden past the left edge of my view. Keeping one rotation direction avoids rescanning ground I have already covered.", + "A dining table and chair have appeared at the lower left, and the window above them is again uncovered, so no curtain is present in this corner. I will keep rotating left to bring the rest of this dining area and its remaining windows into view. If curtains hang anywhere nearby, they should appear along that window wall.", + "Both windows now framing the dining table are plain, showing only glass and trim without any drapery, so this bright corner does not hold the curtain. I will continue the same leftward rotation to expose the wall and doorways still behind my left shoulder. This keeps the sweep consistent until I either spot the target or come back around to where I started.", + "The dining area and its bare windows are now behind the near side of my view, with cabinetry appearing on the left, which suggests I am rotating back toward kitchen fittings rather than any window dressing. Since the curtain has not shown up in this room, I will keep turning left to finish scanning the surrounding walls and openings. Once I have covered this space, an unexplored area reached through one of the doorways becomes the sensible next place to search.", + "The dining corner beside me shows a range, cabinets and a bare window with no drapery on it, so the curtain is not here. I will keep turning left in the same direction to sweep the remaining wall of this room rather than stop on an unhelpful heading.", + "The window now at the right edge of my view is uncovered, and the rest of the frame is only cabinetry and the oven, so no curtain has appeared. Continuing the same leftward rotation should bring the still unseen part of this kitchen wall into view.", + "I am now facing a solid run of cabinets and the refrigerator with no window at all, so this heading offers nothing for the search. I will continue the steady left turn to keep the scan consistent and reach the next stretch of wall.", + "The sink counter, dishwasher and refrigerator fill this heading and there is still no curtain in sight. Another left turn keeps my sweep going toward the part of the room I have not yet faced.", + "The exterior door with its narrow sidelight and the sink counter ahead of me look like the same kitchen view I started from, so my rotation has nearly closed the loop without any curtain appearing in this room. I will take one more left turn to finish overlapping my starting heading before committing to move out toward the open stair hall I glimpsed earlier.", + "I am looking at the kitchen counter and the side entry door again, essentially the same scene I started from, so my continuous left scan has come back around without any curtain appearing on the bare windows here. Since sweeping this room has not revealed the target, I will keep turning left in the same direction to bring the open side of the room and the passage out of the kitchen back into view.", + "The tall glass front cabinets and the entry door with its narrow sidelights fill my view, and neither shows anything like a curtain. Continuing the same left rotation should carry my heading past this cabinet wall toward the doorway that leads out of the kitchen.", + "I am now facing the built in cabinetry with a small uncurtained window and another door to the right, so this corner offers no target either. I will turn left again to swing toward the wall opening on my left, which appears to lead into a different room worth searching.", + "Past the cabinet wall I can now see through the opening on my left into a hallway with a staircase and a far door, an area I have not searched. One more left turn should square me with that opening so I can walk out of this kitchen instead of scanning it again.", + "My heading is now lined up with the hallway, with the staircase on the left and clear floor running ahead toward a door and what looks like a furnished living space. Since the kitchen sweep showed only bare windows, I will walk forward into this unexplored area, where draped windows are more likely.", + "My scan of the kitchen and entry area turned up no curtain, so I committed to this open living space ahead, where a chandelier, television and sofa suggest a window wall likely dressed with curtains. From my position beside the staircase the far right side of the room is still cut off by the wall edge, so I will keep walking forward to bring that side into view.", + "Advancing into the living room has paid off, since a pale curtain panel and rod now appear at the right edge of my view. My heading is still aimed down the room past the sofa, so I will turn right to bring that curtained window into the center of my view.", + "The turn brought the curtained window fully into view on the right side of the room, confirming the target is here. It is still well across the room behind the sofa, so I will walk forward to close that distance.", + "After stepping forward the curtains have drifted toward the right edge of my view, so my heading is carrying me past them rather than at them. I will turn right again to correct that offset and put the curtain panels back near the center of my path.", + "The correction worked and the curtained window now sits ahead of me, with both fabric panels clearly framing the glass. The sofa sits to my left along the open floor, so I should have room to keep walking forward and get close to the curtain.", + "The curtained window sits to the right of my heading, and the sofa back is crowding the left half of my path toward it. I will turn right to bring the curtain panels closer to the center of my view so a straight walk should reach them without brushing the couch.", + "The turn worked, and both curtain panels with their rod are now squarely centered ahead with clear floor between me and the window. I will step forward to close the remaining distance to the curtain.", + "The curtain panel now fills the near right of my view at arm's length beside the window frame. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001386_y002134_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001386_y002134_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2eb587ebd7676e6614146ba1aa70c58da7db095a --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001386_y002134_z000468_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Look around and go to the photo frame placed on a table.", + "Type": 1, + "Start_Pose": [ + 1386.137, + 2134.206, + 467.949, + 0.0, + -14.599, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1386.137, + 2134.206, + 467.949, + 0.0, + -14.599, + 0.0 + ], + [ + 1386.137, + 2134.206, + 467.949, + 0.0, + -39.599, + 0.0 + ], + [ + 1386.137, + 2134.206, + 467.949, + 0.0, + -64.599, + 0.0 + ], + [ + 1386.137, + 2134.206, + 467.949, + 0.0, + -89.599, + 0.0 + ], + [ + 1386.137, + 2134.206, + 467.949, + 0.0, + -114.599, + 0.0 + ], + [ + 1386.137, + 2134.206, + 467.949, + 0.0, + -139.599, + 0.0 + ], + [ + 1293.539, + 2098.074, + 467.949, + 0.0, + -139.599, + 0.0 + ], + [ + 1293.539, + 2098.074, + 467.949, + 0.0, + -114.599, + 0.0 + ], + [ + 1233.148, + 2000.554, + 467.949, + 0.0, + -114.599, + 0.0 + ], + [ + 1233.148, + 2000.554, + 467.949, + 0.0, + -89.599, + 0.0 + ], + [ + 1233.148, + 2000.554, + 467.949, + 0.0, + -64.599, + 0.0 + ], + [ + 1271.485, + 1887.67, + 467.949, + 0.0, + -64.599, + 0.0 + ], + [ + 1325.473, + 1773.978, + 467.949, + 0.0, + -64.599, + 0.0 + ], + [ + 1379.46, + 1660.287, + 467.949, + 0.0, + -64.599, + 0.0 + ], + [ + 1416.865, + 1607.154, + 468.15, + 0.0, + -64.599, + 0.0 + ], + [ + 1416.865, + 1607.154, + 468.15, + 0.0, + -64.599, + 0.0 + ] + ], + "Rationale": [ + "From here I only see the bed's headboard, a nightstand with a lamp and clock, and two pictures hanging on the wall, none of which is a photo frame standing on a table. I will turn left to begin a steady scan of the rest of this bedroom for a frame resting on a table or dresser surface.", + "The rotation has opened up the left half of the room, showing a window, a small nightstand lamp, and a chest of drawers in the far corner, but no photo frame is clearly resting on a table yet. I will keep turning left in the same direction to bring that far corner and the remaining wall fully into view.", + "I can now see the window wall with a chest of drawers and a bench, and there seems to be a small upright object on that dresser top, though it is too far and oblique to confirm as a photo frame. I will continue the left scan to see that side of the room more directly and to check the wall beyond it.", + "The view now covers the door, the closet units, and the window wall, with the dresser and its small framed item pushed to the right edge of my sight. Continuing the same left rotation should reveal the last unscanned stretch of wall and any other table surface in this room.", + "This heading shows the closet and the interior door with a dresser carrying jars and a vase near my left, but still no photo frame standing on a table on this side. I will complete the scan with one more left turn so I have covered the room before committing to an approach.", + "My scan has covered this bedroom, and the only promising table-top item I noticed is the small upright frame on the chest of drawers by the far window, not anything on this near dresser. The floor ahead along the closet wall is clear, so I will step forward to cross into the room and get closer to that window corner.", + "After stepping forward I am now close to the wall with the interior door and the closet, which fills most of my view and hides the window corner I want to reach. I will turn right to swing my heading back into the open part of the room where that dresser and its likely photo frame stand.", + "The turn has reopened the room, and I can see the window with a chest of drawers at the right holding a small upright frame. The carpet between me and that corner looks clear, so I will walk forward to close the distance and confirm the frame.", + "I am very close to a closed panel door and a tall closet, so this wall gives me nothing to inspect for the photo frame. The only open part of the room lies to my right, where a bright window edge shows, so I will turn right to bring that side of the room into view.", + "Turning has opened up the room and I can now see a low chest of drawers under the windows with a small upright framed picture and a potted plant on top. That candidate target sits right of my heading, so I will turn right again to bring it toward the center of my view before walking over.", + "The chest of drawers with the small framed picture beside the plant is now roughly ahead of me, near the windows. The carpet between us is clear of furniture, so I will walk forward to close the distance to that table surface.", + "The frame on the chest of drawers is larger and clearer now, confirming it is a standing photo frame rather than a wall picture. I am still several steps short of it, so I will keep walking straight toward the corner.", + "The photo frame is clearly centered on the chest of drawers in front of me, with the plant to its right. Nothing blocks my line, so I will advance again to get within close range of the frame.", + "The framed photo now fills a good part of my view on the chest top, so I am nearly at it. One more short step forward should place me directly at the table surface holding the frame.", + "The framed photo sits directly in front of me at arm's reach on the chest top. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001637_y000244_z000098_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001637_y000244_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..99074994893c6c80106f6536018a85551c035985 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001637_y000244_z000098_t0_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Go to the mailbox.", + "Type": 0, + "Start_Pose": [ + 1637.431, + 243.935, + 98.226, + 0.0, + -27.141, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "LookDown", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "LookDown", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1637.431, + 243.935, + 98.226, + 0.0, + -27.141, + 0.0 + ], + [ + 1749.431, + 186.52, + 98.226, + 0.0, + -27.141, + 0.0 + ], + [ + 1861.432, + 129.106, + 98.226, + 0.0, + -27.141, + 0.0 + ], + [ + 1861.432, + 129.106, + 98.226, + 0.0, + -2.141, + 0.0 + ], + [ + 1861.432, + 129.106, + 98.226, + 0.0, + 22.859, + -0.0 + ], + [ + 1875.6, + 170.982, + 98.226, + 0.0, + 22.859, + -0.0 + ], + [ + 1875.6, + 170.982, + 98.226, + 0.0, + 22.859, + -0.0 + ], + [ + 1790.457, + 135.088, + 98.226, + 0.0, + 22.859, + -0.0 + ], + [ + 1790.457, + 135.088, + 98.226, + 0.0, + -2.141, + 0.0 + ], + [ + 1790.457, + 135.088, + 98.226, + 0.0, + -27.141, + 0.0 + ], + [ + 1902.457, + 77.674, + 98.226, + 0.0, + -27.141, + 0.0 + ], + [ + 1902.457, + 77.674, + 98.226, + 0.0, + -2.141, + 0.0 + ], + [ + 1902.457, + 77.674, + 98.226, + 0.0, + 22.859, + -0.0 + ], + [ + 1902.457, + 77.674, + 98.226, + 0.0, + 22.859, + -0.0 + ], + [ + 2018.642, + 119.975, + 113.998, + 0.0, + 22.859, + -0.0 + ], + [ + 2018.642, + 119.975, + 113.998, + 0.0, + 47.859, + -0.0 + ], + [ + 2018.642, + 119.975, + 113.998, + 0.0, + 72.859, + -0.0 + ], + [ + 2039.158, + 138.119, + 116.603, + 0.0, + 72.859, + -0.0 + ], + [ + 2039.158, + 138.119, + 116.603, + 0.0, + 72.859, + -0.0 + ] + ], + "Rationale": [ + "From the roadway I can see the white U.S. mail box on its wooden post standing in the grass beside the front walk, just right of center and well ahead of me. Nothing blocks the gap between the concrete barriers directly in front, so I will step forward to close distance toward it.", + "The mailbox has grown noticeably larger and now sits near the right side of my view, so I am closing on it but still separated by the curb and lawn strip. I will advance once more to shorten the remaining distance before fine tuning my heading.", + "Now that I am up at the walkway, the mailbox has slipped past the right edge of my view and only the house front and picket fence lie straight ahead. I will turn right to bring the post back into view and put it on my heading.", + "The mailbox is back in view but still sits well right of center, so my heading is not yet pointed at it. I will turn right again to bring the post closer to the middle of my view before moving.", + "The mailbox now stands roughly ahead of me, only slightly left of center and just a short stretch of grass and paving away. With my heading acceptable, I will step forward to close the last of that distance.", + "The mailbox post now stands close along the left side of my view and its box is above my line of sight, so I can no longer judge how much ground is left between me and it. I will tilt my gaze down to inspect the curb, the grass strip, and anything sitting immediately in front of my feet before stepping again.", + "With my gaze lowered I can see a large concrete barrier and the raised curb directly in front of me, with the mailbox post set back on the grass beyond them, so pressing straight ahead here is blocked. I will step backward to open clearance from the barrier and give myself room to reorient toward a passable line.", + "From this stepped-back position the row of concrete barriers still sits across the ground between me and the mailbox, so a straight approach on this heading remains obstructed. I will turn left to swing off that blocked line and look for an open stretch of pavement instead.", + "The first turn moved the mailbox toward the right side of my view and brought more of the open street and walkway ahead into sight. I will turn left once more to finish squaring up with that clear stretch so I can move without the barriers in my way.", + "I am now facing along a clear run of street and walkway, with the mailbox standing off at the right edge of my view instead of behind the barrier I was pressed against. I will walk forward along this open line to get past that obstruction and reach a spot from which the mailbox should be directly approachable.", + "Standing on the front walkway I can see the porch and door straight ahead, but the mailbox is no longer anywhere in my view, so my heading has drifted off the target. I will turn right, since the mailbox sits on the near side of the lawn toward the street on that side, and this should start bringing it back into view.", + "The wooden post and underside of the mailbox have just appeared at the right edge of my view, confirming the target lies further to my right. One more right turn should swing it toward the center of my view so I can walk straight at it.", + "The U.S. Mail box now sits clearly ahead and slightly right of center, so my heading is usable for the final approach. Before stepping forward I will look down to check the grass strip, garden lights, and curb edge between me and the post, since I cannot judge the near ground from this level gaze.", + "With my gaze lowered I can see the paved walk and the grass verge ahead of me are clear, with the mailbox post rising just ahead near the top of my view. I will step forward along this open ground to close the remaining distance to the mailbox.", + "I am now right beside the mailbox, but it has slid to the far right edge of my view where only the post and box side are showing. Turning right should center the mailbox in front of me and confirm I am standing at it rather than past it.", + "The mailbox body is right beside me, filling the right half of my view with its post below it, so my heading is still pointed past it toward the porch. I will turn right once more to swing my facing onto the mailbox itself rather than the lawn beyond it, which should place it near the center of my view for a straight final step in.", + "The mailbox now sits directly ahead in the center-left of my view with its raised red flag clearly visible, and only a short strip of grass separates me from its post. I will step forward a little to close that last bit of distance and stand right at the mailbox.", + "The mailbox is directly in front of me at arm's length, its body filling my view beside its wooden post. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x001736_y-001074_z000150_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x001736_y-001074_z000150_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb634208e31afede759101a1458592f603c1d3f7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x001736_y-001074_z000150_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the wall lamp on the building to your left.", + "Type": 2, + "Start_Pose": [ + 1736.05, + -1073.643, + 149.883, + -0.301, + -84.483, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1736.05, + -1073.643, + 149.883, + -0.301, + -84.483, + 0.0 + ], + [ + 1736.05, + -1073.643, + 149.883, + -0.301, + -109.483, + 0.0 + ], + [ + 1699.193, + -1192.771, + 149.883, + -0.301, + -109.483, + 0.0 + ], + [ + 1657.216, + -1311.422, + 149.7, + -0.301, + -109.483, + 0.0 + ], + [ + 1615.239, + -1428.626, + 165.417, + -0.301, + -109.483, + 0.0 + ], + [ + 1615.239, + -1428.626, + 165.417, + -0.301, + -109.483, + 0.0 + ], + [ + 1615.239, + -1428.626, + 165.417, + -0.301, + -109.483, + 0.0 + ] + ], + "Rationale": [ + "The pale sided building on my left carries a boxy lantern fixture on its wall, but it sits far off at the edge of my view while I face the open patio. I will turn left so that wall and its lamp move to the center of my heading before I start walking.", + "The garage wall now fills the center of my view, with the lantern fixture mounted on the siding just right of the corner and still well ahead of me. The concrete strip in front of me is clear, so I will walk forward to close that distance.", + "The lamp has grown noticeably larger and the siding now dominates my view, so my heading is holding on the fixture. There is still open pavement and grass between me and the wall, so I will keep walking toward it.", + "The lantern is close now, hanging on the siding to the upper left, and the wall corner with the fence beyond marks the end of my approach. A few more paces should put me directly beneath the fixture, so I will step forward again.", + "I am right up against the siding at the corner of the building, and at this range my level gaze shows only boards and the fence, with the fixture above my line of sight. I will look up to bring the wall lamp back into view and confirm I am standing at it.", + "The wall lamp on the left-hand building hangs directly above me, filling the upper corner of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002171_y000704_z000113_t0_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002171_y000704_z000113_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6fc80280530c12a285d2e894897cef31c39e68db --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002171_y000704_z000113_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the mailbox.", + "Type": 0, + "Start_Pose": [ + 2171.211, + 703.689, + 113.246, + -0.248, + -76.27, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2171.211, + 703.689, + 113.246, + -0.248, + -76.27, + 0.0 + ], + [ + 2171.211, + 703.689, + 113.246, + -0.248, + -101.27, + 0.0 + ], + [ + 2146.614, + 580.258, + 116.462, + -0.248, + -101.27, + 0.0 + ], + [ + 2122.018, + 456.827, + 122.15, + -0.248, + -101.27, + 0.0 + ], + [ + 2097.421, + 333.396, + 119.947, + -0.248, + -101.27, + 0.0 + ], + [ + 2073.162, + 240.34, + 117.948, + -0.248, + -101.27, + 0.0 + ], + [ + 2073.162, + 240.34, + 117.948, + -0.248, + -101.27, + 0.0 + ] + ], + "Rationale": [ + "I can spot a white mailbox on a wooden post off to the left side of the walkway, near the hedge and the curb. My heading currently points down the sidewalk past it, so I will turn left to bring the mailbox closer to the center of my view before advancing.", + "After turning, the mailbox on its post now sits roughly ahead of me, though still far off across the grass strip. The path forward looks clear of the fence and shrubs, so I will move forward to close the distance.", + "The mailbox has grown noticeably larger and remains near my forward heading, so my approach line is working. I will keep moving forward to shrink the remaining gap.", + "The mailbox with its red flag is now clearly in front of me at close range, but not yet within arm's reach. I will advance again to bring myself right up beside it.", + "The mailbox body now fills much of my view just ahead and slightly left, meaning I am nearly at it. I will take one more short step forward to settle directly at the mailbox.", + "The mailbox surface fills my view directly in front of me at contact range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002455_y-000008_z000122_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002455_y-000008_z000122_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8550c496bd674c2aad34c582a7ea3985043f3deb --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002455_y-000008_z000122_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the wall lamp on the left side of the main door.", + "Type": 2, + "Start_Pose": [ + 2454.933, + -8.455, + 122.403, + 0.0, + 26.648, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2454.933, + -8.455, + 122.403, + 0.0, + 26.648, + 0.0 + ], + [ + 2567.423, + 47.994, + 130.338, + 0.0, + 26.648, + -0.0 + ], + [ + 2567.423, + 47.994, + 130.338, + 0.0, + 1.648, + -0.0 + ], + [ + 2693.23, + 51.613, + 139.211, + 0.0, + 1.648, + -0.0 + ], + [ + 2819.037, + 55.233, + 151.528, + 0.0, + 1.648, + -0.0 + ], + [ + 2819.037, + 55.233, + 151.528, + 0.0, + -23.352, + 0.0 + ], + [ + 2934.587, + 5.345, + 165.052, + 0.0, + -23.352, + 0.0 + ], + [ + 3050.136, + -44.543, + 165.052, + 0.0, + -23.352, + 0.0 + ], + [ + 3050.136, + -44.543, + 165.052, + 0.0, + -48.352, + 0.0 + ], + [ + 3133.776, + -138.59, + 165.052, + 0.0, + -48.352, + 0.0 + ], + [ + 3133.776, + -138.59, + 165.052, + 0.0, + -48.352, + 0.0 + ], + [ + 3133.776, + -138.59, + 165.052, + 0.0, + -48.352, + 0.0 + ] + ], + "Rationale": [ + "From the front walk I can see the main door under the porch roof with a matching lantern mounted on each side of it; the two lamps look alike, so I fix on the one to the door's left, the side toward the far end of the porch. I will walk forward along the path to close the distance to that porch front.", + "The dark main door now sits well to the left of my heading, so walking straight on would carry me past the porch steps instead of toward it. I will turn left to bring the doorway and its flanking lanterns squarely ahead.", + "The door is now centered ahead with a lantern on each side of it, and the walkway runs straight toward the porch deck. I will step forward to reach the deck, since the lamp I want is still too far off to stand beside.", + "I am on the porch boards now, with the door ahead and its two lanterns visible on the siding at either side. Another step forward should bring me close enough to the wall to swing toward the lamp on the door's left.", + "Standing close to the wall, the door is centered and my target lantern sits out near the left edge of my view, above the open stretch of deck. I will turn left so that lamp comes into the middle of my view before I move along the wall.", + "The lantern on the door's left side is now ahead of me on the siding, with the planter and chairs beyond it and clear deck between. I will walk forward to shorten the gap to that lamp.", + "The lantern is noticeably larger on the wall ahead and the door frame has slid to my right, so I am tracking along the correct stretch of siding. Another step forward should place me almost directly beneath that lamp.", + "I am right up against the siding now, and the lantern hangs high in the upper left of my view while the door frame crowds the right edge. I will turn left to face the wall section carrying that lamp instead of skimming past it.", + "The lantern now hangs on the siding just right of center with clear deck boards running up to the wall beneath it. I will step forward to close the last of that gap and stand directly under the lamp.", + "I am close enough that the siding fills my view and only a dark corner of the lamp housing shows at the top edge. I will look up to bring the lantern fully into view and confirm I am standing beneath it.", + "The lantern beside the main door hangs directly overhead, close under the porch ceiling. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x002969_y001197_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x002969_y001197_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3b322feb0dfd5ff9f12927c5203d56b84fe44285 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x002969_y001197_z000168_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Look for the kitchen sink and get close to it.", + "Type": 1, + "Start_Pose": [ + 2969.095, + 1196.931, + 168.149, + -0.301, + -87.987, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2969.095, + 1196.931, + 168.149, + -0.301, + -87.987, + -0.0 + ], + [ + 2969.095, + 1196.931, + 168.149, + -0.301, + -62.987, + 0.0 + ], + [ + 2969.095, + 1196.931, + 168.149, + -0.301, + -37.987, + 0.0 + ], + [ + 2969.095, + 1196.931, + 168.149, + -0.301, + -12.987, + 0.0 + ], + [ + 2969.095, + 1196.931, + 168.149, + -0.301, + 12.013, + 0.0 + ], + [ + 3084.031, + 1204.395, + 168.149, + -0.301, + 12.013, + 0.0 + ], + [ + 3206.351, + 1205.503, + 168.149, + -0.301, + 12.013, + 0.0 + ], + [ + 3328.141, + 1204.346, + 168.942, + -0.301, + 12.013, + 0.0 + ], + [ + 3328.141, + 1204.346, + 168.942, + -0.301, + 37.013, + -0.0 + ], + [ + 3428.432, + 1264.93, + 168.171, + -0.301, + 37.013, + -0.0 + ], + [ + 3514.617, + 1339.654, + 168.149, + -0.301, + 37.013, + -0.0 + ], + [ + 3514.617, + 1339.654, + 168.149, + -0.301, + 62.013, + -0.0 + ], + [ + 3533.903, + 1448.614, + 168.149, + -0.301, + 62.013, + -0.0 + ], + [ + 3590.12, + 1520.378, + 168.149, + -0.301, + 62.013, + -0.0 + ], + [ + 3590.12, + 1520.378, + 168.149, + -0.301, + 62.013, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a dining area with tall windows, a wall with framed pictures, and the end of a dining table, so no sink or kitchen counter is in view. I will turn right to begin a consistent scan of the room and look for a doorway or counter run that leads toward the kitchen.", + "The scan now reveals an archway with bookshelves and a tall white cabinet at the far side of the dining room, which suggests the house continues in that direction, but there is still no sink. I will keep turning right in the same direction to open up more of that adjoining space.", + "Further right I can now see pale upper cabinets and a countertop run in the distance beyond the dining area, a strong cue that the kitchen lies that way. I will continue the rightward turn to bring that cabinetry more toward the center of my view.", + "The kitchen is clearly identifiable off to my right, with a range hood, an island and rows of cabinets, though it sits at an angle from my current heading. One more turn to the right should line my path up with that kitchen area before I start walking.", + "The kitchen counters and cabinets now sit ahead of me across the open living space, with a clear stretch of floor to the left of the sofa. I will walk forward to close the distance and get near enough to spot the sink along the counter run.", + "The kitchen island and the cabinet walls have grown noticeably larger, so my heading is carrying me into the kitchen as intended, but the sink basin is still too far to resolve. I will keep walking forward along this clear stretch of floor.", + "I am nearly at the edge of the kitchen now, with the island, range and hood plainly in front of me and a faucet just visible at the right end of the counter. Another step forward should bring me fully into the kitchen floor space beside the island.", + "Standing in the kitchen, the counter with the faucet runs off to my right rather than straight ahead, while the island occupies the space in front of me. I will turn right to face that counter section so I can approach the sink directly.", + "I am now inside the kitchen with the counter run and a faucet visible along the wall to the right of the range, past the island. I will step forward to close the remaining distance toward that sink area.", + "The faucet and basin on the right counter run are clearer now, so the sink is confirmed rather than guessed. Another step forward should bring me nearer to that counter before I turn to face it.", + "The sink with its tall faucet sits on the counter to my right, while my heading still points along the cabinet wall ahead. Turning right should place the sink closer to the center of my view so I can walk straight at it.", + "The sink and faucet are now framed near the middle of my view with clear floor between me and the counter. I will walk forward to reduce that gap.", + "The double basin and faucet fill much of my view, but I am still a step short of standing right at the counter edge. One more forward step should put me directly beside the sink.", + "The kitchen sink basins and faucet are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003025_y000424_z000165_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003025_y000424_z000165_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aa6346bbf98d7337166311c99f286a741ed7ae90 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003025_y000424_z000165_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Walk along the covered porch to the dark paneled door and open it.", + "Type": 4, + "Start_Pose": [ + 3024.751, + 423.994, + 165.15, + 0.0, + -94.294, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3024.751, + 423.994, + 165.15, + 0.0, + -94.294, + 0.0 + ], + [ + 3015.327, + 298.488, + 165.15, + 0.0, + -94.294, + 0.0 + ], + [ + 3015.327, + 298.488, + 165.15, + 0.0, + -69.294, + 0.0 + ], + [ + 3059.828, + 180.759, + 165.15, + 0.0, + -69.294, + 0.0 + ], + [ + 3059.828, + 180.759, + 165.15, + 0.0, + -44.294, + 0.0 + ], + [ + 3149.387, + 92.838, + 165.15, + 0.0, + -44.294, + 0.0 + ], + [ + 3149.346, + 91.894, + 165.15, + 0.0, + -44.294, + 0.0 + ], + [ + 3149.346, + 91.894, + 165.15, + 0.0, + -19.294, + 0.0 + ], + [ + 3149.346, + 91.894, + 165.15, + 0.0, + -19.294, + 0.0 + ], + [ + 3149.346, + 91.894, + 165.15, + 0.0, + -19.294, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The dark paneled door sits on the house wall to my right, but I am still well back along the covered porch decking. I will move forward down the open boards to close the distance before turning toward it.", + "Moving along the porch has brought me level with the doorway, and the dark door now sits at the right edge of my view with the wall running away in front of me. Turning right should bring the door and its handle into the center of my view so I can approach it head on.", + "The dark paneled door with its brass handle is now clearly in view ahead and slightly right, framed by white trim and lit by the porch lantern. It is still a few strides away, so I will advance across the decking to get within reach of the handle.", + "I am close to the door now, but it fills the right side of my view while the siding stretches ahead of me, so my heading is still skewed along the wall. A turn to the right should square me up with the door face and handle before I attempt to open it.", + "The dark paneled door is now centered in front of me with its brass handle plainly visible, and only a short stretch of decking remains. I will step forward so the handle falls within interaction range.", + "The dark paneled door now fills my view at arm's length, with its trim and the porch light just to my left, so I am close enough to work the latch. I will attempt to open it from here, though my heading is centered on the panel rather than the handle side, so the grasp may not register.", + "My attempt to open the door left it shut, and I still see only flat panels and the left edge of the frame, with no latch in reach of my gaze. Turning right should swing my heading toward the handle side of the door so the latch comes into view for another try.", + "Now the brass deadbolt and lever handle are clearly in front of me on the right of the panel, unlike my earlier attempt that left the door closed. From this heading I will try the latch again, and the door should release this time.", + "The dark paneled door stands swung open and the lit interior hallway and closet are visible through the opening. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003026_y-000359_z000165_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003026_y-000359_z000165_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..76c441b5c14eaef18ccfa8d5aefb951a8696faf6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003026_y-000359_z000165_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Proceed to the second wall lamp visible on the left wall.", + "Type": 2, + "Start_Pose": [ + 3026.14, + -358.961, + 165.15, + -0.05, + 68.42, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3026.14, + -358.961, + 165.15, + -0.05, + 68.42, + -0.0 + ], + [ + 3072.431, + -241.924, + 165.15, + -0.05, + 68.42, + -0.0 + ], + [ + 3118.722, + -124.887, + 165.15, + -0.05, + 68.42, + -0.0 + ], + [ + 3153.632, + -8.967, + 165.15, + -0.05, + 68.42, + -0.0 + ], + [ + 3153.044, + 104.792, + 177.625, + -0.05, + 68.42, + -0.0 + ], + [ + 3153.044, + 104.792, + 177.625, + -0.05, + 68.42, + -0.0 + ], + [ + 3153.044, + 104.792, + 177.625, + -0.05, + 68.42, + -0.0 + ] + ], + "Rationale": [ + "Two lanterns hang along the wall on my left: the near one beside me, and beyond it a second one mounted just past the front door next to the window. That further lantern by the door is my target, so I walk forward down the porch toward it.", + "The lantern beside the front door and window is now clearly ahead on my left and growing larger as the near wall slides past. The deck stays clear along this line, so I keep walking forward to close the remaining distance.", + "The lantern next to the window past the front door is now close on my left, mounted above the rocking chairs. I am still a couple of paces short of standing under it, so I continue forward along the porch.", + "The lantern hangs large and near at the top of my view, just past the door frame beside the window. One more step should put me directly beneath it, and the decking beside the chairs is still clear.", + "I am now standing right alongside the window past the front door, but the lantern is mounted above my level and has slipped out of the top of my view. I will look up to bring it back into sight and confirm I have arrived at it.", + "The lantern beside the window past the front door fills my view directly overhead. I have reached it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003036_y-000556_z000165_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003036_y-000556_z000165_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6c1e7c99d5d000e146f05283a901e78f4e4357d6 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003036_y-000556_z000165_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Follow the covered porch to the dark paneled door ahead and open it.", + "Type": 4, + "Start_Pose": [ + 3035.865, + -556.041, + 165.15, + 0.0, + 57.413, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3035.865, + -556.041, + 165.15, + 0.0, + 57.413, + 0.0 + ], + [ + 3035.865, + -556.041, + 165.15, + 0.0, + 82.413, + -0.0 + ], + [ + 3052.482, + -431.284, + 165.15, + 0.0, + 82.413, + -0.0 + ], + [ + 3069.1, + -306.527, + 165.15, + 0.0, + 82.413, + -0.0 + ], + [ + 3085.717, + -181.769, + 165.15, + 0.0, + 82.413, + -0.0 + ], + [ + 3102.334, + -57.012, + 165.15, + 0.0, + 82.413, + -0.0 + ], + [ + 3102.334, + -57.012, + 165.15, + 0.0, + 57.413, + -0.0 + ], + [ + 3152.943, + 48.792, + 165.15, + 0.0, + 57.413, + -0.0 + ], + [ + 3152.943, + 48.792, + 165.15, + 0.0, + 57.413, + -0.0 + ], + [ + 3152.943, + 48.792, + 165.15, + 0.0, + 57.413, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here I am facing mostly into the white siding wall, so the covered porch runs away to my right and I cannot yet see the door I need. I will turn right to swing my heading down the length of the porch decking and bring the run of doors ahead into view.", + "The porch corridor is now open straight ahead, with the deck clear of obstacles and doors set into the wall on my left further along. I will move forward down the covered walkway to close distance toward the dark paneled door.", + "A dark paneled door on the left wall is now clearly resolved ahead, with its lamp and a planter beside it. The lane of decking in front of me is still unobstructed, so I will continue forward to reach it.", + "The dark paneled door is growing larger on my left but I am still well short of arm's reach, and the porch chairs sit past it rather than in my way. I will keep advancing along the porch to draw level with the door.", + "The dark paneled door is close on my left but still slightly behind my forward line, so I am not yet positioned squarely beside its handle. One more step forward should place me level with the door frame before I turn to face it.", + "I am now standing beside the dark paneled door, which is pressed against the left edge of my view while my heading still points down the porch. I will turn left to square up on the door so its handle sits in front of me.", + "The dark paneled door now fills the left of my view with its brass lever handle in sight, but I am still a step off the threshold. I will move forward to bring the handle within reach for an interaction.", + "I am right at the dark paneled door with its brass knob and lever handle directly in front of me at close range. This is the interaction position the task called for, so I will attempt to open the door now.", + "I see the dark paneled door standing open, with the interior room and cabinet visible through the doorway. My task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003269_y000183_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003269_y000183_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..26c235eca1653895f8d3e856527dbabe10a97566 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003269_y000183_z000468_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Step up into the alcove and open the white paneled door.", + "Type": 4, + "Start_Pose": [ + 3268.853, + 183.261, + 468.15, + 0.0, + -19.278, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3268.853, + 183.261, + 468.15, + 0.0, + -19.278, + 0.0 + ], + [ + 3268.853, + 183.261, + 468.15, + 0.0, + -44.278, + 0.0 + ], + [ + 3358.963, + 95.394, + 468.791, + 0.0, + -44.278, + 0.0 + ], + [ + 3449.073, + 7.526, + 468.791, + 0.0, + -44.278, + 0.0 + ], + [ + 3449.073, + 7.526, + 468.791, + 0.0, + -19.278, + 0.0 + ], + [ + 3502.993, + -40.627, + 468.15, + 0.0, + -19.278, + 0.0 + ], + [ + 3502.993, + -40.627, + 468.15, + 0.0, + -19.278, + 0.0 + ], + [ + 3502.993, + -40.627, + 468.15, + 0.0, + -19.278, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The white paneled door sits in a recessed alcove on the left side of my view, above a low step, while the dresser and wall art occupy the space ahead of me. I will turn left so the doorway is centered in front of me before I start walking toward it.", + "The paneled door with its brass handle now sits near the center of my view, with clear tiled floor and the raised step between me and it. I will walk forward to close that distance and get into the alcove.", + "The door now fills much of my view and its lever handle is clearly visible, but I am still a step short of reaching distance. I will continue forward to step up into the alcove and get close to the door face.", + "I am now right up against the alcove, but my heading is skewed so the empty side wall takes the left of my view and the handle is pushed to the far right edge. I will turn right to square up with the door face and bring the handle into the center of my reach.", + "The door panels and the lever handle are now centered squarely ahead of me, so my heading is correct. I will step forward a little more to bring the handle within arm's reach for the opening attempt.", + "I am standing in the alcove directly against the paneled door, with only its painted panels filling my view at contact range. This is the interaction position, so I will try the handle and push the door open.", + "The paneled door now stands swung open, revealing the landing and stair railing beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003318_y-000715_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003318_y-000715_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0af38760292bd8a1bcbf68a24852a65baf6d4b4 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003318_y-000715_z000468_t4_a/infos.json @@ -0,0 +1,194 @@ +{ + "Instruction": "Open the white paneled door at the far end of the floral-wallpapered room.", + "Type": 4, + "Start_Pose": [ + 3317.915, + -715.356, + 468.15, + 0.0, + 69.506, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3317.915, + -715.356, + 468.15, + 0.0, + 69.506, + 0.0 + ], + [ + 3353.824, + -715.356, + 468.15, + 0.0, + 69.506, + -0.0 + ], + [ + 3353.824, + -715.356, + 468.15, + 0.0, + 44.506, + -0.0 + ], + [ + 3435.75, + -715.307, + 468.15, + 0.0, + 44.506, + -0.0 + ], + [ + 3435.75, + -715.307, + 468.15, + 0.0, + 69.506, + -0.0 + ], + [ + 3490.149, + -642.233, + 468.15, + 0.0, + 69.506, + -0.0 + ], + [ + 3490.149, + -642.233, + 468.15, + 0.0, + 94.506, + -0.0 + ], + [ + 3480.261, + -516.763, + 468.15, + 0.0, + 94.506, + -0.0 + ], + [ + 3470.373, + -391.293, + 468.15, + 0.0, + 94.506, + -0.0 + ], + [ + 3470.373, + -391.293, + 468.15, + 0.0, + 69.506, + -0.0 + ], + [ + 3470.373, + -391.293, + 468.15, + 0.0, + 44.506, + -0.0 + ], + [ + 3470.373, + -391.293, + 468.15, + 0.0, + 19.506, + -0.0 + ], + [ + 3470.373, + -391.293, + 468.15, + 0.0, + 19.506, + -0.0 + ], + [ + 3498.385, + -355.005, + 468.15, + 0.0, + 19.506, + -0.0 + ], + [ + 3498.385, + -355.005, + 468.15, + 0.0, + 19.506, + -0.0 + ], + [ + 3498.385, + -355.005, + 468.15, + 0.0, + 19.506, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From the doorway of this floral-wallpapered room I can see the white paneled door set into the far wall on the left side, past the bed and beyond the desk. It is still well out of reach, so I will step forward across the open floor to begin closing that distance. Nothing blocks the space directly ahead of me.", + "My current heading points across the room toward the desk and window side, which is not the side where the paneled door stands. I will turn left so my path runs along the near wall with the framed picture, keeping the bed and desk out of my way as I continue deeper toward the door corner. This should give me a cleaner line of travel.", + "With my heading now running along the papered wall, the floor ahead of me is clear and the paneled door stands further along toward the corner. I will walk forward to cover that stretch and get closer to the door. This should bring the door within a workable range.", + "Advancing along the wall has pushed the paneled door out toward the right edge of my view, so I am no longer heading at it. I will turn right to swing my facing back onto the door and keep it in front of me. That should restore a usable approach heading.", + "The white paneled door is back in front of me now, framed between the papered walls, but still several steps away. I will move forward to close on it so its handle can come within reach. The floor between us looks unobstructed.", + "My heading has drifted so far toward the papered left wall that it fills most of my view and only a thin sliver of the white door frame is still visible ahead. Turning to my right should swing that near wall out of the way and reopen the room interior along my intended line of travel. I will turn right to regain a usable approach heading toward the far end of the room.", + "With the room now open in front of me, I can see the white paneled door set in the wall to my left, still several steps away past the desk and window area. Walking forward should carry me down the room and shorten the distance to that doorway. I will step forward to continue the approach.", + "The white paneled door with its brass handle is now close on my left, but my body is still short of it and angled into the room rather than at it. Another step forward should bring me level with the doorway so I am within reach of the handle. I will move forward again to close that last bit of distance.", + "My last step carried me past the doorway, and now I only see blank floral wallpaper with the shelf and desk edge, with the door no longer in view on my left. Rotating to my left should bring the door frame back into the ego view so I can line up on it. I will turn left to recover sight of the target.", + "The white paneled door has come back into view along the left edge of my sight, with its frame and the wallpapered wall beside it. I am still turned too far into the room for the handle to be squarely in front of me, so continuing to rotate left should center the door. I will turn left again to finish the alignment.", + "Right now only the edge of the white paneled door and its frame sit at the left of my view, with floral wallpaper filling the rest. I will turn left again so the door face, and hopefully its handle, comes squarely in front of me for an interaction.", + "The white paneled door now fills my view and its brass lever handle and keyhole are clearly visible to the left of center. I am facing it directly, so I will try to open it from here.", + "My attempt to open this door left it shut, with the handle unchanged in front of me. I suspect I am still slightly too far from the panel to reach the latch, so I will step forward to close that gap before trying again.", + "I am now pressed close against the white paneled door, with its recessed panel filling my whole view, so the latch should be well within reach. The earlier attempt from farther back left the door shut, so I will try opening it again from this closer stance.", + "The paneled door now stands swung open, revealing the lit hallway with a plant and pictures beyond. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003330_y-000740_z000468_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003330_y-000740_z000468_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e7785b64c2ef1ea5f826fdff112f3836a343e2c8 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003330_y-000740_z000468_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the area and navigate to the leather chair.", + "Type": 1, + "Start_Pose": [ + 3329.91, + -739.73, + 468.15, + 0.0, + -52.49, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3329.91, + -739.73, + 468.15, + 0.0, + -52.49, + 0.0 + ], + [ + 3329.91, + -739.73, + 468.15, + 0.0, + -27.49, + 0.0 + ], + [ + 3329.91, + -739.73, + 468.15, + 0.0, + -2.49, + 0.0 + ], + [ + 3329.91, + -739.73, + 468.15, + 0.0, + 22.51, + -0.0 + ], + [ + 3329.91, + -739.73, + 468.15, + 0.0, + 47.51, + -0.0 + ], + [ + 3329.91, + -739.73, + 468.15, + 0.0, + 72.51, + -0.0 + ], + [ + 3361.79, + -715.427, + 468.15, + 0.0, + 72.51, + -0.0 + ], + [ + 3392.194, + -715.427, + 468.15, + 0.0, + 72.51, + -0.0 + ], + [ + 3422.599, + -715.427, + 468.15, + 0.0, + 72.51, + -0.0 + ], + [ + 3467.364, + -697.134, + 468.15, + 0.0, + 72.51, + -0.0 + ], + [ + 3467.364, + -697.134, + 468.15, + 0.0, + 97.51, + -0.0 + ], + [ + 3474.689, + -580.678, + 468.15, + 0.0, + 97.51, + -0.0 + ], + [ + 3474.689, + -580.678, + 468.15, + 0.0, + 122.51, + -0.0 + ], + [ + 3428.022, + -475.521, + 468.15, + 0.0, + 122.51, + -0.0 + ], + [ + 3428.022, + -475.521, + 468.15, + 0.0, + 147.51, + -0.0 + ], + [ + 3322.113, + -409.037, + 468.15, + 0.0, + 147.51, + -0.0 + ], + [ + 3322.113, + -409.037, + 468.15, + 0.0, + 147.51, + -0.0 + ] + ], + "Rationale": [ + "I am standing very close to a paneled wardrobe or closet front, so almost my whole view is blank white woodwork and no chair is visible. I will turn right to begin a consistent scan of the room and open up usable space beyond this surface.", + "The wardrobe front is now sliding to my left and patterned wallpaper with a strip of wooden floor is appearing on the right, but there is still no leather chair in sight. I will keep turning right in the same direction to bring more of the room into view.", + "I can now see a wallpapered wall with the corner of a framed picture entering at the right edge, which suggests more of the room lies further clockwise. No chair is visible yet, so I will continue the same rightward scan.", + "The framed seascape and an interior door are now in view, and a striped bed edge has appeared at the bottom right, confirming this is a furnished bedroom rather than a bare wall. The seating I need is still not visible, so I will turn right again toward the more open part of the room.", + "Turning has opened up the room's interior, showing the bed in front of me and a small desk with a wall shelf in the far right corner. A desk is a strong cue that a chair sits beside it, so I will keep rotating right to bring that corner fully into view.", + "The dark leather office chair is now clearly visible at the desk beside the curtained window on the right side of the room. I will stop scanning and step forward along the open floor past the bed to close distance on it.", + "The leather chair at the desk on the right has grown slightly larger, so my forward heading is carrying me into the room as intended. I will continue walking straight since the floor ahead along the wall is still clear.", + "The leather chair remains in view at the desk on my right and the doorway wall on my left is drawing closer, so I still have room to advance. I will take another step forward to keep reducing the gap before turning toward the chair.", + "The dark leather office chair is still visible at the right edge of my view, tucked beside the desk under the shelf. I will keep walking forward along the open floor to close the remaining distance toward that corner of the room.", + "Moving straight ahead has pushed the leather chair almost out of my view on the right, leaving mostly the desk and wall in front of me. I will turn right to bring the chair back into the center of my heading before continuing.", + "The leather chair now sits clearly ahead of me beside the desk in front of the window, with open floor between us. I will step forward to reduce that gap and approach it directly.", + "After advancing, the chair has shifted toward the right side of my view while the closet doors and blank wall fill the left. I will turn right to face the chair more squarely before closing the last distance.", + "The leather chair is now framed near the middle of my view beside the desk and window. I will walk forward to get within close range of it.", + "I am close to the leather chair now, but its back and seat sit slightly right of my heading with the desk edge crossing my front. I will turn right to line up on the chair itself for the final step.", + "The leather chair stands directly ahead of me by the window, filling a large part of my view. I will take a final step forward to stand right beside it.", + "The leather chair is directly beside me, filling the near foreground of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003335_y-000847_z000168_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003335_y-000847_z000168_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8fe8c90e8abb39e828d32a6416ffe186164f356 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003335_y-000847_z000168_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the tall plant on the left.", + "Type": 2, + "Start_Pose": [ + 3334.933, + -846.711, + 168.15, + 0.0, + -83.262, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3334.933, + -846.711, + 168.15, + 0.0, + -83.262, + 0.0 + ], + [ + 3349.7, + -971.701, + 168.15, + 0.0, + -83.262, + 0.0 + ], + [ + 3349.7, + -971.701, + 168.15, + 0.0, + -108.262, + 0.0 + ], + [ + 3310.261, + -1091.221, + 168.15, + 0.0, + -108.262, + 0.0 + ], + [ + 3270.821, + -1210.741, + 168.15, + 0.0, + -108.262, + 0.0 + ], + [ + 3270.821, + -1210.741, + 168.15, + 0.0, + -108.262, + 0.0 + ] + ], + "Rationale": [ + "Two plants are in sight: a tall leafy one on a wooden stool near the left wall by the front door, and a smaller one on the desk by the right window. My target is the tall one standing at the left, so I will walk forward to close the distance.", + "The tall plant on its wooden stool now sits well off to the left edge of my view while the door dominates the center. Walking straight ahead would carry me past it, so I will turn left to bring the plant toward the middle of my heading.", + "The tall leafy plant on its wooden stool is now near the center of my view, just left of the front door. Nothing blocks the open floor between us, so I will step forward along this heading to close in on it.", + "The plant and its stool now fill much of my view, but I am still a short walk from standing beside it. The floor ahead remains clear, so I will advance once more to finish closing the gap.", + "The tall leafy plant fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003374_y001248_z000168_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003374_y001248_z000168_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fb02c0b85b10b54930e6f9c6a3075aa5b5a85e31 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003374_y001248_z000168_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Find the fridge and navigate to it.", + "Type": 1, + "Start_Pose": [ + 3373.54, + 1247.547, + 168.15, + 0.0, + -49.267, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3373.54, + 1247.547, + 168.15, + 0.0, + -49.267, + 0.0 + ], + [ + 3373.54, + 1247.547, + 168.15, + 0.0, + -24.267, + 0.0 + ], + [ + 3373.54, + 1247.547, + 168.15, + 0.0, + 0.733, + -0.0 + ], + [ + 3373.54, + 1247.547, + 168.15, + 0.0, + 25.733, + -0.0 + ], + [ + 3373.54, + 1247.547, + 168.15, + 0.0, + 50.733, + -0.0 + ], + [ + 3455.149, + 1342.488, + 168.15, + 0.0, + 50.733, + -0.0 + ], + [ + 3455.149, + 1342.488, + 168.15, + 0.0, + 75.733, + -0.0 + ], + [ + 3486.166, + 1464.465, + 168.15, + 0.0, + 75.733, + -0.0 + ], + [ + 3486.166, + 1464.465, + 168.15, + 0.0, + 100.733, + -0.0 + ], + [ + 3486.166, + 1464.465, + 168.15, + 0.0, + 75.733, + -0.0 + ], + [ + 3513.528, + 1514.166, + 168.15, + 0.0, + 75.733, + -0.0 + ], + [ + 3513.528, + 1514.166, + 168.15, + 0.0, + 75.733, + -0.0 + ] + ], + "Rationale": [ + "From here I see an archway and bookshelves to my left, but the counter, upper cabinets and dining chair on my right read as the kitchen side of this room, and no fridge is in view yet. I will turn right to begin a consistent scan toward that kitchen cue where a fridge is most likely to stand.", + "The turn has brought more of the kitchen into view, with long counters, glass-front wall cabinets and pendant lights, but still no refrigerator. I will keep rotating right in the same direction to sweep the rest of this kitchen wall.", + "I now face the kitchen island with cabinetry and a stove range along the far wall, which confirms I am in the right room, yet the fridge is still outside my view. Continuing the same rightward scan should reveal the remaining wall beyond the island.", + "At the right edge of my view a tall cream appliance body has appeared beside the counters, which looks like the refrigerator I am after. I will turn right once more to bring that unit closer to the center of my view before moving.", + "The refrigerator is now clearly in view ahead and slightly right, standing between the counter run and the tall glass-door cabinet. The floor between the island and that wall looks clear, so I will walk forward to close the distance to it.", + "The tall cream refrigerator is clearly visible along the right-hand wall of this kitchen, sitting past the sink run and beside the glass-panel cabinet. My heading is still aimed down the counter line, so the fridge sits off to my right rather than ahead of me. I will turn right to bring it toward the center of my view before closing in.", + "The refrigerator now sits near the middle of my view, with open floor between me and it and no furniture blocking the path. Since it is confirmed as the target and roughly ahead, walking forward should cut the remaining distance. I will step forward along this heading.", + "I am now very close to the refrigerator, its door handles and logo filling most of my view, with the sink counter tight on my left. The appliance body reads slightly right of my forward axis, so I will turn right to settle the heading squarely on its front face. A small rotation here should refine the final alignment rather than change my position.", + "That rightward rotation swung too far, and the refrigerator has slipped to the left edge of my view while the glass-panel cabinet and a potted plant now fill the center. That heading no longer faces my target. I will turn back left to recover alignment on the fridge.", + "The refrigerator is centered again in my view at close range, so the leftward correction restored a usable heading. A short remaining gap of floor separates me from its door. I will walk forward to close that last bit of distance and stand directly at the fridge.", + "The fridge door and its handle fill my view at arm's length. The task is complete, so I stop here rather than crowd the appliance further." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003376_y-000465_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003376_y-000465_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28cd86aa5afbcb8a9ff0cc6676662506e742aae7 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003376_y-000465_z000468_t4_a/infos.json @@ -0,0 +1,139 @@ +{ + "Instruction": "Rotate away from the built-in wardrobe until the bedroom door is visible, then open it.", + "Type": 4, + "Start_Pose": [ + 3375.959, + -464.671, + 468.15, + 0.0, + -64.729, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3375.959, + -464.671, + 468.15, + 0.0, + -64.729, + 0.0 + ], + [ + 3375.959, + -464.671, + 468.15, + 0.0, + -39.729, + 0.0 + ], + [ + 3375.959, + -464.671, + 468.15, + 0.0, + -14.729, + 0.0 + ], + [ + 3375.959, + -464.671, + 468.15, + 0.0, + 10.271, + -0.0 + ], + [ + 3375.959, + -464.671, + 468.15, + 0.0, + 35.271, + -0.0 + ], + [ + 3478.714, + -391.994, + 468.15, + 0.0, + 35.271, + -0.0 + ], + [ + 3478.714, + -391.994, + 468.15, + 0.0, + 35.271, + -0.0 + ], + [ + 3478.714, + -391.994, + 468.15, + 0.0, + 10.271, + -0.0 + ], + [ + 3498.382, + -371.296, + 468.15, + 0.0, + 10.271, + -0.0 + ], + [ + 3498.382, + -371.296, + 468.15, + 0.0, + 10.271, + -0.0 + ], + [ + 3498.382, + -371.296, + 468.15, + 0.0, + 10.271, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "The built-in wardrobe with its drawers and paneled doors fills the left half of my view, so no bedroom door is in sight from this heading. I will turn right to sweep my view away from the wardrobe and toward the unseen part of the room where an exit door may be.", + "The wardrobe has slid to the edge of my view and I am now facing plain flowered wallpaper with a framed seascape, still no doorway. I will keep rotating right to continue scanning the walls for the bedroom door.", + "The picture is now near the middle of my view and a pale vertical edge with a brass fitting has appeared at the right border, which looks like the beginning of a door. I will turn right again to bring that promising edge fully into view.", + "The bedroom door is now clearly visible with its frame and brass lever handle, but it sits off to the right side of my view. I will turn right once more to center the door so I can head straight at it.", + "The door is now centered ahead of me with its handle plainly in view, satisfying the requirement to face it. I will move forward to close the gap so the door and its handle are within reach for opening.", + "The bedroom door now fills my view at close range, with its frame edge on the right and only the tip of the lever handle at the far left. I judge myself close enough to reach the door, so I will attempt to open it from here.", + "My attempt to open the door produced no change, and the panel still looks the same with the latch barely clipped off the left edge of my view. That suggests I am aimed at the blank panel rather than the handle, so I will turn left to bring the latch side into the center of my view.", + "The lever handle and keyhole are now centered in front of me, so my heading is on the latch side of the door. Since the earlier attempt from a slightly different stance did not move the door, I will step forward a little to close the remaining gap and place the handle firmly within reach.", + "I am now pressed close to the door panel on its latch side after correcting my heading from the earlier ineffective attempt. From this tighter, better aligned stance I will try the door again, and it should swing open this time.", + "The bedroom door stands open and the hallway beyond is visible through the doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003416_y-001281_z000468_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003416_y-001281_z000468_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db5c3b0785cabb30f29f46a1c86d0bfe220be378 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003416_y-001281_z000468_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Open the right-hand white paneled door on the red-wallpapered wall.", + "Type": 4, + "Start_Pose": [ + 3416.175, + -1281.137, + 468.15, + 0.0, + 54.386, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3416.175, + -1281.137, + 468.15, + 0.0, + 54.386, + 0.0 + ], + [ + 3489.465, + -1178.819, + 468.15, + 0.0, + 54.386, + -0.0 + ], + [ + 3489.465, + -1178.819, + 468.15, + 0.0, + 79.386, + -0.0 + ], + [ + 3512.648, + -1055.113, + 468.15, + 0.0, + 79.386, + -0.0 + ], + [ + 3512.648, + -1055.113, + 468.15, + 0.0, + 54.386, + -0.0 + ], + [ + 3585.938, + -952.795, + 468.15, + 0.0, + 54.386, + -0.0 + ], + [ + 3585.938, + -952.795, + 468.15, + 0.0, + 79.386, + -0.0 + ], + [ + 3608.197, + -903.544, + 468.15, + 0.0, + 79.386, + -0.0 + ], + [ + 3608.197, + -903.544, + 468.15, + 0.0, + 79.386, + -0.0 + ], + [ + 3608.197, + -903.544, + 468.15, + 0.0, + 79.386, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "Two white paneled doors sit on the red-wallpapered walls, and the right-hand one, set on the far wall ahead and slightly right of my heading, is my target. I will step forward across the open carpet to close distance before fine-tuning my heading.", + "From this closer position the target paneled door sits off to the right side of my view while the left-hand double door dominates my forward field. I will turn right to bring the target door toward the center of my heading before advancing again.", + "The white paneled door on the red wall is now centered in my view with clear carpet between me and it. I will walk forward to shorten the remaining distance toward its handle.", + "Closer in, the door frame has drifted to the left edge of my view, so my heading is now angled past it toward the bare wallpapered wall. I will turn left to square my facing back onto the door leaf and its handle.", + "The paneled door and its brass handle are again in front of me, with only a short stretch of carpet remaining. I will move forward to get within arm's reach of the handle.", + "I am now very close, and the door fills most of my view with its handle pushed toward the right edge. I will turn right slightly so the handle sits in the controllable middle of my view for the reach.", + "The lever handle and lock are clearly framed just left of the door jamb and light switch, but I am still a small step short of contact. I will edge forward to bring the handle within reach.", + "The brass lever and lock of the right-hand white paneled door now fill my view at arm's length, so I am properly aligned for contact. I will operate the handle to try to swing this door open.", + "The white paneled door now stands open, with the hallway beyond it fully visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003538_y001050_z-000132_t1_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003538_y001050_z-000132_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..90d4a38be9c507df008b88ad7f1642a7c28336d0 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003538_y001050_z-000132_t1_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Find and go to the door.", + "Type": 1, + "Start_Pose": [ + 3538.017, + 1049.95, + -131.85, + 0.0, + 160.85, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + 160.85, + -0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + 135.85, + -0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + 110.85, + -0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + 85.85, + -0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + 60.85, + -0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + 35.85, + -0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + 10.85, + -0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + -14.15, + 0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + -39.15, + 0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + -14.15, + 0.0 + ], + [ + 3538.017, + 1049.95, + -131.85, + 0.0, + 10.85, + -0.0 + ], + [ + 3661.626, + 1073.641, + -109.197, + 0.0, + 10.85, + -0.0 + ], + [ + 3661.626, + 1073.641, + -109.197, + 0.0, + -14.15, + 0.0 + ], + [ + 3767.45, + 1061.581, + -131.85, + 0.0, + -14.15, + 0.0 + ], + [ + 3767.45, + 1061.581, + -131.85, + 0.0, + -39.15, + 0.0 + ], + [ + 3862.334, + 1012.157, + -104.456, + 0.0, + -39.15, + 0.0 + ], + [ + 3862.334, + 1012.157, + -104.456, + 0.0, + -64.15, + 0.0 + ], + [ + 3874.042, + 901.583, + -18.801, + 0.0, + -64.15, + 0.0 + ], + [ + 3874.042, + 901.583, + -18.801, + 0.0, + -89.15, + 0.0 + ], + [ + 3874.085, + 775.742, + 75.654, + 0.0, + -89.15, + 0.0 + ], + [ + 3874.085, + 651.63, + 169.03, + 0.0, + -89.15, + 0.0 + ], + [ + 3874.085, + 651.63, + 169.03, + 0.0, + -89.15, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I am facing a blank plywood wall with a small box on the counter, and no door is anywhere in this narrow field of view. I will turn left to begin a steady scan of this cramped storage space, since the dark gap along that side suggests more room to see there.", + "The rotation only brought more leaning plywood sheets and a corner into view, so the target is still not visible. I will keep turning in the same left direction to continue the scan consistently rather than backtrack over ground I have already looked at.", + "Now I can see shelving with stacked boxes on my left and pipework overhead, which reads as an interior storage room that should have an exit somewhere along its walls. No door is in view yet, so I will continue rotating left to sweep the remaining walls.", + "The shelving unit now dominates the near left and the far wall behind it is still blank, with no door showing. I will turn left again to bring the far side of the room past the racks into view, where an exit is more likely.", + "Past the shelving I can now make out a lighter block wall with a workbench and a wall cabinet, which looks like the built side of the room rather than more storage. I will keep turning left to open up that wall fully, expecting a doorway may sit along it.", + "Past the tall shelving unit I can now make out a plain wooden door set in the block wall on the left side of this basement room. Since the target lies well off to my left, I will turn left to swing it toward the middle of my view and open a clear line toward it.", + "The wooden door now sits near the center of my view, but the left part of the room, where the staircase runs down, is still only partly visible and I cannot yet judge whether the floor in front of the door is clear. I will keep turning left in the same direction to take in that remaining sector before committing to an approach.", + "My continued leftward turning has pushed the wooden door out to the right edge of my view, and the staircase and support post now fill most of what I see. I will complete this leftward sweep once more to check the last unseen corner of the room, accepting that the door may briefly leave my sight.", + "This heading shows only the staircase, a support post, and storage shelves, and the wooden door I had spotted is no longer anywhere in view, so my leftward scan has turned too far. I will turn right to undo part of that overshoot and bring the door back into sight on my right.", + "The wooden door has come back into view, but it still sits far over on the right side with the staircase filling the left half. I will turn right once more to bring it closer to the center of my heading so I can walk straight toward it.", + "My scan of this storage room from the cramped corner has swept past shelving and stacked plywood, and the most door-like feature I can see is the tall panel set into the pale block wall ahead of me, with the wooden staircase off to my left. I am still far back behind the shelf rack, so I will walk forward to close the gap and get a clearer look at that panel and the stair area beyond it.", + "Now that I am closer, the panel ahead reads as a plain plywood sheet flush against the block wall with no handle, hinges, or frame, so it is a weak candidate for the door I need. The staircase on my left clearly leads up out of this basement, which is a stronger cue for a real doorway, so I will turn left to bring the stairs in front of me instead of committing to this panel.", + "The staircase and its handrail now fill the left and centre of my view, rising toward the upper floor, while the plywood panel has slid off to the right. I will step forward to reach the foot of the stairs so I can start following them up.", + "I am close to the wall now, with the block masonry and the plywood sheet filling most of the view and the stair treads pushed to my left. I will turn left so the ascending run of the staircase lines up in front of me rather than passing across my path.", + "The staircase is now aligned ahead of me, with treads climbing away and the handrail running alongside on the right. I will walk forward onto the steps to keep ascending toward whatever opening lies at the top.", + "My last step up the stairs left me facing mostly the block wall on the right, with the treads and handrail crowded into the left edge of my view. That heading would only push me into the wall rather than up the flight, so I will turn left to bring the stair run back in front of me. This should recenter the climb before I try moving again.", + "The turn worked, and the steps now run away from me up the middle of my view with the wall pushed to the right side. Since the stairway is the only route out of this lower room, I will step forward and continue climbing. The higher landing area should come into view as I advance.", + "Climbing higher has brought a pale panelled door into the top left corner of my view, but my heading still points partly into the block wall on the right. I will turn left to put that door at the head of the stairs squarely ahead of me. That should give me a straight line to close on the target.", + "The door is now centered at the top of the remaining steps, framed by the wall and the railing on either side. With the target aligned, I will walk forward up the stairs to close the distance. A few steps should bring me near the doorway.", + "The door now fills much of my view just beyond the last couple of treads, so I am close but not yet at it. I will step forward again to finish the climb and stand directly at the door. That should place me within reach of it.", + "The paneled door fills my view at arm's length, directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003580_y000890_z000168_t3_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003580_y000890_z000168_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24ac1862d474b6f0d7a44139ea2e8a90f953007d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003580_y000890_z000168_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Go near the dining table first, then go to the refrigerator.", + "Type": 3, + "Start_Pose": [ + 3579.822, + 890.391, + 168.149, + -0.301, + 123.213, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3579.822, + 890.391, + 168.149, + -0.301, + 123.213, + 0.0 + ], + [ + 3579.822, + 890.391, + 168.149, + -0.301, + 148.213, + -0.0 + ], + [ + 3472.842, + 956.688, + 168.911, + -0.301, + 148.213, + -0.0 + ], + [ + 3365.862, + 1022.985, + 168.911, + -0.301, + 148.213, + -0.0 + ], + [ + 3365.862, + 1022.985, + 168.911, + -0.301, + 173.213, + -0.0 + ], + [ + 3240.886, + 1037.858, + 168.15, + -0.301, + 173.213, + -0.0 + ], + [ + 3240.886, + 1037.858, + 168.15, + -0.301, + 173.213, + -0.0 + ], + [ + 3240.886, + 1037.858, + 168.15, + -0.301, + 148.213, + -0.0 + ], + [ + 3240.886, + 1037.858, + 168.15, + -0.301, + 123.213, + -0.0 + ], + [ + 3240.886, + 1037.858, + 168.15, + -0.301, + 98.213, + -0.0 + ], + [ + 3240.886, + 1037.858, + 168.15, + -0.301, + 73.213, + 0.0 + ], + [ + 3240.886, + 1037.858, + 168.15, + -0.301, + 48.213, + 0.0 + ], + [ + 3324.753, + 1131.701, + 168.912, + -0.301, + 48.213, + 0.0 + ], + [ + 3408.62, + 1225.544, + 168.503, + -0.301, + 48.213, + 0.0 + ], + [ + 3408.62, + 1225.544, + 168.503, + -0.301, + 73.213, + 0.0 + ], + [ + 3444.969, + 1346.037, + 168.15, + -0.301, + 73.213, + 0.0 + ], + [ + 3481.318, + 1466.531, + 168.15, + -0.301, + 73.213, + 0.0 + ], + [ + 3481.318, + 1466.531, + 168.15, + -0.301, + 73.213, + 0.0 + ] + ], + "Rationale": [ + "The round dining table with its chairs and chandelier sits well over to my right, near the bright bay windows, while the open floor ahead leads only into the living area. I will turn right to bring that table into the center of my heading before walking toward it.", + "The dining table under the chandelier now lies ahead of me across the open floor, with clear boards between me and it. I will walk forward to cut down that distance before making any finer heading correction.", + "The table and its chairs have grown noticeably larger and the chandelier hangs higher in my view, so my heading is carrying me the right way. There is still a good stretch of empty floor before the chairs, so I will step forward again.", + "The dining table has drifted toward the right half of my view as I closed in, with the sofa now filling the left side. I will turn right so the table sits squarely ahead and my next steps carry me straight to it.", + "The oval table with its candlesticks is now centered in front of me, framed by the bay windows behind it. A short walk forward should put me right at its edge, close enough to count as standing by it.", + "The dining table fills the near half of my view, its chairs and candlesticks within arm's reach and the bay windows rising just beyond. I am standing right at the dining table. I mark reaching it, and now I turn to head for the refrigerator in the kitchen.", + "Facing the windows at the table leaves the kitchen entirely behind me, and the appliances lie back across the living area to my left. I will turn left to begin swinging my heading away from the table toward that side of the house.", + "The rotation has brought the sofa and the glass cabinetry into view, but I still see no refrigerator or kitchen counters. I will keep turning left to carry my heading further around toward the far end of the room.", + "The dining table is now behind my shoulder at the right edge and my view is filled with the fireplace and sofa, so I am not yet facing the kitchen. Turning left again should keep swinging my heading toward the cabinets and appliances at the far end of the open room.", + "Pale cabinetry and a tall white appliance are just appearing at the left margin behind the sofa, so the kitchen is still off to my left. Another left turn should bring that side of the room into the middle of my view before I start walking.", + "The kitchen counters, island and the white refrigerator beside the tall cabinets now sit in the left half of my view while the sofa still blocks the center. One more left turn should put that kitchen doorway line straight ahead so I can walk in clean.", + "The kitchen is now squarely ahead, with the island in the middle and the refrigerator standing to the right of the range wall. The floor between me and the island is clear, so I will walk forward to close that distance.", + "I am inside the kitchen now and the refrigerator stands beside the glass-panelled cabinet on the right side of my view, still several paces off. Advancing again should bring me nearer to it before I correct my heading.", + "The refrigerator sits right of my current heading, next to the tall glass-fronted cabinet, while my path points along the island instead. A right turn should place the appliance in the middle of my view so I can walk straight at it.", + "The refrigerator is now centered ahead between the sink counter and the tall cabinet doors, with open floor in front of me. I will step forward to shorten the remaining gap to it.", + "The refrigerator with its two chrome handles now fills much of my view but I am still a pace or so short of standing right at it. One more step forward should put me directly beside the appliance.", + "The refrigerator fills my view an arm's length ahead, its handles right in front of me. I am at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003688_y-000443_z000469_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003688_y-000443_z000469_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f20d16b78dd0f24c9b42f481a6e009edbd431dc1 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003688_y-000443_z000469_t4_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Open the white paneled door directly ahead at the end of the short hall.", + "Type": 4, + "Start_Pose": [ + 3687.883, + -443.008, + 468.838, + 0.0, + -128.438, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3687.883, + -443.008, + 468.838, + 0.0, + -128.438, + 0.0 + ], + [ + 3687.883, + -443.008, + 468.838, + 0.0, + -103.438, + 0.0 + ], + [ + 3658.634, + -565.421, + 468.838, + 0.0, + -103.438, + 0.0 + ], + [ + 3630.191, + -687.901, + 467.945, + 0.0, + -103.438, + 0.0 + ], + [ + 3602.614, + -795.534, + 468.15, + 0.0, + -103.438, + 0.0 + ], + [ + 3602.614, + -795.534, + 468.15, + 0.0, + -78.438, + 0.0 + ], + [ + 3611.279, + -795.125, + 468.15, + 0.0, + -78.438, + 0.0 + ], + [ + 3611.279, + -795.125, + 468.15, + 0.0, + -78.438, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From here most of my view is taken up by the side wall with the picture and the console table, while only the edge of a white paneled door shows at the far right. I will turn right to bring that hallway and its door into the center of my view before advancing.", + "Now the short hall is open in front of me with a white paneled door at its end and another door on the right wall. The floor between me and that end door is clear, so I will move forward to close the distance to the target.", + "The paneled door at the end of the hall is noticeably larger and I can now make out its lever handle and deadbolt. I am still a couple of steps short of arm's reach, so I will continue straight toward it.", + "The door panels now fill the right portion of my view with the lever and deadbolt visible, but the door jamb is still off to my left and the surface looks slightly out of reach. One more short step forward should place me right at the door so I can act on the handle.", + "I am pressed close to the door now, but my heading is skewed so the flat wall and jamb dominate my view and the deadbolt and lever sit at the far right edge. I will turn right to square up on the hardware and put the handle in front of me.", + "The white paneled door is directly in front of me with its lever handle and deadbolt centered and within arm's reach. I will operate the handle now to try to open the door.", + "The paneled door now stands swung open, revealing the carpeted room and desk beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003791_y001339_z-000132_t4_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003791_y001339_z-000132_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0bb694e56b82cfd531a73c2caec9002add56e4d --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003791_y001339_z-000132_t4_a/infos.json @@ -0,0 +1,128 @@ +{ + "Instruction": "Climb the wooden stairs and open the door at the top.", + "Type": 4, + "Start_Pose": [ + 3790.876, + 1339.265, + -131.85, + 0.0, + -84.272, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3790.876, + 1339.265, + -131.85, + 0.0, + -84.272, + 0.0 + ], + [ + 3803.437, + 1214.034, + -131.85, + 0.0, + -84.272, + 0.0 + ], + [ + 3815.999, + 1088.804, + -131.85, + 0.0, + -84.272, + 0.0 + ], + [ + 3831.269, + 964.706, + -67.587, + 0.0, + -84.272, + 0.0 + ], + [ + 3843.83, + 839.475, + 25.736, + 0.0, + -84.272, + 0.0 + ], + [ + 3856.392, + 714.244, + 123.965, + 0.0, + -84.272, + 0.0 + ], + [ + 3856.392, + 714.244, + 123.965, + 0.0, + -84.272, + 0.0 + ], + [ + 3867.446, + 651.622, + 169.032, + 0.0, + -84.272, + 0.0 + ], + [ + 3867.446, + 651.622, + 169.032, + 0.0, + -84.272, + 0.0 + ], + [ + 3867.446, + 651.622, + 169.032, + 0.0, + -84.272, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ], + "Rationale": [ + "From this basement floor I can see the wooden staircase directly ahead of me, with the white door waiting at its top landing. My heading is already centered on the bottom step, so I will move forward to close the open floor distance before starting the climb.", + "The stairs now fill more of my view and the bottom step is close in front of me, still squarely aligned with my heading. I will continue forward to reach the treads and begin ascending toward the door above.", + "I am on the staircase now with handrails on both sides and the treads rising straight ahead. The door at the top remains centered, so continuing forward should carry me further up the flight.", + "Several steps still separate me from the upper landing, and the door is centered at the top of the flight. I will keep moving forward along the stairs to shorten that remaining distance.", + "Only a couple of treads remain and the door now looms large just beyond the top step, so I am not yet within reach of it. I will move forward once more to step onto the landing and get close enough to try the handle.", + "The white paneled door at the top of the stairs now fills my view, with its knob visible at the upper left, so I am facing the target squarely. I will try to open it from here, which should swing the door inward and reveal the space beyond.", + "My attempt to open the door left it shut, since the same closed panels and frame still block my view. I likely stopped slightly short of the interaction range, so I will step forward to close the remaining gap to the door.", + "After closing the last bit of distance, the door surface now dominates my view at close range, which suggests I am well within reach of it. Since my earlier attempt from farther back did not move the door, I will try opening it again from this tighter position.", + "The door now stands open, revealing the lit hallway and staircase beyond it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SuburbNeighborhood_Day/task_x003938_y-000185_z000468_t2_a/infos.json b/dataset/trajectory/SuburbNeighborhood_Day/task_x003938_y-000185_z000468_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..08c33cb3f6599c1de294c3da997838af19268bb2 --- /dev/null +++ b/dataset/trajectory/SuburbNeighborhood_Day/task_x003938_y-000185_z000468_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the vase on the left side table.", + "Type": 2, + "Start_Pose": [ + 3937.848, + -185.197, + 468.15, + 0.0, + -117.447, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3937.848, + -185.197, + 468.15, + 0.0, + -117.447, + 0.0 + ], + [ + 3879.836, + -296.889, + 468.15, + 0.0, + -117.447, + 0.0 + ], + [ + 3879.836, + -296.889, + 468.15, + 0.0, + -142.447, + 0.0 + ], + [ + 3780.056, + -373.599, + 468.15, + 0.0, + -142.447, + 0.0 + ], + [ + 3680.276, + -450.31, + 468.943, + 0.0, + -142.447, + 0.0 + ], + [ + 3680.276, + -450.31, + 468.943, + 0.0, + -142.447, + 0.0 + ] + ], + "Rationale": [ + "Two side tables sit across this room, and the one I want is the white console against the wall to my left, holding a leafy plant and a pale vase beside it. That vase is still far off down the room, so I will walk straight ahead to close the open floor between us before angling toward it.", + "The console with the plant and the pale vase now sits well off to my left while my heading still points at the two doors ahead. I will turn left to bring that vase toward the center of my view so my next steps carry me straight to it.", + "The turn worked, and the console with the leafy plant and the pale vase is now framed near the middle of my view with clear floor and rug leading to it. I will step forward to shorten the remaining distance to that vase.", + "The vase and its neighboring plant are much larger in front of me now, but the table is still a couple of paces off and sits low in my view. I will take another step forward to stand right at the vase.", + "The pale vase on the side table is directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1dea75b21f09e5ffa63e56c8be9167370b981ead --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the leftmost orange checkout counter.", + "Type": 2, + "Start_Pose": [ + -3.629, + 2002.803, + 98.866, + 0.0, + -87.84, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3.629, + 2002.803, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 1.115, + 1877.033, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 5.858, + 1751.264, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 10.602, + 1625.494, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 10.602, + 1625.494, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -38.251, + 1509.504, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -87.105, + 1393.513, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -123.364, + 1309.836, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -123.364, + 1309.836, + 98.866, + 0.0, + -112.84, + 0.0 + ] + ], + "Rationale": [ + "A row of orange checkout counters stretches across the far side of the store, and the one at the left end of that run stands beside the green waiting seats and stanchion railing. I take that counter as my goal and walk forward across the open tile to close the gap.", + "The counters have grown larger but are still a long stretch of open floor away, with my target sitting at the left end next to the green seats and barrier posts. The lane ahead is clear, so I keep walking straight forward.", + "The checkout stations now read clearly, and the one I want, at the left end beside the green seating and railing, lies well off to the left of my current heading. I advance once more to shorten the distance before I angle toward it.", + "Straight ahead of me sits a middle counter of the row, while the one I am after, next to the green seats and the queue railing, lies off to my left. I turn left to put that counter in front of me.", + "The turn has brought the counter beside the green seats and the stanchion railing into the forward part of my view. With a clear stretch of floor in front of me, I walk forward toward it.", + "My counter now stands close ahead, its dark belt and orange front clearly visible with the green chairs and barrier posts just beyond it on the left. I step forward again to reach its side.", + "The counter fills the near left of my view, with its register and belt only a short step away, and the neighbouring counters have fallen behind and to the side. One more short advance should bring me right up against it.", + "The orange checkout counter beside the green waiting seats is directly in front of me, its belt and register within arm's reach. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7489f629e01ec63cbf2afe3c54fa67a800743ab1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the second checkout counter from the right.", + "Type": 2, + "Start_Pose": [ + -3.629, + 2002.803, + 98.866, + 0.0, + -87.84, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3.629, + 2002.803, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + -3.629, + 2002.803, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 53.823, + 1890.822, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 111.274, + 1778.841, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 168.726, + 1666.859, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 226.178, + 1554.878, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 226.178, + 1554.878, + 98.866, + 0.0, + -37.84, + 0.0 + ], + [ + 325.572, + 1477.669, + 98.866, + 0.0, + -37.84, + 0.0 + ], + [ + 325.572, + 1477.669, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 383.024, + 1365.688, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 383.024, + 1365.688, + 98.866, + 0.0, + -62.84, + 0.0 + ] + ], + "Rationale": [ + "The checkout lanes run in a row across the middle of the store, and they look alike, so I settle the count now and hold my target as the one just inside the right end of that run, near the produce side by the right wall. That end lies to the right of my current heading, so I turn right to bring it toward the center of my view.", + "The counters I care about now sit ahead of me rather than off to one side, and the tiled floor between us is open. I step forward to close the long gap toward my counter near the right end of the lane row.", + "The lanes have grown noticeably larger and the shelving behind them is starting to resolve, so I am still well short of the counter I chose. I keep walking straight since my heading still points into the open floor in front of the row.", + "The produce displays and the barrier posts on the right are now clearly visible beside the lane row, confirming I am heading into its right portion. There is still distance to cover, so I advance again along the same line.", + "The nearest counters are large enough now that their conveyor ends and cabinet doors read plainly, and the row no longer reads as a clean row from this angle. I step forward once more to reach the working space in front of my counter toward the right side.", + "From this close position the counters in front of me are the nearer lanes, while the one I chose, the one seated toward the produce side of the run, lies off to my right. I turn right to swing my heading onto it instead of the lanes directly ahead.", + "My heading now points down the open aisle beside the counters toward the produce side of the store, with clear tile ahead. I walk forward to draw level with the counter I picked out.", + "I have come up alongside the lanes, and my counter now sits slightly left of where I am facing while my view leans toward the produce racks on the right. I turn left to square up on it and finish the approach cleanly.", + "My counter now sits centered ahead, its conveyor and orange cabinet front squared to my heading with clear tile between us. A short walk should bring me right up to its working end, so I step forward.", + "I am standing at the counter beside the produce side, its conveyor and lane sign directly over me. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_c/infos.json b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..340dfbdbd23e0748d42acdf7025b1d7c91c257d5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the third pillar from the left.", + "Type": 2, + "Start_Pose": [ + -3.629, + 2002.803, + 98.866, + 0.0, + -87.84, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3.629, + 2002.803, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 1.115, + 1877.033, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 5.858, + 1751.264, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 10.602, + 1625.494, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 15.346, + 1499.725, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 15.346, + 1499.725, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -33.508, + 1383.734, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -83.838, + 1268.861, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -83.838, + 1268.861, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + -79.094, + 1143.092, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + -79.094, + 1143.092, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + -65.126, + 1033.892, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + -7.844, + 921.84, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + -7.844, + 921.84, + 98.866, + 0.0, + -62.84, + 0.0 + ] + ], + "Rationale": [ + "Scanning the columns spanning the sales floor from left to right, I settle on the third one, standing beyond the checkout lanes slightly right of my heading. They are plain and alike, so I hold its place by the run of the row itself. The floor ahead is open, so I walk forward.", + "The column I chose is still far off behind the line of checkout stands, which are only now growing in my view. Nothing blocks the tiles in front of me, so I keep walking to close the gap.", + "The checkout counters and the hanging aisle signs are noticeably larger now, and my target column still rises beyond them near the middle of my view. I continue straight forward since the route toward it remains unobstructed.", + "I am nearly at the checkout row, and the column I am heading for is directly beyond the counters ahead of me. One more stride forward should bring me close enough to judge how to pass between the lanes.", + "A checkout counter sits squarely in my path, blocking a straight walk to the column, which I can now recognize by the tan cladding on its lower half. I turn left to face the open lane beside that counter so I can pass through it.", + "The gap between the checkout stands is now lined up in front of me and the tan clad column stands off to my right beyond them. I step forward into that clear lane to work past the counters.", + "The lane between the counters is still open in front of me, with the shelving aisles opening up beyond it. I keep walking forward to clear the checkout stands before swinging back toward the tan clad column.", + "I have passed the counter beside me, and the tan clad column I am heading for now sits well off to my right rather than in front of me. I turn right to bring it back toward the middle of my view and face it directly.", + "The tan clad column now stands clear of the counters, just right of center with open tile leading to it. Nothing lies between me and its base, so I walk forward to close the remaining distance.", + "The column is close now, but it sits off my right shoulder while a display rack and tripod sign crowd the floor straight ahead of me. Turning right squares me with the open tile running to the column's near face.", + "From this heading the tan clad column rises just left of my path with clear tile beside it. I step forward to draw alongside its base.", + "The column's tan lower cladding now fills a wide band of my view, though a short gap of tile still separates me from it. One more stride forward should bring me right up against it.", + "The tan clad column fills the left half of my view at arm's length. I have reached it, so the task is done and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_d/infos.json b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b5c58215031d16b40bc083c00e53769dcc11d3bb --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Move to the rightmost orange checkout counter in the front.", + "Type": 2, + "Start_Pose": [ + -3.629, + 2002.803, + 98.866, + 0, + -87.84, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3.629, + 2002.803, + 98.866, + 0, + -87.84, + 0 + ], + [ + -3.629, + 2002.803, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 53.823, + 1890.822, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 111.274, + 1778.841, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 111.274, + 1778.841, + 98.866, + 0.0, + -37.84, + 0.0 + ], + [ + 210.669, + 1701.631, + 98.866, + 0.0, + -37.84, + 0.0 + ], + [ + 310.063, + 1624.422, + 98.866, + 0.0, + -37.84, + 0.0 + ], + [ + 409.457, + 1547.213, + 98.866, + 0.0, + -37.84, + 0.0 + ], + [ + 508.851, + 1470.003, + 98.866, + 0.0, + -37.84, + 0.0 + ], + [ + 608.246, + 1392.794, + 98.866, + 0.0, + -37.84, + 0.0 + ], + [ + 608.246, + 1392.794, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 662.883, + 1312.298, + 98.866, + 0.0, + -62.84, + 0.0 + ], + [ + 662.883, + 1312.298, + 98.866, + 0.0, + -62.84, + 0.0 + ] + ], + "Rationale": [ + "The front row of orange checkout counters runs left to right across the floor ahead, and the last one on the right stands nearest the produce wall and its yellow signage. My heading points at the middle of that row, so I turn right to bring that far end of the row into my view before setting off.", + "Turning has opened up the right side of the store, where the checkout row ends beside the bright displays and the purple banner. The tiled floor between me and that end is clear, so I walk forward to cut the distance.", + "The counters have grown noticeably larger and the produce area on the right is easier to read, so my line of travel is good. Nothing blocks the aisle in front of me, so I take another step forward toward the counter at the right end of the row.", + "From here the counters I am facing are the middle ones, while the end of the row I want lies further right, beside the produce shelves and the purple hanging banner. I turn right to swing my heading onto that corner rather than drift into the middle checkouts.", + "My heading now runs toward the produce corner where the last orange counter stands, with the banner and the stanchion line just right of it. The path ahead is open, so I step forward along this line.", + "The produce bins and the roped stanchions on the right are clearly closer, confirming I am closing on the end of the checkout row. I keep walking forward since nothing stands in my way.", + "The nearer checkstands have slid off to my left and the row no longer reads as a countable line from here, so I hold onto the single orange counter ahead that sits right against the produce bins. The floor between us is clear, so I advance again.", + "That orange counter beside the produce bins is now close and slightly left of my heading, with its belt and register plainly visible. I step forward again to bring myself up beside it.", + "The orange counter fills the left of my view now, its balloon cluster and register at close range, with only open tile and the roped stanchions to my right. A short gap still separates me from its near end, so I walk forward once more to close it.", + "I am level with the counter's front corner, but my heading runs past it toward the produce bins and the bollard, leaving the counter cut off at my left edge. Turning left should swing the counter's belt and body squarely in front of me for the final step.", + "The counter is now centered ahead, its dark top and orange panelling directly in my path with the checkout lane sign above it. One short step should bring me right up against its side.", + "I stand right at the belt of the orange counter at the produce end of the checkout row, its lane sign overhead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ebe15f312792e6c5db1bb70eb71a15c249d6d9f2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Grab the wicker basket near the leftmost orange checkout counter.", + "Type": 5, + "Start_Pose": [ + -3.629, + 2002.803, + 98.866, + 0, + -87.84, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -195.034, + 1310.74, + 33.866, + 90, + -87.84, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3.629, + 2002.803, + 98.866, + 0, + -87.84, + 0 + ], + [ + 1.115, + 1877.033, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 5.858, + 1751.264, + 98.866, + 0.0, + -87.84, + 0.0 + ], + [ + 5.858, + 1751.264, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -42.995, + 1635.273, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -91.848, + 1519.282, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -140.702, + 1403.292, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -140.702, + 1403.292, + 98.866, + 0.0, + -112.84, + 0.0 + ], + [ + -140.702, + 1403.292, + 98.866, + 0.0, + -112.84, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -195.034, + 1310.74, + 33.866, + 90.0, + -87.84, + 0.0 + ], + [ + -195.034, + 1310.74, + 33.866, + 90.0, + -87.84, + 0.0 + ], + [ + -195.034, + 1310.74, + 33.866, + 90.0, + -87.84, + 0.0 + ], + [ + -195.034, + 1310.74, + 33.866, + 90.0, + -87.84, + 0.0 + ], + [ + -195.034, + 1310.74, + 33.866, + 90.0, + -87.84, + 0.0 + ], + [ + -195.034, + 1310.74, + 33.866, + 90.0, + -87.84, + 0.0 + ], + [ + -195.034, + 1310.74, + 33.866, + 90.0, + -87.84, + 0.0 + ], + [ + -120.785, + 1395.565, + 68.973, + -28.202, + -62.696, + 1.862 + ], + [ + -120.785, + 1395.565, + 68.973, + -28.202, + -62.696, + 1.862 + ] + ], + "PD_Dist_2D": [ + 718.0, + 599.3, + 484.2, + 484.2, + 358.4, + 232.7, + 107.3, + 21.4, + 21.4 + ], + "Rationale": [ + "From the store entrance area I can see the row of checkout stations with orange counter bases ahead, and the leftmost one sits well off to my left front. A dark round wicker object is visible near that left end, which is likely the basket I need. I will walk forward to close the large open floor gap before refining my heading.", + "The checkout counters have grown noticeably larger and the round wicker item near the left end of the row is clearer now. The path in front of me is still open tile with no shelving or barrier in the way. I will keep walking straight to shorten the remaining distance to that left-hand counter.", + "The leftmost orange checkout counter and the wicker basket beside it now sit left of my forward heading, so continuing straight would carry me past them toward the middle registers. Turning left should bring that end of the checkout row into the center of my view. I will make a modest left turn to line up my approach.", + "After the turn the left end of the checkout row, with its dark counter and the round wicker basket, is centered ahead of me. The floor between us is clear apart from the stanchion line off to my left. I will walk forward along this corrected heading to close in on the counter.", + "The target counter fills much more of my view and the woven basket sitting at its front corner is now clearly recognizable. I am still a few paces short of a comfortable reaching distance. I will step forward again to get within grasping range of the basket.", + "The leftmost orange counter is directly in front of me with the wicker basket leaning against its near side. I am close but not yet within arm's reach of the basket. One more forward step should place me right at the counter so the grab can be attempted.", + "I am standing right at the leftmost orange checkout counter, and the woven wicker basket is at the bottom of my view within arm's reach. Nothing blocks my hand from reaching its rim. I will attempt to pick it up now.", + "The wicker basket is now held in my hand at the leftmost orange counter. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..46eec5db4a6d8244670dfb6bfff7d1bc4c282a7a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Look around for the orange hand truck near the loading dock, then approach the target area.", + "Type": 1, + "Start_Pose": [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -149.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -124.24, + 0.0 + ], + [ + -169.624, + -1917.822, + 98.866, + 0.0, + -124.24, + 0.0 + ], + [ + -240.44, + -2021.868, + 98.866, + 0.0, + -124.24, + 0.0 + ], + [ + -311.256, + -2125.914, + 98.866, + 0.0, + -124.24, + 0.0 + ], + [ + -311.256, + -2125.914, + 98.866, + 0.0, + -99.24, + 0.0 + ], + [ + -306.466, + -2227.194, + 98.866, + 0.0, + -99.24, + 0.0 + ], + [ + -306.466, + -2227.194, + 98.866, + 0.0, + -124.24, + 0.0 + ], + [ + -306.466, + -2227.194, + 98.866, + 0.0, + -124.24, + 0.0 + ] + ], + "Rationale": [ + "From here I only see storage racks on my left, a closed roll-up vent panel ahead, and a bin with stacked pallets against the far right wall, with no orange hand truck anywhere in view. The dock-side clutter continues off to my right, so I will turn right to sweep that unseen portion of the bay.", + "The scan has paid off: an orange hand truck is standing against the wall on the right side of my view, beside a leaning stack of pallets. It still sits well off my heading, so I will continue turning right to bring it toward the center before moving.", + "The orange hand truck now sits near the middle of my view, propped against the wall next to the pallets and just left of the open bay doorway. The floor between us is clear blue tile, so I will walk forward to close the distance toward it.", + "The hand truck has grown noticeably larger and its wheels and frame are now clearly resolved against the tan wall. I am still several strides short of the target area, so I will keep walking forward.", + "The hand truck is now large in front of me, with its wheels and lower frame plainly visible against the wall. There is still open floor before I reach it, so I will advance once more to arrive at the target area.", + "I am now very close, with the tan wall filling most of my view, the pallet stack jutting into my path on the left, and only the upper handle of the hand truck visible ahead. Turning right should swing me clear of the leaning pallets and open the strip of floor along the wall toward the bay opening.", + "The hand truck stands just to my left against the wall and the bright bay opening is now clear on my right, so the lane along the wall is free. I will step forward to settle into the dock area right beside the target.", + "I am right up against the tan wall now, and only a sliver of the orange handle shows at the far left edge of my view. I will turn left to bring the hand truck back into the center of my view at this close standing position.", + "The orange hand truck's frame fills my view at arm's length against the dock wall. The target area is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_b/infos.json b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cbe1c895f61ccfecd94afda4f7697e60e3fb9b14 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the nearby area until you find the wall-mounted fire extinguisher, then head to that location.", + "Type": 1, + "Start_Pose": [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -149.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -124.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -99.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -74.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -49.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -24.24, + 0.0 + ], + [ + 15.954, + -1865.449, + 98.866, + 0.0, + -24.24, + 0.0 + ], + [ + 130.717, + -1917.121, + 98.866, + 0.0, + -24.24, + 0.0 + ], + [ + 245.479, + -1968.794, + 98.866, + 0.0, + -24.24, + 0.0 + ], + [ + 245.479, + -1968.794, + 98.866, + 0.0, + -49.24, + 0.0 + ], + [ + 245.479, + -1968.794, + 98.866, + 0.0, + -49.24, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, I only see tall storage racks on my left and a plain block wall with a shuttered vent and a bin ahead, with no red wall-mounted extinguisher anywhere in sight. I will turn right to begin a steady scan of the surrounding bay in one consistent direction.", + "This part of the wall shows the shutter, a waste bin, stacked pallets and a hand truck, but still no extinguisher bracket on the painted blockwork. I will keep rotating right to bring the next unseen stretch of wall into view.", + "A large open bay door with daylight beyond now dominates the wall in front of me, and the surrounding wall panels carry nothing mounted on them. I will continue turning right in the same direction to sweep past this opening toward the wall sections I have not yet inspected.", + "To my right the racking and a leaning ladder block part of the wall, and the open doorway on my left is clearly not the target area. I will keep the scan going to the right so the wall hidden behind that shelving edge comes into view.", + "At the far right edge of my view a small red extinguisher is mounted on the yellow wall beyond the racking, which matches the target I was told to find. I will turn right again to swing that wall section toward the middle of my view and commit to it.", + "The extinguisher is now clearly visible on the wall right of centre, above a pallet and the green chairs in that corner. One more right turn should place it and the aisle leading to it directly ahead before I start walking.", + "The extinguisher sits ahead of me on the corner wall, and the aisle between the two rack rows is open blue floor with nothing blocking my path. I will walk forward to close the distance to that wall.", + "The extinguisher has grown noticeably larger and stays ahead of me, so my heading down this aisle is good. The floor between me and the chairs and pallet is still clear, so I will keep stepping forward to reach its location.", + "The wall-mounted fire extinguisher is clearly in view on the left-hand wall of this alcove, now much larger than before, with the pallet and green chairs beside it. The floor ahead along the aisle is still clear, so I will walk forward one more step to close the last bit of distance to its location.", + "I am now right beside the alcove wall, and the extinguisher has slid to the far left edge of my view where I can barely keep it framed. Turning left should swing my heading toward the mounted extinguisher and bring it back into the center of my view.", + "The wall-mounted fire extinguisher is centered and close in front of me on the alcove wall. The task is complete, so I stop here at its location." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_c/infos.json b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8fec6e34452cfb0f10c257a9de7d2f121fc1a31f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Scan the surroundings to locate the green chair on the warehouse floor, then move to that location.", + "Type": 1, + "Start_Pose": [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 160.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 135.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 110.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 85.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 60.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 35.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 10.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -14.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -39.24, + 0.0 + ], + [ + -1.33, + -1893.391, + 98.866, + 0.0, + -39.24, + 0.0 + ], + [ + -1.33, + -1893.391, + 98.866, + 0.0, + -14.24, + 0.0 + ], + [ + 120.662, + -1924.35, + 98.866, + 0.0, + -14.24, + 0.0 + ], + [ + 242.654, + -1955.309, + 98.866, + 0.0, + -14.24, + 0.0 + ], + [ + 364.646, + -1986.269, + 98.866, + 0.0, + -14.24, + 0.0 + ], + [ + 364.646, + -1986.269, + 98.866, + 0.0, + -14.24, + 0.0 + ] + ], + "Rationale": [ + "From this starting pose I see only tall storage racks on my left, a blank block wall with a roller shutter ahead, and a bin and pallets to the right, with no green chair anywhere in view. I will turn left to begin a steady scan of the warehouse floor in one consistent direction.", + "The rotation has brought me face to face with a loaded pallet rack that blocks most of the floor beyond it, and there is still no green chair in sight. I will keep turning left in the same direction to sweep past this racking toward open floor.", + "A bright doorway into an adjoining retail-looking area has opened up on my left, but the target on the warehouse floor is still not visible here. I will continue the same leftward sweep to cover the remaining unseen part of this bay.", + "Now the double doorway sits ahead of me with a cart and racking flanking it, and nothing green resembling a chair appears on this stretch of floor. I will turn left again to keep the scan moving over ground I have not yet inspected.", + "This heading shows mostly a long wall with a support column, a folded trolley, and the doorway edge, with no green chair on the floor. I will hold the same leftward rotation so the sweep stays consistent and covers the next section of the bay.", + "The view has swung onto more racking and a stretch of empty blue floor beside the wall, still without any sign of the green chair. I will continue turning left to bring the darker aisle area further around into view.", + "Ahead I can see a dim aisle between racks with a ladder and pallets, but the target is not yet distinguishable in this heading. I will keep the leftward sweep going to open up the shadowed wall on that side.", + "Two green chairs are now visible against the far wall on the left side of my view, beside a fire extinguisher and a leaning pallet. I will turn left once more to bring them closer to the center of my heading before walking toward them.", + "The green chairs are already in sight ahead of me, tucked against the tan wall beneath the fire extinguisher, so my scan has found the target and I no longer need to keep sweeping for it. A tall rack and a leaning pallet crowd the direct line, so I will turn a little further left to face the open blue floor lane that runs past them. That should leave the chairs off to my right side with a clear walking path toward that corner.", + "The green chairs sit against the wall ahead on my right, with the fire extinguisher and a leaning pallet marking that corner. The floor between me and that corner is open, with the shelving safely off to my left. I will walk forward to close the distance before fine tuning my heading.", + "I am now much closer to the corner, and the two green chairs sit clearly to the right of my current heading, next to the pallet and below the fire extinguisher. Continuing straight would carry me past them along the wall instead of toward them. I will turn right to bring the chairs nearer the center of my view for a direct approach.", + "The green chairs are now roughly ahead of me along the wall, with the aisle between the racks and the tan wall left clear. Nothing blocks the tiled floor between my position and them. I will step forward to shorten the remaining distance.", + "The chairs have grown noticeably larger just left of my heading, and the fire extinguisher and wooden pallet on the wall confirm I am closing on the right corner. There is still several steps of empty floor before I would be standing at them. I will keep walking forward along this lane.", + "The two green chairs are close now on my left, with their metal legs and the pallet beside them clearly resolved. I am not yet standing at their location, so one more step should place me right at them. I will move forward again.", + "The green chairs stand directly beside me, filling the near floor at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_d/infos.json b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e4099f21e8232bdf05be0eb9cc44e7e1bdfe372 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Search the warehouse for the open double doors leading into the supermarket sales area, then approach the doorway.", + "Type": 1, + "Start_Pose": [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 160.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 135.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 110.76, + -0.0 + ], + [ + -143.419, + -1696.089, + 98.866, + 0.0, + 110.76, + -0.0 + ], + [ + -188.03, + -1578.401, + 98.866, + 0.0, + 110.76, + -0.0 + ], + [ + -232.642, + -1460.714, + 98.866, + 0.0, + 110.76, + -0.0 + ], + [ + -277.253, + -1343.026, + 98.866, + 0.0, + 110.76, + -0.0 + ], + [ + -277.253, + -1343.026, + 98.866, + 0.0, + 110.76, + -0.0 + ] + ], + "Rationale": [ + "From here I see storage racking on my left and a plain warehouse wall with a closed roller shutter ahead, so no doorway into the sales area is visible yet. I will turn left to sweep the unseen side of the racking aisle for an open double door.", + "The racking now fills most of my view and only bare warehouse wall shows past it, so there is still no doorway in front of me. I will keep scanning in the same leftward direction to reveal the wall section hidden beyond the rack end.", + "At the left edge of my view I can now see brightly lit shelving and colorful product displays through a gap in the warehouse wall, which strongly suggests the sales area entrance. I will continue turning left to bring that opening fully into the center of my view.", + "The open double doors are now centered ahead, with both leaves swung back and the lit supermarket floor and displays beyond them. Since my heading is already aligned with the doorway, I will walk forward to close the distance.", + "The doorway has grown larger and stays centered, so my line of travel toward it is still correct. I will step forward again to keep closing on the opening.", + "I am close enough now that the door frame edges reach the sides of my view and the tiled sales floor is clearly visible through the gap. I will advance again to reach the threshold of the doorway.", + "The open leaf and its notice signs are right beside me and the lit sales area occupies the left half of my view, so I am nearly at the doorway. I will take one more step forward to stand at the opening itself.", + "I am standing at the open doorway with its leaf beside me and the supermarket sales floor directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_e/infos.json b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..037a2cadbb5fb80b2ee07d8f0df74ccb66cbe505 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000099_y-001814_z000099_t1_e/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Explore the area until you identify the metal rolling rack on wheels, then head toward that location.", + "Type": 1, + "Start_Pose": [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -98.808, + -1813.776, + 98.866, + 0.0, + -174.24, + 0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 160.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 135.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 110.76, + -0.0 + ], + [ + -98.808, + -1813.776, + 98.866, + 0.0, + 85.76, + -0.0 + ], + [ + -89.503, + -1688.261, + 98.866, + 0.0, + 85.76, + -0.0 + ], + [ + -80.197, + -1562.747, + 98.866, + 0.0, + 85.76, + -0.0 + ], + [ + -80.197, + -1562.747, + 98.866, + 0.0, + 60.76, + -0.0 + ], + [ + -18.719, + -1452.925, + 98.866, + 0.0, + 60.76, + -0.0 + ], + [ + 31.076, + -1392.494, + 98.866, + 0.0, + 60.76, + -0.0 + ], + [ + 31.076, + -1392.494, + 98.866, + 0.0, + 60.76, + -0.0 + ] + ], + "Rationale": [ + "From here I only see tall pallet racking on my left and a bare stockroom wall with a roller shutter and a stacked pallet ahead, and no wheeled metal rack is visible. I will turn left to sweep the part of the room hidden behind the racking, since that is the most likely place for equipment parked along a wall.", + "The turn only brought more of the loaded pallet racking and blank wall into view, so the target still is not visible. I will continue turning left in the same direction to keep the scan consistent and reveal the floor space beyond the end of the rack.", + "Now the racking has ended on my right and an open doorway into a brightly lit shop area appears on my left, which suggests a service corridor where carts are usually staged. I will keep turning left to bring that doorway and the wall beside it fully into view.", + "Beside the double doorway I can now see a dark wheeled cart frame at the far left of my view, which looks like the metal rolling rack I need. I will turn a bit further left to place it more centrally ahead of me before moving.", + "The metal rolling rack on casters is now clearly in view standing against the wall left of the open doors. It is still some distance away, so I will walk forward to close the gap toward it.", + "The wheeled rack has grown larger and its shelves and casters are clearly distinguishable next to the steel column. I will step forward again to keep reducing the remaining distance to it.", + "The rolling rack now sits off to the left side of my view while the open doorway occupies the center of my heading. I will turn left so the rack is directly ahead and my remaining steps lead straight to it rather than through the doors.", + "The metal rolling rack on casters is now centered ahead of me against the wall beside the column. I will walk forward to close the last of the distance and stand at it.", + "The wheeled metal rolling rack now fills most of my view directly ahead, with its casters and tubular frame clearly visible against the wall. I am still a short distance short of it, so I will take one more step forward to close the remaining gap and stand right at the rack.", + "The metal rolling rack on wheels is 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/Supermarket/task_x-000154_y000759_z000099_t0_a/infos.json b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..26bde50a65125fcaab1ba47d2b03594e57a3e147 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the red-and-yellow striped promotional stand beside the brown-and-white column.", + "Type": 0, + "Start_Pose": [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -384.143, + 861.549, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -384.143, + 861.549, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -509.983, + 859.352, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -635.823, + 857.156, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -635.823, + 857.156, + 98.866, + 0.0, + -179.0, + 0.0 + ] + ], + "Rationale": [ + "I can see the red-and-yellow striped promotional stand with the yellow V logo standing in the middle of the store floor, right next to the tall brown-and-white column. The open tiled aisle ahead of me is clear, so I will move forward to start closing the fairly large distance to it.", + "The striped stand and its adjacent column now appear larger and slightly right of my heading, confirming I am closing in. Nothing blocks the floor between us, so another forward step should keep shrinking the gap.", + "The striped stand and the brown-and-white column now sit off to the right side of my view rather than straight ahead, so continuing forward would carry me past them. I will turn right to bring the stand toward the center of my heading before advancing again.", + "The striped stand with its yellow V is now near the middle of my view with the brown-and-white column directly behind it, so my heading looks well aligned. I will move forward to close the remaining distance across the open tiles.", + "The stand now fills a good part of my view and its lettering is legible, but I am still a couple of paces short of standing beside it. One more forward step should bring me right up to the stand and the column.", + "The striped promotional stand fills my view at arm's length with the brown-and-white column right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t0_b/infos.json b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f837818c0cd7496f451113a736f2ea55ff1849c8 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the red fire extinguisher mounted on the wall.", + "Type": 0, + "Start_Pose": [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -395.005, + 808.161, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -520.845, + 805.964, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -646.684, + 803.768, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -751.955, + 795.991, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -835.442, + 767.485, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -835.442, + 767.485, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -835.442, + 767.485, + 98.866, + 0.0, + -179.0, + 0.0 + ] + ], + "Rationale": [ + "From the open tiled floor I can already pick out a small red fire extinguisher mounted high on the pillar near the middle of the store, just right of the striped banner. The floor ahead is clear, so I will step forward to close some of that distance and get a better look at the mounting. This should make the extinguisher larger and easier to line up with.", + "The extinguisher on the pillar now sits noticeably right of where I am heading, close to the banner and the tall column on that side. I will turn right by a small amount so my heading points more directly at it before continuing. That should place it nearer the center of my view for a straight approach.", + "After the turn the red extinguisher on the pillar is roughly ahead of me, past the striped banner and the deli counters. The aisle floor between me and the pillar looks completely clear, so I will walk forward to shorten the gap. I expect the extinguisher and its bracket to grow more distinct as I advance.", + "The pillar with the red extinguisher is clearly bigger now, and the banner beside it is drawing level with my path. Nothing blocks the tiles directly in front of me, so I continue forward toward the mount. Another step should bring me within a few paces of the pillar face.", + "I can now read the banner text beside me and the extinguisher stands out plainly against the pillar's brick base ahead. Since my heading still points at the mount, I will keep walking forward to close the remaining distance. The extinguisher should soon fill much more of my view.", + "The extinguisher and its black hose are now large and slightly above my eye level on the pillar, with the potted fern to the left of it. I am close but not yet within arm's reach of the pillar face, so I will step forward again. This should bring me right up beside the mounted extinguisher.", + "The pillar's brick face now dominates what I see and the extinguisher hangs directly above me, its base just at the upper edge of my gaze. One more short step forward should put me immediately in front of the mount at a proper standing distance. I keep my heading fixed so the extinguisher stays overhead.", + "I am standing right at the pillar, and only the bottom of the red cylinder and its handle show at the top of my gaze because the mount is well above my head. I will tilt my gaze upward to bring the whole extinguisher into clear view and confirm I am directly beneath it. That should verify I have reached the target.", + "The red fire extinguisher on the column is directly above me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t0_c/infos.json b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..80a66b821e95743efa21c28b9fb2dad90df7bfb3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the brown-and-white column.", + "Type": 0, + "Start_Pose": [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -395.005, + 808.161, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -520.845, + 805.964, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -646.684, + 803.768, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -751.955, + 795.991, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -835.442, + 767.485, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -835.442, + 767.485, + 98.866, + 0.0, + -179.0, + 0.0 + ] + ], + "Rationale": [ + "Scanning the store floor, I spot a square pillar ahead and slightly right whose lower half is wrapped in brown panels above a white-gray upper section, matching the brown-and-white column I need to reach. The open tiled floor between us is clear, so I will step forward to close some distance and get a better read on it.", + "From here the brown-and-white pillar sits noticeably right of my heading, behind the striped Victory sign panel. I will turn right to bring the column closer to the center of my heading so my next steps carry me straight toward it.", + "The brown-based pillar with the mounted fire extinguisher now sits near the middle of my heading, with clear tile between me and it. I will move forward to close the remaining gap along this line.", + "The column has grown larger and its brown block base and pale upper section are clearly distinguishable, confirming I am on the right line. I keep stepping forward since nothing blocks the tiled lane toward it.", + "The pillar now rises through most of my view with the extinguisher clearly readable, so I am close but not yet beside it. I will take another step forward to keep shrinking the distance.", + "Only a short stretch of tile remains between me and the brown-and-white column, which now dominates the center of my view alongside the sign panel on my left. I will advance again to bring myself right up to it.", + "I am nearly at the column, with its brown blocks and the extinguisher filling much of my view at arm's-length scale. One more short step forward should place me directly at the column's face.", + "The brown-and-white column's block surface fills my view directly in front of me at touching distance. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..84ecd4b006fd31cec2a458cfd447fe4e28cb077f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Walk to the striped promotional stand, then head to the green chairs next to the freezer.", + "Type": 3, + "Start_Pose": [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -395.005, + 808.161, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -520.845, + 805.964, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -646.684, + 803.768, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -646.684, + 803.768, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -646.684, + 803.768, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -646.684, + 803.768, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + -646.684, + 803.768, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -681.376, + 924.751, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -716.067, + 1045.735, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -750.759, + 1166.718, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -785.45, + 1287.702, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -785.45, + 1287.702, + 98.866, + 0.0, + 81.0, + -0.0 + ], + [ + -765.762, + 1412.011, + 98.866, + 0.0, + 81.0, + -0.0 + ], + [ + -746.073, + 1536.321, + 98.866, + 0.0, + 81.0, + -0.0 + ], + [ + -716.952, + 1636.984, + 98.866, + 0.0, + 81.0, + -0.0 + ], + [ + -716.952, + 1636.984, + 98.866, + 0.0, + 81.0, + -0.0 + ] + ], + "Rationale": [ + "The tall striped banner with the yellow V stands out in the open floor ahead of me, a little to my right, with clear tiled space between us. I will walk straight forward to close that gap before fine tuning my heading.", + "The striped banner now sits noticeably right of my heading, next to the brick column. A small turn to the right should put it in front of me so my next steps run straight at it.", + "The striped stand is now centered ahead beside the column, with open floor all the way to it. I will keep walking forward to shorten the remaining distance.", + "The banner has grown larger and its printed lettering is readable now, so my heading is still good. Another step forward should bring me close in front of it.", + "The striped banner fills much of my left-forward view and the column beside it is close. I will advance once more to stand right at the stand.", + "The striped red, white and blue banner with the yellow V now towers directly beside me, close enough to read every word. I have reached the striped promotional stand, so I mark arriving here and turn my attention to the green chairs beside the freezer cabinets.", + "Standing at the striped stand, the chilled glass-door cabinets run away along the wall to my left, which is where the green seating lies. I will turn left to swing my heading off the banner and toward that side of the store.", + "The long row of glass-fronted coolers is now open on my left, but the green chairs are still outside my view past the banner edge. I will turn left again to bring that seating area into the center of my heading.", + "The striped banner has slid off to my right edge and the long row of glass coolers now fills the view ahead, with a hint of green seating just at the far left. I will keep swinging left so that seating area beside the coolers comes properly in front of me before I walk.", + "The row of green chairs is now visible ahead beside the lit refrigerator cabinets, and the tiled floor between us is clear and open. I will walk forward to close that distance.", + "The chairs against the window wall have grown larger and the freezer cabinets beside them are clearer, so my heading is good. Nothing blocks the aisle, so I will step forward again to keep closing on that seating.", + "Four green chairs now stand out plainly at the left, right up against the glass-fronted freezers. I am still several strides short of them, so I will continue walking forward.", + "The seats are close enough now that I can pick out their moulded backs and metal legs, though they sit off toward my left while the cooler doors dominate straight ahead. Another step forward should bring me level with that corner.", + "The chairs have drifted to the far left edge while the freezer cabinets fill the middle of my view, so walking straight would carry me past them. I will turn left to put that seating squarely in front of me.", + "The turn has brought the whole row of green chairs into the centre-left of my view with the freezer cabinet immediately to their right. The floor in between is clear, so I will walk forward toward them.", + "The chairs and the neighbouring freezer are both filling much more of my view, confirming I am heading straight at them. I am still a couple of paces off, so I will keep walking to arrive right beside the seating.", + "The green chairs fill the left of my view and the glass-doored cooler stands right beside them, so only a small gap remains between me and the seats. I will take one more short step forward to close that gap and stand right at the chairs.", + "I am standing right at the green chairs beside the cooler, close enough to touch their backs. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/infos.json b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1e19404565a5a969f4f545af9f3dce7698d594f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Approach the fire extinguisher on the pillar, then move to the green chairs next to the freezer.", + "Type": 3, + "Start_Pose": [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -154.187, + 759.166, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -280.027, + 756.969, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -405.867, + 754.773, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -531.707, + 752.576, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -657.546, + 750.38, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -783.386, + 748.183, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -783.386, + 748.183, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -691.0, + 749.796, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -691.0, + 749.796, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -691.0, + 749.796, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + -691.0, + 749.796, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -691.0, + 749.796, + 98.866, + 0.0, + 81.0, + -0.0 + ], + [ + -671.312, + 874.105, + 98.866, + 0.0, + 81.0, + -0.0 + ], + [ + -651.623, + 998.415, + 98.866, + 0.0, + 81.0, + -0.0 + ], + [ + -631.934, + 1122.724, + 98.866, + 0.0, + 81.0, + -0.0 + ], + [ + -612.246, + 1247.034, + 98.866, + 0.0, + 81.0, + -0.0 + ], + [ + -612.246, + 1247.034, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -646.937, + 1368.017, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -681.628, + 1489.001, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -716.32, + 1609.984, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -716.32, + 1609.984, + 98.866, + 0.0, + 106.0, + -0.0 + ] + ], + "Rationale": [ + "The red fire extinguisher is mounted on the concrete pillar off to my right, while my heading points down the open aisle past it. I will turn right to bring that pillar toward the center of my path before walking out across the tiled floor.", + "The pillar carrying the fire extinguisher now sits ahead of me beyond the striped banner, with clear tiled floor between us. I will walk forward to cut down that distance.", + "The extinguisher on the pillar has grown larger and stays lined up just right of the banner, so my heading is still good. The floor ahead remains clear of shelving and displays, so I will keep walking toward it.", + "The pillar and its red extinguisher are noticeably closer, with the banner passing on my left and the shelf unit on my right. Another step forward should bring me near enough to stand at the extinguisher.", + "The extinguisher is now clearly readable on the pillar face directly ahead, only a short stretch of tile away. I will walk forward again to close that last gap.", + "The pillar fills much of my view with the extinguisher mounted at chest-to-head height just ahead and slightly left. One more step should place me right up against it.", + "The red fire extinguisher hangs directly in front of me on the concrete pillar, close enough to touch. I have arrived at the fire extinguisher on the pillar, so I mark reaching it and now set off for the green chairs beside the freezer cabinets.", + "The pillar and the plant beside it block most of my view at this range, leaving no room to swing around toward the green chairs by the glass-front coolers. I will step back to open clearance so I can turn freely without scraping the pillar.", + "Having backed off the column, the extinguisher and its pillar sit clearly in front of me with room to pivot. The green chairs beside the chilled cabinets lie nowhere along this heading, so I turn left to start sweeping my view across the open floor toward that side of the store.", + "The tall banner and the pillar with the extinguisher still occupy most of my view, and no seating has appeared yet. I turn left again to keep swinging my heading toward the glass-fronted cabinets on the far side.", + "The turn has carried the pillar to my right and opened up the long row of glass-door coolers along the far wall. The seating I want is still outside this heading, so another left turn should bring more of that wall into view.", + "Green chairs are now showing at the left of my view, lined up under the windows past the run of refrigerated cabinets. One more left turn should bring that seating near the center of my heading so I can walk straight at it.", + "The green chairs beside the chilled cabinets now sit ahead of me near the window wall, roughly centered in my heading. The tiled floor between us is clear, so I step forward to close the distance.", + "The seating and the glass-door cabinets have grown noticeably larger, confirming my heading is carrying me toward them. Nothing stands in the open aisle, so I keep walking forward.", + "The row of green chairs under the windows and the refrigerated cabinets beside them are close now, sitting just right of my center. I advance again across the open floor to shorten the remaining gap.", + "Only a short stretch of tile now separates me from the green chairs standing next to the freezer cabinets, with the upright banner and bin safely off to my left. I step forward once more to draw up close to that seating.", + "The row of green seats beside the tall drinks freezer is now close ahead, but a standing banner and a bin crowd the floor on my left side of the approach. I will turn right to put the clear tiled lane between the seating and the freezer straight in front of me.", + "With the open floor lane now aimed between the green chairs on my left and the glass-doored freezer on my right, nothing blocks my path. I will walk forward to close the remaining gap to the seating.", + "The chairs and the freezer front have grown noticeably larger, so my heading down this lane is good. I will step forward again to bring myself alongside the seats rather than stopping short of them.", + "Only two green chairs and the near freezer cabinet still fill my view, so I am within a stride or two of the seating. One more step forward should put me right beside the chairs next to the freezer.", + "A green chair is directly beside me with the freezer cabinet at arm's length on my right. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_c/infos.json b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..822cd79c2fcda72c4625dda158228431bc17b64d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t3_c/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Navigate to the green seating near vending machines, then reach the brown-and-white column.", + "Type": 3, + "Start_Pose": [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.187, + 759.166, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + -351.736, + 905.344, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + -434.307, + 1000.331, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + -516.878, + 1095.318, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + -516.878, + 1095.318, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -551.569, + 1216.302, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -586.261, + 1337.285, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -620.952, + 1458.269, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -655.644, + 1579.252, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -655.644, + 1579.252, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -655.644, + 1579.252, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + -655.644, + 1579.252, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -655.644, + 1579.252, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -655.644, + 1579.252, + 98.866, + 0.0, + -154.0, + 0.0 + ], + [ + -655.644, + 1579.252, + 98.866, + 0.0, + -129.0, + 0.0 + ], + [ + -655.644, + 1579.252, + 98.866, + 0.0, + -104.0, + 0.0 + ], + [ + -686.092, + 1457.132, + 98.866, + 0.0, + -104.0, + 0.0 + ], + [ + -716.54, + 1335.011, + 98.866, + 0.0, + -104.0, + 0.0 + ], + [ + -746.988, + 1212.891, + 98.866, + 0.0, + -104.0, + 0.0 + ], + [ + -777.436, + 1090.77, + 98.866, + 0.0, + -104.0, + 0.0 + ], + [ + -777.436, + 1090.77, + 98.866, + 0.0, + -129.0, + 0.0 + ], + [ + -856.641, + 992.96, + 98.866, + 0.0, + -129.0, + 0.0 + ], + [ + -856.641, + 992.96, + 98.866, + 0.0, + -104.0, + 0.0 + ], + [ + -894.294, + 915.067, + 98.866, + 0.0, + -104.0, + 0.0 + ], + [ + -894.336, + 914.96, + 98.866, + 0.0, + -104.0, + 0.0 + ], + [ + -894.336, + 914.96, + 98.866, + 0.0, + -104.0, + 0.0 + ] + ], + "Rationale": [ + "A long row of glass-fronted vending coolers runs down the left side of this hall, and I can just make out green seats at the far left end beside them. The floor ahead is wide open, so I will walk forward to close some of that distance before turning toward them.", + "The green seats sit off to my left, beyond the near end of the cooler row, while my heading points straight down the middle of the hall. I will turn left to put that seating area in front of me so I can walk directly at it.", + "The turn has brought the green chairs and their railings into clear view on the left, with the vending coolers stretching away beside them. Nothing blocks the tiled floor between us, so I will walk forward toward that seating.", + "The green seats along the window wall are noticeably larger now, though still off to my left front and some way off. I will keep walking forward to shorten that gap.", + "The row of green chairs by the windows is clearly resolved now, with the drinks coolers immediately to their right. I am still short of them, so another step forward keeps me closing in.", + "As I have advanced, the green seating has drifted toward the left edge of my view while the cooler row fills the center. I will turn left to bring the chairs back in front of me and keep a straight line into them.", + "The green chairs now sit ahead of me between the window wall and the stocked coolers, with a standing sign and bin off to the left. The lane between them is clear, so I will step forward toward the seats.", + "The seats and the cooler doors are close enough now that I can read the shelved goods, but I am still a few paces short of standing at the chairs. I will keep walking forward to draw right up beside them.", + "The row of green seats along the window wall is now close on my left, with the drinks coolers lining the right side of this narrow lane. I am not yet level with the seating, so I will walk forward again to close the last of that gap.", + "The green chairs are directly beside me and the cooler cabinets stand opposite them, but my body is still level with the near end of the row. One more step forward should place me squarely alongside the seating between the machines.", + "The green seats fill my view an arm's length away, with the vending coolers standing right against them. I have arrived at the green seating by the vending machines. I mark reaching it as I set off toward the brown-and-white column further inside the store.", + "Facing the seats and the window wall leaves me boxed in with nothing of the shop floor visible. I will turn right to swing my heading away from the glass and back toward the open interior, where a brown-and-white column should be findable.", + "My heading has come around to the run of cooler cabinets, so I am still looking along the wall rather than into the store. Another right turn should carry my view further past the coolers toward the open floor.", + "The tiled floor and the chilled counters of the shop interior are beginning to open on the right side of my view while the coolers still occupy the left. Turning right again should bring more of that interior in front of me to look for a brown-and-white column.", + "The service counters and the broad tiled floor now lie ahead to my right, but no column with brown and white surfaces has come into view yet. I will keep rotating right to sweep further across the sales floor.", + "I am now looking across the open sales floor with the green-trimmed counters to my left and empty tiling ahead, and still no brown-and-white column stands in front of me. Continuing the right sweep should bring the deeper part of the store, and hopefully that column, into view.", + "Swinging my view across the store has brought a tall square column with a white upper shaft and brown lower panelling into sight ahead on my right, past the chilled counters. It still sits off to the side of my heading, so I will turn right once more to bring it near the middle of my view before walking.", + "The column with its white top and brown base now stands close to the center of my view, with open tiled floor between me and it. Nothing blocks that lane, so I will walk forward to close the distance.", + "The column and the potted plant beside it have grown larger, confirming my heading is carrying me toward it. The aisle mouth on my right and the counters on my left leave a wide clear path, so I will keep walking forward.", + "The brown-and-white column is still slightly left of my heading but clearly nearer, and the tiles in front of me remain empty. Another step forward should bring me within a few paces of it.", + "The column now fills a good part of the left side of my view, its brown panelling plainly visible behind the tall potted plant. I will advance again to shorten the remaining gap before I fine tune my heading.", + "At this range the column has drifted well to my left while a standing display board sits straight ahead of me. Turning left should put the brown-and-white column back in front of my heading and off that board.", + "The column is centered in my view again, its brown lower panels and white shaft only a short walk away with clear tiles between us. I will step forward to close on it.", + "I am now right beside the column, but the tall potted plant standing against it fills the middle of my view and screens the brown panelling. Turning right should aim me at the open side of the column toward the aisle, giving me a clear approach to its face.", + "The brown-and-white column now stands just ahead on my left, its tan lower section and pale upper section clearly visible past the potted fern. A short step forward should bring me alongside it rather than leaving me short of it.", + "The column's brown and white faces now fill the left of my view at arm's length, so I am essentially beside it. I will press one more small step forward to settle firmly at its base.", + "The brown-and-white column stands directly beside me, filling the near left of my view. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac41d5594d93683551dc78ad75a0d52f3ba596cc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the tomato near the striped promotional stand in the center of the floor.", + "Type": 5, + "Start_Pose": [ + -154.187, + 759.166, + 98.866, + 0, + 156, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -664.65, + 1036.701, + 68.866, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.187, + 759.166, + 98.866, + 0, + 156, + 0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -384.143, + 861.549, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -499.121, + 912.74, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -499.121, + 912.74, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -499.121, + 912.74, + 98.866, + 0.0, + 156.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -664.65, + 1036.701, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -664.65, + 1036.701, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -664.65, + 1036.701, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -664.65, + 1036.701, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -507.249, + 892.984, + 68.973, + -28.202, + -153.855, + 1.862 + ], + [ + -507.249, + 892.984, + 68.973, + -28.202, + -153.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 581.0, + 455.7, + 330.7, + 206.8, + 21.4, + 21.4 + ], + "Rationale": [ + "From here I can see the striped promotional stand with the yellow V banner standing in the middle of the open floor, and the red tomato resting on the tiles just ahead of it. Both are far away, so I will walk straight forward along my current heading to close that distance. This should bring me nearer to the stand area where the tomato lies.", + "The striped stand and the tomato both appear larger now, so my straight-line approach is working. The tomato is still several strides away and too distant to reach down for, so I will keep walking forward on the same heading. Continuing straight should keep the tomato centered while shrinking the remaining gap.", + "I am now close to the striped promotional stand, which fills the right side of my view, and the tomato sits low and slightly left of center on the tiles. It is still a step or two beyond comfortable arm's reach, so I will advance once more. This step should place the tomato directly in front of me for a grasp.", + "I have reached the striped promotional stand in the center of the floor, and the tomato is now right at my feet, filling the lower part of my view. This is close enough to reach down and take it, so I will attempt the pick. If my hand closes on it, the tomato should come up into my grasp.", + "The grasp succeeded, and the tomato is now held in my hand in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t5_a_pd/infos.json b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b16ffe66a529d563dea3078e08befd2e574e203a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000154_y000759_z000099_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the wicker basket by the striped promotional stand, then place it by the green chairs next to the freezer.", + "Type": 5, + "Start_Pose": [ + -154.187, + 759.166, + 98.866, + 0, + 156, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -684.747, + 954.055, + 33.866, + 90, + 176, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.187, + 759.166, + 98.866, + 0, + 156, + 0 + ], + [ + -269.165, + 810.357, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -384.143, + 861.549, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -499.121, + 912.74, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -499.121, + 912.74, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -499.121, + 912.74, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + -499.121, + 912.74, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + -499.121, + 912.74, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + -499.121, + 912.74, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -533.813, + 1033.724, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -568.505, + 1154.707, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -603.198, + 1275.69, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -637.89, + 1396.673, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -672.582, + 1517.656, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -707.274, + 1638.64, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -687.428, + 1569.429, + 98.866, + 0.0, + 106.0, + -0.0 + ], + [ + -687.428, + 1569.429, + 98.866, + 0.0, + 106.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -684.747, + 954.055, + 33.866, + 90.0, + 176.0, + 0.0 + ], + [ + -684.747, + 954.055, + 33.866, + 90.0, + 176.0, + 0.0 + ], + [ + -684.747, + 954.055, + 33.866, + 90.0, + 176.0, + 0.0 + ], + [ + -684.747, + 954.055, + 33.866, + 90.0, + 176.0, + 0.0 + ], + [ + -684.747, + 954.055, + 33.866, + 90.0, + 176.0, + 0.0 + ], + [ + -498.302, + 890.564, + 68.973, + -28.202, + -128.855, + 1.862 + ], + [ + -507.062, + 892.898, + 69.246, + -28.189, + -153.843, + 1.872 + ], + [ + -514.561, + 898.956, + 68.578, + -28.215, + -178.872, + 1.849 + ], + [ + -517.677, + 907.241, + 69.502, + -28.205, + 156.139, + 1.861 + ], + [ + -554.061, + 1026.865, + 69.592, + -28.198, + 156.145, + 1.865 + ], + [ + -588.812, + 1148.053, + 69.309, + -28.2, + 156.145, + 1.865 + ], + [ + -623.59, + 1269.32, + 68.778, + -28.194, + 156.149, + 1.865 + ], + [ + -658.332, + 1390.49, + 68.397, + -28.202, + 156.142, + 1.859 + ], + [ + -693.011, + 1511.427, + 68.518, + -28.205, + 156.142, + 1.854 + ], + [ + -727.632, + 1632.174, + 68.898, + -28.207, + 156.138, + 1.858 + ], + [ + -706.723, + 1636.717, + 63.866, + 90.0, + 106.0, + 0.0 + ], + [ + -706.723, + 1636.717, + 63.866, + 90.0, + 106.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 565.2, + 439.7, + 314.5, + 190.2, + 190.2, + 22.2, + 21.4, + 20.7, + 19.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The striped promotional stand with the wicker basket beside it is visible ahead of me across the open tiled floor, well beyond arm's reach. Nothing blocks the lane between me and it, so I will walk forward to close that distance. This should bring the basket into a range where a grasp becomes possible.", + "The wicker basket and the striped stand now appear larger and slightly right of my heading, confirming my previous step shortened the gap. They are still too distant to interact with, so I will keep walking straight ahead. The open floor between us remains clear for another step.", + "The striped stand fills much of the right side of my view and the wicker basket sits near it, but the basket is still ahead of me rather than at my feet. One more step forward should place me directly beside the basket for a pickup attempt. The tiled floor in front stays clear.", + "I am now standing at the striped stand, but it and the basket sit off to my right edge while my body faces the freezer aisle. A small turn to the right should bring the stand and the wicker basket into the center of my working space. That alignment should make the grasp reachable without further walking.", + "The striped promotional stand is now squarely in front of me and the wicker basket rests on the floor close at my lower left, well within reach. Since no further approach is needed, I will attempt to pick up the basket. If the grasp registers, I should have the basket in hand for carrying.", + "The grasp worked: the wicker basket is held in my hands. The green chairs by the freezer cabinets lie back toward my left, not along my current heading. I will turn left to begin swinging my body toward that side of the store.", + "With the basket secured, my view has come back up to the store interior, but I am still facing the freezer aisle and the deli counter rather than the seating area. The green chairs are not yet in front of me, so I will continue turning left. Another step of rotation should bring that side of the room into view.", + "The green chairs have now appeared along the window wall at the far left of my view, next to the run of glass-front freezer cabinets. They are still too far to the side for me to walk straight at them, so I will turn left once more. That should place the chairs closer to the center of my heading for the carry.", + "The wicker basket is in my hands and my heading now faces the far corner where the row of green chairs sits beside the glass-door freezer cabinets. That destination is still well across the open tiled floor, so I will walk forward to begin carrying the basket toward it.", + "The green chairs and the trash bin beside them are noticeably larger and slightly to my left, with the freezer run stretching along my right. The path ahead stays clear tile, so I keep walking forward to shorten the carry distance.", + "The four green seats and the standing sign are now clearly resolved on my left, and the freezer doors on my right show individual products. I am still several paces short of the seating, so another forward step continues the approach with the basket.", + "The bench of green chairs now fills the left of my view against the window, and the freezer cabinet stands immediately to my right. I am close but not yet beside the seats, so I walk forward again to reach placement range.", + "Three of the green chairs are close on my left and the freezer doors are near enough that I can read the packaged goods inside. Since the drop target is the seating area right beside this freezer, I step forward once more to draw level with the chairs.", + "Two green chairs now sit very close on my left with the freezer cabinet directly at my right shoulder, so I am nearly in the intended placement spot. One more forward step should bring the basket fully alongside the seats before I release it.", + "I am standing right at the green chair beside the freezer, with the seat filling the left of my view and the cabinet surface at my right. This is the destination named in the task, so I will release the wicker basket here and it should come to rest at the chairs.", + "The wicker basket now rests on the floor beside the green chairs next to the freezer. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9bd5c17069121a485c892d1eb162268cf9ca9f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search the surrounding area for the orange hand truck, then move to that location.", + "Type": 1, + "Start_Pose": [ + -154.906, + -1860.96, + 98.866, + 0.0, + 7.2, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -92.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -117.8, + 0.0 + ], + [ + -213.605, + -1972.292, + 98.866, + 0.0, + -117.8, + 0.0 + ], + [ + -272.304, + -2083.625, + 98.866, + 0.0, + -117.8, + 0.0 + ], + [ + -329.191, + -2192.439, + 98.866, + 0.0, + -117.8, + 0.0 + ], + [ + -329.191, + -2192.439, + 98.866, + 0.0, + -117.8, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, I see storage racking ahead and a fire extinguisher and pallets against the wall to my left, but no orange hand truck anywhere in view. Since the right side is largely blocked by tall shelving, I will turn left to begin a steady scan of the open floor and walls for the target.", + "The new heading shows loaded shelving on my left and the corner wall with the extinguisher and pallets ahead, still with no orange hand truck. I will keep rotating left in the same direction to sweep the next unseen portion of the bay.", + "Now a ladder leaning on the racking and a bright opening in the far left wall come into view, hinting at a loading area where handling equipment is often kept. No hand truck is visible yet, so I will continue the same leftward scan toward that opening.", + "The large open roller door and the wall beside it are now clearly in front of me, a loading zone that is a plausible spot for a hand truck, but nothing orange has appeared yet. I will turn left once more to bring the wall stretch left of the doorway into view.", + "The orange hand truck is now visible standing against the wall to the left of the open doorway, beside a stack of pallets. I will turn left once more to center it in my path before walking toward it.", + "The orange hand truck sits ahead of me against the wall with pallets beside it and clear floor in between. I will walk forward to close the distance toward it.", + "The hand truck now appears larger and slightly right of center, so my heading remains good. I will keep walking forward to reduce the remaining gap.", + "The hand truck fills much of my view now, its frame and wheels clearly resolved just ahead against the wall. I will step forward once more to finish arriving at its location.", + "The orange hand truck's frame fills the view directly in front of me, within arm's reach against the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_b/infos.json b/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..160efd969fcd846f7a688630081f1331f8f80cc5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Look around for the large metal ventilation grate on the wall, then approach the target area.", + "Type": 1, + "Start_Pose": [ + -154.906, + -1860.96, + 98.866, + 0.0, + 7.2, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -92.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -117.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -277.923, + -1887.557, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -400.939, + -1914.154, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -523.956, + -1940.751, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -646.972, + -1967.348, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -769.989, + -1993.946, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -893.006, + -2020.543, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -893.006, + -2020.543, + 98.866, + 0.0, + -167.8, + 0.0 + ] + ], + "Rationale": [ + "From where I stand in the warehouse aisle I can see storage racks ahead and a plain block wall with a fire extinguisher to my left, but no large metal ventilation grate anywhere in view. I will begin a steady leftward scan to uncover the wall sections currently hidden outside my field of view.", + "The rotation has brought a corner with the fire extinguisher, a green chair and stacked pallets into view, but still no large metal grate on these walls. I will keep turning left in the same direction to sweep further along the perimeter.", + "Now a loaded rack with a leaning ladder blocks much of the wall in front of me, and only a bright opening edge shows at the far left. Continuing the same leftward sweep should reveal that brighter wall section and any grate mounted on it.", + "A large open bay doorway to the outside now dominates my view, and the surrounding wall carries no ventilation grate. I will maintain the consistent leftward scan to check the remaining wall beyond that opening.", + "The doorway is centered ahead with a hand truck and pallets beside it, and this stretch of block wall still shows nothing resembling a metal ventilation grate. I will turn left again to bring the next wall panel into view.", + "At the far left edge of my view a dark ribbed panel is just appearing on the wall near the corner, which looks like it could be the metal grate I am searching for. I will turn left once more to bring that panel toward the center of my view for a clearer look.", + "The large slatted metal grate is now clearly visible on the wall left of the steel column, matching the target described in the task. It still sits left of my heading, so I will turn left one more step to line my body up with it before walking over.", + "The metal ventilation grate is now centered in front of me on the far wall, with the rack safely off to my left and open blue floor in between. I will walk straight ahead to close the distance toward the target area.", + "The large slatted metal ventilation grate is clearly centered on the wall ahead of me, with clear blue floor between us and only a bin and a column off to the right. Since it is already aligned with my heading, I will keep walking straight toward it to close the remaining distance.", + "The grate now fills a larger portion of my view and stays centered, confirming I am closing on it correctly. The floor in front remains clear, so I will step forward again to shorten the gap.", + "The louvered panel and its metal frame are now plainly visible directly ahead, with the corner walls narrowing around it. I am still a few paces short of the wall, so I will continue advancing straight toward the grate.", + "The ventilation grate now dominates my view and I can see its base sill just above the floor, so I am close to the wall. I will take another step forward to bring myself right up to the target area.", + "The metal slats fill nearly the whole view and the adjacent wall block is close on my right, so I am almost at the panel. I will move forward once more to finish closing on the target area.", + "The metal ventilation grate's slats fill my entire view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_c/infos.json b/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ef7b6d35b7ad4070882804b340d72f2b9474fa91 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_c/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Explore the nearby area until you find the metal orange rolling cart near the double doors, then head to that location.", + "Type": 1, + "Start_Pose": [ + -154.906, + -1860.96, + 98.866, + 0.0, + 7.2, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 57.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 82.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 107.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 132.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 157.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -177.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -152.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -127.8, + 0.0 + ], + [ + -232.046, + -1960.408, + 98.866, + 0.0, + -127.8, + 0.0 + ], + [ + -309.186, + -2059.856, + 98.866, + 0.0, + -127.8, + 0.0 + ], + [ + -309.186, + -2059.856, + 98.866, + 0.0, + -102.8, + 0.0 + ], + [ + -337.07, + -2182.588, + 98.866, + 0.0, + -102.8, + 0.0 + ], + [ + -337.07, + -2182.588, + 98.866, + 0.0, + -102.8, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see tall storage racks ahead, a fire extinguisher and pallets along the left wall, and no orange rolling cart or double doors anywhere in sight. I will turn right to begin a steady scan of the room in one consistent direction.", + "Rotating has brought a dark wheeled rack near the right wall into view, but it is black rather than the orange cart I need, and there is still no double doorway. I will keep turning right to continue the scan in the same direction.", + "A bright opening in the far wall is now edging into view on the right, which looks like a doorway leading into a lit retail area, and that is a promising cue for the double doors mentioned in the task. I will turn right again to bring that opening fully into view.", + "The double doors are now centered ahead, propped open onto a brightly lit shop floor, but the only cart beside them is the dark trolley on the left, not a metal orange one. I will continue turning right to check the area beyond this doorway for the orange cart.", + "With the double doors now off to my left, the space to the right is filled by a heavy pallet rack loaded with crates, and no orange cart is visible along it. I will keep turning right to sweep past the racking and inspect the rest of this bay.", + "Directly ahead the racking blocks most of my sightline, and beyond it I can only make out a metal shutter set into the far wall with no orange cart nearby. I will keep rotating right in the same direction to reveal the corner of the warehouse still hidden from me.", + "The racking is clearing to my left and an open floor area with a shutter, a bin, and a support column is opening up, yet the orange cart is still not in sight. I will continue turning right to expose the remaining corner of this bay.", + "Along the right-hand wall I can now make out a yellow-orange metal hand cart on wheels standing beside a stack of pallets, which matches the target I am looking for. I will turn right once more to bring that cart toward the center of my heading before approaching it.", + "A yellow-orange metal hand cart is standing against the tan wall on my right, but it sits near the edge of what I can see and no large doorway is yet beside it. I will keep the same rightward scanning direction to bring that cart and the wall stretch next to it fully in front of me. That should confirm whether this is the cart near the double doors described in the task.", + "The orange metal cart is now clearly ahead of me against the tan wall, and immediately to its right a wide bay opening lets in daylight, matching the door area named in the task. Since the target is identified rather than merely guessed, I will stop scanning and walk straight toward it. Each step forward should close the still considerable distance across the open floor.", + "The cart and the pallets beside it have grown noticeably larger, confirming that my heading is carrying me toward the target and not past it. The floor ahead is still clear of obstacles, so another step forward is the direct way to shorten the remaining gap. I expect to end up close to the wall section where the cart is parked.", + "I am now close to the wall, and the orange cart has drifted toward my right side while the pallets occupy the middle of my heading. Turning right should place the cart squarely in front of me and bring the adjacent door opening back into sight. That alignment lets my next steps end directly at the cart rather than beside the pallets.", + "The orange metal cart is now centered ahead of me with the open bay doorway just to its right, exactly the location the task specifies. Only a short stretch of floor separates me from it, so I will step forward once more. That should bring me right up beside the cart at the door area.", + "The orange metal cart is directly in front of me at arm's length, with the door opening at my right. The task location is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_d/infos.json b/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c2fc5a6fa5aabd81dd70533b7105f878246d20bd --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000155_y-001861_z000099_t1_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Scan the surroundings to locate the small dark-blue bucket beside the black support column, then move to that location.", + "Type": 1, + "Start_Pose": [ + -154.906, + -1860.96, + 98.866, + 0.0, + 7.2, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.906, + -1860.96, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -92.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -117.8, + 0.0 + ], + [ + -154.906, + -1860.96, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -255.156, + -1937.054, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -355.407, + -2013.148, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -455.657, + -2089.243, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -455.657, + -2089.243, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -578.674, + -2115.84, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -701.691, + -2142.437, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -701.691, + -2142.437, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -789.621, + -2203.091, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -789.621, + -2203.091, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -789.621, + -2203.091, + 98.866, + 0.0, + -142.8, + 0.0 + ] + ], + "Rationale": [ + "From this starting spot I see storage racks ahead and a side wall with a fire extinguisher and green chair, but no dark-blue bucket and no black support column anywhere in view. I will turn left to begin a steady scan of the warehouse in one consistent direction.", + "The rotation brought the far corner with the fire extinguisher and chair into the center, yet there is still no dark-blue bucket or black column here. I will keep turning left to sweep the next section of the room.", + "Now a tall rack with crates and a leaning ladder fills the view, and a bright doorway edge appears at the far left, but no bucket or support column is visible. I will continue the left sweep toward that open side of the warehouse.", + "The large roll-up opening to the outside is now in front of me with the racking to its right, and there is still no sign of the small dark-blue bucket or the black column. Continuing the same left rotation should reveal the wall stretch beyond the doorway.", + "I can see the doorway, a yellow hand truck and stacked pallets along this wall, but no dark-blue bucket or black support column yet. I will turn left again to bring the next stretch of wall and floor into view.", + "The sweep has finally revealed a tall dark support column at the left with what looks like a small dark-blue bucket standing on the floor right beside it. I will turn left once more to bring that column and bucket closer to the center of my view before walking over.", + "The black support column and the small dark-blue bucket at its base are now clearly centered ahead of me across an open stretch of blue floor. Since the target is identified, I will stop scanning and walk forward toward that corner.", + "The column and the dark-blue bucket beside it have grown larger and stay roughly ahead, so my heading is still good. I will keep walking forward to close the remaining distance to that corner.", + "The small dark-blue bucket is clearly in view at the base of the black support column against the corner wall, so the search is settled and only distance remains. I will step forward again to close the remaining gap toward that corner.", + "As I get closer, the black column now fills the center of my view and the bucket sits just to its left, slightly off my heading. I will turn left so the bucket, rather than the column, is centered before continuing.", + "The bucket now sits ahead against the yellow wall with the column to its right, and my path across the open floor is clear. I will walk forward to reduce the distance to it.", + "The bucket is much larger in view and drifting toward the right side as I near the corner, which means I am still a step or two short of standing beside it. I will keep walking forward to reach that spot.", + "I am now very close to the corner and the bucket has slipped to the lower right edge of my view, with mostly bare wall ahead. I will turn right to bring the bucket back into the center of my view before the final step.", + "The bucket is centered again and close, sitting on the blue floor against the yellow wall beside the column edge on the right. I will take one more short step forward to stand directly at its location.", + "I am right up against the corner and my level gaze shows only the wall, since the bucket is now below my line of sight. I will look down to confirm that the bucket is at my feet at this location.", + "The dark-blue bucket is directly at my feet in the corner beside the column. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ef3593364af31f6f3fe6eee1d3fa448a730d97f5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the left bench near the sign pole.", + "Type": 2, + "Start_Pose": [ + -317.635, + 2458.878, + 87.15, + 0.0, + 120.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -317.635, + 2458.878, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -381.475, + 2567.344, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -445.316, + 2675.81, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -509.156, + 2784.276, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -572.997, + 2892.742, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -636.837, + 3001.208, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -700.678, + 3109.674, + 98.039, + 0.0, + 120.48, + -0.0 + ], + [ + -700.678, + 3109.674, + 98.039, + 0.0, + 120.48, + -0.0 + ] + ], + "Rationale": [ + "Two low benches sit ahead near the tall sign pole, and they look alike, so I fix my target as the one standing on the left side of the pole's striped base. It lies straight ahead across the open pavement, so I walk forward toward it.", + "The bench on the left of the striped pole base has grown slightly larger and stays near the center of my view, confirming my heading is good. Nothing blocks the paved stretch between us, so I keep walking forward.", + "My bench, the one beside the left face of the striped pole base, is now clearly nearer and its seat and shadow read plainly. Still a good distance of flat asphalt remains, so I continue advancing.", + "The bench I am heading for now sits low and wide in front of me, just left of the striped pole base, while its companion stays further right. I am not yet beside it, so I step forward again.", + "The bench fills the lower left of my view and the striped pole base is close on my right, so only a short gap remains. I walk forward to close it and stand at the bench.", + "The bench is right at my feet on the left and the striped pole base is an arm's reach to my right, meaning I am nearly level with the seat. One more step forward should bring me fully alongside it.", + "The bench edge lies directly at my feet with the striped sign pole base beside me on the right. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..25fbeed7d9f1982d604879c3bb270ed5f5e4c8b6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the right bench beside the pole.", + "Type": 2, + "Start_Pose": [ + -317.635, + 2458.878, + 87.15, + 0.0, + 120.48, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -317.635, + 2458.878, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -381.475, + 2567.344, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -381.475, + 2567.344, + 87.15, + 0.0, + 145.48, + -0.0 + ], + [ + -485.174, + 2638.668, + 87.15, + 0.0, + 145.48, + -0.0 + ], + [ + -588.873, + 2709.991, + 87.15, + 0.0, + 145.48, + -0.0 + ], + [ + -692.572, + 2781.315, + 87.15, + 0.0, + 145.48, + -0.0 + ], + [ + -796.271, + 2852.638, + 87.15, + 0.0, + 145.48, + -0.0 + ], + [ + -899.97, + 2923.962, + 87.15, + 0.0, + 145.48, + -0.0 + ], + [ + -1003.668, + 2995.285, + 87.15, + 0.0, + 145.48, + -0.0 + ], + [ + -1107.367, + 3066.609, + 97.952, + 0.0, + 145.48, + -0.0 + ], + [ + -1107.367, + 3066.609, + 97.952, + 0.0, + 145.48, + -0.0 + ] + ], + "Rationale": [ + "Two low benches flank the tall sign pole ahead, and my target is the one standing to the right of that pole, close beside its striped base. Both are still far off across the open asphalt, so I will walk straight ahead to close distance before refining my heading.", + "The bench I want sits right of the pole base, and my current heading points more at the pole and the bench on its left. I will turn right so that the bench beside the pole's right side comes toward the center of my path.", + "After the turn, the bench tucked against the right side of the pole base now sits near the middle of my view, with clear pavement between us. I will walk forward along this heading to close the gap.", + "The bench beside the pole is growing larger and stays just right of the pole shaft, so my heading is still good. The other bench has drifted to my left edge and is no longer a concern. I will keep stepping forward.", + "My target bench sits ahead against the curbed island by the pole base, still comfortably within my path. Nothing blocks the pavement in between, so another forward step should bring me appreciably nearer.", + "The pole now rises at my left with the bench I am heading for just past it, and the second bench has slipped out of view entirely. The bench itself is what I follow now, so I will continue walking toward it.", + "The bench is close now, its legs and shadow clearly resolved on the concrete strip beside the pole. I am still a few paces short of standing right at it, so I will step forward again.", + "The bench now fills the lower left of my view and the pole base has fallen behind my shoulder, so I am nearly alongside it. One more forward step should place me right at its side.", + "The bench occupies the lower left corner of my view with its seat edge nearly at arm's reach, but my body is still a step short of drawing level with it. The concrete strip ahead is clear, so I will take one more step to bring myself right alongside it.", + "The bench seat is directly at my feet in the near foreground, close enough to touch. I have arrived beside it, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_c/infos.json b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d13365a260d526c56e38d35db80a3a19d1586f80 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_c/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Approach the leftmost pole in the distance.", + "Type": 2, + "Start_Pose": [ + -317.635, + 2458.878, + 87.15, + 0.0, + 120.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -317.635, + 2458.878, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -381.475, + 2567.344, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -445.316, + 2675.81, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -445.316, + 2675.81, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -457.335, + 2801.094, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -469.355, + 2926.378, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -481.374, + 3051.661, + 98.149, + 0.0, + 95.48, + -0.0 + ], + [ + -493.393, + 3176.945, + 98.149, + 0.0, + 95.48, + -0.0 + ], + [ + -505.412, + 3302.229, + 98.149, + 0.0, + 95.48, + -0.0 + ], + [ + -517.432, + 3427.513, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -529.451, + 3552.797, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -541.47, + 3678.08, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -553.49, + 3803.364, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -565.509, + 3928.648, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -577.528, + 4053.932, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -589.548, + 4179.215, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -601.567, + 4304.499, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -613.586, + 4429.783, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -625.606, + 4555.067, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -625.606, + 4555.067, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -689.446, + 4663.533, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -753.287, + 4771.999, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -817.127, + 4880.465, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -817.127, + 4880.465, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -829.146, + 5005.749, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -841.166, + 5131.033, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -853.185, + 5256.316, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -853.185, + 5256.316, + 87.15, + 0.0, + 95.48, + -0.0 + ] + ], + "Rationale": [ + "Scanning the open lot, the poles I can see are the tall sign mast close ahead of me and a slender twin headed streetlight far off to the left near the dark barrier wall; that streetlight is the leftmost one, so it is my target. Nothing blocks the pavement between us, so I step forward.", + "The streetlight I am heading for still stands well off in the distance, only slightly larger than before, so I have plenty of ground left to cover. The clear apron ahead lets me keep closing, so I walk forward again.", + "My target streetlight sits well to the left of the direction I am facing, while the sign mast and benches fill the middle of my view. Walking straight would carry me past it on the right, so I turn left to bring the streetlight nearer my heading.", + "The turn has swung a second, similar looking streetlight into view at the far left edge, so I note that the one I chose is now the pole standing ahead of me beyond the bench, not that newcomer. It sits close to straight ahead now, so I walk toward it.", + "My streetlight stands just right of center with its lamp arms clearly visible above the barrier wall, and it is still far away. The bench lies off to my right rather than in my line, so I keep walking straight at the pole.", + "The target streetlight is growing taller in my view and stays close to my heading, which tells me this line is good. Open marked asphalt runs all the way to it, so I advance again.", + "The bench has slid to my right edge and the way in front of me is bare pavement, with my streetlight still standing ahead near the barrier. I have not closed enough distance to call it reached, so I keep stepping forward.", + "My streetlight's base is now visible where it meets the dark wall, and the other pole hangs back at my far left, so I am still tracking the right one. The parking bays between us are empty, so I continue forward.", + "The pole I am walking to holds its place just right of my heading, with its footing planted against the dark barrier, and the lot between us is empty painted asphalt. The distance is still large enough that no adjustment of heading is worth making. I keep walking.", + "The lamp arms of my pole now read clearly against the sky and its shaft has thickened, confirming I am gaining on it along this line. Nothing stands between me and its footing, so another straight step is the plain choice.", + "The other streetlight has slid to the very edge of my view on the left and is about to leave it, while the one I chose stands squarely in front of me near the barrier. I hold onto that pole rather than any position in a line. Forward again.", + "Only one streetlight remains in my view now, and it is the one I have been tracking toward the barrier, so there is nothing left to confuse it with. Its base sits well beyond the near bay lines, meaning real distance remains. I advance.", + "My pole rises almost dead ahead and its shadow now stretches toward me across the bays, a sign the gap is shrinking. The bays in front are unoccupied, so I take another step straight on.", + "The pale collar at the pole's foot is becoming legible where it meets the asphalt, and its lamp head has climbed higher in my view as I close. Still several bay widths short of standing beside it, so I keep moving.", + "The shaft now runs from the top of my view down to a footing I can pick out plainly, so I am within a short run of it. My line still points at that footing, which means no correction is needed yet. I step on.", + "The lamp arms have passed above the top edge of what I can see, leaving the bare shaft and its base in front of me, which tells me I am nearly there. A couple of bays of open asphalt still separate us, so I continue closing.", + "The bare shaft sits just right of my line with its footing planted where the asphalt meets the dark barrier, and only a bay or two of painted ground separates us. Those bays are empty, so I press ahead toward the base.", + "The collar at ground level has thickened and the barrier behind the pole now rises higher in my view, showing the gap is still shrinking. The pavement in front holds nothing, so I walk on.", + "At this range the footing has crept out to the right of the direction I am walking, so a straight step would carry me past its left side. I turn right to bring the base back onto my line of travel.", + "The turn has set the shaft near the middle of what I see, with its squat base against the barrier, so my heading points at it once more. A short stretch of open asphalt remains, and I step forward.", + "The base now reads as a solid drum rather than a thin stub, and the wall behind it fills more of my view, so only a few strides should remain. Nothing interrupts the bay ahead, so I keep closing.", + "The footing has broadened further and its shadow now sweeps across the bay directly in front of me, marking how little ground is left. I advance again rather than halting short of the pole.", + "Closing in has pushed the shaft out to the left of the way I am walking, so continuing straight would slide me past its right side. I turn left to place the base back in front of me.", + "The pole rises squarely ahead now, its striped collar and the ring at its foot clearly picked out against the asphalt, so my heading is good. Only a short run of pavement is left, so I walk in toward it.", + "The drum at the pole's foot now fills a good part of the ground in front of me, though a stride or two of asphalt still lies between my feet and its rim. Nothing sits in that gap, so I walk in closer.", + "The banded collar and the ribbed footing are close enough now that I can read the bolts on them, and the shaft rises out of the top of my view. One more short step should put me right up against the base, so I move in.", + "The pole's footing is right at my feet, filling the near ground with its bolted plate. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_d/infos.json b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e778e45ba01b35ce9993088e87fbbe69c1d5c169 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t2_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Move to the base of the nearest sign pole.", + "Type": 2, + "Start_Pose": [ + -317.635, + 2458.878, + 87.15, + 0.0, + 120.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -317.635, + 2458.878, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -381.475, + 2567.344, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -445.316, + 2675.81, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -509.156, + 2784.276, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -572.997, + 2892.742, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -572.997, + 2892.742, + 87.15, + 0.0, + 145.48, + -0.0 + ], + [ + -676.696, + 2964.066, + 87.15, + 0.0, + 145.48, + -0.0 + ], + [ + -780.394, + 3035.389, + 98.004, + 0.0, + 145.48, + -0.0 + ], + [ + -884.093, + 3106.713, + 98.004, + 0.0, + 145.48, + -0.0 + ], + [ + -884.093, + 3106.713, + 98.004, + 0.0, + 120.48, + -0.0 + ], + [ + -884.093, + 3106.713, + 98.004, + 0.0, + 120.48, + -0.0 + ] + ], + "Rationale": [ + "Two uprights stand on this lot: a tall sign pole close ahead with a dark board on top and a yellow and black striped collar at its base, and a thin lamp post far off to the left. The near one with the striped collar is my target. I walk straight forward to close the open pavement between us.", + "The sign pole and its striped collar have grown noticeably larger and the benches beside it are closer, so my heading is good. Nothing blocks the asphalt between me and it, so I keep walking forward.", + "The striped collar at the foot of the sign pole is now clearly resolved just right of my path, and the sign board itself is rising out of the top of my view as I near it. That is exactly the behaviour of a target I am closing on, so I continue forward.", + "The sign pole's shaft and striped base fill much more of my view and the curbed island it stands on is now distinct. I still have several strides of open lot to cover, so I step forward again.", + "The sign pole and its striped base sit noticeably right of my heading, with the nearer bench drifting into the middle of my path. I turn right to swing my facing onto the pole's base so my next strides carry me straight to it.", + "The sign pole now stands near the middle of my view with its striped collar squarely ahead on the concrete island. With the heading corrected and the path clear of the benches, I walk forward to close the last of the gap.", + "The striped collar of the sign pole is large and close, but I am still out on the asphalt short of the concrete island it sits on. I step forward again to bring myself onto that pad beside the base.", + "The sign pole's base now towers in front of me, its bolted footing and striped collar filling the near view, yet I am still a stride short of standing at it. I move forward once more to arrive right at the foot of the pole.", + "I am standing right beside the concrete pad now, but the sign pole's shaft and footing have slid off to the far left edge of my view, leaving only the bench and the low bollard ahead. I turn left to bring the base back in front of me and settle my facing onto it.", + "The pole's bolted footing and concrete pad fill the view directly in front of me. I am standing at its base, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec643c405228e0a2426499852614036417556f1c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000318_y002459_z000087_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the ceramic vase near the left bench near the sign pole.", + "Type": 5, + "Start_Pose": [ + -317.635, + 2458.878, + 87.15, + 0, + 120.48, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -518.456, + 3099.923, + 25.14, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -317.635, + 2458.878, + 87.15, + 0, + 120.48, + 0 + ], + [ + -381.475, + 2567.344, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -445.316, + 2675.81, + 87.15, + 0.0, + 120.48, + -0.0 + ], + [ + -445.316, + 2675.81, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -457.335, + 2801.094, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -469.355, + 2926.378, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -469.355, + 2926.378, + 87.15, + 0.0, + 95.48, + -0.0 + ], + [ + -469.355, + 2926.378, + 87.15, + 0.0, + 95.48, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -518.456, + 3099.923, + 25.14, + 0.0, + 0.0, + 0.0 + ], + [ + -518.456, + 3099.923, + 25.14, + 0.0, + 0.0, + 0.0 + ], + [ + -518.456, + 3099.923, + 25.14, + 0.0, + 0.0, + 0.0 + ], + [ + -518.456, + 3099.923, + 25.14, + 0.0, + 0.0, + 0.0 + ], + [ + -518.456, + 3099.923, + 25.14, + 0.0, + 0.0, + 0.0 + ], + [ + -518.456, + 3099.923, + 25.14, + 0.0, + 0.0, + 0.0 + ], + [ + -490.553, + 2923.731, + 57.256, + -28.202, + 145.625, + 1.862 + ], + [ + -490.553, + 2923.731, + 57.256, + -28.202, + 145.625, + 1.862 + ] + ], + "PD_Dist_2D": [ + 671.8, + 549.9, + 430.4, + 430.4, + 305.0, + 180.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The open lot ahead shows the tall sign pole with a bench on either side of it, and the left bench is my target but still far away across the pavement. Nothing blocks the flat ground in front of me, so I will walk straight ahead to close that distance. This should bring the bench and any object resting on it into clearer view.", + "The benches and the sign pole now fill more of my view, confirming that walking straight is closing the gap toward the left bench. I am still too distant to reach anything on its seat, and the pavement ahead remains clear. I will keep stepping forward along the same heading.", + "From here the left bench sits off to my left of straight ahead, while my current heading points more at the sign pole and the right bench. A modest turn to the left should place the left bench near the center of my view before I continue. I will rotate left to line up my approach.", + "The turn has brought the target bench into the middle of my view, with the sign pole now off to my right. The bench is still several strides away, too far for me to reach anything on it. I will walk forward along this heading to close in.", + "The bench now dominates the lower right of my view and its seat and legs are clearly resolved, so I am close but likely still outside comfortable grasping range. The ground between me and it is flat and clear. One more step forward should put me right at the bench for the pickup.", + "I am standing right at the left bench near the sign pole, with its seat and support directly in front of me at arm's reach. This is the position from which the ceramic vase on this bench should be within grasp. I will attempt the pick now.", + "The ceramic vase is now held in my hands, filling my lowered view. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a79c4d418a4ce857db85468717cd95a5048c055 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the green chairs, then head toward the metal rolling rack.", + "Type": 3, + "Start_Pose": [ + -353.973, + -1727.32, + 98.866, + 0.0, + 7.2, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -353.973, + -1727.32, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + -229.106, + -1711.546, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + -229.106, + -1711.546, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + -109.272, + -1750.02, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 10.562, + -1788.495, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 130.396, + -1826.969, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 250.23, + -1865.444, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 370.064, + -1903.918, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 370.064, + -1903.918, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 282.087, + -1875.672, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 194.11, + -1847.426, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 106.134, + -1819.179, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 106.134, + -1819.179, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + 106.134, + -1819.179, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 106.134, + -1819.179, + 98.866, + 0.0, + 57.2, + -0.0 + ], + [ + 106.134, + -1819.179, + 98.866, + 0.0, + 82.2, + -0.0 + ], + [ + 106.134, + -1819.179, + 98.866, + 0.0, + 107.2, + -0.0 + ], + [ + 68.916, + -1698.949, + 98.866, + 0.0, + 107.2, + -0.0 + ], + [ + 31.699, + -1578.719, + 98.866, + 0.0, + 107.2, + -0.0 + ], + [ + 31.699, + -1578.719, + 98.866, + 0.0, + 82.2, + -0.0 + ], + [ + 48.78, + -1454.024, + 98.866, + 0.0, + 82.2, + -0.0 + ], + [ + 48.78, + -1454.024, + 98.866, + 0.0, + 82.2, + -0.0 + ] + ], + "Rationale": [ + "From the open floor I can see the pair of green chairs far ahead against the left wall, past the tall storage racks. The wheeled metal rack stands off to my right for later. I will walk forward to close the long gap toward the chairs.", + "The green chairs sit well off to my left, near the fire extinguisher and the leaning pallet, while my heading points down the middle of the racking aisle. Turning left should bring them nearer the center of my view so I can walk straight at them.", + "The green chairs now sit ahead of me against the far wall with an open lane of blue floor leading to them. Nothing blocks that lane between the racking on either side. I will step forward to shorten the distance.", + "The chairs and the pallet leaning beside them have grown larger, so my heading is carrying me right at them. There is still a good stretch of floor left before I reach that wall. I will keep walking forward.", + "The two green seats and the doorway beside them are clearly resolved now along the left wall, and the racking passes safely on my right. I am not yet close enough to call this arrival. Another step forward should continue the approach.", + "The green chairs are close on my left with the pallet resting on the floor beside them, but I am still a few paces short of standing beside them. The lane ahead stays clear along the blue floor. I will advance again.", + "The chairs fill much of my left side now, their metal legs plainly visible on the floor. One more step should bring me level with them rather than still behind them. I will move forward.", + "The two green plastic chairs are right beside me on my left, close enough that their seats and metal frames fill that side of my view. I have reached them. I mark reaching the green chairs and turn my attention to the wheeled metal rack back near the far wall.", + "The green chairs are right beside me against the corner wall, so there is nothing further to gain by pressing into this dead end. The metal rolling rack lies back out on the open side of the room, so I step backward along this tight aisle to pull away from the wall.", + "The chairs have shifted further off to my left, yet I am still hemmed between the wall and the tall shelving bay on my right. Another backward step should open enough clearance for me to swing my heading around toward the rolling rack.", + "I have backed clear of the seats and more open floor now lies between me and the corner. One more step back should give me room to pivot without brushing the racking that stands close on my right.", + "Facing this way I only see the seating corner and the fire extinguisher wall, and the rolling rack is not down here. I start turning right to swing my heading off the corner and toward the open side of the room.", + "The turn has brought the tall blue racking straight across my view, so I am still looking into shelving rather than the open floor beyond it. I keep rotating right to carry my heading further around toward the rack.", + "Only shelving bays and crates fill my view, so my heading has not yet come far enough around. Another turn to the right should sweep my gaze past the racking toward the far wall where the rolling rack should stand.", + "The metal rolling rack has just come into sight at the right edge, standing beside the dark steel column against the far wall. I turn right again to bring it closer to the middle of my view before setting off toward it.", + "The rolling rack now sits ahead beside the steel column, but the shelving on my left still crowds the line I would walk. One more turn to the right should point me along the open floor so I can approach the rack cleanly.", + "Now facing down the aisle, I can see the wheeled metal rack parked against the wall beside the dark pillar, ahead and slightly left. Nothing blocks the open floor between us, so I will walk forward to close that gap.", + "The rolling rack and its casters are noticeably larger now, confirming my heading is carrying me toward it. I will take another step forward to shorten the remaining distance across the open floor.", + "The rack has drifted to the left edge of my view while the open doorway sits centered ahead. Turning left should swing the rack back into the middle of my view so my remaining steps go straight at it.", + "The metal rolling rack now stands centered in front of me with its wheels clearly visible on the floor. Only a short stretch of floor remains, so I will step forward to arrive right at it.", + "The metal rolling rack 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/Supermarket/task_x-000354_y-001727_z000099_t3_b/infos.json b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..99b1498865abe6a5f8cd157fc230ad914f916f81 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Approach the wooden pallet near the metal rolling rack, then proceed to the fire extinguisher.", + "Type": 3, + "Start_Pose": [ + -353.973, + -1727.32, + 98.866, + 0.0, + 7.2, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -353.973, + -1727.32, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + -353.973, + -1727.32, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -247.472, + -1660.253, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -140.971, + -1593.185, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -34.47, + -1526.118, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 72.031, + -1459.051, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 178.532, + -1391.984, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 178.532, + -1391.984, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 100.344, + -1441.221, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 100.344, + -1441.221, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + 100.344, + -1441.221, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 100.344, + -1441.221, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + 100.344, + -1441.221, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 147.899, + -1557.75, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 195.453, + -1674.28, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 243.008, + -1790.809, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 289.602, + -1907.557, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 337.157, + -2024.087, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 337.157, + -2024.087, + 98.866, + 0.0, + -92.8, + 0.0 + ], + [ + 337.157, + -2024.087, + 98.866, + 0.0, + -92.8, + 0.0 + ], + [ + 337.157, + -2024.087, + 98.866, + 0.0, + -92.8, + 0.0 + ] + ], + "Rationale": [ + "The dark metal rolling rack sits at the right edge of my view against the far wall, too far to the side for me to walk straight at it. I will turn right so that rack and the floor beside it, where a pallet should be, line up ahead of me.", + "The rolling rack with its stacked trays now stands ahead on my right, with a pale wooden pallet lying on the floor just left of its wheels. The open blue floor between us is clear, so I will walk forward to close that gap.", + "The rolling rack has grown noticeably larger and the pallet beside it is clearer against the tan wall, so my heading is good. Several strides of open floor still separate me from them, and I will keep walking forward.", + "The wheels of the rolling rack and the slats of the pallet on the floor beside it are now distinct, but both are still a few paces off. I will continue forward along this lane to reach the pallet.", + "The rolling rack now fills the right side of my view and the pallet sits low against the wall just ahead of it. I am nearly alongside them, so another step forward should bring me level with the pallet.", + "The pallet lies right in front of me on the blue floor with a mop leaning over it, and the rack frame passes close on my right. One more step should put me directly at the pallet's edge.", + "The wooden pallet is right at my feet against the tan wall, with the rolling rack's frame beside me. I have arrived at the pallet, so I mark reaching it before setting off across the room toward the red fire extinguisher on the far wall.", + "Standing this close, the pallet and wall crowd my view and the rack frame is at my shoulder, leaving little room to swing around toward the extinguisher wall. I will step back to open space around me so the turn away from this corner should be clean.", + "The wooden pallet and mop are right beside me against the tan wall, so there is nothing more to do here. The red extinguisher I need is back along the wall behind the racking, not in this narrow strip. I will turn left to swing my heading off this wall and open up the aisle side.", + "My view now falls on the blue upright and loaded shelving rather than any open lane. The extinguisher is still further round to my left, so this heading is not usable yet. I will keep turning left to bring the aisle between the racks into view.", + "The racking with the leaning ladder now stretches ahead, and the floor between the bays looks clear, but I still cannot see the red cylinder on the wall. Another left step of rotation should carry my gaze onto the far tan wall where it should be mounted.", + "The red fire extinguisher has come into view on the tan wall, but it sits left of my center with a rack upright crowding it. One more left turn should place it squarely ahead so I can walk a straight line to it.", + "The red extinguisher is now centered on the tan wall ahead, with clear blue floor running toward it between the shelving. Nothing blocks that lane, so I will walk forward to close the gap.", + "The extinguisher has grown larger and stays near the middle of my view, so my heading is holding well. There is still a stretch of open floor before the wall. I will continue walking forward.", + "The wall-mounted extinguisher is clearly visible with the pallet and green chair beneath it, but I am still several paces short of standing at it. The path between the shelving remains clear. I will step forward again.", + "The extinguisher and its bracket are close enough now to read their detail, yet a short span of floor still separates me from the wall. Advancing once more should bring me right up to it.", + "The red extinguisher is now mounted on the wall just ahead and slightly left, close enough that I can read its label and see the pallet leaning below it. One more step should bring me right up against the wall beneath it, so I will walk forward.", + "I am now right up against the block wall and the extinguisher has slipped out of my view to the left. Turning left should swing my heading back onto the spot where it hangs.", + "The turn brought the bottom of the red extinguisher body into the top corner of my view, so it is mounted above my current line of sight. Looking up should center it properly while I stand right beneath it.", + "The wall-mounted fire extinguisher fills my view directly overhead at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_c/infos.json b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6fcb1437eea99233be4eacf16308aecbd26105d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t3_c/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Head to the metal rolling rack, then move to the green chairs.", + "Type": 3, + "Start_Pose": [ + -353.973, + -1727.32, + 98.866, + 0.0, + 7.2, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -353.973, + -1727.32, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + -353.973, + -1727.32, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -247.472, + -1660.253, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -140.971, + -1593.185, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -140.971, + -1593.185, + 98.866, + 0.0, + 57.2, + -0.0 + ], + [ + -72.792, + -1487.393, + 98.866, + 0.0, + 57.2, + -0.0 + ], + [ + -4.613, + -1381.6, + 98.866, + 0.0, + 57.2, + -0.0 + ], + [ + -4.613, + -1381.6, + 98.866, + 0.0, + 57.2, + -0.0 + ], + [ + -54.667, + -1459.268, + 98.866, + 0.0, + 57.2, + -0.0 + ], + [ + -54.667, + -1459.268, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -54.667, + -1459.268, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + -54.667, + -1459.268, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + -54.667, + -1459.268, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + -54.667, + -1459.268, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + -7.112, + -1575.797, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 40.442, + -1692.326, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 87.997, + -1808.855, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 87.997, + -1808.855, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + 87.997, + -1808.855, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 207.831, + -1847.33, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 327.665, + -1885.804, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 327.665, + -1885.804, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + 420.012, + -1971.318, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + 420.012, + -1971.318, + 98.866, + 0.0, + -42.8, + 0.0 + ] + ], + "Rationale": [ + "Scanning the storeroom, I spot the black metal rolling rack on casters parked against the tan wall at the far right edge of my view, almost past my shoulder. I will turn right so that rack sits ahead of me instead of at the margin, giving me a clean line to walk toward it.", + "The rolling rack is now well inside my view, standing beside the grey cabinet and the doorway on the right side of the room. The floor between us is open blue tile with nothing in the way, so I will walk forward to close the gap.", + "The rack has grown noticeably larger and its casters and shelf rails are becoming distinct, so my heading is carrying me toward it. Still several strides short of it, I will keep walking forward along the open tile.", + "From here the rolling rack has drifted to the right of my heading, sitting against the tan wall while my path runs past it toward the shelving aisle. I will turn right to put the rack squarely in front of me before advancing again.", + "The rack now stands near the middle of my view with the wall behind it and the grey cabinet to its right, so my heading points straight at it. I will step forward to shorten the remaining distance.", + "The rack fills much of my view now, its tubular frame and wheels close enough to read individually, and it remains dead ahead. One more stride forward should bring me right up against it.", + "The black metal rolling rack is directly in front of me, its shelf rails and upright posts filling my view at arm's length against the tan block wall. I am standing at it. I mark reaching this rack and now turn my attention to the green chairs across the storeroom.", + "Pressed this close, the rack's frame screens almost the whole room and I cannot pick out the green chairs, which sat near the fire extinguisher by the far wall when I started. I will back up a stride to regain a wider view and room to swing my heading toward them.", + "The tall black rolling rack still fills most of my view against the wall, and I have nothing further to do beside it. I will turn left to swing my heading off this corner and back toward the open floor and the racking aisles, where the green seating sits against the far wall.", + "Rotating has brought the blue pallet racking and a pallet on the floor into the left half of my view, but the rack still blocks my right side and no chairs are in sight yet. I will keep turning left to sweep further across the storage bay.", + "I am now looking down the aisle between the blue shelving units, yet the seating I want is still outside my view to the left. Another left turn should carry my heading past the shelving toward the far wall where the chairs stand.", + "A green chair is now visible on the left near the fire extinguisher on the far wall, but a rack upright still crowds the line between us. Turning left again should bring that seating area closer to the middle of my view.", + "The green seat by the pallet and the fire extinguisher sits just left of center, with heavy shelving crowding both sides of my path. One more left turn should set my heading on the clear stretch of floor leading to that wall.", + "My heading is now down an open stretch of blue floor, with the green chair and the leaning pallet visible against the far wall past the shelving. I will walk forward to close the long gap toward that seating.", + "Two green chairs are now clearly distinguishable against the wall ahead on my right, beside the fire extinguisher and the leaning pallet. The floor between us is still open, so I will keep walking forward to shorten the distance.", + "The two green chairs on their metal frame are noticeably larger now, tucked against the corner wall to my right beyond the pallet. A few more steps along this open lane should bring me right up to them.", + "The two green chairs are barely clipped at the right edge of my view, with the loaded shelving filling everything ahead of me. I will turn right so that corner of the room comes properly into view and I can judge the approach.", + "The green chairs now sit against the far wall ahead of me, but my heading still points at the shelf edge rather than the clear floor lane running toward that corner. Another right turn should put the open aisle straight in front of me with the chairs off to my left.", + "The aisle between the blue racking on my right and the painted wall on my left is clear, and the pair of green chairs stands ahead on the left beside the wooden pallet. I will walk forward along this open lane to close the distance.", + "The chairs have grown larger on my left and the floor between us is still empty. I will keep walking forward to draw level with them before turning in.", + "I am now nearly abreast of the two green chairs, which sit off to my left against the wall while my heading runs past them down the aisle. Turning left should bring them squarely in front of me for the final few steps.", + "Both green chairs are centered in front of me against the wall with only a short stretch of open floor left. I will step forward to stand right at them.", + "The two green chairs are directly in front of me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t5_a_pd/infos.json b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bfe8f48d881b8c11e64fa69ccb0dd49a1305bc90 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t5_a_pd/infos.json @@ -0,0 +1,487 @@ +{ + "Instruction": "Grab the green bell pepper at the green chairs, then set it down near the metal rolling rack.", + "Type": 5, + "Start_Pose": [ + -353.973, + -1727.32, + 98.866, + 0, + 7.2, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 460.05, + -1984.054, + 53.866, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveBackward", + "MoveBackward", + "TurnRight", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -353.973, + -1727.32, + 98.866, + 0, + 7.2, + 0 + ], + [ + -353.973, + -1727.32, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + -234.139, + -1765.794, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + -114.305, + -1804.269, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 5.529, + -1842.743, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 125.363, + -1881.218, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 245.197, + -1919.692, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 365.031, + -1958.167, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 365.031, + -1958.167, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 277.055, + -1929.921, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 189.078, + -1901.674, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 189.078, + -1901.674, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + 97.406, + -1913.255, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + 97.406, + -1913.255, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 97.406, + -1913.255, + 98.866, + 0.0, + 57.2, + -0.0 + ], + [ + 97.406, + -1913.255, + 98.866, + 0.0, + 82.2, + -0.0 + ], + [ + 97.406, + -1913.255, + 98.866, + 0.0, + 107.2, + -0.0 + ], + [ + 60.189, + -1793.025, + 98.866, + 0.0, + 107.2, + -0.0 + ], + [ + 22.971, + -1672.795, + 98.866, + 0.0, + 107.2, + -0.0 + ], + [ + -14.246, + -1552.564, + 98.866, + 0.0, + 107.2, + -0.0 + ], + [ + -14.246, + -1552.564, + 98.866, + 0.0, + 82.2, + -0.0 + ], + [ + 2.835, + -1427.87, + 98.866, + 0.0, + 82.2, + -0.0 + ], + [ + -6.937, + -1499.203, + 98.866, + 0.0, + 82.2, + -0.0 + ], + [ + -6.937, + -1499.203, + 98.866, + 0.0, + 82.2, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 460.05, + -1984.054, + 53.866, + 0.0, + 0.0, + 0.0 + ], + [ + 460.05, + -1984.054, + 53.866, + 0.0, + 0.0, + 0.0 + ], + [ + 460.05, + -1984.054, + 53.866, + 0.0, + 0.0, + 0.0 + ], + [ + 460.05, + -1984.054, + 53.866, + 0.0, + 0.0, + 0.0 + ], + [ + 460.05, + -1984.054, + 53.866, + 0.0, + 0.0, + 0.0 + ], + [ + 460.05, + -1984.054, + 53.866, + 0.0, + 0.0, + 0.0 + ], + [ + 460.05, + -1984.054, + 53.866, + 0.0, + 0.0, + 0.0 + ], + [ + 460.05, + -1984.054, + 53.866, + 0.0, + 0.0, + 0.0 + ], + [ + 370.978, + -1937.649, + 68.973, + -28.202, + 32.345, + 1.862 + ], + [ + 282.646, + -1909.286, + 69.572, + -28.191, + 32.348, + 1.872 + ], + [ + 194.723, + -1881.061, + 69.396, + -28.199, + 32.345, + 1.867 + ], + [ + 186.141, + -1879.925, + 68.437, + -28.202, + 57.344, + 1.861 + ], + [ + 94.037, + -1892.152, + 69.159, + -28.191, + 57.354, + 1.87 + ], + [ + 85.095, + -1894.722, + 69.103, + -28.196, + 82.352, + 1.862 + ], + [ + 78.425, + -1900.848, + 68.745, + -28.188, + 107.355, + 1.871 + ], + [ + 71.851, + -1904.236, + 68.632, + -14.092, + 124.544, + 6.87 + ], + [ + 77.029, + -1920.02, + 68.648, + -28.208, + 157.342, + 1.851 + ], + [ + 39.99, + -1800.008, + 69.07, + -28.189, + 157.358, + 1.869 + ], + [ + 2.864, + -1680.038, + 69.452, + -28.205, + 157.335, + 1.859 + ], + [ + -34.348, + -1559.854, + 69.605, + -28.191, + 157.35, + 1.872 + ], + [ + -34.828, + -1549.944, + 68.514, + -28.201, + 132.345, + 1.857 + ], + [ + -18.4, + -1425.565, + 68.892, + -28.206, + 132.339, + 1.858 + ], + [ + 2.563, + -1429.851, + 88.866, + 0.0, + 82.2, + -0.0 + ], + [ + 2.563, + -1429.851, + 88.866, + 0.0, + 82.2, + -0.0 + ] + ], + "PD_Dist_2D": [ + 853.5, + 853.5, + 727.7, + 601.8, + 476.0, + 350.1, + 224.3, + 98.5, + 21.4, + 21.4, + 21.4, + 21.9, + 21.4, + 22.2, + 22.7, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 20.7, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this spot in the storage bay I can see green chairs with a green object beside them far off along the left wall, but my heading points down the middle aisle past the racking. I will turn left so that the chair corner sits closer to the center of my view and gives me a clean walking line toward it.", + "The green chairs and the green bell pepper next to them are now roughly ahead of me at the far wall, with open blue floor between the shelving units. I will walk forward along this clear lane to close the long distance to the pickup point.", + "The chairs and the green pepper have grown noticeably larger and stay near the center of my view, so my current heading is still good. I will keep walking forward down this open aisle to shorten the remaining gap.", + "The green pepper beside the chairs is clearly resolved ahead and slightly left, and nothing blocks the floor between us. I will continue forward, since I am still several strides away from grasping range.", + "The pepper now sits plainly on the floor next to the two green chairs, but it is still well beyond arm's reach. Another step forward should bring me closer without needing to change heading yet.", + "The bell pepper fills a good part of the lower view and the chairs are close along the wall to my left, so I am nearly at the target. I will step forward again to get within grasping distance.", + "The pepper is now very close, low and just right of the chair legs, but it sits near the bottom edge rather than directly under me. One more forward step should place it right at my feet for a reliable grab.", + "The green bell pepper is directly in front of me at the bottom of my view, right beside the green chairs, and nothing stands between us. I will attempt to pick it up now, since this should be close enough for my hand to reach it.", + "The grasp worked: the green bell pepper is now in my hand, filling the lower part of my view as I hold it against the floor tiles. I am still wedged in the narrow corner beside the green chairs and the pallet, with little room to swing around. I will step backward to open up space before reorienting toward the metal rolling rack.", + "I am carrying the pepper and the green chairs sit ahead of me against the wall, so nothing more is needed at this spot. The corner is still close and the shelving on my right crowds the lane. Another backward step should pull me clear of this dead end so I can turn without scraping the chairs or racking.", + "With the pepper in hand, the chair corner in front of me is no longer my destination, and the fire extinguisher wall marks the closed end of this lane. The open floor and the racking that lead back toward the rolling rack lie to my right. I will turn right to start swinging my heading away from this dead end.", + "After the turn, the tall shelving with its crates now looms close on my right and the chairs are still tight on my left. Rotating further from here would put me right up against that rack. Stepping backward should give me clearance in the middle of the lane before I keep turning.", + "I now have some floor behind and beside me, and the pepper is secure in my grip. The rolling rack stood over on the far side of the room, past this line of shelving, not down the chair lane still visible on my left. I will keep turning right to bring that side of the warehouse into view.", + "My view is now filled by the crate shelving straight ahead, so the rolling rack is still hidden further around to my right. Carrying the pepper, I need a heading that clears these racks rather than one that faces into them. I will continue turning right to sweep past the shelving and pick up the far wall.", + "The far wall with the dark pillar is now in view, and the metal rolling rack is standing beside it toward the right edge of my sight. It is still too far off to my side to walk straight at it. I will turn right again to bring the rack closer to the center of my heading.", + "The rolling rack is now visible ahead by the pillar, with the lit doorway to the shop floor beside it. The shelving edge still juts into my left side, so I want my heading squared with the open floor lane rather than clipping those racks. One more turn right should set a clean line for walking over with the pepper.", + "I am carrying the green bell pepper and now face the open aisle where the metal rolling rack stands against the wall beside the doorway. The rack is still several paces away, so I will walk forward to close that distance while keeping it in view.", + "The rolling rack and its casters are noticeably larger and closer ahead on my left, confirming the previous step carried me toward it. I will keep walking forward since the floor in front of me is open and I am still too far to set the pepper down.", + "The metal rolling rack now fills a good part of the left side of my view, so I am close to the delivery spot but not yet beside it. Another step forward should bring me into the open area right in front of the rack and the doorway.", + "I have reached the doorway area, but the rolling rack sits off to my left edge while my heading points straight into the bright shop beyond the doors. I will turn left to bring the rack in front of me so I can approach it squarely for the drop.", + "The turn placed the metal rolling rack squarely ahead of me, with its wheeled base and shelves clearly in front. I will step forward to stand right at the rack so the pepper can be released within reach of it.", + "I am now right up against the metal rolling rack, its bars and frame filling most of my view at arm's length. This is the intended delivery spot, so I will release the green bell pepper here and it should come to rest beside the rack.", + "The green bell pepper is resting on the floor right beside the metal rolling rack, no longer in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t5_b_pd/infos.json b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4a57da862325d2a695a8f479ca5b3605ee79fc7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000354_y-001727_z000099_t5_b_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Lift the ceramic vase by the wooden pallet near the metal rolling rack, then leave it by the fire extinguisher.", + "Type": 5, + "Start_Pose": [ + -353.973, + -1727.32, + 98.866, + 0, + 7.2, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 142.453, + -1370.549, + 23.866, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -353.973, + -1727.32, + 98.866, + 0, + 7.2, + 0 + ], + [ + -353.973, + -1727.32, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -247.472, + -1660.253, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -140.971, + -1593.185, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -34.47, + -1526.118, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + -34.47, + -1526.118, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 72.031, + -1459.051, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 72.031, + -1459.051, + 98.866, + 0.0, + 32.2, + -0.0 + ], + [ + 72.031, + -1459.051, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + 72.031, + -1459.051, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 72.031, + -1459.051, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + 72.031, + -1459.051, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 119.586, + -1575.58, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 167.14, + -1692.109, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 214.695, + -1808.638, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 262.25, + -1925.167, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 309.151, + -2024.176, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 281.946, + -1957.513, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 281.946, + -1957.513, + 98.866, + 0.0, + -67.8, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 142.453, + -1370.549, + 23.866, + 0.0, + 0.0, + 0.0 + ], + [ + 142.453, + -1370.549, + 23.866, + 0.0, + 0.0, + 0.0 + ], + [ + 142.453, + -1370.549, + 23.866, + 0.0, + 0.0, + 0.0 + ], + [ + 142.453, + -1370.549, + 23.866, + 0.0, + 0.0, + 0.0 + ], + [ + 142.453, + -1370.549, + 23.866, + 0.0, + 0.0, + 0.0 + ], + [ + 142.453, + -1370.549, + 23.866, + 0.0, + 0.0, + 0.0 + ], + [ + 142.453, + -1370.549, + 23.866, + 0.0, + 0.0, + 0.0 + ], + [ + 60.136, + -1441.307, + 68.973, + -28.202, + 82.345, + 1.862 + ], + [ + 68.864, + -1438.887, + 69.246, + -28.189, + 57.357, + 1.872 + ], + [ + 78.347, + -1439.891, + 68.578, + -28.215, + 32.327, + 1.849 + ], + [ + 94.338, + -1442.948, + 68.759, + -14.175, + -0.608, + 6.959 + ], + [ + 91.315, + -1450.755, + 68.648, + -28.208, + -17.658, + 1.851 + ], + [ + 139.099, + -1566.863, + 69.07, + -28.189, + -17.642, + 1.869 + ], + [ + 186.54, + -1683.14, + 69.452, + -28.205, + -17.665, + 1.859 + ], + [ + 234.085, + -1799.624, + 69.605, + -28.191, + -17.65, + 1.872 + ], + [ + 281.693, + -1916.312, + 69.38, + -28.206, + -17.663, + 1.863 + ], + [ + 328.795, + -2015.797, + 68.441, + -28.203, + -17.658, + 1.86 + ], + [ + 308.395, + -2022.324, + 38.866, + 0.0, + -67.8, + 0.0 + ], + [ + 308.395, + -2022.324, + 38.866, + 0.0, + -67.8, + 0.0 + ] + ], + "PD_Dist_2D": [ + 611.3, + 611.3, + 485.8, + 360.4, + 235.6, + 235.6, + 113.1, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this starting spot in the warehouse aisle, the white ceramic vase stands well off to my right, beside the tall metal rolling rack along the far wall. My current heading points down the middle of the racking, so I will turn right to bring that vase and rack area into the center of my view before walking toward it.", + "The turn has brought the ceramic vase and the wheeled metal rack into view ahead of me, though they are still far down the open floor. The tiled path between me and them is clear of obstacles, so I will walk forward to close that distance.", + "The vase and the rack beside it are noticeably larger now, but they still sit several body lengths away against the wall. I will keep walking straight ahead since my heading remains lined up with them and the floor stays clear.", + "The wooden pallet on the floor and the rolling rack are now clearly resolved, with the ceramic vase standing just in front of them. I am still short of grabbing range, so I will step forward again to get close enough to reach the vase.", + "The ceramic vase now fills a good part of my view, standing on the floor between the wooden pallet and the metal rolling rack directly ahead of me. Since it looks like it may already be within grabbing range, I will try to pick it up rather than step closer.", + "My grasp attempt did not take hold, since my hands are empty. The ceramic vase was evidently further from me than my reach allows. I will step forward to close that remaining gap so a second attempt starts from contact range.", + "After stepping in, the tall white ceramic vase now fills the near right of my view with the wooden pallet and the rolling rack right beside it, so I am within arm's reach this time. My earlier attempt came up empty because I was still short of the object. I will try the grasp again from this closer stance and expect to lift the vase.", + "The grasp worked this time, as the vase rim and body are now cradled in my hands in front of me. I am facing into the corner formed by the wall and the rolling rack, which is no route for carrying the load. I will turn left to swing away from this dead end and begin lining up toward the fire extinguisher on the far wall.", + "The vase is secure in my hands and my heading now shows the blue storage racks and the yellow wall with the pallet to my right. This orientation still points along the wall rather than toward the extinguisher side of the hall. I will continue turning left to keep sweeping my heading around toward the delivery wall.", + "My heading has come around into the rack aisle, with crate-filled shelves and a ladder directly ahead and no extinguisher yet in sight. The red extinguisher I noted hangs on a wall further around to my left, so my facing is not yet usable for transport. I will turn left once more to bring that wall into the center of my view.", + "I already have the ceramic vase in hand, so my remaining job is to carry it to the fire extinguisher. From this heading the red extinguisher sits on the far wall toward my left, partly screened by the blue racking uprights. I will turn left once more so the extinguisher and the open floor in front of it should sit closer to the middle of my view before I start walking.", + "The fire extinguisher now sits near the center of my view on the tan wall, with clear blue floor between me and it. Still holding the vase, I will walk forward along this open lane to close the distance toward the delivery spot.", + "The extinguisher and the small pallet beneath it are larger and still roughly straight ahead, so my heading remains good. Nothing blocks the aisle between the two rack rows, so I will keep walking forward with the vase.", + "The extinguisher is clearly ahead now with the green chairs and the leaning pallet beside it, but I am still several steps short of the wall. I will advance again to bring the drop location within comfortable reach.", + "The fire extinguisher fills much of my view on the wall just ahead, so I am nearly at the delivery point while still carrying the vase. One more step forward should place me close enough to the wall to set the vase down right at the extinguisher.", + "I am still carrying the ceramic vase and the red fire extinguisher is now mounted on the tan wall directly ahead of me, with the wooden slat panel and green chairs to its right. I am a short step short of the wall beneath it, so I will walk forward once more to close that last gap. That should place me right at the extinguisher, close enough to set the vase down there.", + "The tan block wall fills my view and the red extinguisher body is right at the top edge of my sight, so I am standing directly beneath it with the vase still in hand. This is the delivery spot named in the task, and no further approach is needed. I will release the vase here so it is left at the fire extinguisher.", + "The ceramic vase now stands on the floor directly below the mounted fire extinguisher and is no longer in my hands. The delivery condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000606_y-001928_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x-000606_y-001928_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..34c17a000012e750baf9ff01ba8bcba6b9a71c11 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000606_y-001928_z000099_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search nearby for the ladder leaning against the shelving near the double door, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + -606.475, + -1928.014, + 98.866, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -606.475, + -1928.014, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -606.475, + -1928.014, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + -606.475, + -1928.014, + 98.866, + 0.0, + -64.72, + 0.0 + ], + [ + -606.475, + -1928.014, + 98.866, + 0.0, + -39.72, + 0.0 + ], + [ + -606.475, + -1928.014, + 98.866, + 0.0, + -14.72, + 0.0 + ], + [ + -606.475, + -1928.014, + 98.866, + 0.0, + 10.28, + -0.0 + ], + [ + -482.636, + -1905.553, + 98.866, + 0.0, + 10.28, + -0.0 + ], + [ + -358.798, + -1883.093, + 98.866, + 0.0, + 10.28, + -0.0 + ], + [ + -234.959, + -1860.632, + 98.866, + 0.0, + 10.28, + -0.0 + ], + [ + -111.12, + -1838.171, + 98.866, + 0.0, + 10.28, + -0.0 + ], + [ + -111.12, + -1838.171, + 98.866, + 0.0, + 35.28, + -0.0 + ], + [ + -8.377, + -1765.479, + 98.866, + 0.0, + 35.28, + -0.0 + ], + [ + 94.367, + -1692.786, + 98.866, + 0.0, + 35.28, + -0.0 + ], + [ + 197.111, + -1620.093, + 98.866, + 0.0, + 35.28, + -0.0 + ], + [ + 197.111, + -1620.093, + 98.866, + 0.0, + 10.28, + -0.0 + ], + [ + 197.111, + -1620.093, + 98.866, + 0.0, + -14.72, + 0.0 + ], + [ + 197.111, + -1620.093, + 98.866, + 0.0, + -14.72, + 0.0 + ] + ], + "Rationale": [ + "I am facing a blank corner of the warehouse wall with only a bin, a support column, and a stacked pallet in sight, so nothing here resembles a ladder or shelving. I will turn right to begin a steady scan of the surrounding space for the double door and the racking beside it.", + "The rotation has opened up a long painted wall with a hand truck and a pallet, plus a bright opening starting to appear at the right edge, but no shelving or ladder is clearly in view yet. I will keep turning right in the same direction to bring that promising opening and whatever stands beside it fully into view.", + "A doorway to the outside is now clearly in front of me, and tall blue racking with what looks like a ladder against it is entering at the right side. I will continue turning right so that shelving column and its surroundings come fully into view before I commit to approaching.", + "The tall blue racking beside the doorway is now visible with a ladder resting against its frame, and more aisles of shelving extend deeper to the right. I will turn right again to face that storage area squarely and judge the best line to walk toward the ladder.", + "The warehouse interior with rows of pallet racking now fills my view, and the ladder against the leftmost rack sits near the wall opening I just passed over. I will make one more right turn to line up with the open aisle so I can walk straight into the storage area.", + "I am now facing straight down the open floor between the racking rows, with a clear, unobstructed path ahead. I will step forward to close distance with the shelving where the ladder is standing.", + "The racks are growing larger around me and the floor ahead is still clear, confirming this heading leads into the storage aisles. I will keep walking forward to reach the shelving area where the ladder rests.", + "I am well inside the storage hall now, with the racking rows and the far wall fixtures clearly nearer than before and the lane still open. I will continue advancing so I can reach the rack where the ladder is leaning.", + "Ahead of me the warehouse aisle opens between tall blue and orange racks, and a slim vertical ladder is visible resting against the shelving on the right side of the aisle. I am still far from it, so I will keep walking straight along the open floor to close distance and get a clearer read on that rack line. This should bring the shelving and the leaning ladder into better view.", + "The racking with the ladder leaning against it sits to my right rather than straight ahead, so continuing forward would carry me past it. I will turn right to bring that shelving line and the leaning ladder toward the center of my view. That should set a heading I can walk along directly.", + "Now the loaded racks fill the left and center of my view with clear floor between me and them, and the ladder is standing against the shelving in that direction. Nothing blocks the path, so I will step forward to close the gap toward that shelving bay. Each step should make the ladder easier to confirm.", + "The ladder is now clearly visible leaning against the rack upright on my left, its rungs distinct against the blue frame. I am still several paces short of it, so I will continue walking forward along the clear floor. This should bring me alongside the shelving where the ladder rests.", + "I am close to the racking now, with the ladder just off to my left along the same shelving run. A little more distance remains before I am properly beside it, so I will take another step forward. That should place me at the shelving bay itself.", + "At this range the rack uprights and crates dominate my view and the ladder has slipped out to my left. I will turn left to swing my heading back along the aisle so the shelving with the leaning ladder returns to view. That should give me a clean, centered look at the target.", + "Turning has opened the aisle ahead, and the ladder is now showing at the far left edge against the rack. I will turn left once more to bring it fully into the center of my view. That should confirm I am standing at the shelving where it leans.", + "The ladder stands leaning against the shelving right in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..abb738b2246507871e9d254cd8b425f986c2405d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the second freezer column from the left.", + "Type": 2, + "Start_Pose": [ + -707.007, + 1002.365, + 98.866, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -707.007, + 1002.365, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -776.217, + 1107.486, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -845.426, + 1212.608, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -845.426, + 1212.608, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + -863.725, + 1337.13, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + -882.024, + 1461.651, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + -900.323, + 1586.173, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + -900.323, + 1586.173, + 98.866, + 0.0, + 98.36, + -0.0 + ] + ], + "Rationale": [ + "The long run of glass freezer doors lies along the wall ahead to my left, and counting from its left end near the green chairs, the second column is the one stocked with pale bottles and cartons beside the bread-filled end unit. I am still far out on the open tiled floor, so I walk forward to close that gap.", + "The freezer cabinets now fill more of my view, but the bottle-and-carton column I am heading for still sits well off to my left and out of reach. Another step forward should keep bringing the whole run closer before I swing toward it.", + "From here my heading runs along the cabinet line rather than into it, and the column I want lies past the left edge of my view toward the seating end. I turn left so that stretch of freezer doors comes squarely in front of me.", + "The turn has brought the left end of the run back into view, with the green chairs beside it and my bottle-and-carton column standing just inward of the end cabinet. It is still several paces off, so I step forward straight toward it.", + "The glass doors now rise across most of my view and the column with the jars, bottles and boxed goods is close ahead and slightly right of centre. I walk forward again to pull up to its face.", + "I am close enough now that the row no longer reads as a countable line, but the door directly before me is the one I locked onto, with its jars, green bottles and cartons. One more short step should bring me right up against it.", + "The glass door filling my view holds the jars, bottles and cartons of the freezer column I chose. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..acb7f31a108fd2b8f8272bf336c4bdad3a85d015 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the fifth freezer column from the left.", + "Type": 2, + "Start_Pose": [ + -707.007, + 1002.365, + 98.866, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -707.007, + 1002.365, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -776.217, + 1107.486, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -845.426, + 1212.608, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -914.636, + 1317.729, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -983.845, + 1422.851, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -983.845, + 1422.851, + 98.866, + 0.0, + 148.36, + -0.0 + ], + [ + -1090.997, + 1488.874, + 98.866, + 0.0, + 148.36, + -0.0 + ], + [ + -1090.997, + 1488.874, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -1160.206, + 1593.995, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -1160.206, + 1593.995, + 98.866, + 0.0, + 123.36, + -0.0 + ] + ], + "Rationale": [ + "The long run of glass-door freezer cabinets stands ahead along the left wall, and counting doors from the left end of that run, near the green chairs, puts my target at the fifth column. The columns look much alike at this distance, so I hold that fifth position against the run's left end. I walk forward to close the wide gap.", + "The cabinet doors are larger now but still well across the tiled floor, and the left end of the run remains in view so my count stays anchored. Nothing blocks the straight line ahead. I keep walking forward to shorten the distance to the freezer I picked.", + "The freezer row now fills much of the left side of my view, with individual shelves and bottles readable through the glass. I am still several paces short of standing in front of my chosen cabinet. Another step forward should bring me alongside the run.", + "I am close enough that the doors tower over me, and the near cabinets are beginning to crowd the left edge of my view. The freezer I am heading for still lies a little further down the run. I advance once more to reach the line of doors.", + "Standing this near the wall, the doors crowd my whole view and the left end I counted from has slid out of sight, so I keep following the same cabinet I chose rather than recounting. My heading points too squarely into the glass to keep walking. A small right turn opens the aisle running past the row so I can continue along it.", + "With the aisle now open ahead and the potted plant marking the far end of the run, I have a clear line to walk parallel to the doors. My target cabinet sits a short way further along on my left. I step forward to draw level with it.", + "I am now beside the cabinet I have been tracking, its shelves of boxed frozen meals off to my left while I face down the aisle. To stand in front of it I need my body squared to its glass door. I turn left to bring that door face-on.", + "The freezer I chose is squarely ahead now, its blue and green boxed meals clear behind the glass, with only a short stretch of tile between us. One step forward should place me right at its door.", + "The glass door of my chosen freezer fills my view at arm's length. I am standing at it, so the task is done and I stop." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t2_c/infos.json b/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8b3ed11536ba60638a9a1e67abf0adc6da4017bc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the third glass-door freezer from the left in the long row beneath the windows.", + "Type": 2, + "Start_Pose": [ + -707.007, + 1002.365, + 98.866, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -707.007, + 1002.365, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -776.217, + 1107.486, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -845.426, + 1212.608, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -914.636, + 1317.729, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -983.845, + 1422.851, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -983.845, + 1422.851, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + -1002.144, + 1547.372, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + -1002.144, + 1547.372, + 98.866, + 0.0, + 98.36, + -0.0 + ] + ], + "Rationale": [ + "The long row of glass-door freezers runs along the wall beneath the windows on my left, and the cabinets look much alike, so I fix my target as the third door in from the end beside the green seats. It stands well down the floor from here, so I walk forward to close that distance.", + "The freezer row now fills more of my view, but I am still out in the open floor, several strides short of the cabinet I picked near the end by the green seats. I keep walking forward along the aisle to bring it closer.", + "The left end of the row has slid to the edge of my view, so instead of counting doors I hold onto the cabinet itself, the one whose upper shelf carries the white jugs. It is still off to my left and some distance away, so I continue forward.", + "The glass doors are close enough now that I can read their shelves clearly, and the cabinet with the white jugs sits ahead and to my left. One more step forward should put me level with it before I square up.", + "I have drawn level with the freezers, but my heading still runs along the row rather than into it, and the cabinet with the white jugs lies off to my left. I turn left so its doors sit squarely in front of me.", + "The cabinet with the white jugs and the green bottles is now centered ahead of me, but a short gap of floor still separates me from its doors. I step forward to stand directly at it.", + "The doors of the target freezer fill my view at arm's length, with its white jugs and green bottles right before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..32eb52798e04a05c37b4f34aab4507b93f8bfd7e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000707_y001002_z000099_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Lift the metal bucket near the second freezer column from the left.", + "Type": 5, + "Start_Pose": [ + -707.007, + 1002.365, + 98.866, + 0, + 123.36, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -931.95, + 1621.315, + 18.866, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -707.007, + 1002.365, + 98.866, + 0, + 123.36, + 0 + ], + [ + -776.217, + 1107.486, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -845.426, + 1212.608, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -914.636, + 1317.729, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + -914.636, + 1317.729, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + -932.935, + 1442.251, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + -932.935, + 1442.251, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + -932.935, + 1442.251, + 98.866, + 0.0, + 98.36, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -931.95, + 1621.315, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + -931.95, + 1621.315, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + -931.95, + 1621.315, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + -931.95, + 1621.315, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + -931.95, + 1621.315, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + -931.95, + 1621.315, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + -953.973, + 1438.542, + 68.973, + -28.202, + 148.505, + 1.862 + ], + [ + -953.973, + 1438.542, + 68.973, + -28.202, + 148.505, + 1.862 + ] + ], + "PD_Dist_2D": [ + 658.6, + 536.9, + 417.8, + 304.1, + 304.1, + 179.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The row of glass-door freezer cabinets stands well ahead on the left side of the store, with a grey metal bucket resting on the floor near its left end. I am far too distant to reach that bucket, so I will walk straight ahead to close the gap toward the freezer row.", + "The freezer cabinets and the grey bucket beside them now fill more of my view, so my heading is carrying me correctly toward that side of the store. The bucket is still several strides away, so I will keep walking forward to shorten the distance.", + "The freezer columns and their stocked shelves are now close enough to read individual products, and the grey bucket sits on the floor toward my left. I am still not within arm's reach of it, so I will advance once more before adjusting my heading.", + "The bucket has drifted to the far left edge of my view while my body still points along the aisle past the cabinets. Turning left should swing the freezer columns and the metal bucket into the centre of my view so I can walk straight at it.", + "I now face the freezer cabinets squarely, with the grey metal bucket centred on the floor in front of the second column from the left. It still sits a couple of paces off, so I will step forward to bring it within grasping range.", + "The metal bucket is directly in front of me at the base of the second freezer column from the left, close enough that its rim fills the lower part of my view. This is the reach position the task calls for, so I will attempt to grasp and lift the bucket now.", + "The metal bucket is now held in my hands, tilted below me with its interior and my grip visible. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/infos.json b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bee5746dc112d652dce9c5a28efac8ecee64bbe2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the brown wooden display stand placed against the gray column.", + "Type": 0, + "Start_Pose": [ + -748.407, + -78.883, + 98.866, + 0.0, + -22.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -748.407, + -78.883, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -632.179, + -127.169, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -515.951, + -175.455, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -399.723, + -223.741, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -399.723, + -223.741, + 98.866, + 0.0, + 2.44, + -0.0 + ], + [ + -273.978, + -218.382, + 98.866, + 0.0, + 2.44, + -0.0 + ], + [ + -273.978, + -218.382, + 98.866, + 0.0, + 2.44, + -0.0 + ] + ], + "Rationale": [ + "I can see the brown wooden display stand with the dark chocolate banner standing against the gray column ahead of me, past the open tiled aisle. My heading is roughly on it, so I will move forward to begin closing the considerable distance.", + "The brown stand and its gray column now appear larger and closer, confirming my forward heading is carrying me toward the target. The floor ahead remains clear of shelving, so I will continue straight forward.", + "The lettering on the brown stand is readable now, so I am within a few steps of it, but still not close enough to count as standing at it. I will take another forward step to keep reducing the gap.", + "The brown stand and its gray column sit noticeably right of my view center, so continuing straight would drift me past them along the aisle. I will turn right to bring the stand into the middle of my view before advancing further.", + "The wooden stand is now centered in front of me with the gray column directly behind it, so my heading is aligned with the target. One more forward step should place me right at the stand.", + "The brown wooden stand against the gray column now fills the near view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..38a98da86675cc5efd7d9dc624e1e8e2114c37a9 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000748_y-000079_z000099_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Grab the jerry can at the brown wooden display stand in the center aisle.", + "Type": 5, + "Start_Pose": [ + -748.407, + -78.883, + 98.866, + 0, + -22.56, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -234.116, + -290.696, + 15.866, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -748.407, + -78.883, + 98.866, + 0, + -22.56, + 0 + ], + [ + -632.179, + -127.169, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -515.951, + -175.455, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -399.723, + -223.741, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -399.723, + -223.741, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -399.723, + -223.741, + 98.866, + 0.0, + -22.56, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -234.116, + -290.696, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -234.116, + -290.696, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -234.116, + -290.696, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -234.116, + -290.696, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -392.094, + -203.787, + 68.973, + -28.202, + 27.584, + 1.862 + ], + [ + -392.094, + -203.787, + 68.973, + -28.202, + 27.584, + 1.862 + ] + ], + "PD_Dist_2D": [ + 556.2, + 430.3, + 304.5, + 178.6, + 21.4, + 21.4 + ], + "Rationale": [ + "From the aisle entrance I can see the brown wooden display stand ahead in the center aisle, with the red jerry can standing on the floor beside it. It is still far off down the open tiled walkway, so I will walk straight forward to close that gap. My heading already lines up with the stand, so no turning is needed yet.", + "The display stand and the red jerry can now appear noticeably larger and lower in my view, confirming my straight approach is working. They remain several paces away, too far for a reliable grasp. I will keep walking forward along the same clear aisle line.", + "The jerry can is clearly visible just left of the wooden sign board and fills much more of my view now, but it still sits a short distance ahead on the floor. One more step forward should bring it within arm's reach for picking. The floor between us is clear, so I will advance again.", + "The red jerry can is now directly in front of me at the base of the wooden display stand, close enough that it dominates the lower part of my view. This is the target the task named, and I am within reach of its handle. I will attempt to pick it up now.", + "The red jerry can is now held in front of me, carried at my body as I look down. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000981_y-000439_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x-000981_y-000439_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3505da09a1ecccefaa8597756dd05d6290375445 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000981_y-000439_z000099_t3_a/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Navigate to the red sign near the green chair, then go to the red fire extinguisher.", + "Type": 3, + "Start_Pose": [ + -981.457, + -438.789, + 98.866, + 0.0, + -117.6, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -981.457, + -438.789, + 98.866, + 0.0, + -117.6, + 0.0 + ], + [ + -981.457, + -438.789, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1081.441, + -515.233, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1181.425, + -591.676, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1181.425, + -591.676, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1304.348, + -618.703, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1427.271, + -645.729, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1550.194, + -672.756, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1673.117, + -699.782, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1673.117, + -699.782, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1673.117, + -699.782, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1673.117, + -699.782, + 98.866, + 0.0, + -117.6, + 0.0 + ], + [ + -1673.117, + -699.782, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + -1673.117, + -699.782, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + -1673.117, + -699.782, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -1580.473, + -784.973, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -1487.829, + -870.164, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -1395.184, + -955.355, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -1395.184, + -955.355, + 98.866, + 0.0, + -17.6, + 0.0 + ], + [ + -1275.216, + -993.411, + 98.866, + 0.0, + -17.6, + 0.0 + ], + [ + -1155.249, + -1031.467, + 98.866, + 0.0, + -17.6, + 0.0 + ], + [ + -1035.281, + -1069.523, + 98.866, + 0.0, + -17.6, + 0.0 + ], + [ + -1035.281, + -1069.523, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -942.637, + -1154.714, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -942.637, + -1154.714, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + -942.637, + -1154.714, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + -942.637, + -1154.714, + 98.866, + 0.0, + -67.6, + 0.0 + ] + ], + "Rationale": [ + "Across the store I can pick out the row of green chairs by the windows on my left, with a dark board carrying red lettering standing right beside them. My current heading points too far toward the bakery counters instead, so I will turn left to bring that sign and the chairs into the middle of my view before walking.", + "The green chairs and the dark sign with the red emblem now sit ahead of me in the left half of my view, with clear open tiled floor between us. Nothing blocks the way, so I will walk forward to cut down that distance.", + "The chairs and the sign beside them have grown noticeably larger, confirming my heading is carrying me toward them. The floor ahead is still clear, so I will take another step forward to keep closing in.", + "As I have advanced, the chairs and the red-marked board have drifted toward the left edge of my view, while the counters swing across the center. A left turn should put that sign squarely in front of me so the remaining approach stays straight.", + "The dark board with the red emblem and the four green chairs now sit ahead of me, past the drinks cooler on my left. With the aisle floor open in that direction, I will walk forward toward them.", + "The red lettering on the standing board is becoming readable and the green chairs beside it are clearly closer. I am still several paces short of it, so I will keep walking forward.", + "The board with the pink-red crest and the green chairs to its right now dominate the center of my view, but there is still open floor between us. Another step forward should bring me right up beside them.", + "The red-lettered board is directly ahead at arm's reach scale, with the nearest green chair just past its right edge and the wine shelving hemming me in on the left. One more step forward should place me level with the sign rather than short of it.", + "The dark sign with its red Coal Wine lettering stands right in front of me, with the row of green chairs just beside it. I am at the red sign by the green chairs, so I mark reaching it before setting off toward the red fire extinguisher on the far wall.", + "The sign and shelving crowd my whole view, so nothing useful lies ahead of this heading. I will turn right to swing my gaze off the sign and start scanning the open floor for the red fire extinguisher.", + "Turning has brought the chair row and windows into view, but there is still no fire extinguisher along this wall. I will keep rotating right to bring the deeper part of the store into view.", + "The bakery counter is now edging into the right side of my view, which means the store interior opens that way. I will turn right again to face that interior and continue looking for the red extinguisher.", + "The bakery counters and the wall behind them now sit ahead of me, but the extinguisher is not on this stretch of wall. I will turn right once more to sweep further into the store where the wall continues.", + "A small red extinguisher is now showing on the far pillar to my right, past the end of the bakery counter. I will turn right again to put that wall section closer to the center of my heading.", + "The aisle between the bakery counter and the far coolers now runs straight ahead, with the red extinguisher on the wall panel down that side. I will walk forward to close the distance along this open lane.", + "The extinguisher on the wall beside the dark cooler bank has grown larger, so this heading is carrying me toward it. The floor ahead stays clear, so I will keep walking forward.", + "The red fire extinguisher is now clearly visible ahead on the tan wall beside the black glass coolers, still some distance off. The tiled floor between me and that wall is open, so I will walk forward to close the gap toward it.", + "The extinguisher sits on the wall ahead, but my heading points into the bakery counter rather than along the corridor that runs past it. I will turn right to face down that open aisle, which should give me a straight walking line beside the wall carrying the extinguisher.", + "The aisle now runs straight ahead between the coolers on my left and the green shelving on my right, with the red extinguisher mounted on the wall partway down on the left. The lane is clear, so I will step forward along it.", + "The extinguisher on the left wall has grown noticeably larger, so my heading down this aisle is carrying me toward it. Nothing blocks the tiles ahead, so I will keep walking to shorten the remaining distance.", + "The red extinguisher is close now, hanging on the brown block wall just left of the dark cooler bank. I will advance another step so I end up level with it rather than stopping short.", + "My forward step has brought me alongside the extinguisher, which has slipped to the very edge of my view on the left as the coolers fill the center. I will turn left to bring it back squarely in front of me.", + "The extinguisher is now centered in front of me on the brown wall, with the cooler corner beside it and open floor between. I will step forward to stand right at it.", + "I am right up against the corner where the block wall meets the dark cooler, and the extinguisher has passed out of my narrow view. Turning left should swing my gaze back onto the stretch of wall where it hangs.", + "I am right at the wall corner and only the bottom edge of the red extinguisher shows at the top of my view. Raising my gaze should bring the whole mounted extinguisher into clear sight and confirm I am standing at it.", + "The red fire extinguisher is mounted directly in front of me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000981_y-000439_z000099_t5_a_pd/infos.json b/dataset/trajectory/Supermarket/task_x-000981_y-000439_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..70f2494961e2e8284c8ec0b8b71eb9598e4c2df3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000981_y-000439_z000099_t5_a_pd/infos.json @@ -0,0 +1,487 @@ +{ + "Instruction": "Pick up the jerry can from the red sign near the green chair, then drop it near the red fire extinguisher.", + "Type": 5, + "Start_Pose": [ + -981.457, + -438.789, + 98.866, + 0, + -117.6, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1697.304, + -835.626, + 15.866, + 0, + 50, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -981.457, + -438.789, + 98.866, + 0, + -117.6, + 0 + ], + [ + -981.457, + -438.789, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1081.441, + -515.233, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1181.425, + -591.676, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1281.41, + -668.12, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1381.394, + -744.564, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1381.394, + -744.564, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1504.317, + -771.59, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1627.24, + -798.617, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1627.24, + -798.617, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + -1627.24, + -798.617, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + -1627.24, + -798.617, + 98.866, + 0.0, + -117.6, + 0.0 + ], + [ + -1627.24, + -798.617, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + -1627.24, + -798.617, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + -1627.24, + -798.617, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -1534.595, + -883.807, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -1441.95, + -968.998, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -1349.305, + -1054.188, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -1256.66, + -1139.379, + 98.866, + 0.0, + -42.6, + 0.0 + ], + [ + -1256.66, + -1139.379, + 98.866, + 0.0, + -17.6, + 0.0 + ], + [ + -1136.693, + -1177.434, + 98.866, + 0.0, + -17.6, + 0.0 + ], + [ + -1017.651, + -1193.245, + 98.866, + 0.0, + -17.6, + 0.0 + ], + [ + -1086.281, + -1171.475, + 98.866, + 0.0, + -17.6, + 0.0 + ], + [ + -1086.281, + -1171.475, + 98.866, + 0.0, + -17.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1697.304, + -835.626, + 15.866, + 0.0, + 50.0, + -0.0 + ], + [ + -1697.304, + -835.626, + 15.866, + 0.0, + 50.0, + -0.0 + ], + [ + -1697.304, + -835.626, + 15.866, + 0.0, + 50.0, + -0.0 + ], + [ + -1697.304, + -835.626, + 15.866, + 0.0, + 50.0, + -0.0 + ], + [ + -1697.304, + -835.626, + 15.866, + 0.0, + 50.0, + -0.0 + ], + [ + -1697.304, + -835.626, + 15.866, + 0.0, + 50.0, + -0.0 + ], + [ + -1697.304, + -835.626, + 15.866, + 0.0, + 50.0, + -0.0 + ], + [ + -1697.304, + -835.626, + 15.866, + 0.0, + 50.0, + -0.0 + ], + [ + -1697.304, + -835.626, + 15.866, + 0.0, + 50.0, + -0.0 + ], + [ + -1622.058, + -819.341, + 68.973, + -28.202, + -117.455, + 1.862 + ], + [ + -1613.198, + -815.967, + 69.246, + -28.189, + -92.443, + 1.872 + ], + [ + -1607.351, + -809.188, + 68.578, + -28.215, + -67.472, + 1.849 + ], + [ + -1600.972, + -805.282, + 68.632, + -14.092, + -50.256, + 6.87 + ], + [ + -1607.56, + -790.033, + 68.648, + -28.208, + -17.457, + 1.851 + ], + [ + -1612.391, + -781.692, + 69.316, + -28.198, + 7.547, + 1.867 + ], + [ + -1520.516, + -867.74, + 68.786, + -28.198, + 7.546, + 1.862 + ], + [ + -1427.724, + -953.07, + 68.399, + -28.202, + 7.542, + 1.86 + ], + [ + -1335.107, + -1038.231, + 68.514, + -28.201, + 7.545, + 1.857 + ], + [ + -1242.649, + -1123.257, + 68.892, + -28.206, + 7.539, + 1.858 + ], + [ + -1250.371, + -1118.076, + 69.009, + -28.199, + 32.545, + 1.863 + ], + [ + -1130.596, + -1156.967, + 68.507, + -28.207, + 32.541, + 1.857 + ], + [ + -1011.502, + -1172.79, + 68.483, + -28.197, + 32.549, + 1.864 + ], + [ + -1019.558, + -1192.641, + 48.866, + 0.0, + -17.6, + 0.0 + ], + [ + -1019.558, + -1192.641, + 48.866, + 0.0, + -17.6, + 0.0 + ] + ], + "PD_Dist_2D": [ + 818.5, + 818.5, + 694.2, + 570.7, + 448.4, + 328.8, + 328.8, + 203.3, + 79.2, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 22.2, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From where I stand the bakery counters fill the middle of my view, while the row of green chairs and the dark red sign beside them sit far off to my left edge. I will turn left so that seating area, where the jerry can should be standing, comes into the center of my view before I start walking. This should give me a clean heading toward the pickup spot.", + "The green chairs, the dark red sign, and a reddish can on the floor beside it are now roughly ahead of me on the left side of the aisle. The floor between me and them is open tile with no obstruction. I will walk forward to close the long gap toward the jerry can.", + "The seating row and the red sign have grown larger, and the red jerry can beside the sign is clearly distinguishable on the floor. I am still several strides away from grasping range. I will keep walking forward along this open lane.", + "The green chairs and the red jerry can in front of the sign are noticeably closer and slightly left of my heading. Nothing blocks the tiled floor between us. I will advance again to shorten the remaining distance before I fine tune my alignment.", + "The jerry can is now clearly resolved at the base of the red sign, but it sits off to my left rather than directly in front of me. It is still too far for me to reach. I will step forward once more to keep closing in before correcting my heading.", + "I am now close to the seating row, but the red jerry can has drifted to the left portion of my view while my heading points past it toward the counters. Walking straight from here would carry me alongside the can instead of up to it. I will turn left to put the jerry can squarely in front of me.", + "The jerry can now sits near the middle of my view, standing on the tile just in front of the dark red sign and beside the green chairs. My heading lines up with it, and there is clear floor between us. I will walk forward to bring it within reach.", + "The jerry can now fills a large part of my lower view, so I am only about a stride short of grasping range. My heading is still straight at it with nothing in the way. I will take one more step forward so it should be close enough to pick up.", + "The red jerry can sits right at my feet, its top edge just entering the bottom of my view beside the dark red sign and the green chairs, so I am within grasping range. I will attempt the pick now, expecting to lift the can into my hands before starting the carry.", + "The pick worked: my view has dropped and the red jerry can is now held low in front of me, moving with me. The fire extinguisher is on the far bakery wall, well to my right of this window and chair corner, so I will turn right to begin swinging my heading back toward that side of the store.", + "With the can in hand I am still facing the row of green chairs and the glass frontage, which is not the direction of the fire extinguisher. I will keep turning right to bring the bakery side of the store into view.", + "The rotation is working, since the BAKERY lettering and the service counters are now edging into the right of my view while the chairs slide left. I will turn right once more to keep sweeping toward the wall where the extinguisher is mounted.", + "I am now looking straight at the bakery counter and its overhead menu boards, but the extinguisher wall is still further around to my right. Another right turn should bring that section of wall into the center of my view.", + "The red fire extinguisher is now visible on the wall to the right, past the end of the bakery cases and beside the dark panel. I will turn right once more so my heading points down the open aisle toward it before I start walking.", + "My heading now runs along the bakery counters toward the far wall where the red extinguisher hangs, and the aisle ahead is clear tile. Carrying the jerry can, I will walk forward to close the distance to the drop point.", + "The advance is paying off, as the extinguisher on the wall ahead has grown noticeably larger and the display cases are sliding past on my left. I will continue walking forward with the can to keep closing on that wall.", + "I am still carrying the jerry can along the bakery display case, and the red fire extinguisher is mounted on the tiled wall ahead on the right side of the aisle. Nothing blocks the open floor between me and that wall, so I will walk forward to close the remaining distance to the drop point.", + "The extinguisher on the wall has grown noticeably larger and is now clearly to my right beside the dark panel, so my heading is still carrying me toward it. I am not yet close enough to place the can at its base, so I will step forward again.", + "I have drawn level with the wall section holding the red extinguisher, but it now sits off to my right while my body still faces along the display counter. Turning right should square me up with the extinguisher so I can walk straight into position to set the can down.", + "The turn has brought the red extinguisher into the middle of my view on the corner wall, with open floor between it and me. I will step forward to reach the spot directly beneath it where the can belongs.", + "The extinguisher is now close ahead on the wall panel, but I am still a stride short of standing right under it. One more step forward should place me close enough for a reliable release at its base.", + "I am standing right at the wall with the red extinguisher directly above me, which is the designated placement spot. I will release the jerry can here so it comes to rest at the extinguisher's base.", + "The jerry can now rests on the floor directly below the mounted red fire extinguisher. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000990_y000188_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x-000990_y000188_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00434af4a5613eb854edf708814db4c1bb806a94 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000990_y000188_z000099_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Go to the display counter on the left, then navigate to the potted plant.", + "Type": 3, + "Start_Pose": [ + -990.262, + 187.663, + 98.866, + 0.0, + -177.12, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -990.262, + 187.663, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -990.262, + 187.663, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1106.857, + 235.055, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1223.453, + 282.447, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1333.591, + 329.187, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1333.591, + 329.187, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1247.992, + 294.394, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1247.992, + 294.394, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1247.992, + 294.394, + 98.866, + 0.0, + -152.12, + 0.0 + ], + [ + -1359.242, + 235.54, + 98.866, + 0.0, + -152.12, + 0.0 + ], + [ + -1470.492, + 176.686, + 98.866, + 0.0, + -152.12, + 0.0 + ], + [ + -1470.492, + 176.686, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1596.192, + 170.362, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1721.892, + 164.038, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1721.892, + 164.038, + 98.866, + 0.0, + -177.12, + 0.0 + ] + ], + "Rationale": [ + "The long chilled display counter with its green trim sits off to my left, angled away from my current heading. I will turn left so that counter lies ahead of me and I can walk straight at it.", + "The display counter now lies squarely ahead across open tiled floor, with nothing between me and it. I will walk forward to close that distance.", + "The counter has grown noticeably wider in front of me and the glass cabinets behind it are becoming legible, so I am still short of it. I will keep walking forward along the same line.", + "The counter edge and its trays are close now, but I am still a step short of standing right at it. One more forward step should put me directly at the counter face.", + "The chilled display counter is right in front of me, its trays and glass cabinets filling my view at arm's length. I have reached the counter on the left. I mark reaching it, and now the potted plant standing by the windows is where I head next.", + "Standing this tight against the counter leaves me no room to swing around toward the tall plant by the windows. I will step back to open space behind me so I can reorient without scraping the counter.", + "With a little clearance regained, the leafy potted plant sits off to my right near the window bay, well outside my forward view. I will turn right to bring that side of the room into view.", + "The tall potted plant now shows near the middle right of my view by the green chairs, but my heading still points partly along the counter. Another right turn should line my path up with the plant.", + "The tall potted plant by the window seating stands ahead and a little to my left, with clear tiled floor between me and it. I will walk forward to close that gap.", + "The leafy plant in its silver pot is noticeably larger now, sitting by the window ahead on my left. There is still open floor in front of me, so I will keep walking to shorten the remaining distance.", + "The potted plant now sits off to the left edge of my view while my heading points along the window wall toward the shelving. A left turn should bring the plant into the center of my view so I can walk straight at it.", + "The plant is now centered ahead of me between the bin and the green chairs. With clear floor in front, I will step forward toward it.", + "The plant fills much of my view with its pot resting on the tiles just a short walk ahead. One more step forward should put me right beside it.", + "The potted plant 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/Supermarket/task_x-001040_y001622_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2434d6d38b0458bcc9996f5c8501875ac329e132 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the potted plant, then head toward the green chairs.", + "Type": 3, + "Start_Pose": [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -1012.038, + 1499.174, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -984.412, + 1376.384, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -956.785, + 1253.595, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -929.158, + 1130.805, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -785.405, + 1056.545, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -669.278, + 1105.074, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -553.151, + 1153.603, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -553.151, + 1153.603, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -470.549, + 1245.91, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -470.549, + 1245.91, + 98.866, + 0.0, + 47.68, + -0.0 + ] + ], + "Rationale": [ + "The tall leafy plant in its pot stands well off to my left beside a pillar, while the green chairs sit far over on the right side of the floor. Since the plant is my first destination, I will turn left to bring it toward the centre of my view before walking.", + "The potted plant now sits ahead near the pillar with clear tiled floor between us. Nothing blocks that line, so I will walk forward to close the distance.", + "The plant and the dark display board beside it have grown larger, confirming I am gaining on them. The aisle floor ahead is still unobstructed, so I will keep walking straight toward the plant.", + "The potted plant now fills a good part of my view with its pot clearly visible at floor level. I am still several strides short of it, so another forward step should bring me closer.", + "The plant's leaves and pot are close in front of me, slightly left of my heading, with the shelving stacks off to the right. A further step forward should put me right beside it.", + "The foliage now towers beside me at close range and the pillar behind it is nearly at arm's reach. One more step forward should bring me level with the plant rather than short of it.", + "The fronds of the potted plant brush past my left shoulder and its pillar is right beside me, so I am standing at the plant. I have reached it. I mark arriving here, then set off for the green chairs over by the entrance.", + "Standing at the plant, my view is filled by its leaves and the display board, and the green chairs lie away to my right past the shelving. I will turn right to swing my heading off the plant and toward that side of the store.", + "The tall plant is now behind me and my view is filled with product shelving and a display panel, none of which is the green seating I want next. I will keep pivoting right to swing my heading toward the open front of the store where the counters and seats should be.", + "The shelving has slid to my left and the open checkout area with orange counters is appearing at the right edge of my view. The green chairs should sit beyond that counter line, so I will turn right again to bring that area in front of me.", + "Two green chairs are now visible near the right edge, past the checkout counters by the bright entrance wall. One more turn to the right should center that seating so I can walk straight at it.", + "The green chairs now sit ahead of me, just right of center, with clear tiled floor between us. I will walk forward to close that distance.", + "The chairs have grown noticeably larger and the counter with the round sign is passing on my left, so my line of travel is good. I will step forward again to keep closing on the seating.", + "The two green seats and the dark bin beside them are close now, filling the middle of my view. Another step forward should bring me right up beside the seating.", + "I am right at the seating, but the green chairs sit off to my right while the checkout rail crowds my left. Turning right should square me onto the chairs and the open floor beside them.", + "Now the row of green chairs runs directly across my front with more seats further along by the windows. A short step forward should place me right among them.", + "The green chairs are directly beside me, filling the near foreground on both sides. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_b/infos.json b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b255c6e346fcb3490b65c55b16199ae2702f7f40 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_b/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Approach the white pillar near the potted plant, then proceed to the trash bin near the chairs.", + "Type": 3, + "Start_Pose": [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -1012.038, + 1499.174, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -984.412, + 1376.384, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -956.785, + 1253.595, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -929.158, + 1130.805, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -894.525, + 914.967, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -894.525, + 914.967, + 98.866, + 0.0, + -102.32, + 0.0 + ], + [ + -894.445, + 914.873, + 98.866, + 0.0, + -102.32, + 0.0 + ], + [ + -894.445, + 914.873, + 98.866, + 0.0, + -102.32, + 0.0 + ], + [ + -874.729, + 1005.145, + 98.866, + 0.0, + -102.32, + 0.0 + ], + [ + -855.014, + 1095.418, + 98.866, + 0.0, + -102.32, + 0.0 + ], + [ + -855.014, + 1095.418, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -855.014, + 1095.418, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -855.014, + 1095.418, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -855.014, + 1095.418, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -855.014, + 1095.418, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -738.887, + 1143.947, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -738.887, + 1143.947, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -654.15, + 1237.006, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -569.413, + 1330.066, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -484.676, + 1423.126, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -484.676, + 1423.126, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -484.676, + 1423.126, + 98.866, + 0.0, + 22.68, + -0.0 + ] + ], + "Rationale": [ + "From here the tall leafy potted plant and the pale square pillar behind it sit well to my left, across a wide open stretch of floor. I will turn left so that pillar and plant fall closer to the center of my path before I start walking.", + "The potted plant and the white pillar rising behind it now sit ahead of me, with clear tiled floor between us. I will walk forward to close that distance.", + "The pillar and its potted plant have grown noticeably larger, so my heading is carrying me straight at them. Nothing blocks the aisle in front, so I keep walking forward.", + "The leaves of the plant and the white column behind it fill more of my view with each step, confirming I am on line. I am still several strides short, so I advance again.", + "The pillar now towers just left of my heading with the potted plant at its base, and a display stand stands clear to the right of my line. I will step forward again to draw close to the column.", + "I am close enough now that the plant's fronds and the pillar's brown base fill the left half of my view. A short step more should put me right beside the column.", + "The pillar and its plant are at arm's reach on my left, with the narrow gap beside the banner stand still open ahead. I will take one more step to bring myself fully alongside the column.", + "I am now right up against the pillar, its brown base and the plant's leaves crowding my left edge while my gaze runs down the shelf aisle instead. I will turn left to face the column and its potted plant squarely and confirm I have reached it.", + "The white pillar now fills the left of my view with the tall potted plant pressed against its base, so I am practically at its side. I will take one more short step forward to settle right at the pillar rather than stopping short of it.", + "The white pillar stands directly at my shoulder with the leafy potted plant against its base, and the last step barely moved me because I am already against it. I have arrived at this pillar beside the plant. I mark reaching it and now set off for the trash bin over by the green chairs.", + "Wedged this close to the pillar and the banner stand, I have no room to swing around toward the seating area. Stepping straight back should pull me out of this narrow gap and open space for a clean turn.", + "The pillar and its potted plant still crowd the middle of my view and the banner stand remains near on the right. One more step back should give me enough clearance to rotate freely toward the chairs and bin.", + "I now have open floor behind and beside me, so I can begin turning. I will rotate right, away from the pillar and plant, to start bringing the open part of the store where the seating stands into my view.", + "I am still facing product shelving and the banner stand, with no sign of the chairs or bin. Another turn to the right should carry my heading further toward the open front area of the store.", + "The aisle has opened up and I can see a dark cylindrical bin standing out on the floor beyond the shelf ends. I will keep turning right to bring that area squarely ahead of me.", + "The checkout counters and the front of the store are coming into view on my right, with a dark bin near the shelves ahead. One more turn right should line me up with the seating area I am heading for.", + "The green chairs and the dark cylindrical bin beside them are now visible ahead on the right side of my view, past the checkout counters. One more turn to the right should place that seating area and its bin closer to the center of my heading before I start walking.", + "The row of green chairs with the dark cylindrical bin standing among them is now centered in front of me across open floor. Nothing blocks the tiled aisle, so I will walk forward to close the distance to that seating area.", + "I am closer now, and the bin with the chairs beside it sits slightly right of my heading, with more seating visible further right along the window wall. Turning right should line me up directly with the bin standing between the chair rows.", + "The dark bin now stands near the middle of my view with green chairs flanking it on both sides. The floor between us is clear, so I will step forward to close in on it.", + "I can see the bin a little left of center, still a few paces away with the chairs on either side of it. I will keep walking forward to bring myself right up beside it.", + "The bin is now large in the left half of my view, close to the standing banner, with a chair edge at my left shoulder. One more step forward should bring me level with it among the chairs.", + "The tall banner now fills the right of my view and crowds my forward line, while the chairs and the bin sit off to my left. Turning left should swing my gaze off the banner and back onto the seating area I am standing at.", + "I stand right at the seating area with the bin beside me at the edge of my view. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_c/infos.json b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6bba9e2da203beb5c62b201f8e589cca5be792e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head to the potted plant, then move to the beer advertisement mural.", + "Type": 3, + "Start_Pose": [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -1012.038, + 1499.174, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -984.412, + 1376.384, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -956.785, + 1253.595, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -929.158, + 1130.805, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -901.531, + 1008.016, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -816.794, + 1101.075, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -732.057, + 1194.135, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -647.32, + 1287.195, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -562.583, + 1380.254, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -562.583, + 1380.254, + 98.866, + 0.0, + 47.68, + -0.0 + ] + ], + "Rationale": [ + "The leafy potted plant beside the white column sits well to the left of my current heading, while the open floor stretches ahead of me. I turn left to bring that plant into the middle of my view so I can walk a straight line toward it.", + "The potted plant now sits roughly ahead of me beside the column, with clear tiled floor between us. I step forward to cut down that distance.", + "The plant has grown noticeably larger ahead of me, so my heading is carrying me straight at it. Nothing blocks the aisle between me and the column, so I keep walking forward.", + "The plant's leaves and its metal pot are now clearly resolved a short way ahead, just left of the column. I advance again to close the remaining gap.", + "The plant now fills much of the left half of my view and its pot sits only a few paces away. I step forward once more to draw level with it.", + "The fronds tower beside me and the column behind them is close enough to read its texture, so I am nearly alongside the plant. One more step forward should bring me right up to it.", + "The potted plant's fronds spill across my view at arm's length, its pot and the column right beside me. I have reached the potted plant, so I mark arriving here before setting off toward the beer advertisement mural across the store.", + "Standing at the plant, my view is filled with foliage, the column and a display board, and the beer advertisement mural lies far behind my right shoulder near the seating by the windows. I turn right to begin swinging my heading around toward it.", + "The tall plant is behind me now and my view is filled with product shelving and the standing display board, none of which is the beer mural. The open front of the store with its brighter, uncluttered floor lies further to my right, so I will keep rotating that way to sweep toward it.", + "Rotating has brought the checkout counters and the bright window wall into the right half of my view, which is the part of the store where advertising banners tend to stand. The beer mural is not yet in front of me, so I will turn right again to bring that entrance area to center.", + "Green seating and the counters now occupy the middle and right of my view, confirming I am facing the front lobby area. The advertising stand I want is still off toward the right, so another turn should bring it into the center of my heading.", + "I can now pick out a colorful upright banner with a bottle graphic standing among the green chairs, sitting right of my heading. One more turn to the right should place it squarely ahead so I can walk straight at it.", + "The beer banner with its bottle and colored ring is now centered ahead of me, between the green chairs and the window wall. The tiled floor between us is clear, so I will step forward to close the distance.", + "The banner has grown larger and its lettering under the bottle is starting to read clearly, so my heading is good. I will keep walking straight toward it across the open tiles.", + "The beer advertisement is close enough that the bottle artwork and the words beneath it are plainly readable, though I am still a few paces short of standing at it. Another step forward should bring me right up to the display.", + "The beer banner now stands directly in front of me, filling much of my view beside the bin and the row of green chairs. One more step should put me right at the mural.", + "The beer bottle banner fills the view directly ahead, close enough to read its lettering. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_d/infos.json b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1b01869fed4cbacb141b1b13633d912ef1c2a0cd --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_d/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Navigate to the green chairs, then go to the potted plant.", + "Type": 3, + "Start_Pose": [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -927.845, + 1564.199, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -816.024, + 1506.435, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -704.204, + 1448.67, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -592.384, + 1390.906, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -480.563, + 1333.142, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -480.563, + 1333.142, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -480.563, + 1333.142, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -480.563, + 1333.142, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -480.563, + 1333.142, + 98.866, + 0.0, + -102.32, + 0.0 + ], + [ + -480.563, + 1333.142, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -556.867, + 1233.051, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -633.171, + 1132.96, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -709.476, + 1032.869, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -709.476, + 1032.869, + 98.866, + 0.0, + -152.32, + 0.0 + ], + [ + -820.931, + 974.404, + 98.866, + 0.0, + -152.32, + 0.0 + ], + [ + -820.931, + 974.404, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -895.908, + 916.715, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -895.908, + 916.715, + 98.866, + 0.0, + -127.32, + 0.0 + ] + ], + "Rationale": [ + "The row of green chairs sits off to my right, beside the checkout lanes and the beer display. My body is aimed at the open floor ahead of the shelving instead, so I will turn right to put those chairs closer to the center of my view before walking.", + "The green chairs now sit ahead of me, near the wooden checkout counter and the tall bottle sign. The tiled floor between us is clear of shoppers and displays, so I will walk forward to close that distance.", + "The chairs have grown larger and the beer banner beside them is now clearly readable, confirming I am gaining ground on the right heading. Nothing blocks the tiles in front of me, so I will keep walking straight toward the seats.", + "The green seats and the counter behind them are still a fair way off, sitting just left of the banner in my view. My heading remains good, so another step forward should bring me noticeably nearer to them.", + "Two green chair backs now fill a good part of my view, with the black bin and the counter flanking them. I am close but not yet beside the seating, so I will step forward again.", + "The pair of green seats is right in front of me now, close enough that their moulded backs dominate my view. One more step should carry me right up alongside the seating rather than leaving me short of it.", + "The green chairs are directly beneath me, their backs filling the foreground on both sides with the checkout counters and rail right at my knees. I have reached the green chairs. I mark reaching them and now turn my attention toward the tall potted plant standing back near the aisles.", + "Standing at the green seats, my view is filled with checkout counters and the wall of shelves to my right, and no leafy plant is in sight. The tall potted plant I want stands back toward the aisles on my left, so I will turn left to bring that side of the store into view.", + "The green seats are now beside me at the right edge, so the seating stop is behind me and I need the leafy potted plant instead. Nothing in this view toward the checkout lanes resembles it, so I will keep swinging left across the aisles to search.", + "My sweep has cleared the seats and now shows product gondolas and hanging sale signs, with no greenery among them. I will turn left again to keep opening up the store side where a tall potted plant is more likely to stand.", + "A tall potted plant has come into view on the left, standing in its pale pot beside a column near the far wall. It is still well off to the side of my heading, so I will turn left once more to bring it toward the centre before walking.", + "The potted plant now sits just left of centre by the column, with open tiled floor between me and it. My heading is close enough to commit, so I will walk forward to cut the distance.", + "The plant has grown larger against the column and the banner beside it is more distinct, confirming I am closing on it. The lane ahead stays clear, so I will take another step forward.", + "The plant's fronds and its grey pot are clearly resolved just left of the column now, still a few paces off. I will continue forward to bring myself alongside it.", + "At this range the plant has drifted to the left of my heading, with the column and the standing banner crowding the space directly in front of me. Turning left should put the plant squarely ahead and keep my path clear of the banner.", + "The turn has placed the tall potted plant near the centre of my view with open floor leading up to it. I will step forward to close the last of the gap.", + "The tall potted plant now stands only a couple of paces away, but its pot sits off to the right of my heading, past the corner of the column. I will turn right so the planter is centred ahead of me before I close the last of the gap.", + "The potted plant is now squarely ahead with its pot visible on the tiled floor just in front of me. One step forward should bring me right up against the planter and finish this approach.", + "The potted plant's stems and leaves fill my view at arm's length. Both destinations are reached, so the task is complete and there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_e/infos.json b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..262cc8315a0f0485c7bfce6143e977cca5348441 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t3_e/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Make your way to the trash bin, then approach the white pillar near the potted plant.", + "Type": 3, + "Start_Pose": [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -927.845, + 1564.199, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -816.024, + 1506.435, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -704.204, + 1448.67, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -704.204, + 1448.67, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -578.448, + 1443.576, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -461.691, + 1427.034, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -461.691, + 1427.034, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -554.015, + 1430.775, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -554.015, + 1430.775, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -554.015, + 1430.775, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -554.015, + 1430.775, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -554.015, + 1430.775, + 98.866, + 0.0, + -102.32, + 0.0 + ], + [ + -580.87, + 1307.814, + 98.866, + 0.0, + -102.32, + 0.0 + ], + [ + -607.725, + 1184.854, + 98.866, + 0.0, + -102.32, + 0.0 + ], + [ + -607.725, + 1184.854, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -684.029, + 1084.763, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -760.333, + 984.672, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -830.797, + 938.888, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -894.306, + 914.968, + 98.866, + 0.0, + -127.32, + 0.0 + ], + [ + -894.306, + 914.968, + 98.866, + 0.0, + -127.32, + 0.0 + ] + ], + "Rationale": [ + "From here the open sales floor stretches ahead, and the dark cylindrical trash bin stands off to my right beside the row of green chairs. My body faces too far left to walk straight at it, so I will turn right to bring that bin and the seating area into the middle of my view before advancing.", + "The green chairs and the black bin beside them now sit ahead of me on the right side of the aisle, with clear tiled floor in between. Nothing blocks the lane, so I will walk forward to cut down the distance to the bin.", + "The chairs and the tall black bin have grown noticeably larger ahead of me, and the beer banner beside them is now clearly readable, so my heading is carrying me toward the right place. There is still several strides of empty floor left, so I will keep walking forward.", + "The seating rail, the green chairs and the dark bin behind them are close enough now that I can see the bin's rounded lid. The gap is still too wide to call this an arrival, so I will step forward again along the clear tile.", + "I am nearly level with the green chairs, but the black trash bin has drifted to the right of my heading, past the end of the bench. A small turn to the right should put the bin directly in front of me so I can close on it in a straight line.", + "The trash bin now stands squarely ahead between the chairs and the beer banner, with its lid at about waist height in my view. The floor in front of me is clear, so I will walk forward to reach it.", + "The bin is only a stride or two away, its lid now filling the lower center of my view beside the green chairs. One more step forward should bring me right up beside it.", + "The dark bin with its curved lid is right at my feet, filling the bottom of my view beyond the low rail. I have reached the trash bin. I mark arriving here, and now I set off for the white pillar standing beside the tall potted plant back across the floor.", + "I am right up against the bin, its lid filling the bottom of my view with the rail and banner boxing me in. Since my next destination, the white pillar with the potted plant, lies back behind me, I will step backward to open clearance before swinging around.", + "With a little space now between me and the bin, nothing ahead resembles the tall white pillar with the potted plant beside it; the checkout lanes and the beer banner dominate this heading. I will begin turning left to sweep my view back across the shop floor toward the aisle side.", + "The rotation so far has brought the seats and a support column into view, but the planted pillar is still not in front of me. I will keep turning left to carry my heading further around toward the shelving aisles.", + "Product shelves and a grey column now occupy the middle of my view, so I am swinging toward the interior of the shop rather than the checkout line. The plant I want is still off to the left, so I will continue rotating that way.", + "The aisle displays and hanging yellow signs are spread ahead of me, yet the leafy plant against a white pillar has not come into frame. One more left turn should bring that corner of the floor into the middle of my view.", + "The tall potted plant now stands clearly ahead and slightly left, right beside the pale square pillar I want to reach. The floor between us is clear tile, so I will walk forward to close that distance.", + "The plant and the pillar behind it have grown noticeably larger, confirming I am heading straight at them. Still several strides away, so I will keep walking forward.", + "As I close in, the plant and the pillar it stands against have drifted toward the left side of my view, with the banner and shelves taking the centre. I will turn left to put the pillar squarely in front of me before advancing further.", + "The square white pillar with the tall potted plant at its base now sits ahead of me across open floor, slightly left of center. Nothing blocks the tiled lane between us, so I will walk forward to close the gap toward that pillar.", + "The pillar and the plant beside it have grown noticeably larger and are still near the middle of my view, confirming my heading is good. The banner stand sits to the right of my line, leaving room, so I keep walking straight ahead.", + "The pillar now fills much of the frame with the potted plant's fronds spilling across my left side, so only a short stretch of floor remains. I will step forward again to bring myself right up beside the pillar.", + "The pillar's beige and white faces dominate the view with the plant's leaves immediately at my left, so I am nearly touching distance. One more short step forward should place me directly at the pillar beside the potted plant.", + "The white pillar's surface and the potted plant's leaves are right in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t5_a_pd/infos.json b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7db4691ea273296004ac943cd3403c6e9c15cefd --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Lift the tomato at the potted plant, then set it down near the green chairs.", + "Type": 5, + "Start_Pose": [ + -1039.665, + 1621.963, + 98.866, + 0, + -52.32, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -830.857, + 966.893, + 68.866, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1039.665, + 1621.963, + 98.866, + 0, + -52.32, + 0 + ], + [ + -962.734, + 1522.354, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -885.802, + 1422.744, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -885.802, + 1422.744, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -858.175, + 1299.955, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -830.549, + 1177.165, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -830.549, + 1177.165, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -802.922, + 1054.376, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -802.922, + 1054.376, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -802.922, + 1054.376, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -802.922, + 1054.376, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -802.922, + 1054.376, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -802.922, + 1054.376, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -802.922, + 1054.376, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -686.795, + 1102.905, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -570.669, + 1151.434, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -454.542, + 1199.963, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -520.974, + 1172.201, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -520.974, + 1172.201, + 98.866, + 0.0, + 22.68, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -830.857, + 966.893, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -830.857, + 966.893, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -830.857, + 966.893, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -830.857, + 966.893, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -830.857, + 966.893, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -830.857, + 966.893, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -830.857, + 966.893, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -830.857, + 966.893, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -830.857, + 966.893, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -782.223, + 1059.658, + 68.973, + -28.202, + -27.175, + 1.862 + ], + [ + -785.64, + 1068.502, + 69.246, + -28.189, + -2.163, + 1.872 + ], + [ + -792.448, + 1074.316, + 68.578, + -28.215, + 22.807, + 1.849 + ], + [ + -796.385, + 1080.676, + 68.632, + -14.092, + 40.024, + 6.87 + ], + [ + -811.602, + 1074.014, + 68.648, + -28.208, + 72.822, + 1.851 + ], + [ + -695.676, + 1122.344, + 69.07, + -28.189, + 72.838, + 1.869 + ], + [ + -579.8, + 1170.758, + 69.452, + -28.205, + 72.815, + 1.859 + ], + [ + -463.718, + 1219.277, + 69.605, + -28.191, + 72.83, + 1.872 + ], + [ + -456.387, + 1199.192, + 113.866, + 0.0, + 22.68, + -0.0 + ], + [ + -456.387, + 1199.192, + 113.866, + 0.0, + 22.68, + -0.0 + ] + ], + "PD_Dist_2D": [ + 687.5, + 570.9, + 459.2, + 459.2, + 334.2, + 210.3, + 210.3, + 91.8, + 91.8, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From where I stand at the edge of the shop floor, I can see the large tomato resting on the tiles beside the tall potted plant far ahead on the left, and the green chairs sit off to the right near the front counters. Nothing blocks the open aisle in front of me, so I will walk forward to close the long gap to the tomato before I can attempt to lift it.", + "The tomato and the potted plant beside it have grown noticeably larger in my view, so my previous step did shorten the distance along a clear path. The floor ahead is still unobstructed, so I will keep walking forward to bring the tomato within reach.", + "The tomato has drifted to the far left edge of my view while my heading points down the aisle toward the shelving and checkout area, so walking straight would carry me past it. I will turn left to bring the tomato and the potted plant back toward the center of my view so my approach line points at the target.", + "After turning, the tomato and the potted plant now sit near the middle-left of my view, so my heading is lined up with the target. The floor between us is clear, so I will step forward to shorten the remaining distance for a grasp.", + "The tomato is much bigger now and sits just ahead and slightly to my left, but it is still several paces away and too far to take hold of. I will advance another step so it comes close enough in front of me for a pick attempt.", + "The large tomato is now clearly in front of me on the floor beside the potted plant, filling the lower left of my view. Since the task is to lift it, I will reach out and try to grasp it from here. If it is still slightly beyond my arm's reach, the attempt may not take hold.", + "My grab came up empty, since my hands are visible below me with nothing held and the tomato is not with me. It must still be sitting a step or two beyond my reach next to the plant. I will walk forward to close that remaining gap before trying again.", + "From this closer position the aisle shelves and the standing sign fill my forward view, but the tomato sits low on the floor and has dropped out of the bottom of my sight. I cannot line up a grasp on something I cannot see. I will tilt my gaze downward to bring the tomato back into view right in front of me.", + "With my gaze lowered, the tomato now sits large and clearly within reach at the bottom left of my view. This is the alignment the earlier failed reach lacked. I will grasp it now and expect to lift it off the floor.", + "The grasp worked, and I can see the tomato held in my hand as I look down at the floor. The green chairs are not anywhere in my current heading, and from the store layout they lie back toward the checkout side behind my right shoulder. I will turn right to begin swinging my heading around toward that seating area.", + "The tomato is secured in my grasp, so my remaining job is to carry it over to the green chairs near the front of the store. From this heading I only see product shelving and hanging promo signs, with the checkout area just creeping into the right edge, so the seating is still well off to my right. I will turn right again to keep swinging my heading toward that open front section.", + "Carrying the tomato, I now see the checkout counters and the brighter front area opening on the right side of my view, but the green chairs are still not in frame. My heading remains biased toward the shelf aisles rather than the seating zone. I will turn right once more so the front-of-store area moves toward the center of my view.", + "Two green chairs are now visible near the right edge of my view, beyond the checkout counters, which confirms the drop-off area. They are still off to the side rather than straight ahead, so walking now would carry me past them. One more right turn should place the chairs closer to the center of my path.", + "The green chairs sit ahead and slightly right, with clear tiled floor between me and them and no obstacle in the way. I am still holding the tomato, so I just need to close the remaining distance before setting it down. I will step forward toward the seating area.", + "The pair of green chairs is noticeably larger and closer now, roughly centered ahead beside the trash bin and checkout lane. I am still too far back for the tomato to count as set down near them. Another step forward should bring me within placing range.", + "I am still carrying the tomato, and the pair of green chairs now sits close ahead and slightly right, with open floor between us. One more step should bring me right up beside the seats, close enough that setting the tomato down would count as near them.", + "The green chairs now fill the right side of my view at arm's length, so I am standing directly beside them with the tomato still in hand. This is the placement spot the task asks for, so I will release the tomato here and it should come to rest on the floor next to the seats.", + "The tomato is resting on the floor right beside the two green chairs. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t5_b_pd/infos.json b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fffa56638275d5cc1dece009797287f5ccfa1e75 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001040_y001622_z000099_t5_b_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Pick up the trash bag by the white pillar near the potted plant, then leave it by the trash bin near the chairs.", + "Type": 5, + "Start_Pose": [ + -1039.665, + 1621.963, + 98.866, + 0, + -52.32, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -970.576, + 1017.618, + 13.866, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1039.665, + 1621.963, + 98.866, + 0, + -52.32, + 0 + ], + [ + -1039.665, + 1621.963, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -1012.038, + 1499.174, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -984.412, + 1376.384, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -956.785, + 1253.595, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -956.785, + 1253.595, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -929.158, + 1130.805, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -929.158, + 1130.805, + 98.866, + 0.0, + -77.32, + 0.0 + ], + [ + -929.158, + 1130.805, + 98.866, + 0.0, + -52.32, + 0.0 + ], + [ + -929.158, + 1130.805, + 98.866, + 0.0, + -27.32, + 0.0 + ], + [ + -929.158, + 1130.805, + 98.866, + 0.0, + -2.32, + 0.0 + ], + [ + -929.158, + 1130.805, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -813.031, + 1179.334, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -696.905, + 1227.864, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -580.778, + 1276.393, + 98.866, + 0.0, + 22.68, + -0.0 + ], + [ + -580.778, + 1276.393, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -496.041, + 1369.452, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -544.516, + 1316.216, + 98.866, + 0.0, + 47.68, + -0.0 + ], + [ + -544.516, + 1316.216, + 98.866, + 0.0, + 47.68, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -970.576, + 1017.618, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -970.576, + 1017.618, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -970.576, + 1017.618, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -970.576, + 1017.618, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -970.576, + 1017.618, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -970.576, + 1017.618, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -970.576, + 1017.618, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -908.459, + 1136.088, + 68.973, + -28.202, + -27.175, + 1.862 + ], + [ + -911.876, + 1144.932, + 69.246, + -28.189, + -2.163, + 1.872 + ], + [ + -918.684, + 1150.746, + 68.578, + -28.215, + 22.807, + 1.849 + ], + [ + -922.621, + 1157.105, + 68.632, + -14.092, + 40.024, + 6.87 + ], + [ + -937.838, + 1150.443, + 68.648, + -28.208, + 72.822, + 1.851 + ], + [ + -821.912, + 1198.774, + 69.07, + -28.189, + 72.838, + 1.869 + ], + [ + -706.036, + 1247.187, + 69.452, + -28.205, + 72.815, + 1.859 + ], + [ + -589.954, + 1295.706, + 69.605, + -28.191, + 72.83, + 1.872 + ], + [ + -597.153, + 1291.035, + 68.514, + -28.201, + 97.825, + 1.857 + ], + [ + -512.231, + 1383.385, + 68.892, + -28.206, + 97.819, + 1.858 + ], + [ + -497.387, + 1367.974, + 58.866, + 0.0, + 47.68, + -0.0 + ], + [ + -497.387, + 1367.974, + 58.866, + 0.0, + 47.68, + -0.0 + ] + ], + "PD_Dist_2D": [ + 608.3, + 608.3, + 483.3, + 359.0, + 236.4, + 236.4, + 120.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 22.0, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From where I stand, the white pillar with the tall potted plant beside it sits off to my left, with a dark bag slumped on the floor at its base. My body is aimed at the open aisle straight ahead, so a step forward now would drift past that pillar. I will turn left to put the pillar and the bag near the center of my view before closing the distance.", + "The pillar, the potted plant, and the dark bag at its base are now roughly centered in front of me, with clear tiled floor between us. Nothing blocks the straight line toward them, so no further turning is needed yet. I will walk forward to cut down the long distance to the bag.", + "The bag beside the potted plant is noticeably larger in my view than a moment ago, which confirms my heading is carrying me toward it. It is still several strides away and too far to reach. I will keep walking forward along the same line.", + "The dark bag now sits low and near the center of my view, close to the base of the white pillar and the potted plant. I am closer but still not within arm's reach of it. I will advance one more step to get within grabbing range.", + "The trash bag is right in front of me at the foot of the white pillar, next to the potted plant, and it fills the lower part of my view. This looks like a reachable position, so rather than stepping closer I will try to grasp it now. If the bag stays on the floor, I will need to close the remaining gap before trying again.", + "My grab attempt just now came up empty, since nothing is in my hands. The trash bag by the white pillar and potted plant must still be outside my reach from this spot. I will step forward to close the remaining gap before trying to take it again.", + "The black trash bag now sits at the lower left edge of my view, right beside the white pillar and the potted plant, much closer than when my earlier grab attempt failed. From this position it should be within arm's reach. I will attempt to pick it up again.", + "The grab worked this time, as the bulky trash bag now fills the bottom of my view and moves with me. The trash bin by the green chairs is not ahead of me from this heading, so I need to swing my body around toward the seating area near the storefront. I will turn right to begin bringing that side of the store into view.", + "With the bag secured, I am now looking down the product aisles and the pillar, which is still not the direction of the seating area. The chairs and their bin lie farther around to my right, past these shelves. I will keep turning right to bring that area into the center of my view.", + "The seating area is coming into sight, with a green chair and the checkout counters appearing at the right edge of my view. My heading is still angled too far toward the shelves for a straight walk over there. I will turn right once more to line up with the chairs and the bin beside them.", + "The trash bag is in hand, so my remaining job is to reach the bin by the green chairs, and that seating area with the dark cylindrical bin now sits to my right of center rather than straight ahead. I will keep rotating right so the bin and chairs move into the middle of my view before I commit to walking. This should give me a clean forward heading across the open tiled floor toward the drop point.", + "The green chair row and the black bin beside them are now centered in front of me with clear floor in between. Carrying the bag, I will step forward to close the long distance to that seating area. Nothing blocks the lane, so this advance should bring the bin noticeably nearer.", + "The chairs and the black bin have grown larger and stay near the center of my view, confirming the previous step carried me the right way. I am still well short of arm's reach for a drop, so I will walk forward again. The path ahead remains clear of the checkout counter and railing on my left.", + "The two green chairs and the black bin are close now, filling the lower right of my view, but I am not yet beside the bin. I will take another step forward to bring the bin within reach for setting the bag down. The floor directly ahead is still open.", + "At this range the chair row and its rail sit directly in my forward path while the black bin is offset to my right. I will turn right so the bin lines up ahead of me instead of the chairs. That should open a clear short approach for placing the bag at the bin.", + "I am still carrying the trash bag, and the dark trash bin now sits just ahead and slightly left, with the green chairs beside it. I will step forward to close the last bit of distance so the bin is within reach for releasing the bag.", + "The trash bin now fills the lower left of my view at arm's length, and the chairs it stands beside confirm this is the drop point named in the task. I will release the bag here so it should be left at the bin as required.", + "The trash bag now rests on the floor right at the bin beside the green chairs, no longer carried. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1082141116420980b6c3cd168554e5cbfe9fd557 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the gray trash bin, then head toward the gray display board.", + "Type": 3, + "Start_Pose": [ + -1048.225, + 1177.047, + 98.866, + 0.0, + 4.32, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1048.225, + 1177.047, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -922.724, + 1186.528, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -922.724, + 1186.528, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -812.987, + 1248.159, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -703.251, + 1309.791, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -593.515, + 1371.422, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -483.864, + 1432.852, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -483.864, + 1432.852, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -483.864, + 1432.852, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -576.002, + 1425.892, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -576.002, + 1425.892, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -576.002, + 1425.892, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -576.002, + 1425.892, + 98.866, + 0.0, + -70.68, + 0.0 + ], + [ + -534.362, + 1307.12, + 98.866, + 0.0, + -70.68, + 0.0 + ], + [ + -492.722, + 1188.349, + 98.866, + 0.0, + -70.68, + 0.0 + ], + [ + -492.722, + 1188.349, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -404.789, + 1098.303, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -316.856, + 1008.258, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -228.923, + 918.212, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -150.111, + 833.695, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -150.111, + 833.695, + 98.866, + 0.0, + -45.68, + 0.0 + ] + ], + "Rationale": [ + "The dark gray trash bin stands well ahead and a little right of my heading, beside the tall bottle banner and the row of green chairs. The tiled floor between us is wide open, so I will walk straight forward to cut that distance before refining my heading.", + "I am closer now, but the trash bin still sits off to the right of my current heading, next to the banner rather than in my path. Turning right should bring it nearer the center of my view so I can walk at it directly.", + "The turn has placed the gray bin roughly ahead of me, standing just left of the bottle banner with chairs on either side. The lane of tiles toward it is clear, so I will step forward to close on it.", + "The bin has grown noticeably and remains lined up just left of the banner, so my heading is still good. Nothing blocks the tiles between us, and I will keep walking forward toward it.", + "The gray bin now fills a good part of my view, close beside the banner, with the seat rows passing on my left. Another step forward should bring me right up alongside it.", + "The bin's lid is already near my own height in view, only a short gap of tile remaining. I will take one more step forward to stand right at it.", + "I have drawn level with the bin, and its curved black shoulder now shows only at the lower left edge while the banner and shopping carts crowd my right. Turning left should swing the bin back into the center of my view so I can confirm I am standing at it.", + "The gray trash bin now stands directly below me, its metal lid filling the bottom of my view within arm's reach. I have reached it, so I mark arriving at the trash bin and then set off for the gray display board standing further into the aisles.", + "The gray trash bin sits right under my nose, filling the bottom of my view, and the banner crowds my right side. Before I can swing around toward the gray display board somewhere inside the store, I need room, so I will step back from the bin to open up clearance for a turn.", + "With space opened behind the bin, the glass front and the beer banner still occupy my right, while the checkout lanes and shelving of the store stretch away to my left. The gray display board is not in front of me here, so I will turn left to sweep my view toward the sales floor.", + "The seats and checkout counters now cross my view, but the deeper aisles I want are still further round to my left. I will keep turning left to bring the shelving area into the middle of my view.", + "The product shelves and hanging yellow signs are entering my view on the left, but my heading still points partly across the checkout row. One more left turn should place the open aisle floor squarely ahead so I can look for the gray display board.", + "Now the aisle floor is open in front of me, and a flat gray board stands propped beside the tan column slightly right of center. That matches the display board I am heading for, so I will walk forward to close the gap.", + "The gray board beside the column has grown larger and its pale emblem is starting to show, confirming I am on the right line. The path between the shelving displays stays clear, so I will keep walking toward it.", + "The gray board now sits off to the right of my heading, near the column, while my view is drifting toward the shelves on the left. A turn to the right should bring the board back toward the center of my path before I continue.", + "The gray display board with its round emblem is now lined up ahead of me against the column, with only open tile between us. I will walk forward to close the remaining distance to it.", + "The gray display board with its dark circular emblem stands ahead beside the square column, still several paces off and small in my view. My path across the open tiles toward it is clear, so I will keep walking straight to close the gap.", + "The gray board has grown noticeably larger and sits just left of the column, its lettering now readable. Nothing blocks the tiles in front of me, so another step forward should bring me close beside it.", + "The gray board now fills much of the middle of my view, angled toward me with its emblem and text plainly visible. I am close but not yet alongside it, so I will take one more step forward.", + "The gray display board fills my view at arm's length, its emblem directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t3_b/infos.json b/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b8510bcf64a06c3c7f17e38c63a2266ca298dae6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t3_b/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Head to the concrete pillar near the gray display board, then move to the gray trash bin.", + "Type": 3, + "Start_Pose": [ + -1048.225, + 1177.047, + 98.866, + 0.0, + 4.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1048.225, + 1177.047, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -922.724, + 1186.528, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -797.222, + 1196.008, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -671.721, + 1205.489, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -671.721, + 1205.489, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -553.971, + 1161.042, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -436.222, + 1116.595, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -318.472, + 1072.148, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -318.472, + 1072.148, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -239.965, + 979.406, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -152.032, + 889.36, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -70.457, + 857.311, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -70.457, + 857.311, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -135.014, + 923.419, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -135.014, + 923.419, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -135.014, + 923.419, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -135.014, + 923.419, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -135.014, + 923.419, + 98.866, + 0.0, + 54.32, + -0.0 + ], + [ + -135.014, + 923.419, + 98.866, + 0.0, + 79.32, + -0.0 + ], + [ + -135.014, + 923.419, + 98.866, + 0.0, + 104.32, + -0.0 + ], + [ + -135.014, + 923.419, + 98.866, + 0.0, + 129.32, + -0.0 + ], + [ + -135.014, + 923.419, + 98.866, + 0.0, + 154.32, + -0.0 + ], + [ + -248.441, + 977.959, + 98.866, + 0.0, + 154.32, + -0.0 + ], + [ + -361.869, + 1032.5, + 98.866, + 0.0, + 154.32, + -0.0 + ], + [ + -475.297, + 1087.04, + 98.866, + 0.0, + 154.32, + -0.0 + ], + [ + -475.297, + 1087.04, + 98.866, + 0.0, + 129.32, + -0.0 + ], + [ + -475.297, + 1087.04, + 98.866, + 0.0, + 104.32, + -0.0 + ], + [ + -506.426, + 1208.988, + 98.866, + 0.0, + 104.32, + -0.0 + ], + [ + -506.426, + 1208.988, + 98.866, + 0.0, + 79.32, + -0.0 + ], + [ + -483.102, + 1332.667, + 98.866, + 0.0, + 79.32, + -0.0 + ], + [ + -483.102, + 1332.667, + 98.866, + 0.0, + 54.32, + -0.0 + ], + [ + -483.102, + 1332.667, + 98.866, + 0.0, + 54.32, + -0.0 + ] + ], + "Rationale": [ + "Across the open tiled floor I can pick out the gray display board standing against a broad concrete pillar, off to the left beyond the row of green chairs. It is still far away, so I will walk forward over the clear floor to begin closing that gap.", + "The gray board and the pillar behind it have grown slightly larger, confirming my heading carries me toward them. Nothing blocks the floor between me and the seating area, so I will keep walking forward.", + "The green chairs and the checkout counter are now close on my right, and the gray board with its pillar has slid toward the left edge as I close in. Another step forward should bring me level with that pillar area before I adjust my heading.", + "Walking straight has pushed the gray display board and its concrete pillar almost off the left edge of my view, while the chairs and counter now fill the space ahead. I will turn left to bring that pillar back in front of me before continuing.", + "The turn has placed the gray display board and the tall concrete pillar beside it back in the left half of my view, with open floor leading that way. I will walk forward to shorten the distance to them.", + "The board and pillar are noticeably bigger now, standing just past the end of the checkout counter on my left. The lane between the counter and the shelving is clear, so I will keep advancing.", + "The gray board leans against the base of the concrete pillar only a short way ahead on my left, with the counter passing on my right. One more step forward should put me right beside that pillar.", + "I am nearly abreast of the concrete pillar with the gray display board propped against it, but it sits well off to my left while my heading points down the open aisle. I will turn left so the pillar comes in front of me and I can step straight up to it.", + "The broad concrete pillar with the gray display board leaning on it stands just ahead and slightly right, with clear tile between us. I will keep walking forward to close that remaining gap.", + "The pillar and the gray board have grown noticeably larger and now dominate the middle of my view, so my heading is good. I will step forward again to come right up beside them.", + "The gray display board now leans across the left of my view and the pillar edge is only a pace or two off. One more step forward should bring me level with this pillar.", + "The tiled concrete pillar fills my view at arm's length, with the gray display board propped right against its near face. I have reached this pillar. I mark reaching it, then set off for the gray trash bin over by the green seats at the front.", + "Pressed this close, the pillar face blocks almost everything in front of me and I cannot see the open floor. I will step back to regain a clear view and the space I need to swing my heading toward the trash bin.", + "With some distance regained, I can see shelving and the display board off to my left, but no sign of the gray trash bin in this direction. I will turn right to bring my view around toward the front of the store where the bin stands by the green seats.", + "The rotation has opened up the aisle with the numbered lane signs, yet the trash bin is still not in view. I will keep turning right to carry my heading further toward the checkout front.", + "Now the checkout counters stretch ahead of me and the front windows show at the right, but the gray bin is still outside my view. Another turn right should bring more of the entrance area in front of me.", + "Having marked the concrete pillar, I am now sweeping the store front for the gray trash bin, but this heading shows only checkout counters and lane signs. I turn right again to bring more of the front area into view.", + "The rotation has opened up the glass front and the entrance doors, yet no gray bin stands out among the registers. I continue turning right to keep scanning toward the side of the entrance hall.", + "Straight ahead there are only the entrance doors and the last checkout island, with nothing resembling a gray trash bin. Another right turn should swing my view toward the shop area beside the doors.", + "Green seats and a wall of glass-front coolers are appearing on my right, which looks like the customer lounge area worth checking. I turn right again to face that side more directly.", + "The long cooler wall and the seating by the windows now stretch across my right, but the counter and post still crowd the near view. One more turn right should clear my line toward that open lounge floor.", + "I am now clear of the checkout island and looking down an open stretch of floor with coolers along the far side and seating by the windows to my left. I step forward to close on that lounge area where a trash bin would likely stand.", + "The advance is working, since the cooler cabinets and the green seats by the windows are noticeably larger and closer now. I keep walking forward across the open tiles toward that lounge corner.", + "I am beside the cooler run with the seating area trailing off to my left, and there is still open floor in front of me. Another step forward should bring me level with that corner so I can look over it properly.", + "Straight ahead there is only the long row of glass-door coolers and empty tiled floor, with no bin anywhere in that direction. The open seating area by the window front lies off to my left, so I will swing left to bring that side of the room into view.", + "The turn has brought the window wall and a row of green chairs into the left edge of my view, but that seating corner is still too far off to my side to walk into. I will keep rotating left so the chair area sits in front of me.", + "Now the seating corner is in front of me and I can pick out a dark cylindrical waste bin standing between the chairs and the window frontage. It is still well across the floor, so I will walk forward to close that gap.", + "Advancing has pushed the bin out to the far left margin of my view while the banner stand and coolers now dominate the center. A left turn should bring the bin back in front of me before I step closer.", + "The domed metal bin now stands clearly ahead on my left, with open tile between us and the chairs off to the right. I will walk forward to close the remaining distance to it.", + "I am now right beside the bin, but it sits low in the bottom left corner while the banner stand fills the middle of my view. A left turn should square me up on the bin.", + "The gray domed trash bin stands directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t3_c/infos.json b/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4b571d7e04534cc7001e829e7e4ab5b2413c0075 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t3_c/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Make your way to the green chairs by the trash bin, then reach the pillar near the gray display board.", + "Type": 3, + "Start_Pose": [ + -1048.225, + 1177.047, + 98.866, + 0.0, + 4.32, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1048.225, + 1177.047, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -922.724, + 1186.528, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -922.724, + 1186.528, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -812.987, + 1248.159, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -703.251, + 1309.791, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -703.251, + 1309.791, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -577.75, + 1319.271, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -470.885, + 1328.698, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -470.885, + 1328.698, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -563.023, + 1321.738, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -563.023, + 1321.738, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -563.023, + 1321.738, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -563.023, + 1321.738, + 98.866, + 0.0, + -70.68, + 0.0 + ], + [ + -521.383, + 1202.966, + 98.866, + 0.0, + -70.68, + 0.0 + ], + [ + -521.383, + 1202.966, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -433.45, + 1112.921, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -345.516, + 1022.875, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -345.516, + 1022.875, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -227.767, + 978.428, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -110.017, + 933.981, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -110.017, + 933.981, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -110.017, + 933.981, + 98.866, + 0.0, + -70.68, + 0.0 + ], + [ + -70.756, + 857.336, + 98.866, + 0.0, + -70.68, + 0.0 + ], + [ + -70.756, + 857.336, + 98.866, + 0.0, + -70.68, + 0.0 + ] + ], + "Rationale": [ + "Far ahead across the open tiled floor I can pick out a cluster of green chairs with a dark cylindrical trash bin standing beside them. Nothing blocks the wide aisle between us, so I will walk straight ahead to cut down that distance.", + "The green seating and the black bin next to it now sit to the right of my heading, closer to the glass frontage. A small turn to the right should put that seating group near the middle of my view before I continue walking.", + "The row of green chairs and the trash bin beside the tall poster now lie almost straight in front of me. The floor between us is empty, so I will keep walking forward to close in on that seating area.", + "The two green chairs on my left and the black bin between them and the poster stand have grown noticeably larger, but they are still several strides off. Another step forward should bring me alongside that seating.", + "The advertising stand and the trash bin now crowd the center of my view while the green chairs I want have slid off to my left. Turning left should swing that chair pair beside the bin back in front of me for a clean approach.", + "The pair of green chairs is squarely ahead of me now with the black trash bin standing just to their right. A few more strides should place me right at that seating, so I will keep walking.", + "The seats fill much of my view and the bin is close on my right, yet I am still a stride short of standing at the chairs themselves. I will step forward once more to finish closing that gap.", + "The green chair backs rise directly in front of me with the black trash bin standing right at their side. I am at the green chairs by the bin. I mark reaching them, and now I turn my attention to the pillar beside the gray display board.", + "I am standing right against the backs of the green seats beside the dark trash bin, with the seat frames filling the lower view and leaving me no room to swing around. I will step back to open clearance before reorienting toward the pillar with the gray display board deeper in the store.", + "With a little space now between me and the seats, the checkout lanes and the aisles run off to my left while my heading still points at the glass front. I will turn left to begin swinging my view toward the interior columns where a gray display board should stand.", + "The rotation has brought a square column and the shelf aisles into the left half of my view, but my heading still favors the seating and checkout barrier. Another left turn should carry my facing further into the sales floor where the gray board leans by a pillar.", + "The wide aisle with the shelf stands and the tall pillar is now spread across the front of my view, with only the chair and checkout edge clinging to the right. One more left turn should square me on that open lane so I can walk straight in toward the pillars.", + "I am now facing straight down the open aisle, with product stands to the left and a gray board propped beside the pillar on the right. The floor ahead is clear, so I will walk forward to close distance on that pillar area.", + "Walking in has put the gray display board and the pillar it leans against off to my right rather than in front of me. I will turn right to bring that pillar into the middle of my view before advancing further.", + "The turn has set the gray board and its pillar near the center of my view, with clear tile between us. I will step forward to shorten that gap while keeping the pillar in front of me.", + "The pillar with the gray board beside it is noticeably larger and still lined up ahead, so the previous step closed distance correctly. I will keep walking forward, since the remaining gap is only a short stretch of open tile.", + "The gray display board and the tan based pillar it leans against stand just ahead of me, with the board itself squarely in my straight line. I turn right to open the clear tiled lane beside them so I can keep advancing without walking into the sign.", + "The pillar with the gray board propped against it now sits on my left, and a wide stretch of clear floor runs ahead past the checkout lanes. I walk forward to close the remaining gap along that open lane.", + "The pillar and the gray board are much larger now on my left, so I am nearly level with them. Another step forward should bring me alongside the pillar base rather than leaving me short of it.", + "My heading has carried me level with the pillar, and its tan and white face is pushed to the far left edge of what I can see. I turn left to swing that pillar back into the middle of my view.", + "The pillar is back in view but still offset, with the stand of the gray board just showing at its side. I turn left again to square up on the pillar face so my approach runs straight at it.", + "The pillar now fills the right half of my view with the gray board's frame standing directly beside it on my left. A short step forward should put me right at the pillar itself.", + "The pillar's tiled face is right in front of me with the gray display board standing at my shoulder. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t5_a_pd/infos.json b/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4468a12bcd3b5c7d987393efc2ab6ce1d138953e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y001177_z000099_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the wicker basket at the gray trash bin, then place it near the gray display board.", + "Type": 5, + "Start_Pose": [ + -1048.225, + 1177.047, + 98.866, + 0, + 4.32, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -496.102, + 1270.428, + 38.866, + 90, + 4.32, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1048.225, + 1177.047, + 98.866, + 0, + 4.32, + 0 + ], + [ + -922.724, + 1186.528, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -797.222, + 1196.008, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -671.721, + 1205.489, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -546.219, + 1214.969, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -546.219, + 1214.969, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -546.219, + 1214.969, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -546.219, + 1214.969, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -428.47, + 1170.522, + 98.866, + 0.0, + -20.68, + 0.0 + ], + [ + -428.47, + 1170.522, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -354.279, + 1079.884, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -266.346, + 989.838, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -178.413, + 899.792, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -228.716, + 951.304, + 98.866, + 0.0, + -45.68, + 0.0 + ], + [ + -228.716, + 951.304, + 98.866, + 0.0, + -45.68, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -496.102, + 1270.428, + 38.866, + 90.0, + 4.32, + 0.0 + ], + [ + -496.102, + 1270.428, + 38.866, + 90.0, + 4.32, + 0.0 + ], + [ + -496.102, + 1270.428, + 38.866, + 90.0, + 4.32, + 0.0 + ], + [ + -496.102, + 1270.428, + 38.866, + 90.0, + 4.32, + 0.0 + ], + [ + -496.102, + 1270.428, + 38.866, + 90.0, + 4.32, + 0.0 + ], + [ + -496.102, + 1270.428, + 38.866, + 90.0, + 4.32, + 0.0 + ], + [ + -548.436, + 1236.216, + 68.973, + -28.202, + 54.464, + 1.862 + ], + [ + -539.59, + 1234.274, + 69.246, + -28.189, + 29.477, + 1.872 + ], + [ + -421.88, + 1190.861, + 69.556, + -28.193, + 29.468, + 1.872 + ], + [ + -413.701, + 1185.149, + 68.392, + -28.202, + 4.461, + 1.858 + ], + [ + -339.413, + 1095.223, + 68.879, + -28.205, + 4.461, + 1.857 + ], + [ + -251.674, + 1005.38, + 69.304, + -28.198, + 4.464, + 1.863 + ], + [ + -163.869, + 915.456, + 69.58, + -28.206, + 4.46, + 1.861 + ], + [ + -179.809, + 901.223, + 63.866, + 90.0, + -45.68, + 0.0 + ], + [ + -179.809, + 901.223, + 63.866, + 90.0, + -45.68, + 0.0 + ] + ], + "PD_Dist_2D": [ + 560.0, + 434.8, + 310.2, + 187.2, + 74.7, + 74.7, + 21.4, + 20.4, + 21.4, + 20.8, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the store entrance area I can see the wicker basket resting on the floor beside the dark gray trash bin, well ahead of me near the green seats. It is far too distant to reach, so I will walk straight forward along this open tiled aisle to close the gap.", + "The basket and the gray trash bin next to it are noticeably larger in front of me now, confirming my heading is correct. I will keep walking forward since the lane between the checkout counter and the seating remains clear.", + "The wicker basket is now clearly resolved on the floor just left of the gray trash bin, with the green chairs behind it. I am still a few steps short of grasping range, so I will advance again straight toward it.", + "The basket fills much of the lower part of my view, meaning I am close but likely still a step outside comfortable reach. I will take one more step forward so the basket sits directly at my feet before attempting to take it.", + "I am now standing right at the seating and trash bin, and the basket has slipped below the bottom edge of my forward view. I will tilt my head down to bring the basket back into sight so I can confirm it is within reach before grasping.", + "Looking down, the wicker basket is plainly in front of my feet, close to the base of the green seats and the trash bin. Since it is well inside reach, I will attempt to pick it up now.", + "The pick succeeded, as the basket is now held in my hands directly below me instead of resting on the tiles. The gray display board stands over toward the shelf aisles on my left, so I will turn left to face that direction before carrying the basket over.", + "With the basket in hand I have raised my view again, and the tall gray display board is visible ahead near the pillar on the left side of the checkout lane. The way between the counter and the shelves looks clear, so I will walk forward to carry the basket toward it.", + "The wicker basket is secure in my hands, but from here the checkout lanes fill the right side of my view while the gray display board stands off to my left beside the tiled pillar. I will turn left to bring that board into the center of my heading so the carry route runs straight toward it. This should give me a clear open aisle to walk down with the basket.", + "After the turn the gray display board sits ahead of me next to the pillar, with open tiled floor between us and no obstacle in the way. I am still carrying the wicker basket, so I will walk forward along this lane to close the remaining distance to the board.", + "The gray display board has grown larger and is now just left of the pillar directly ahead, so my heading is still good. The gap is wider than the range I would want for setting the basket down, so I will keep walking forward with it.", + "The gray display board now fills a good part of my view beside the pillar, but I am still a couple of paces short of it. I will step forward once more so the board is close enough in front of me to release the wicker basket at its base.", + "I am now standing right at the gray display board, its panel filling the near view against the pillar, and the wicker basket is still in my hands. This is the delivery spot named in the task, so I will drop the basket here and expect it to come to rest at the board.", + "The wicker basket is out of my hands and resting on the floor at the gray display board. The delivery condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a73efe872ca23e5235ca8d3915328f744e41079 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the rightmost yellow bollard under the awning.", + "Type": 2, + "Start_Pose": [ + -1047.538, + 2879.311, + 87.15, + 0.0, + -28.32, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1047.538, + 2879.311, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -936.743, + 2819.604, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -936.743, + 2819.604, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -811.095, + 2812.315, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -685.447, + 2805.026, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -559.799, + 2797.738, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -434.152, + 2790.449, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -308.504, + 2783.16, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -182.856, + 2775.871, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -57.208, + 2768.582, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + 68.439, + 2761.294, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + 194.087, + 2754.005, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + 194.087, + 2754.005, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 304.882, + 2694.298, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 415.677, + 2634.591, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 526.473, + 2574.884, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 526.473, + 2574.884, + 87.15, + 0.0, + -53.32, + 0.0 + ], + [ + 601.654, + 2473.947, + 87.15, + 0.0, + -53.32, + 0.0 + ], + [ + 601.654, + 2473.947, + 87.15, + 0.0, + -53.32, + 0.0 + ] + ], + "Rationale": [ + "A row of yellow bollards stands under the supermarket awning, and since they look alike, I fix on the last one at the far end of the canopy, next to the final brick column. That end lies well off to my right across open asphalt, so I walk forward first to close the distance to the storefront.", + "From this closer position the covered walkway stretches away to my right, and the bollard I picked sits at its far end. Turning right should swing my heading along the length of the storefront so I can travel straight down it.", + "My heading now runs down the lane beside the storefront, with the awning and its bollards on my left. I step forward along this clear asphalt to make ground toward the far end of the canopy where my bollard stands.", + "The entrance doors and the yellow posts beside them are sliding past on my left, so I am still short of the bollard I chose at the canopy's far end. The lane ahead stays open, so I keep walking forward.", + "The awning still runs on ahead of me along the building, meaning my bollard is further down the walkway. Nothing blocks the lane, so another step forward should carry me nearer to it.", + "I am now abreast of the shopfront glass, with the awning's far end still ahead of me on the left. I continue forward along the lane to reach the stretch of walkway where my bollard stands.", + "The nearer yellow posts have dropped behind me on the left, and the brick end of the canopy is now the piece of building I am closing on. I keep stepping forward toward the bollard beside that end column.", + "The lamp post and benches slide by on my right while the covered walkway's end column grows larger ahead on the left. The pavement in front is clear, so I walk forward again to draw level with the bollard at that end.", + "The canopy now runs out at a brick column close on my left, and a single yellow post stands right where the cover ends beside the hedge. That is the one I set out for, so I walk forward to draw level with it.", + "I am almost abreast of the end column, yet the yellow post beside it still sits slightly ahead on my left. Cutting in this early would put the column between us, so I take another step along the open lane instead.", + "The hedge and brick corner are sliding past close on my left, with the yellow post now low near the edge of my view. A little more ground first will let me turn in facing it rather than angling awkwardly, so I keep walking.", + "The storefront and its yellow post have slipped to the far left edge of my view, so holding this heading would carry me straight past the building. Turning left should swing my facing back onto the covered walkway and put the post ahead of me.", + "Facing the storefront now, the yellow post stands plainly ahead beside the brick column where the canopy ends. Only open asphalt and a crossing lie between us, so I walk toward it.", + "The post has grown taller in front of me, with the entrance doors and trolleys just beyond it under the cover. A stretch of the crossing still separates us, so I continue straight ahead.", + "Little more than the raised kerb and a short band of pavement now lies between me and the yellow post at this end of the walkway. I step forward again to close that last stretch.", + "The brick column now fills much of my view and the yellow post has drifted to my left, off the line I am facing. Turning left should bring it squarely in front of me for the final approach.", + "The yellow post now stands clear in front of me on the walkway, just inside the kerb beside the brick column. Only a short band of pavement separates us, so one more step forward should bring me right up beside it.", + "The yellow post is right beside me under the canopy, close enough to touch. The task is done, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..abe33b73a336cdace1269a6f2583ab9eec76e9d4 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Approach the rightmost brick column.", + "Type": 2, + "Start_Pose": [ + -1047.538, + 2879.311, + 87.15, + 0.0, + -28.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1047.538, + 2879.311, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -936.743, + 2819.604, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -825.948, + 2759.897, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -715.152, + 2700.19, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -715.152, + 2700.19, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -589.505, + 2692.901, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -463.857, + 2685.613, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -338.209, + 2678.324, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -212.561, + 2671.035, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + -86.914, + 2663.746, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + 38.734, + 2656.457, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + 164.382, + 2649.169, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + 290.03, + 2641.88, + 87.15, + 0.0, + -3.32, + 0.0 + ], + [ + 290.03, + 2641.88, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 400.825, + 2582.173, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 511.62, + 2522.466, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 622.415, + 2462.759, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 733.21, + 2403.052, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 825.555, + 2368.507, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + 825.555, + 2368.507, + 87.15, + 0.0, + -28.32, + 0.0 + ] + ], + "Rationale": [ + "The supermarket canopy runs away to my left on a line of brick pillars, and the one at the far end of that covered walkway is the target; they share the same brick, so I hold it by that end of the run. It is still far off down the frontage, so I walk forward along the open lane.", + "The storefront is closer on my left, yet the end of the covered walkway still lies well down the frontage. The lane in front of me is clear, so I keep stepping forward.", + "The nearest pillars now loom large at my left shoulder while the far end of the canopy remains ahead of me. I continue walking forward to close that remaining distance along the building line.", + "Holding this heading would carry me into the curb and the pillars right beside me rather than down the length of the frontage. Turning right should swing my facing parallel to the building so the rest of the covered walkway opens ahead of me.", + "My facing now runs down the roadway with the storefront and its canopy on my left, and the walkway still extends past the crosswalk ahead. I step forward along that line toward the pillar at its far end.", + "The nearer pillars keep sliding past on my left, so the column I chose is still further down the frontage. The lane stays clear, and I keep advancing.", + "More entrance bays and supports come into view as I move up, so counting from here would not pick out my target; I am still heading for the column at the far end of the covered walkway. That end is not yet beside me, so I walk on.", + "The canopy still stretches ahead on my left and its last brick support has not yet drawn level with me. Nothing obstructs the pavement in front, so I take another step forward along the frontage.", + "The roofed stretch on my left is thinning out, and its end with the brick support now sits only a short way ahead. The open lot and benches stay well clear of my path. I keep walking forward.", + "The last bays of roofing are almost level with me, yet the brick support closing off the walkway still stands a little further along the frontage. The lane in front stays empty, so another stride closes that gap.", + "This close the bays no longer read as a row I could count off, but the brick support at the end of the covered walkway is plainly the one still in front of me on the left. I keep advancing toward it.", + "The canopy edge is nearly abreast of me, with the brick support just short of my left shoulder line. A couple more paces should bring me level with it, so I step forward again.", + "I have come far enough along the frontage that the brick column ending the covered walkway now sits off to my left rather than in front of me. Turning left should swing it back into the middle of my view so I can close on it head on.", + "The turn brought the walkway and its end column back in front of me instead of past my shoulder. The paved strip between us is open, so I walk straight at that column.", + "The brickwork now fills much of my view, with the column I am heading for standing at the corner where the roofing stops. I am still a few paces short of it, so I press on.", + "The column rises tall just off my left with the yellow bollard at its base, but I am not yet standing beside it. Another step forward should bring me right up to its face.", + "The brick face of the column that closes off the covered walkway now stands close on my left, yet I am still a stride short of drawing level with its base. The kerb and paving ahead of me are clear of obstruction, so I step forward again.", + "The column's outer corner is nearly at my shoulder, with its base stone and the strip of grass behind it just off to my left. One more short pace should bring me right up against its brickwork.", + "The brickwork of the column ending the covered walkway fills my view at arm's length on the left. I am standing at it, so the approach is complete." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/infos.json b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7d9d756aecb070fe33e381f3d34b0a73d611c15f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Make your way to the first yellow bollard on the left.", + "Type": 2, + "Start_Pose": [ + -1047.538, + 2879.311, + 87.15, + 0.0, + -28.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1047.538, + 2879.311, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -936.743, + 2819.604, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -825.948, + 2759.897, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -715.152, + 2700.19, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -604.357, + 2640.483, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -493.562, + 2580.776, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -382.767, + 2521.069, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -271.972, + 2461.362, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -271.972, + 2461.362, + 87.15, + 0.0, + -53.32, + 0.0 + ], + [ + -196.79, + 2360.425, + 91.341, + 0.0, + -53.32, + 0.0 + ], + [ + -196.79, + 2360.425, + 91.341, + 0.0, + -53.32, + 0.0 + ] + ], + "Rationale": [ + "The storefront runs away on my left and a line of yellow bollards stands under its canopy ahead, the first of them being the nearest one, planted beside the closest entrance doorway. They all look alike, so I hold that one by its place at the near end of the row by that doorway. I walk forward along the open lane to close on it.", + "The yellow posts by the entrance are slightly larger now, so my heading down this lane is carrying me toward them. Nothing blocks the pavement in front of me. I keep walking forward.", + "The canopy and its posts are swinging past on my left as I advance, and the bollard I want still sits well ahead near the first doorway. The distance is too great to stop here. I continue straight forward.", + "The brick pillars of the entrance canopy now fill my left side and the yellow posts by the doors are clearly closer. I am still several strides short of the near one. I step forward again.", + "Through the opening I can see the store interior and the yellow bollards standing on the walkway in front of the doors. The nearest one is still ahead of my shoulder rather than beside me. I keep moving forward along the crosswalk lane.", + "The bollards guarding the doorway are close now, but I am still out on the driving lane rather than level with the near one. A few more paces should bring me alongside it. I walk forward.", + "From here the posts no longer read as a neat row, but the one I chose is the nearest yellow bollard standing at the corner of the raised walkway by the first doorway, and it sits ahead on my left. One more step should put me level with it. I move forward.", + "The bollard I am after now stands very close on my left, at the edge of the walkway beside the open doorway, while my body still points down the lane past it. Turning left should put it squarely in front of me. I rotate left before the final step.", + "The turn has brought the yellow post at the walkway corner by the open doorway into the middle of my view, standing just off the curb a stride or two away. Walking straight ahead now should carry me right up beside it.", + "The yellow bollard stands right at my feet, filling the near view beside the open doorway. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_d/infos.json b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..56b91b44f26eabba4305f3838fe2cacc6fc28787 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t2_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Navigate to the second yellow bollard on the left.", + "Type": 2, + "Start_Pose": [ + -1047.538, + 2879.311, + 87.15, + 0.0, + -28.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1047.538, + 2879.311, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -936.743, + 2819.604, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -825.948, + 2759.897, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -715.152, + 2700.19, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -604.357, + 2640.483, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -493.562, + 2580.776, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -382.767, + 2521.069, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -271.972, + 2461.362, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -161.177, + 2401.655, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -50.381, + 2341.948, + 97.818, + 0.0, + -28.32, + 0.0 + ], + [ + -50.381, + 2341.948, + 97.818, + 0.0, + -28.32, + 0.0 + ] + ], + "Rationale": [ + "Two yellow bollards stand along the store frontage on my left, and the farther one of that pair, the post set beside the entrance doorway, is the one I want. It is still far down the walkway, so I walk forward to close that distance.", + "The yellow posts on my left have grown slightly but remain well down the covered frontage. The pavement ahead is clear, so I keep walking straight to reach the bollard beside the entrance.", + "The canopy and brick columns now fill more of my left view, and the bollard by the store entrance is still further along the walkway. Nothing obstructs my path, so I continue advancing.", + "Crosswalk stripes are sliding past on my right and the yellow bollard beside the entrance is clearly ahead on my left. I am still too far away to be at it, so I step forward again.", + "More yellow posts are now showing along the walkway under the canopy, so instead of recounting the row from here I hold on the bollard standing beside the entrance doors. It still lies ahead of me, so I keep moving forward.", + "The glass entrance doors and the bollard guarding them are noticeably nearer on my left. I have not drawn level with that post yet, so I continue along the curb.", + "One yellow post is nearly abreast of me at the near end of the walkway, while the bollard beside the entrance doors sits a few paces further along. I walk forward to bring myself alongside that one.", + "The nearer post has dropped behind on my left and the bollard beside the entrance doorway now stands close ahead at the curb edge. A short step forward should bring me right up to it.", + "The yellow post guarding the entrance doors now sits just ahead at the curb edge, still a pace or two off my shoulder rather than beside me. One more step should put me level with it.", + "The yellow bollard beside the entrance doors now stands directly at my side, close enough to touch. I have arrived at it, so there is no reason to keep walking." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85b76ee295873e114a50e76acea830b4dab75765 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001048_y002879_z000087_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the tomato near the leftmost yellow bollard under the awning.", + "Type": 5, + "Start_Pose": [ + -1047.538, + 2879.311, + 87.15, + 0, + -28.32, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -159.093, + 2431.613, + 57.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1047.538, + 2879.311, + 87.15, + 0, + -28.32, + 0 + ], + [ + -936.743, + 2819.604, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -825.948, + 2759.897, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -715.152, + 2700.19, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -604.357, + 2640.483, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -493.562, + 2580.776, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -382.767, + 2521.069, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -271.972, + 2461.362, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -271.972, + 2461.362, + 87.15, + 0.0, + -28.32, + 0.0 + ], + [ + -271.972, + 2461.362, + 87.15, + 0.0, + -28.32, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -159.093, + 2431.613, + 57.15, + 0.0, + 0.0, + 0.0 + ], + [ + -159.093, + 2431.613, + 57.15, + 0.0, + 0.0, + 0.0 + ], + [ + -159.093, + 2431.613, + 57.15, + 0.0, + 0.0, + 0.0 + ], + [ + -159.093, + 2431.613, + 57.15, + 0.0, + 0.0, + 0.0 + ], + [ + -159.093, + 2431.613, + 57.15, + 0.0, + 0.0, + 0.0 + ], + [ + -159.093, + 2431.613, + 57.15, + 0.0, + 0.0, + 0.0 + ], + [ + -159.093, + 2431.613, + 57.15, + 0.0, + 0.0, + 0.0 + ], + [ + -159.093, + 2431.613, + 57.15, + 0.0, + 0.0, + 0.0 + ], + [ + -262.379, + 2480.45, + 57.256, + -28.202, + 21.824, + 1.862 + ], + [ + -262.379, + 2480.45, + 57.256, + -28.202, + 21.824, + 1.862 + ] + ], + "PD_Dist_2D": [ + 994.9, + 869.1, + 743.3, + 617.5, + 491.8, + 366.2, + 240.9, + 116.7, + 21.4, + 21.4 + ], + "Rationale": [ + "From the parking lot I can see the supermarket entrance under its awning, with a row of short yellow bollards and a red tomato resting beside the leftmost one. The tomato is still far ahead down the walkway, so I will walk forward along the pavement to close that distance.", + "The storefront and the awning now fill more of my view, and the tomato next to the leftmost yellow bollard is slightly larger but still well out of reach. Nothing blocks the paved lane ahead, so I will keep stepping forward toward it.", + "The tomato beside the leftmost bollard sits ahead and slightly left of my heading, and my current spacing is far too great for a grasp. I will continue walking forward, since this heading keeps carrying me straight toward that bollard.", + "The entrance doors and the yellow bollards under the awning are clearly resolved now, and the tomato is plainly visible on the curb line ahead. It is still several paces off, so I will advance again rather than stop early.", + "The tomato has grown noticeably and now sits just ahead of me near the curb by the leftmost yellow bollard. My heading is already lined up on it, so I will keep walking forward to shrink the remaining gap.", + "I am close to the curb under the awning, with the tomato sitting low and slightly left of center in front of me. A couple more steps should bring it within grasping range, so I will continue forward.", + "The tomato is now very close and low in my view, right beside the leftmost yellow bollard at the curb under the awning. One more step forward should place it directly at my feet where I can reach it.", + "The tomato is now at the very bottom of my view, right at my feet beside the leftmost yellow bollard under the awning. I am standing within reach and aligned with it, so I will reach down and attempt to grab it.", + "The tomato is now held in my hand, so the grab succeeded. The task is complete and no further action is needed." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_a/infos.json b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..60993a2e090f894df8ce072549226b694c6aef51 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the potted plant with green leaves.", + "Type": 0, + "Start_Pose": [ + -1049.703, + 105.972, + 98.866, + 0.0, + -177.12, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1049.703, + 105.972, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1175.403, + 99.648, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1301.103, + 93.325, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1426.803, + 87.001, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1552.503, + 80.677, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1678.203, + 74.353, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1678.203, + 74.353, + 98.866, + 0.0, + -177.12, + 0.0 + ] + ], + "Rationale": [ + "From the store aisle I can see a tall green leafy plant in a pale pot ahead near the front window, roughly centered between the checkout counters. My heading already points down the open lane toward it, so I will move forward to begin closing the long distance.", + "The potted plant now appears larger and still sits close to the center of my view, confirming my heading is good. The floor between me and it remains clear, so I will continue straight forward.", + "The plant with its long green fronds and silver pot is clearly resolved beside the trash bin and the green seats, still ahead of me. No alignment change is needed, so another forward step should keep shrinking the gap.", + "I am now in the front lobby area with the plant only a few steps away, slightly left of center. I will step forward again to bring it within close standing range.", + "The plant's leaves and pot now occupy a large part of my left view, so I am nearly beside it. One more forward step should place me directly at the plant without passing it.", + "The green leafed plant in its silver pot is right beside me, filling the near left of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_b/infos.json b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7298e0adadc487f9f795cb2c8af63e520120c495 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the dark cylindrical trash bin.", + "Type": 0, + "Start_Pose": [ + -1049.703, + 105.972, + 98.866, + 0.0, + -177.12, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1049.703, + 105.972, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1175.403, + 99.648, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1301.103, + 93.325, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1426.803, + 87.001, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1426.803, + 87.001, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1543.399, + 134.393, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1659.994, + 181.785, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1776.589, + 229.177, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1776.589, + 229.177, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1776.589, + 229.177, + 98.866, + 0.0, + 157.88, + -0.0 + ] + ], + "Rationale": [ + "From my starting position in the open aisle I can see the dark cylindrical trash bin standing ahead near the front windows, beside a potted plant. It is far off across the tiled floor, with clear space between the checkout counters, so I will step forward to begin closing that distance.", + "The bin is noticeably larger now and still lies ahead of me, just left of the central window bay with the plant next to it. The lane between the counters remains clear, so another step forward should keep shrinking the gap.", + "I am now past the counters with the seating area and window wall filling my view, and the bin stands clearly ahead beside the plant. Nothing blocks the tiles in front of me, so I continue forward to get within close range.", + "At this closer range the trash bin sits off to the left of my straight-ahead heading, with the chairs and the drink display taking the center. I will turn left so the bin comes onto my forward path before I advance again.", + "The turn has brought the dark bin near the middle of my view, standing against the window wall next to the plant. With my heading aligned and open floor between us, I step forward to close the remaining distance.", + "The bin is directly ahead and much larger, its lid now clearly visible beside the potted plant and the yellow pillar. I am still a couple of paces short of it, so I will move forward again.", + "The bin now dominates the middle of my view with its swing lid plainly in reach of my forward path. One more step should bring me right up beside it without bumping the plant on the right.", + "I am standing right at the bin, so close that only its upper lid and the pillar behind it fill my view. I tilt my gaze downward to bring the whole bin and its base into sight and confirm I am immediately beside it.", + "The dark cylindrical trash bin stands directly before me at arm's length, its lid clearly visible. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_c/infos.json b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ede4d40cb368728497a89160d6569f6758834f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the purple decorative ball on the counter.", + "Type": 0, + "Start_Pose": [ + -1049.703, + 105.972, + 98.866, + 0.0, + -177.12, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1049.703, + 105.972, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1175.403, + 99.648, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1301.103, + 93.325, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1301.103, + 93.325, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1417.699, + 140.716, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1534.294, + 188.108, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1650.889, + 235.5, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1650.889, + 235.5, + 98.866, + 0.0, + 132.88, + -0.0 + ], + [ + -1736.532, + 327.727, + 98.866, + 0.0, + 132.88, + -0.0 + ], + [ + -1736.532, + 327.727, + 98.866, + 0.0, + 132.88, + -0.0 + ] + ], + "Rationale": [ + "Scanning the open store floor, I pick out a cluster of shiny decorative balls hanging near the coolers on the left side, with one clearly purple. The aisle between the two checkout counters is clear ahead, so I step forward to begin closing the long distance to that display.", + "The balloon cluster by the coolers has grown noticeably and the purple one is easier to distinguish, confirming my heading is bringing me nearer. The lane between the counters remains unobstructed, so I continue straight ahead to keep cutting the distance.", + "As I have advanced, the purple decorative ball has slid well over to my left while my body still faces the front windows. I turn left to bring that balloon closer to straight ahead so my next steps carry me toward it rather than past it.", + "After the turn, the purple ball and its neighboring balloons sit much more directly ahead of me beside the cooler cases. With clear tile between us, I step forward to shorten the gap along this improved heading.", + "The purple balloon is now large and bright against the window blinds, and the trash bin and potted plant stay clear to my right. My path is still open, so I take another step forward to keep closing in.", + "The purple ball dominates the wall ahead beside the cooler doors, so I am close but not yet within a comfortable stopping distance. I move forward again to finish closing that remaining stretch.", + "At this short range the purple balloon has drifted to the left of my heading while the trash bin now sits directly in front of me. I turn left to point squarely at the purple ball and keep my final steps clear of the bin.", + "The purple decorative ball is now centered ahead of me with open tile in between, so my heading is well set. I take one more step forward, which should place me right at the balloon display.", + "The purple decorative ball fills the space directly ahead of me, within arm's reach. The task is complete, so I stop here rather than crowding it further." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_d/infos.json b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1c9e6978c19e16f3bf3818922843a1a33c67603b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t0_d/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the green chairs.", + "Type": 0, + "Start_Pose": [ + -1049.703, + 105.972, + 98.866, + 0.0, + -177.12, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1049.703, + 105.972, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1175.403, + 99.648, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1301.103, + 93.325, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1426.803, + 87.001, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1552.503, + 80.677, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1678.203, + 74.353, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1788.638, + 68.443, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1788.638, + 68.443, + 98.866, + 0.0, + -177.12, + 0.0 + ] + ], + "Rationale": [ + "From the store aisle I can already spot the two green chairs seated against the far window wall, roughly straight ahead between the potted plant and the drinks display. My current heading points down the open tiled lane between the two checkout counters, so no turn is needed yet. I will move forward to start closing the long distance to them.", + "The green chairs are noticeably larger and still near the center of my view, confirming my heading is aimed at them. The floor ahead between the counters remains clear of obstacles. I will continue straight forward to keep reducing the gap.", + "The chairs now sit clearly in the middle of my view with the counter edge passing on my right side, so my line of travel still leads to them. There is nothing blocking the tiles between me and the window bay. Another forward step should bring me appreciably closer.", + "Both green chairs are plainly in front of me, flanked by the plant on the left and the bottle display on the right, and my heading splits them near the center. I am still several steps away from being right at them. I will keep advancing straight ahead.", + "The chairs now fill a large part of my view and their metal frame legs are clearly visible on the tiles, so I am close but not yet at them. My heading remains aligned on the pair with open floor in between. One more forward step should place me right in front of them.", + "The two green chairs dominate my view at close range, with the seat backs at about my forward reach and the window just beyond them. A short final advance should put me directly at the chairs rather than a step short. I will move forward once more to settle at the target.", + "A green chair back is directly in front of me at arm's length against the window. The navigation task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1108e2fa946867e93918370bbaae1618c53c78a2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001050_y000106_z000099_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Lift the ceramic pot near the potted plant with green leaves.", + "Type": 5, + "Start_Pose": [ + -1049.703, + 105.972, + 98.866, + 0, + -177.12, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1808.757, + 99.016, + 15.866, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1049.703, + 105.972, + 98.866, + 0, + -177.12, + 0 + ], + [ + -1175.403, + 99.648, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1301.103, + 93.325, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1426.803, + 87.001, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1552.503, + 80.677, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1678.203, + 74.353, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1678.203, + 74.353, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1678.203, + 74.353, + 98.866, + 0.0, + -177.12, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1808.757, + 99.016, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1808.757, + 99.016, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1808.757, + 99.016, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1808.757, + 99.016, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1808.757, + 99.016, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1808.757, + 99.016, + 15.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1676.521, + 53.057, + 68.973, + -28.202, + -126.975, + 1.862 + ], + [ + -1676.521, + 53.057, + 68.973, + -28.202, + -126.975, + 1.862 + ] + ], + "PD_Dist_2D": [ + 759.1, + 633.4, + 507.7, + 382.1, + 256.9, + 132.9, + 21.4, + 21.4 + ], + "Rationale": [ + "From the middle of the store aisle I can see the leafy potted plant far ahead by the window seating, with a rounded ceramic pot resting beside it on the floor. It is still a long way off, so I will walk straight forward along the open tiled lane between the two checkout counters. My heading already points at it, so no turn is needed yet.", + "The plant and the round ceramic pot beside it now appear larger and closer to the center of my view, confirming the previous step closed distance along a good heading. The lane ahead is still free of shoppers, counters, or displays. I will continue walking forward without changing direction.", + "The window seating area with the green chairs, the trash bin, and the tall leafy plant is clearly resolved now, and the reddish ceramic pot sits on the tiles just right of the plant's silver planter. I am still several strides short of grasping range. I will keep advancing straight toward it.", + "The plant and the clay pot fill much more of my view and sit slightly left of center, but the pot is still beyond arm's reach on the floor. Nothing blocks the last stretch of tile in front of me. I will step forward again to close the remaining gap.", + "I am close to the seating area now, with the leafy plant towering on my left and the ceramic pot low on the tiles just ahead of my feet. One more short step should put the pot within comfortable reach for lifting. I will move forward before attempting the grasp.", + "I am standing right at the potted plant, its leaves close on my left, and the rounded rim of the ceramic pot is just at the lower edge of my view by my feet. This is the reach position the task called for. I will attempt to lift the ceramic pot now.", + "The ceramic pot is in my hands, raised off the tiles and held in front of me. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/infos.json b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..053f800e988ec1159fd5965273eac48f91b5af19 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the red crossing.", + "Type": 0, + "Start_Pose": [ + -1063.152, + -959.257, + 98.866, + 0.0, + 153.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1063.152, + -959.257, + 98.866, + 0.0, + 153.12, + -0.0 + ], + [ + -1175.413, + -902.353, + 98.866, + 0.0, + 153.12, + -0.0 + ], + [ + -1287.673, + -845.449, + 98.866, + 0.0, + 153.12, + -0.0 + ], + [ + -1287.673, + -845.449, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1413.464, + -841.32, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1539.256, + -837.191, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1665.047, + -833.062, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1665.047, + -833.062, + 98.866, + 0.0, + 178.12, + -0.0 + ] + ], + "Rationale": [ + "Scanning the open hall, I pick out the dark standing panel bearing a red cross emblem beside the drinks shelving, slightly right of straight ahead. It is far across the tiled floor, so I will step forward to begin closing that distance.", + "The red cross panel next to the bottle shelves now appears a bit larger and clearer, confirming I am headed roughly toward it. My path across the tiles is still clear, so I will continue forward to shorten the remaining gap.", + "The panel with the red cross sits to the right of my current heading, with the green seats and windows beyond it. I will turn right so the emblem lines up ahead of me before I keep advancing.", + "After the turn the red cross panel is nearly centered ahead, standing between the beverage cabinet and the row of green chairs. The floor in front is open, so I will walk forward toward it.", + "The red cross emblem on the panel is noticeably bigger and still straight ahead, so my alignment is holding. I will take another step forward to keep reducing the distance.", + "The panel with the red cross now dominates the space in front of me, though a short stretch of floor still separates us. I will advance once more to reach a position right at it.", + "The red cross emblem stands directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/infos.json b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4061edc7f660ea0d8442fc6768d95aeffa9c92d3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the dark gray panel marked with a bright pink cross beneath the yellow circular sign.", + "Type": 0, + "Start_Pose": [ + -1063.152, + -959.257, + 98.866, + 0.0, + 153.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1063.152, + -959.257, + 98.866, + 0.0, + 153.12, + -0.0 + ], + [ + -1175.413, + -902.353, + 98.866, + 0.0, + 153.12, + -0.0 + ], + [ + -1287.673, + -845.449, + 98.866, + 0.0, + 153.12, + -0.0 + ], + [ + -1287.673, + -845.449, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1413.464, + -841.32, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1539.256, + -837.191, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1665.047, + -833.062, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1665.047, + -833.062, + 98.866, + 0.0, + 178.12, + -0.0 + ] + ], + "Rationale": [ + "From the open floor I can pick out the dark gray board with the bright pink cross standing against the pillar that carries the yellow round sign, well ahead on the right side of the hall. It is far away across the tiles, so I will move forward to begin closing that gap.", + "The panel with the pink cross and the yellow starburst sign above it are noticeably larger now, so my heading is still carrying me toward them. The path across the tiles stays clear, so I will keep moving forward.", + "As I have come closer, the dark gray panel with the pink cross has drifted out to the right of my view, off my current line of travel. I will turn slightly right to bring it back toward the center before continuing.", + "The turn has put the dark panel with the pink cross near the middle of my view, with its yellow circular sign on the pillar just above it. With the heading aligned and open floor in front, I will move forward to close the remaining distance.", + "The panel and its pink cross are clearly readable now and remain near the center of my view, so my alignment is holding. A few paces of clear floor still separate me from it, so I will advance again.", + "The dark gray panel now dominates the left-center of my view with the yellow sign directly above it on the pillar, but I am still a step short of standing right at it. I will move forward once more to finish closing in.", + "The dark gray panel with the bright pink cross stands directly in front of me at arm's length beneath the yellow sign. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..54bf56672c222b84edbecb292d6b5c248e601ab3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001063_y-000959_z000099_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the trash bag beside the black standing sign board with the red emblem.", + "Type": 5, + "Start_Pose": [ + -1063.152, + -959.257, + 98.866, + 0, + 153.12, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1708.587, + -859.879, + 13.866, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1063.152, + -959.257, + 98.866, + 0, + 153.12, + 0 + ], + [ + -1063.152, + -959.257, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1188.943, + -955.128, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1314.734, + -950.999, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1440.526, + -946.87, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1566.317, + -942.741, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1566.317, + -942.741, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + -1566.317, + -942.741, + 98.866, + 0.0, + 178.12, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1708.587, + -859.879, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.587, + -859.879, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.587, + -859.879, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.587, + -859.879, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.587, + -859.879, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.587, + -859.879, + 13.866, + 0.0, + 0.0, + 0.0 + ], + [ + -1566.408, + -964.104, + 68.973, + -28.202, + -131.735, + 1.862 + ], + [ + -1566.408, + -964.104, + 68.973, + -28.202, + -131.735, + 1.862 + ] + ], + "PD_Dist_2D": [ + 653.0, + 653.0, + 528.3, + 404.3, + 281.8, + 164.6, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the black trash bag sitting on the tiled floor next to the dark standing sign board with the red emblem, but it lies to the right of my current heading, near the row of green chairs. I will turn right so the bag and the sign board move toward the center of my view before I start walking. That should give me a straight approach line across the open floor.", + "The trash bag and the sign board with the red emblem are now roughly centered ahead of me, with clear tiled floor in between. I will walk forward to close the large gap, since the bag is still far too distant to reach. Nothing appears to block this straight path.", + "The trash bag has grown noticeably larger and stays slightly left of center, confirming my heading is good. I will keep walking forward because I am still several strides short of grasping range. The floor ahead remains clear of shelves and chairs.", + "The bag beside the standing sign board is clearly closer now, and the sign's red emblem is legible, so I am tracking the right object. I will step forward again to shrink the remaining distance. There is still open tile between me and the bag.", + "The trash bag now fills a large part of the lower left of my view, just in front of the sign board, but it is still slightly ahead of my reach. I will take one more step forward to bring it directly under me for a grasp. That should place it close enough to attempt a pick.", + "The trash bag is right at my feet, immediately beside the standing sign board with the red emblem, close enough that no further stepping is needed. I will attempt to pick it up now, since it is centered in my reach zone. The grasp should lift the bag from the floor.", + "The trash bag is now held in front of me, filling my lower view above the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001096_y000178_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x-001096_y000178_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..255378637d719971c8dbcff972dbc35f1209ee2f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001096_y000178_z000099_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the green chairs, then move to the purple decorative ball.", + "Type": 3, + "Start_Pose": [ + -1095.573, + 178.404, + 98.866, + 0.0, + -177.12, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1095.573, + 178.404, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1221.273, + 172.08, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1346.973, + 165.757, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1346.973, + 165.757, + 98.866, + 0.0, + -152.12, + 0.0 + ], + [ + -1458.223, + 106.902, + 98.866, + 0.0, + -152.12, + 0.0 + ], + [ + -1569.474, + 48.048, + 98.866, + 0.0, + -152.12, + 0.0 + ], + [ + -1569.474, + 48.048, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1695.174, + 41.724, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1788.777, + 35.35, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1788.777, + 35.35, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1696.494, + 39.993, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1604.21, + 44.635, + 98.866, + 0.0, + -177.12, + 0.0 + ], + [ + -1604.21, + 44.635, + 98.866, + 0.0, + 157.88, + -0.0 + ], + [ + -1604.21, + 44.635, + 98.866, + 0.0, + 132.88, + -0.0 + ], + [ + -1689.853, + 136.862, + 98.866, + 0.0, + 132.88, + -0.0 + ], + [ + -1775.496, + 229.089, + 98.866, + 0.0, + 132.88, + -0.0 + ], + [ + -1775.496, + 229.089, + 98.866, + 0.0, + 107.88, + -0.0 + ], + [ + -1805.401, + 344.343, + 98.866, + 0.0, + 107.88, + -0.0 + ], + [ + -1805.401, + 344.343, + 98.866, + 0.0, + 107.88, + -0.0 + ] + ], + "Rationale": [ + "From the entrance of the store I can see the row of green chairs against the far window, straight ahead beyond the checkout counters. The tiled aisle between the counters is clear, so I will walk forward to close that distance.", + "The green chairs by the glass wall are noticeably larger now, so my heading down this aisle is good. Nothing blocks the floor ahead, so I will keep walking toward them.", + "The green seats now sit a little to the right of where I am facing, with the plant and bin off to my left. I will turn right to put the seating area more squarely in front of me before continuing.", + "The green chairs are ahead on my left along the window, with wide clear tile between me and them. I will step forward to shorten the gap to that seating area.", + "The two green chairs and the advertising stand beside them are much closer now, filling the left part of my view. The path stays open, so I will keep advancing toward the seats.", + "The green chairs have drifted to the left edge of my view while the shelving fills the right. I will turn left so the seats sit directly in front of me for a straight final approach.", + "The pair of green chairs is now centered in front of me with the plant to one side and the display column to the other. Only a short stretch of tile remains, so I will walk forward to reach them.", + "The green chairs now dominate my view, close enough that I can see their seat surfaces and the frame beneath. One more short step should bring me right up to the seating.", + "The two green chairs fill my view right in front of me, close enough to touch against the window glass. I am standing at the green chairs, so I mark reaching them here. Now I turn my attention to the glossy purple ball back near the entrance wall.", + "The chairs and the window are pressed against my face, leaving no space to swing around toward the purple ball hanging back along the entrance wall. Backing straight up is the quickest way to open that space without an awkward turn in place. I step backward now.", + "The seats have dropped back a little, but the planter on my left and the seat frame ahead still crowd me. One more step backward should give me enough clear floor to rotate toward the purple ball without brushing the furniture.", + "I now have open tile behind and around me, and the chairs sit squarely ahead while the purple ball is off past the planter and bin to my left. Turning left starts swinging my heading that way. I expect the balloon display to come into view.", + "The cluster of balloons, including the glossy purple one, has appeared at the far left edge of my view beside the dark panel. Another left turn should bring it nearer the centre so I can walk straight at it.", + "The purple ball and its neighbouring balloons are now ahead of me along the window wall, with clear tile between us. Nothing blocks the lane except the bin off to the right, so I walk forward to close the gap.", + "The purple ball has grown noticeably and now hangs a few steps ahead beside the dark panel, with the bin and pillar clear of my path on the right. Another stride forward should bring me right up beside it.", + "I am close now, but the wall panel has pushed the balloons toward the left half of my view while the yellow pillar fills the right. A left turn should put the purple ball squarely in front of me for the final step.", + "The glossy purple ball now sits near the middle of my view, tethered against the dark panel by the window. My heading finally lines up with it, so a step forward should close the last bit of distance and bring me right up beside it.", + "The purple ball fills my view at arm's length directly ahead. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001364_y-000796_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x-001364_y-000796_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1586310dcc7747030a7cc5af994794a46db86dff --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001364_y-000796_z000099_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Explore the area until you identify the row of four-seat green chairs near the window, then head toward that location.", + "Type": 1, + "Start_Pose": [ + -1363.572, + -795.632, + 98.866, + 0.0, + 4.32, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 54.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 79.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 104.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 129.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 154.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 179.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + -155.68, + 0.0 + ], + [ + -1478.262, + -847.465, + 98.866, + 0.0, + -155.68, + 0.0 + ], + [ + -1592.952, + -899.298, + 98.866, + 0.0, + -155.68, + 0.0 + ], + [ + -1707.643, + -951.13, + 98.866, + 0.0, + -155.68, + 0.0 + ], + [ + -1795.057, + -1006.288, + 98.866, + 0.0, + -155.68, + 0.0 + ], + [ + -1795.057, + -1006.288, + 98.866, + 0.0, + -155.68, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a product island and freezer cabinets under the interior lighting, with no window wall or green seating anywhere in front of me. I will turn right to begin a steady scan of the store for a daylit perimeter where a row of four green chairs would plausibly sit.", + "The view now shows the shelving run stretching off to my left and a structural pillar with more aisles beyond, but still no glazing or seating. I will keep rotating right in the same direction so the sweep stays consistent and eventually reaches the store's outer wall.", + "Open floor has opened up ahead and I can just make out brighter fixtures and what looks like a front-of-store area far on the right side. Continuing the same rightward turn should bring that brighter perimeter zone fully into view.", + "I can now see the checkout lanes and, past them on the right, tall glazing letting in daylight, which is a strong cue for the window side of the store. I will turn right again to face that window wall, since seating rows are usually placed along it.", + "The window wall with blue sky beyond is now clearly ahead and to my right, with checkouts on the left and a green-trimmed cooler in between. Another right turn should sweep further along that glazed frontage where any waiting chairs would be lined up.", + "Facing the glazed frontage I see the drinks cooler and signage, and at the far right edge a hint of bright green seat shells against the windows. I will turn right once more to bring that promising seating area properly into my field of view.", + "The green chairs are now clearly in sight to my right, standing in a line against the window wall beyond the wine display. I will continue turning right to place that row nearer the center of my heading before walking toward it.", + "I can count four green chairs in a single row directly against the window glass, which matches the target described in the task. They still sit slightly right of my heading, so one more small right turn should line me up for a straight walk across the open tiled floor toward them.", + "The row of four green chairs against the window wall is now centered ahead of me, so the search part of the task is settled. I will walk forward toward that seating row to close the open floor distance between us.", + "The four green chairs have grown larger and stay near the middle of my view, confirming my heading is still good. I will keep walking forward since a fair stretch of tiled floor still separates me from the window seating.", + "The seats now fill much of my view with the window and hedge clearly behind them, so I am close but not yet at the row. Another step forward should bring me right up to the chairs by the glass.", + "I am nearly beside the green chairs, with the window frames and the outdoor hedge filling most of my view. One more short step forward should place me directly at the seating row by the window.", + "The green window-side chairs are right beside me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001364_y-000796_z000099_t1_b/infos.json b/dataset/trajectory/Supermarket/task_x-001364_y-000796_z000099_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c0cf6f65cd8c284ba40cc3b877ca0ac4e5133ce --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001364_y-000796_z000099_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the surrounding area for the dark standing sign with red pattern, then move to that location.", + "Type": 1, + "Start_Pose": [ + -1363.572, + -795.632, + 98.866, + 0, + 4.32, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1363.572, + -795.632, + 98.866, + 0, + 4.32, + 0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 54.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 79.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 104.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 129.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 154.32, + -0.0 + ], + [ + -1363.572, + -795.632, + 98.866, + 0.0, + 179.32, + -0.0 + ], + [ + -1489.422, + -794.138, + 98.866, + 0.0, + 179.32, + -0.0 + ], + [ + -1615.272, + -792.645, + 98.866, + 0.0, + 179.32, + -0.0 + ], + [ + -1741.122, + -791.151, + 98.866, + 0.0, + 179.32, + -0.0 + ], + [ + -1741.122, + -791.151, + 98.866, + 0.0, + 179.32, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a tall product island of packaged goods ahead and refrigerated cases along the left wall, with no dark standing sign anywhere in view. I will turn right to begin a steady scan of the store and open up the aisles hidden beyond the shelf block.", + "The new heading shows the side of the shelving run, a structural pillar, and a pale display board near the pillar whose markings I cannot resolve as the red pattern I need. I will keep rotating right in the same direction to bring more of the store floor into view rather than commit to an unclear board.", + "This heading opens onto a wider floor with more pillars and distant shelving, and the standing board near the pillar reads as light colored rather than the dark sign described. I will continue the same rightward scan toward the brighter far side of the store where more standing displays may sit.", + "Now the checkout lanes and the front windows come into view, an area where promotional standing signs are commonly placed. I will keep turning right to sweep along the storefront and look for a dark board with a red pattern.", + "The front of the store is bright with windows and the checkout row runs off to my left, but nothing along this stretch matches a dark standing sign. I will continue the rightward sweep toward the window side where a chilled display appears at the edge of my view.", + "The green chilled beverage unit near the windows is now centered, and beyond its right edge I can make out a darker upright panel that may be the sign I am looking for. I will turn right once more to bring that dark panel fully into the middle of my view.", + "A dark standing board with red lettering and a red emblem is now clearly visible just right of the beverage cooler, next to the row of green seats. I will turn right once more to place it near the center of my heading before walking toward it.", + "The dark standing sign with its red cross emblem and red lettering is now centered ahead of me beside the cooler, with clear open tiled floor in between. I will walk forward to close the distance toward it.", + "The dark standing board with the pink cross emblem and \"Coal Wine\" lettering is now clearly ahead of me, beside the beverage cooler and the row of green chairs. It still sits several paces off, so I will keep walking straight along this heading to close the remaining gap.", + "The dark sign with the red cross symbol now fills a large part of my view and its text is legible, confirming I am nearly upon it. One more step forward should bring me right up to its location.", + "The dark standing sign with the red cross pattern now fills my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001408_y001574_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x-001408_y001574_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c24f5f3593c78f23b724bb40788e380f59c7b7cf --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001408_y001574_z000099_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Walk to the potted plant near the shelves, then head to the green chairs.", + "Type": 3, + "Start_Pose": [ + -1408.03, + 1574.406, + 98.866, + 0.0, + -22.56, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1408.03, + 1574.406, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -1408.03, + 1574.406, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -1323.098, + 1481.524, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -1238.166, + 1388.642, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -1153.234, + 1295.76, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -1153.234, + 1295.76, + 98.866, + 0.0, + -72.56, + 0.0 + ], + [ + -1115.514, + 1175.687, + 98.866, + 0.0, + -72.56, + 0.0 + ], + [ + -1077.793, + 1055.613, + 98.866, + 0.0, + -72.56, + 0.0 + ], + [ + -1077.793, + 1055.613, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -992.861, + 962.731, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -992.861, + 962.731, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -992.861, + 962.731, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -992.861, + 962.731, + 98.866, + 0.0, + 2.44, + -0.0 + ], + [ + -992.861, + 962.731, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -881.162, + 1020.729, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -769.463, + 1078.728, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -657.764, + 1136.726, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -546.064, + 1194.724, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -470.141, + 1243.407, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -470.141, + 1243.407, + 98.866, + 0.0, + 27.44, + -0.0 + ] + ], + "Rationale": [ + "From the entrance aisle I can see a tall potted plant standing beside the stocked shelves off to my left, while my body faces the open floor ahead. Turning left should bring that plant and its shelving row into the middle of my view so I can walk straight toward it.", + "The shelves with the leafy potted plant beside them now sit ahead and slightly left, with clear tile between me and them. I will walk forward to cut down that distance before making any further heading adjustment.", + "The green plant beside the column and the shelf run are noticeably larger than before, so my heading is carrying me the right way. I will keep walking forward since nothing blocks the tiled lane in front of me.", + "The potted plant now stands clearly at the base of the pillar next to the shelves, still some way off to my left front. Another step forward should close more of that gap before I swing my heading toward it.", + "The potted plant beside the shelves has drifted toward the left edge of my view as I advanced, so walking straight would carry me past it. I will turn left to bring the plant back in front of me for a direct approach.", + "The plant and its silver pot now sit near the middle of my view against the pillar and shelving. With open tile in between, I will step forward to close on it.", + "The potted plant fills much more of my view now, its pot resting at the foot of the pillar just ahead. I will keep walking so I arrive right beside it rather than stopping short.", + "I am close enough that the plant's fronds dominate the right side of my view and its pot sits just ahead to my right. Turning right should square me onto the plant beside the shelves so my last step should bring me directly to it.", + "The tall potted fern beside the pillar at the end of the shelving stands just ahead and slightly left of me, with clear tile between us. I will step forward once more to draw level with its planter rather than stopping short of it.", + "The fern's fronds now fill the left of my view at arm's length, its planter at my feet and the stocked shelves right behind it. I am standing at the potted plant by the shelves. I mark reaching it and now set off toward the green chairs.", + "The plant is beside me and its leaves and the standing sign block most of what lies ahead, so this heading tells me nothing about where the green chairs are. I will pivot right to sweep my view across the open floor toward the front of the store.", + "The sweep has opened up the aisle mouth and the checkout counters on the right, but no green seating is in view yet. I will keep turning right to bring the bright front area of the store into the middle of my view.", + "Two green chairs have appeared to the right of my view, over by the tills and the daylight of the front windows. Another turn right should bring them nearer the centre of my heading before I start walking.", + "The green chairs now sit ahead of me beside the tills and the row of seats along the front windows, with clear tile in between. I will walk forward to close that distance.", + "The pair of green chairs by the bin has grown larger and stays in front of me, so my heading is good. I keep walking to cut down the remaining stretch of floor.", + "The two green chairs are close now, their seats and backs clearly detailed just left of the bin. A further step forward should bring me right up beside them.", + "The pair of bright green chairs sits just ahead of me, centered in my path with clear floor between us. I still have a few paces of open tile before I would be standing at them, so I will step forward again to close that gap.", + "The two green chairs now fill the lower part of my view, close enough that their seats and rails are distinct. One more short step should bring me right up beside them rather than leaving me a stride short.", + "The green chairs are directly in front of me, within arm's reach on both sides of my view. The task is complete, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001408_y001574_z000099_t5_a_pd/infos.json b/dataset/trajectory/Supermarket/task_x-001408_y001574_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4be4ed9e4a0a82fd8dfd085b5789e9c0a7360d4c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001408_y001574_z000099_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the jerry can at the potted plant near the shelves, then drop it near the green chairs.", + "Type": 5, + "Start_Pose": [ + -1408.03, + 1574.406, + 98.866, + 0, + -22.56, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -862.959, + 960.109, + 11.866, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1408.03, + 1574.406, + 98.866, + 0, + -22.56, + 0 + ], + [ + -1408.03, + 1574.406, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -1323.098, + 1481.524, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -1238.166, + 1388.642, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -1153.234, + 1295.76, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -1068.302, + 1202.878, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -983.371, + 1109.996, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -983.371, + 1109.996, + 98.866, + 0.0, + -47.56, + 0.0 + ], + [ + -983.371, + 1109.996, + 98.866, + 0.0, + -22.56, + 0.0 + ], + [ + -983.371, + 1109.996, + 98.866, + 0.0, + 2.44, + -0.0 + ], + [ + -983.371, + 1109.996, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -871.671, + 1167.994, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -759.972, + 1225.991, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -648.272, + 1283.989, + 98.866, + 0.0, + 27.44, + -0.0 + ], + [ + -648.272, + 1283.989, + 98.866, + 0.0, + 2.44, + -0.0 + ], + [ + -522.527, + 1289.346, + 98.866, + 0.0, + 2.44, + -0.0 + ], + [ + -594.462, + 1286.281, + 98.866, + 0.0, + 2.44, + -0.0 + ], + [ + -594.462, + 1286.281, + 98.866, + 0.0, + 2.44, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -862.959, + 960.109, + 11.866, + 0.0, + 0.0, + 0.0 + ], + [ + -862.959, + 960.109, + 11.866, + 0.0, + 0.0, + 0.0 + ], + [ + -862.959, + 960.109, + 11.866, + 0.0, + 0.0, + 0.0 + ], + [ + -862.959, + 960.109, + 11.866, + 0.0, + 0.0, + 0.0 + ], + [ + -862.959, + 960.109, + 11.866, + 0.0, + 0.0, + 0.0 + ], + [ + -862.959, + 960.109, + 11.866, + 0.0, + 0.0, + 0.0 + ], + [ + -862.959, + 960.109, + 11.866, + 0.0, + 0.0, + 0.0 + ], + [ + -968.023, + 1124.856, + 68.973, + -28.202, + 2.584, + 1.862 + ], + [ + -975.38, + 1130.838, + 69.246, + -28.189, + 27.596, + 1.872 + ], + [ + -984.176, + 1132.506, + 68.578, + -28.215, + 52.567, + 1.849 + ], + [ + -990.75, + 1136.072, + 68.632, + -14.092, + 69.783, + 6.87 + ], + [ + -882.159, + 1186.61, + 69.199, + -28.198, + 77.585, + 1.865 + ], + [ + -770.198, + 1244.746, + 68.661, + -28.191, + 77.598, + 1.871 + ], + [ + -658.382, + 1302.794, + 68.38, + -28.214, + 77.57, + 1.852 + ], + [ + -649.926, + 1304.153, + 69.605, + -28.191, + 52.589, + 1.872 + ], + [ + -524.287, + 1310.638, + 69.38, + -28.206, + 52.577, + 1.863 + ], + [ + -524.525, + 1289.261, + 48.866, + 0.0, + 2.44, + -0.0 + ], + [ + -524.525, + 1289.261, + 48.866, + 0.0, + 2.44, + -0.0 + ] + ], + "PD_Dist_2D": [ + 821.3, + 821.3, + 695.4, + 569.6, + 443.8, + 318.0, + 192.3, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 20.2, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From here the store aisles and the potted plant by the shelves sit off to my left, while the red jerry can beside them is barely distinguishable at this distance. I will turn left to bring that plant and shelf area into the center of my view before starting toward it.", + "The shelf run with the potted plant is now centered ahead of me, and I can make out a small red container standing on the floor near the plant. The path across the tiles is clear, so I will walk forward to close the long gap toward it.", + "The red jerry can beside the potted plant is clearly larger now, confirming I am heading straight at the right spot. Nothing blocks the tiled lane ahead, so I will keep walking forward to shorten the remaining distance.", + "The jerry can and the potted plant are still slightly ahead and to my left, and the container is still too far for a reliable grasp. I will continue advancing along this heading to bring it within reach.", + "The jerry can now stands out sharply beside the plant and the small sign board, close to the middle of my view. It is still a few paces away, so I will step forward again to close in for the pickup.", + "The red jerry can is directly in front of me at floor level, but it still looks a step beyond comfortable grabbing range. I will take one more step forward so it sits right at my feet for the pick.", + "The jerry can is now immediately in front of me at the base of the sign board, with the potted plant right at my side, so I am standing at the plant near the shelves as the task describes. I will attempt to pick it up from here, since it should be within reach at this distance.", + "The grasp worked, since the red jerry can is now held low in front of me and my view tips down to the floor and my own feet. The green chairs are not in front of me on this heading, so I will turn right to swing back toward the seating area across the floor.", + "I am carrying the jerry can and the view has come back up off the floor, with green chairs visible far to the right beside a checkout counter. I need to keep rotating right so the seating area sits ahead of me rather than off at the edge of my view. I will turn right again to continue swinging my heading toward the chairs.", + "The green chairs and the dark bin now sit in the right half of my view, closer to center than before but still offset. A little more rightward rotation should put the seating cluster squarely in front of me before I walk over with the can. I will turn right once more to finish lining up.", + "The row of green chairs, the bin, and the standing banner are now spread across the middle of my view, so my heading points into the seating area. There is clear open floor between me and them, so I can close the gap while holding the jerry can. I will step forward toward the chairs.", + "The chairs and the black bin have grown noticeably larger, confirming I am closing on the seating area. I am still too far back for the can to end up at the chairs, so more walking is needed. I will advance again toward the pair of chairs on my left of the bin.", + "Two green chairs now stand clearly on the left of the banner and bin, only a short distance ahead. Another step should bring me right up beside that seating so a drop lands at the chairs. I will keep walking forward.", + "I am now right at the seating cluster, but the two green chairs sit toward the left side of my view while the bin and banner fill the center. Turning left should place those chairs directly in front of me so the can can be set down at them. I will rotate left to center the chairs.", + "The two green chairs are now centered directly ahead with the bin pushed to the right, so my heading is on the drop spot. One short step should bring the chairs within arm's reach for releasing the jerry can. I will step forward to close that last bit of distance.", + "The two green chairs now fill the lower center of my view, so I am standing immediately at the target seating with the jerry can still in hand. This is the intended delivery spot, and releasing here should leave the can at the chairs. I will drop it now.", + "The jerry can now rests released at the green chairs directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001486_y-000884_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x-001486_y-000884_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eafa2f8f8c8c14c1ac7bf98dd7109d242322e2bd --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001486_y-000884_z000099_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Look around for the red fire extinguisher mounted on the wall, then approach the target area.", + "Type": 1, + "Start_Pose": [ + -1485.863, + -884.001, + 98.866, + 0.0, + -171.36, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1485.863, + -884.001, + 98.866, + 0.0, + -171.36, + 0.0 + ], + [ + -1485.863, + -884.001, + 98.866, + 0.0, + -146.36, + 0.0 + ], + [ + -1485.863, + -884.001, + 98.866, + 0.0, + -121.36, + 0.0 + ], + [ + -1485.863, + -884.001, + 98.866, + 0.0, + -96.36, + 0.0 + ], + [ + -1485.863, + -884.001, + 98.866, + 0.0, + -71.36, + 0.0 + ], + [ + -1485.863, + -884.001, + 98.866, + 0.0, + -46.36, + 0.0 + ], + [ + -1399.005, + -975.084, + 98.866, + 0.0, + -46.36, + 0.0 + ], + [ + -1312.146, + -1066.167, + 98.866, + 0.0, + -46.36, + 0.0 + ], + [ + -1312.146, + -1066.167, + 98.866, + 0.0, + -21.36, + 0.0 + ], + [ + -1194.932, + -1112.008, + 98.866, + 0.0, + -21.36, + 0.0 + ], + [ + -1077.719, + -1157.849, + 98.866, + 0.0, + -21.36, + 0.0 + ], + [ + -976.827, + -1181.654, + 98.866, + 0.0, + -21.36, + 0.0 + ], + [ + -976.827, + -1181.654, + 98.866, + 0.0, + -21.36, + 0.0 + ], + [ + -976.827, + -1181.654, + 98.866, + 0.0, + -21.36, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a row of green seats, a drinks cooler and the tall front windows, with no red fire extinguisher anywhere on these walls. I will turn right to begin a steady scan of the store interior in one consistent direction. The wall surfaces further around should offer better mounting spots to check.", + "The seating row and glazing still dominate my view, and a service counter with signage is just entering on the right, but no extinguisher is mounted on anything visible. I will keep rotating right in the same direction to bring that counter area and its back wall fully into view. Interior walls near a service area are a plausible place for one.", + "The bakery counter and its lettered wall are now in front of me, yet the only red items are small signs and a yellow box on the case, not a mounted extinguisher. I will continue the rightward scan to expose the wall sections still hidden beyond the display cases. Keeping one turn direction avoids re-checking ground I have already covered.", + "Glass display cases and the bakery menu board fill this view, and the far right edge is still cut off by the case corner. I will turn right again to reveal the wall running past the end of the counters. That stretch of plain wall is the most likely place to find the extinguisher.", + "I can now make out a small red fire extinguisher mounted on the tan wall panel to the right, beyond the end of the pastry case. I will turn right once more to bring it closer to the centre of my view before moving. Centering it should give me a clean straight approach line.", + "The red extinguisher is now ahead of me on the beige wall section beside the dark cabinet, and the tiled aisle in front is clear. I will walk forward to close the distance toward that wall. It should grow larger and more distinct as I advance.", + "The extinguisher on the wall ahead has grown noticeably larger, confirming I am closing on it along the aisle. I will step forward again since the floor between the display case and the cabinet is still unobstructed. A little more distance should put me right at the target wall.", + "I am close now, but the long pastry case on my left is crowding my heading while the extinguisher sits toward the right side of my view near the dark cabinet. I will turn right to point along the open aisle and put the mounted extinguisher squarely ahead. That should let me continue straight in without brushing the counter corner.", + "The red fire extinguisher is clearly visible ahead on the tan wall panel just left of the dark cabinet, so the search is settled and I only need to close distance. The tiled aisle in front of me is open and free of obstacles, so I will step forward toward that wall section.", + "The mounted extinguisher is noticeably larger and closer now, sitting on the wall panel to the left of the dark cabinet edge. There is still open floor between me and it, so I will continue walking forward to reach the target area.", + "The extinguisher now fills a large part of my view on the wall directly ahead and slightly left, so I am nearly at the target area. One more short step forward should place me right in front of it.", + "I am now right up against the wall, and my view is filled by the tan wall and the dark panel with only a hint of red at the top edge. Raising my gaze should bring the wall-mounted extinguisher back into clear view to confirm I am at the right spot.", + "The red wall-mounted fire extinguisher is directly in front of me at close range. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d334b492d8beac18513760e98ee21931b7bee375 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Walk to the leftmost light pole in the parking lot.", + "Type": 2, + "Start_Pose": [ + -1882.941, + 2578.57, + 87.15, + 0.0, + 31.2, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1882.941, + 2578.57, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1775.286, + 2643.768, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1667.63, + 2708.967, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1559.975, + 2774.165, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1559.975, + 2774.165, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -1434.852, + 2787.758, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -1309.729, + 2801.351, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -1184.607, + 2814.943, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -1059.484, + 2828.536, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -934.361, + 2842.129, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -809.238, + 2855.721, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -684.115, + 2869.314, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -558.992, + 2882.907, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -433.869, + 2896.499, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -308.747, + 2910.092, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -183.624, + 2923.685, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + -58.501, + 2937.277, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + 66.622, + 2950.87, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + 191.745, + 2964.463, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + 316.868, + 2978.056, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + 441.99, + 2991.648, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + 567.113, + 3005.241, + 87.15, + 0.0, + 6.2, + -0.0 + ], + [ + 692.236, + 3018.834, + 94.713, + 0.0, + 6.2, + -0.0 + ], + [ + 692.236, + 3018.834, + 94.713, + 0.0, + 31.2, + -0.0 + ], + [ + 799.891, + 3084.032, + 98.098, + 0.0, + 31.2, + -0.0 + ], + [ + 899.331, + 3117.74, + 98.15, + 0.0, + 31.2, + -0.0 + ], + [ + 899.331, + 3117.74, + 98.15, + 0.0, + 56.2, + -0.0 + ], + [ + 899.331, + 3117.74, + 98.15, + 0.0, + 56.2, + -0.0 + ] + ], + "Rationale": [ + "Scanning the lot, I count the lamps standing along it and the leftmost is the slender one far off to my left, rising beside the raised walkway near the covered storefront, well past the big sign pole ahead of me. I fix on that slim lamp rather than a position in the row, and step forward to close the open asphalt between us.", + "The slim lamp I chose is still well off to my left, near the striped crossing by the storefront, while my heading carries me toward the tall sign pole instead. The pavement in front stays clear, so I continue walking to gain ground before correcting my heading.", + "The benches and sign pole ahead are noticeably larger now, and my lamp remains to the left beside the pedestrian crossing. Nothing blocks the lane in front of me, so I take another step forward before swinging my heading over toward it.", + "Walking straight is taking me toward the sign pole and benches on my right rather than toward the lamp I picked, which sits off to my left by the crossing. I turn left to swing my heading onto that lamp so the following steps run straight at it.", + "The turn worked: the slim lamp now stands near the middle of my view, with the supermarket frontage opening on my left and the sign pole pushed to my right edge. The lane between us is clear, so I walk forward along it.", + "The lamp I am heading for holds its place near the center of my view and its pole reads taller than before, confirming I am closing in. I keep walking straight down the open lane beside the storefront.", + "My heading is still true on the slim lamp ahead, which now shows its lamp head and the small fixture on its shaft clearly. The other poles have dropped out of my view, so I simply follow this one and step forward again.", + "The lamp continues to fill more of my view while staying centered, so my line toward it needs no adjustment yet. The lane beside the raised walkway remains clear, and I keep advancing.", + "The lamp's head and the dark fitting on its shaft read clearly against the sky, and the pole still sits square in my path with the raised walkway running down to its base. Only open asphalt lies between us, so another step should shorten that gap.", + "The pole now stretches most of the way up my view and its foot at the kerb edge has come into sight, so the line I am holding remains true on it. Nothing crosses the lane in front, and I walk on.", + "The low fittings clustered at the kerb beside the pole's base are becoming legible, which tells me distance is dropping steadily. My heading needs no trim, so I press straight on.", + "The lamp head has climbed close to the upper edge of my view, a sign I am well into the near half of this run. The strip of pavement ahead stays empty, so I take another stride toward the pole.", + "I can pick out the concrete pad where the pole plants itself, where the walkway meets the lot surface. Still too far to be standing beside it, so I continue straight without altering course.", + "The shaft now runs out through the top of my view and the small bench set near its footing is resolving, yet I am still several strides short of the pole itself. The way along the kerb is clear, so I keep going.", + "The pole's foot now sits a little right of my line, with the bench beside it plainly shaped. That offset is slight, so instead of turning I walk on and let the closing distance handle it.", + "The base and its neighbouring bench keep swelling in my view, confirming steady gain, and although the lamp head is above my sightline the shaft still anchors my heading. Nothing interrupts the pavement, so I step forward again.", + "The footing of the pole and the seat beside it read broad now, sitting a touch right of my line while the kerb runs toward them. Several strides of paving still separate us, so I keep walking rather than trimming my heading for so small an offset.", + "The bench has grown enough that its slatted top is legible, and the dark plinth beside it sits slightly right of where I am pointed. At this range that lean is minor, so I carry on along the kerb instead of correcting.", + "The raised walkway now spreads wide in front of me and the bench takes up much of my right side. I am still short of the pole's footing, so another stride forward is the plain thing to do.", + "I am coming level with the bench, which has swung out toward my right, and the pole's dark base stands just past it. A couple more paces should put me beside that footing, so I continue.", + "The seat is passing out along my right edge and the squat base of the pole now sits close against the kerb ahead. Only bare paving lies between, so I step on.", + "The shaft rises through the right of my view with its plinth barely a stride or two off, and the paved strip widens beneath me. I keep moving to close that last gap before squaring up to it.", + "Coming in this close has pushed the pole hard against my right edge, where I can only just hold its base in view. I turn right so the footing sits in front of me again and the last short approach runs straight at it.", + "The turn brought the shaft and its wide plinth squarely ahead, with the bench now off to my left. Just a short stretch of paving remains, so I walk in toward the base.", + "The plinth now fills the lower right of my view with the shaft rising straight out of the top, so I am nearly on top of it. One more short step should bring me level with the footing rather than stopping a stride short.", + "Standing this close, the base has slipped to my lower right edge and the pole itself is out of my sightline, with only the bollard and bench left of me. A turn right should bring the footing back in front of me so I can confirm I am beside it.", + "The bolted footing of the lamp pole stands right beside me, close enough to touch. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..35ff5a24b94f7561ce144312a16a4c44a66dd7da --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_b/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Head toward the rightmost light pole in the distance.", + "Type": 2, + "Start_Pose": [ + -1882.941, + 2578.57, + 87.15, + 0.0, + 31.2, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1882.941, + 2578.57, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1882.941, + 2578.57, + 87.15, + 0.0, + 56.2, + -0.0 + ], + [ + -1812.926, + 2683.157, + 87.15, + 0.0, + 56.2, + -0.0 + ], + [ + -1742.911, + 2787.744, + 87.15, + 0.0, + 56.2, + -0.0 + ], + [ + -1672.897, + 2892.331, + 87.15, + 0.0, + 56.2, + -0.0 + ], + [ + -1602.882, + 2996.918, + 87.15, + 0.0, + 56.2, + -0.0 + ], + [ + -1532.867, + 3101.504, + 97.939, + 0.0, + 56.2, + -0.0 + ], + [ + -1532.867, + 3101.504, + 97.939, + 0.0, + 81.2, + -0.0 + ], + [ + -1513.612, + 3225.882, + 97.939, + 0.0, + 81.2, + -0.0 + ], + [ + -1494.358, + 3350.259, + 97.939, + 0.0, + 81.2, + -0.0 + ], + [ + -1475.103, + 3474.637, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1455.848, + 3599.014, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1436.594, + 3723.392, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1417.339, + 3847.769, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1398.084, + 3972.147, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1378.83, + 4096.524, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1359.575, + 4220.901, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1340.321, + 4345.279, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1321.066, + 4469.656, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1301.811, + 4594.034, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1282.557, + 4718.411, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1263.302, + 4842.789, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1244.047, + 4967.166, + 87.15, + 0.0, + 81.2, + -0.0 + ], + [ + -1244.047, + 4967.166, + 87.15, + 0.0, + 56.2, + -0.0 + ], + [ + -1174.032, + 5071.753, + 87.15, + 0.0, + 56.2, + -0.0 + ], + [ + -1104.018, + 5176.34, + 87.15, + 0.0, + 56.2, + -0.0 + ], + [ + -1034.003, + 5280.927, + 87.15, + 0.0, + 56.2, + -0.0 + ], + [ + -1034.003, + 5280.927, + 87.15, + 0.0, + 56.2, + -0.0 + ] + ], + "Rationale": [ + "I count the light poles standing along the distant barrier and pick the last one on the right, a tall twin headed lamp well past the big sign board. It sits at the far right edge of my view, so I will turn right to swing it toward center before setting off.", + "The twin headed lamp I chose now sits in the right half of my view rather than at the edge, so my heading points usefully toward it. The pavement between me and it is wide and empty, so I will walk straight ahead to close the distance.", + "The tall twin headed lamp is still ahead and to my right, and it has grown slightly against the barrier, so the last step gained ground on it. The benches and sign post sit off to my left, clear of my line, so I will keep walking forward.", + "My target lamp holds its place ahead on the right and keeps growing, confirming I am still closing on it. The open deck in front of me shows nothing in the way, so I will step forward again.", + "The lamp I am walking to is clearly nearer now, its mast and twin heads distinct above the low wall. My heading still runs a little to the left of it, but the gap is worth closing first, so I will keep moving forward.", + "Only two poles remain across the barrier ahead, and the taller one on my right is the lamp I am following. The route stays flat and empty, so I will take another step forward before correcting my aim.", + "The sign post and benches have dropped out of my view, so I am tracking the twin headed lamp itself rather than any row. It now stands noticeably right of my heading, so I will turn right to bring it back near the center of my path.", + "The turn placed the twin headed lamp close to the center of my view, so walking straight should carry me right to it. The lot between us is open, so I will advance.", + "The twin headed lamp sits a touch left of dead ahead and its mast reads thicker than before, so the last stride gained real ground. Nothing but flat asphalt lies between me and the barrier it stands on, so I keep walking.", + "I can now make out where the lamp's base meets the low wall, which tells me the gap is shrinking steadily on this heading. The lot stays clear ahead, so another stride forward is the plain choice.", + "The lamp's mast now rises well above the barrier line and its heads are separating clearly, so my line is holding true. No correction is needed yet, so I press ahead.", + "The other lamp has slid to the very edge of my view on the left, leaving my twin headed one dominating the scene ahead. Since I am following that lamp itself, its position slightly left of my path is close enough to simply advance.", + "Only my lamp stands in view now, its shadow stretching across the bays toward me, which confirms I am nearly abreast of the barrier line it sits on. The way is empty, so I continue forward.", + "The mast has thickened enough that I can see the squat plinth at its foot, so I am within a short run of it. My heading still points just right of that base, close enough to keep striding.", + "The lamp heads have climbed high into the upper part of my view, a sign the remaining distance is small. Painted bays run straight under my feet toward its footing, so I take another step.", + "The pole now fills a good part of my view with its base plainly ahead and a little left, yet a stretch of open deck still separates us. I will walk on to close that remaining gap.", + "The lamp heads have risen out of the top of my view, leaving only the mast and its footing to steer by, and that footing sits just left of my line. The asphalt in between is bare, so another stride should shorten the run.", + "The mast cuts a solid dark band up through my view now and its plinth reads as a distinct block on the deck. That block still lies a little left of straight ahead, near enough to my heading that walking on remains the efficient move.", + "Its long shadow now runs almost to my feet across the bays, a good measure of how little deck is left between us. I will keep stepping toward the plinth rather than adjust my aim yet.", + "The barrier behind the lamp has spread wide and low, meaning I am nearly level with the row of bays it borders. The plinth remains a touch left of my path with nothing between us, so I advance again.", + "I can pick out the seam where the mast meets its concrete collar, which puts me only a few strides off. My heading passes just to the right of that collar, close enough to keep walking without stopping to correct.", + "The mast has slid further toward the left side of my view as I close, and its base looks broad and near. One more stride should bring me almost alongside it before I fix my aim.", + "The lamp's base now sits well over on my left rather than in front of me, so continuing straight would carry me past its side instead of up to it. I will turn left to swing that base back into the middle of my path.", + "The turn brought the mast squarely to the center of my view with its round footing directly ahead. Only a couple of strides of asphalt remain, so I walk straight in.", + "The concrete collar at the foot of the mast is centered in my view and its bolted seam is already readable, so I am within a stride or two. A short patch of asphalt still lies between me and the plinth, so I will step forward again.", + "The plinth now fills the lower middle of my view and the mast rises straight out of the top, so only a small margin of deck remains. I will take one more step to bring myself right up against the pole.", + "The tall twin headed lamp's base stands directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_c/infos.json b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..39518a6d6360f75064d6c14e8c022afaa920a9d6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the second pole from the left with a sign.", + "Type": 2, + "Start_Pose": [ + -1882.941, + 2578.57, + 87.15, + 0.0, + 31.2, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1882.941, + 2578.57, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1775.286, + 2643.768, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1667.63, + 2708.967, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1559.975, + 2774.165, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1452.32, + 2839.364, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1344.665, + 2904.562, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1237.009, + 2969.76, + 87.15, + 0.0, + 31.2, + -0.0 + ], + [ + -1129.354, + 3034.959, + 97.997, + 0.0, + 31.2, + -0.0 + ], + [ + -1129.354, + 3034.959, + 97.997, + 0.0, + 56.2, + -0.0 + ], + [ + -1059.339, + 3139.546, + 97.997, + 0.0, + 56.2, + -0.0 + ], + [ + -1059.339, + 3139.546, + 97.997, + 0.0, + 56.2, + -0.0 + ] + ], + "Rationale": [ + "Counting the uprights across this lot from the left, the first is a plain lamp post and the second is the tall mast carrying a large flat sign board, so that signed mast is my target. It stands well ahead near the benches on the curbed island. I walk forward to close the long gap.", + "The signed mast is slightly larger and its base by the benches is clearer, so my heading is good. Nothing blocks the open asphalt between us. I keep walking straight toward it.", + "The signed mast now rises high in my view with the sign board near the top edge, confirming I am closing on it. The benches and curb beside its base are becoming distinct. I continue forward.", + "The sign board has climbed out of the upper part of my view while the mast's shaft still runs down to its base ahead of me. That vertical line is enough to keep tracking the same pole. I step forward again.", + "The signed mast's shaft is thickening and its base on the island is only a short distance off. The path across the parking surface remains clear. I keep advancing.", + "The mast's shaft dominates the center of my view and its footing is nearly within reach. I am still short of standing beside it. Another step forward should bring me closer.", + "The mast's wide footing and the bollard beside it are now just ahead on the raised strip. I still need a little more ground before I am truly alongside the pole. I step forward once more.", + "The signed mast is right in front of me, its base filling the center of my view, so walking straight on would run me into the shaft itself. I turn slightly right toward the open pavement beside it so a final step should bring me level with the pole rather than into it.", + "The signed mast's shaft and its wide footing now sit to my left with clear pavement opening straight ahead, so my slight turn cleared the collision line. One measured step should carry me level with the base rather than past it.", + "The signed mast's base stands immediately at my left shoulder, close enough to touch. I have arrived at it, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000090_y-000794_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x000090_y-000794_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c58df58b0a1f74b80dc24075f31c531b41d9cd8a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000090_y-000794_z000099_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Explore the nearby area until you find the green chairs near the door, then head to that location.", + "Type": 1, + "Start_Pose": [ + 90.162, + -794.28, + 98.866, + 0.0, + 153.12, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 90.162, + -794.28, + 98.866, + 0.0, + 153.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + 128.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + 103.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + 78.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + 53.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + 28.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + 3.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -21.88, + 0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -46.88, + 0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -71.88, + 0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -96.88, + 0.0 + ], + [ + 75.085, + -919.233, + 98.866, + 0.0, + -96.88, + 0.0 + ], + [ + 60.009, + -1044.185, + 98.866, + 0.0, + -96.88, + 0.0 + ], + [ + 46.141, + -1129.908, + 98.866, + 0.0, + -96.88, + 0.0 + ], + [ + 46.141, + -1129.908, + 98.866, + 0.0, + -96.88, + 0.0 + ] + ], + "Rationale": [ + "I am standing close to a packed grocery shelf that fills most of my view, so I cannot see any chairs or a door from here. Turning left should swing my heading away from the shelf face and open up the aisle and the wider store for a systematic scan.", + "The aisle and a support pillar are now visible on my left, but there is still no sign of green chairs or a door in this direction. I will keep rotating left in the same direction to continue sweeping the store in a consistent scan.", + "I am looking straight down a long aisle between two shelf runs, with the far end cluttered by displays and no chairs or doorway visible. Continuing the same leftward rotation should reveal the store section behind the shelving on my left.", + "The left shelf run is now cutting across the near part of my view and hiding whatever lies beyond it, while the open area ahead shows only more display units. I will keep turning left to bring the section past that shelving into view.", + "Canned goods on the shelf now take up most of my forward view, so this heading gives me almost no useful information about the room. Turning left again keeps my scan consistent and should carry my view past this shelf toward the far side of the store.", + "I am facing almost directly into the shelf face with jars and cans close in front of me, so nothing about the room's layout is readable here. I will continue the same leftward rotation to get past this obstruction and resume scanning for the chairs and the door.", + "My view is still filled by the shelf front, with only a hint of open space beginning to appear at the top left. Keeping the rotation going in the same direction should clear the shelving and expose the area beyond it where chairs might stand.", + "The shelf edge is finally clearing on my left and I can now see tiled floor, a drinks cooler, and a wall, which suggests I am approaching the open perimeter of the store where seating and a door would plausibly be. I will keep turning left to bring that open wall area fully into view.", + "The shelving is falling away on my right and I can now see the store's back corner with a drinks cooler and a tall potted plant, but no green chairs yet. Since this open perimeter area is the most promising place for seating near a door, I will keep rotating left in the same consistent direction to bring more of that wall into view.", + "Two green chairs have appeared against the tan wall on the left side of my view, next to the potted plant, which matches the target described in the task. They sit far off my current heading, so I will turn left once more to bring them closer to the center before moving.", + "The pair of green chairs is now roughly centered ahead of me, with an open doorway into a storage room just to their left, which fits the chairs near the door. The tiled floor between us is clear, so I will walk forward to close the distance.", + "The chairs and the adjacent doorway have grown noticeably larger, confirming my heading is carrying me straight toward them. There is still open floor in front of me, so I will keep walking forward to reach the seating area.", + "The two green chairs now fill much of my view and the wall behind them is close, so I am nearly at the target spot. One more short step forward should place me right at the chairs rather than stopping short of them.", + "The green chairs are directly in front of me at arm's length against the wall. The task location is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000090_y-000794_z000099_t1_b/infos.json b/dataset/trajectory/Supermarket/task_x000090_y-000794_z000099_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f893820f27dad8f1c3bd2620c6565a5b0f8a5ec5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000090_y-000794_z000099_t1_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Scan the surroundings to locate the potted fern plant on the floor near the double green chairs, then move to that location.", + "Type": 1, + "Start_Pose": [ + 90.162, + -794.28, + 98.866, + 0.0, + 153.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 90.162, + -794.28, + 98.866, + 0.0, + 153.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -156.88, + 0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -131.88, + 0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -106.88, + 0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -81.88, + 0.0 + ], + [ + 107.939, + -918.877, + 98.866, + 0.0, + -81.88, + 0.0 + ], + [ + 125.716, + -1043.474, + 98.866, + 0.0, + -81.88, + 0.0 + ], + [ + 125.716, + -1043.474, + 98.866, + 0.0, + -81.88, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a grocery shelf of jars and cereal boxes, with no chairs or potted plant anywhere in sight. The open floor lies off to the right past the end of this aisle, so I will turn right to begin a consistent scan of the room.", + "The shelf end is now near the middle of my view and a bit of wall and a cooler are appearing on the right, but there is still no fern or pair of chairs. I will keep turning right in the same direction to bring more of the open floor beyond the aisle into view.", + "I can now see past the aisle end to a back area with a doorway, storage racks, and a trash bin, which looks like the kind of open floor where seating and a plant would stand. Nothing green or leafy is visible yet, so I will continue the same rightward scan into that open space.", + "Two green chairs have just come into view against the wall on the right side of my field of vision, which matches the seating described in the task. I will turn right again to center that area and check the floor beside the chairs for the potted fern.", + "The two green chairs are now clearly ahead with a tall potted plant standing on the floor just to their right, so the target area is confirmed. I will turn right once more to bring the plant closer to the center of my heading before walking toward it.", + "The potted fern and the pair of green chairs are now roughly ahead of me, with clear tiled floor in between and no obstacle in the path. I will walk forward to close the distance to the plant's location.", + "The fern and chairs are noticeably larger and closer now, but I am still a couple of steps short of standing at the plant. I will step forward again to reach the floor position beside the potted fern.", + "The potted fern fills my view at arm's length with a green chair right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000090_y-000794_z000099_t1_c/infos.json b/dataset/trajectory/Supermarket/task_x000090_y-000794_z000099_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..76af3c0fcfda1120ce72d2ad8a91311eb9e25156 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000090_y-000794_z000099_t1_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search nearby for the storage room doorway with blue shelving inside, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + 90.162, + -794.28, + 98.866, + 0.0, + 153.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 90.162, + -794.28, + 98.866, + 0.0, + 153.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + 178.12, + -0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -156.88, + 0.0 + ], + [ + 90.162, + -794.28, + 98.866, + 0.0, + -131.88, + 0.0 + ], + [ + 6.142, + -887.988, + 98.866, + 0.0, + -131.88, + 0.0 + ], + [ + -72.059, + -983.699, + 98.866, + 0.0, + -131.88, + 0.0 + ], + [ + -72.059, + -983.699, + 98.866, + 0.0, + -106.88, + 0.0 + ], + [ + -108.604, + -1104.135, + 98.866, + 0.0, + -106.88, + 0.0 + ], + [ + -145.15, + -1224.572, + 98.866, + 0.0, + -106.88, + 0.0 + ], + [ + -181.695, + -1345.008, + 98.866, + 0.0, + -106.88, + 0.0 + ], + [ + -181.695, + -1345.008, + 98.866, + 0.0, + -131.88, + 0.0 + ], + [ + -265.715, + -1438.716, + 98.866, + 0.0, + -131.88, + 0.0 + ], + [ + -349.735, + -1532.423, + 98.866, + 0.0, + -131.88, + 0.0 + ], + [ + -349.735, + -1532.423, + 98.866, + 0.0, + -131.88, + 0.0 + ] + ], + "Rationale": [ + "I am facing a grocery aisle of stocked shelves, and no storage room doorway with blue shelving is visible from here. I will turn right to begin a consistent scan along the shelf line toward the open floor area, hoping a back-of-store entrance comes into view.", + "The turn has brought the end of the aisle and a stretch of open tiled floor with a dark cabinet into view, but I still cannot see a storage doorway. I will keep rotating right in the same direction so the far wall beyond the aisle end becomes visible.", + "At the right edge of my view I can now see an opening in the block wall with orange and blue racking behind it, which matches the storage room described in the task. I will turn right once more to bring that doorway toward the center of my view before moving toward it.", + "The storage doorway is now clearly ahead of me, with blue racking and blue flooring visible through the opening across the tiled floor. The path between the shelf end and the wall looks clear, so I will walk forward to close distance on that entrance.", + "The doorway has grown larger and I can see more of the blue floor and blue vertical racking inside the storage room. Nothing blocks the tiled path in front of me, so I will keep walking forward toward the opening.", + "I am close to the storage entrance, but the opening sits off to the right of my heading with the coolers and a trash bin on my left. I will turn right to line my body up with the center of the doorway so I can walk straight through it.", + "The storage doorway is now squarely in front of me with the blue floor and blue shelving framed inside it. I will step forward to pass through the threshold and reach the storage area.", + "I have passed through the door frame and the storage room is open around me, with tall blue and orange racks on the left and blue flooring underfoot. I will continue walking forward to move properly into the room and closer to the shelving.", + "I am now inside the storage room, with tall blue-framed racks lining both sides of the blue floor. The nearest blue shelving unit on my left is still a few paces off, so I will keep walking forward to close the remaining distance to it.", + "The blue shelving I am heading for sits on my left, while my current heading points straight down the open aisle toward the far wall. I will turn left to face the shelving directly so my remaining steps carry me right up to it.", + "The blue-framed shelving with its stacked crates now fills the left and center of my view, confirming this is the storage room racking I was told to find. I will step forward to bring myself close alongside it.", + "The blue and orange racking is directly in front of me and only a short gap of floor remains. One more step forward should place me right at the shelving, close enough to count as arriving at it.", + "The blue-framed storage shelving with its crates is directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_a/infos.json b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a492b0afa64ff31fb913c52a400fa835eca40d77 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the potted plant with green leaves.", + "Type": 0, + "Start_Pose": [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 119.041, + -653.562, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 119.656, + -779.42, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 120.271, + -905.277, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 120.886, + -1031.135, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 120.886, + -1031.135, + 98.866, + 0.0, + -89.72, + 0.0 + ] + ], + "Rationale": [ + "I can see the tall potted plant with green leaves standing in a grey pot against the far wall, off to my right beside the drinks cooler. My current heading points more toward the shelving and the open doorway, so I will turn right to bring the plant closer to the center of my view before advancing.", + "The potted plant now sits ahead of me with its grey pot on the open tiled floor, and my heading is aimed toward it. The path across the tiles looks clear, so I will step forward to close the distance.", + "The plant appears noticeably larger and its leaves now spread higher against the wall, confirming I am closing in on it. There is still several tiles of open floor between us, so I will keep walking forward.", + "The potted plant now fills much of the space directly ahead, with the green chairs to its left and the cooler to its right. I am still a short step away from standing beside it, so I will move forward once more.", + "The green leafy potted plant is directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_b/infos.json b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d9515f1af8d599997818bb1565e7a092b5be177b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head toward the green chairs against the brown wall.", + "Type": 0, + "Start_Pose": [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 66.409, + -767.888, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 13.777, + -882.213, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -38.856, + -996.539, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -38.856, + -996.539, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + -38.241, + -1122.396, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + -38.241, + -1122.396, + 98.866, + 0.0, + -89.72, + 0.0 + ] + ], + "Rationale": [ + "I can already see the two green chairs sitting against the tan brown wall ahead and slightly to my right, past the potted plant. The open floor between me and that wall is clear, so I will move forward to begin closing the distance toward them.", + "The green chairs against the brown wall now appear larger and closer to the middle right of my view, confirming I am on a good line toward them. The tiled floor straight ahead remains clear, so I will keep moving forward to close more distance.", + "Both green chairs and the brown block wall behind them now fill a large part of the right side of my view, so I am getting close. The floor directly in front of me is still open, so another forward step should bring me within a short distance of the chairs.", + "I am now beside the chairs, but my heading points mostly at the open storage doorway, and the nearer green chair has drifted to the far right edge of what I can see. I will turn right so the chairs against the brown wall sit centered in front of me before any final approach.", + "Both green chairs are now centered ahead of me against the brown block wall, with the doorway pushed off to my left. One more forward step should place me right in front of the chairs to satisfy the task.", + "The green chairs against the brown block wall now fill the view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_c/infos.json b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a342ff4327094fcfa7feb0788516cfbef3147066 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the silver canister on the floor near the doorway.", + "Type": 0, + "Start_Pose": [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 66.409, + -767.888, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 13.777, + -882.213, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -38.856, + -996.539, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -38.856, + -996.539, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -134.873, + -1077.91, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -230.89, + -1159.28, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -230.89, + -1159.28, + 98.866, + 0.0, + -139.72, + 0.0 + ] + ], + "Rationale": [ + "From this aisle I can see the open doorway across the room, with a dark canister topped by a silver dome standing just beside its left frame. That matches the target described in the task, so I will move forward across the tiled floor to begin closing the long gap.", + "The doorway and the canister beside it have grown larger and the shelving on my left is sliding past, confirming my heading is carrying me toward the target. The floor ahead is still open, so I will keep moving forward.", + "The canister with the metallic lid is now clearly resolved on the floor at the left side of the doorway, with the green chairs to my right and the coolers to my left. There is still several paces of distance, so another forward step should bring me nearer.", + "The canister sits off to the left of my current heading, while my view is centered on the open doorway and the racking beyond it. A small left turn should bring the canister closer to the middle of my view so my remaining forward steps head straight at it.", + "After the turn the canister is better placed in my view, standing beside the door frame with the cooler bank to its left. The path to it is clear, so I will step forward to shorten the remaining distance.", + "The canister now occupies a large part of my lower view with its silver dome plainly visible, but there is still a step of separation before I am beside it. One more forward move should place me right next to it at the doorway.", + "The silver-domed canister is directly beside me at the doorway frame, filling the near foreground. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/infos.json b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..be1348039e2b161e1e018f94bc8b1561e71c8d9a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the glass refrigerator with orange bottles.", + "Type": 0, + "Start_Pose": [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 66.409, + -767.888, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 66.409, + -767.888, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 67.024, + -893.745, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 67.024, + -893.745, + 98.866, + 0.0, + -64.72, + 0.0 + ], + [ + 120.771, + -1007.551, + 98.866, + 0.0, + -64.72, + 0.0 + ], + [ + 120.771, + -1007.551, + 98.866, + 0.0, + -39.72, + 0.0 + ], + [ + 217.579, + -1087.979, + 98.866, + 0.0, + -39.72, + 0.0 + ], + [ + 217.579, + -1087.979, + 98.866, + 0.0, + -39.72, + 0.0 + ] + ], + "Rationale": [ + "From this spot beside the packed shelving I can just catch a glass-front cooler with green and orange bottles at the far right of my view, partly cut off by the aisle end. I will step forward into the open tiled floor to clear the shelf edge and get a better line toward that cooler.", + "I now stand in the open floor with the storeroom doorway and green chairs ahead, while the refrigerated case lies off to my right and out of my forward path. I will turn right to swing my heading toward that cooler side of the room.", + "The glass-door refrigerator is now clearly in view on the right, with orange bottles on its middle shelf behind the doors. It is still several paces off, so I will step forward across the tile to close that distance.", + "I have come closer, but my heading points at the tan wall and green chairs while the cooler with orange bottles sits at the right edge of my view. Turning right should bring the refrigerator into the center of my heading before I advance again.", + "The long row of glass-door refrigerators is now ahead and slightly right, and I can pick out orange bottles behind the nearest doors. I will step forward along the open tile to reach the front of that case.", + "I am close to the case now, but the potted plant fills the left of my view and the cooler doors with orange bottles sit to my right. I will turn right so I face the glass doors squarely rather than the plant and wall.", + "The glass refrigerator with the orange bottles is now directly along my heading, its doors receding down the aisle to my right. One more step forward should bring me right up against the front of the case.", + "I stand right at the glass refrigerator door with the orange bottles an arm's length behind the pane. The navigation goal is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/infos.json b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e5522a76b3a032caf61a30d9e530d84ec4b217cb --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t0_e/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Proceed to the open doorway leading to the blue storage room.", + "Type": 0, + "Start_Pose": [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.041, + -653.562, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 66.409, + -767.888, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 13.777, + -882.213, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -38.856, + -996.539, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -91.488, + -1110.864, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -144.12, + -1225.19, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -144.12, + -1225.19, + 98.866, + 0.0, + -114.72, + 0.0 + ] + ], + "Rationale": [ + "From the shop aisle I can see an open doorway ahead between the tan wall panels, and through it a blue floor with orange and blue storage racks, which matches the blue storage room I need to reach. My heading already lines up with that opening, so no turn is needed. I will step forward to begin closing the distance across the tiled floor.", + "The doorway to the blue storage room is now larger in front of me, with the trash bin and green chairs off to either side and nothing on my path. My current heading keeps the opening slightly left of center but still directly reachable. I will continue forward to close more of the remaining distance.", + "I am now close enough to see the racking and blue floor clearly inside the storage room through the wide open doorway. The opening sits just ahead of me with the tiled floor unobstructed, so my heading remains good. I will keep walking forward toward the threshold.", + "The doorway jambs now rise on both sides of my view and the blue floor of the storage room begins only a step or two away. Nothing blocks the threshold, so I do not need to reorient. I will move forward again to reach the opening itself.", + "I am right at the open doorway with the tan wall edges passing on either side and the blue floor and tall racks of the storage room spread out in front. One more step should carry me through the opening and place me properly at the storage room entry. I will move forward.", + "I stand on the blue floor of the storage room with its tall racks around me, past the open doorway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d6931e97bcc996f1f08dd36b851c0e6724924dc8 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000119_y-000654_z000099_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the tomato near the potted plant with green leaves.", + "Type": 5, + "Start_Pose": [ + 119.041, + -653.562, + 98.866, + 0, + -114.72, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 83.293, + -1128.92, + 68.866, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 119.041, + -653.562, + 98.866, + 0, + -114.72, + 0 + ], + [ + 119.041, + -653.562, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 119.656, + -779.42, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 120.271, + -905.277, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 120.886, + -1031.135, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 120.886, + -1031.135, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 120.886, + -1031.135, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 120.886, + -1031.135, + 98.866, + 0.0, + -89.72, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 83.293, + -1128.92, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + 83.293, + -1128.92, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + 83.293, + -1128.92, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + 83.293, + -1128.92, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + 83.293, + -1128.92, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + 83.293, + -1128.92, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + 142.237, + -1030.42, + 68.973, + -28.202, + -39.576, + 1.862 + ], + [ + 142.237, + -1030.42, + 68.973, + -28.202, + -39.576, + 1.862 + ] + ], + "PD_Dist_2D": [ + 476.7, + 476.7, + 351.4, + 226.7, + 104.8, + 104.8, + 21.4, + 21.4 + ], + "Rationale": [ + "From the aisle I can see the leafy potted plant against the far wall to my right, with the red tomato resting on the floor beside it. My current heading points down the shelving aisle instead, so I will turn right to place the plant and tomato near the center of my view before advancing.", + "The potted plant with its pale green leaves and the tomato at its base are now roughly centered ahead of me, with open tiled floor in between. I will walk forward to close the sizeable gap toward them.", + "The plant and the tomato beside it appear noticeably larger now, but they are still several steps away across the tiles. I will keep walking straight since nothing blocks the path toward them.", + "The tomato and the potted plant now fill much of my view, yet the tomato still sits slightly beyond comfortable reach at the bottom of my sight line. I will take one more step forward to stand right beside it.", + "I am now standing right at the potted plant, so close that only its leaves and the nearby chairs fill my view and the tomato has dropped out of sight below. I will look down to bring the tomato on the floor back into view for a grasp.", + "Looking down, the red tomato is clearly visible at the base of the potted plant, well within reach in front of me. I will attempt to pick it up now that it is centered and close.", + "The tomato is now held in my hands in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..58465cc476e4557c820d5e5436b02eac8437f33e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Explore the area until you identify the green advertisement near the warehouse wall, then head toward that location.", + "Type": 1, + "Start_Pose": [ + 126.577, + -1436.478, + 98.866, + 0.0, + -144.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -144.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -119.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -94.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -69.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -44.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -19.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + 5.52, + -0.0 + ], + [ + 251.852, + -1424.371, + 98.866, + 0.0, + 5.52, + -0.0 + ], + [ + 365.454, + -1398.866, + 98.866, + 0.0, + 5.52, + -0.0 + ], + [ + 490.729, + -1386.759, + 98.866, + 0.0, + 5.52, + -0.0 + ], + [ + 616.005, + -1374.652, + 98.866, + 0.0, + 5.52, + -0.0 + ], + [ + 741.28, + -1362.546, + 98.866, + 0.0, + 5.52, + -0.0 + ], + [ + 741.28, + -1362.546, + 98.866, + 0.0, + 5.52, + -0.0 + ] + ], + "Rationale": [ + "I am standing in an open warehouse bay with tall storage racks filling the left half of my view and a bare wall with a roller opening ahead, and I see no green advertisement anywhere. Since the left side is blocked by shelving, I will begin a steady rightward scan to sweep the unseen parts of the building. This first turn should reveal more of the wall line on my right.", + "My view now shows racking on both sides with the same pale wall and doorway centered ahead, and still no green advertisement. I will keep rotating in the same rightward direction so the scan stays consistent and covers new wall sections. The next portion of the room should come into view.", + "I can see a new stretch of wall with a fire extinguisher and pallets, plus a tall rack ahead of me, but no green advertisement in this sector. I keep my rotation consistent to the right rather than backtracking, so the sweep continues cleanly across the remaining walls. More of the aisle behind this rack should become visible.", + "Racks and a leaning ladder now dominate my view and they hide much of the wall behind them, so I still cannot confirm any green advertisement. I will continue turning right to clear the shelving from my line of sight and expose the darker area beyond it. That section of wall is the most likely place left to check.", + "A close rack upright still splits my view, but past its right edge I can now glimpse a darker aisle running along a block wall. I will turn right once more to bring that aisle and its wall fully into the center of my view. Any advertisement mounted along that wall should become readable.", + "I can now make out a green panel standing against the wall in the shadowed aisle to my right, which matches the advertisement I am looking for. I will make one more right turn to place that green board squarely ahead of me before moving. Committing to it now avoids continuing the sweep unnecessarily.", + "The green advertisement is now clearly ahead of me, leaning against the warehouse wall at the end of this aisle, with racking on my left and a clear floor lane between. I am aligned with that lane, so I will walk forward to close the distance to the sign. The path ahead looks unobstructed.", + "The green advertisement has grown larger and remains just right of center along the wall, confirming my heading is good. The aisle in front of me is still clear, so I will keep walking forward to reach the sign. Another step should bring me noticeably closer.", + "The green advertising board leaning against the warehouse wall is clearly ahead of me in this narrow aisle, still small in view and some distance away. My heading is already lined up with it along the open floor lane between the racking and the wall, so no turn is needed. I will keep walking forward to close the remaining gap.", + "The green board has grown noticeably larger and its white logo is now readable, confirming this is the advertisement I am looking for. The aisle ahead remains clear of obstructions, so continued straight walking is the direct way to reach it. I will step forward again to shorten the distance.", + "The advertisement now fills a large part of my view with its cow logo and lettering legible, but I am still a step short of standing right at it. The lane in front of me stays open up to the wall where the board rests. One more forward step should place me directly at the advertisement's location.", + "The green advertisement against the warehouse wall now stands directly in front of me at arm's length. The task goal is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/infos.json b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..12829dccef1e51301adfe382fe36169383cc630f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the surrounding area for the mop used for cleaning the floor, then move to that location.", + "Type": 1, + "Start_Pose": [ + 126.577, + -1436.478, + 98.866, + 0.0, + -144.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -144.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -119.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -94.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -69.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -44.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -19.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + 5.52, + -0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + 30.52, + -0.0 + ], + [ + 234.998, + -1372.562, + 98.866, + 0.0, + 30.52, + -0.0 + ], + [ + 343.42, + -1308.646, + 116.196, + 0.0, + 30.52, + -0.0 + ], + [ + 343.42, + -1308.646, + 116.196, + 0.0, + 30.52, + -0.0 + ], + [ + 343.42, + -1308.646, + 116.196, + 0.0, + 30.52, + -0.0 + ] + ], + "Rationale": [ + "I am standing in an open warehouse bay with tall storage racks filling the left side and an open loading door across the floor, and no mop is anywhere in this view. The clear floor to my right is unexplored, so I will turn right to begin a steady scan of the surrounding area for the mop.", + "This heading shows racks on both sides and the open shutter ahead, but still no mop leaning anywhere along the visible walls. I will keep rotating right in the same direction so the scan stays consistent and covers the aisles further around.", + "From here I see a shelving unit with a ladder, a fire extinguisher on the wall and stacked pallets, but nothing resembling a mop. Cleaning tools are usually stored against walls near such supplies, so I will continue turning right to bring more of the wall line into view.", + "The view is now dominated by racking uprights and a leaning ladder, with the wall behind partly hidden by shelves. I will turn right again to see past this rack into the aisle beyond, where a mop could be propped out of sight.", + "Looking down the rack line I can see a darker corridor opening on the right with a green sign against the wall, but the mop is not yet visible. I will keep turning right to face that narrow wall corridor, which is a plausible spot for cleaning equipment.", + "Turning has opened up the narrow passage between the racking and the yellow block wall, and the space along that wall looks like a likely storage spot for cleaning tools. I will turn right once more to bring that wall corridor fully in front of me.", + "I can now see a mop leaning against the yellow wall beside a pallet on the right side of this corridor. I will turn right a little more to center it in my view before walking toward it.", + "The mop is now clearly ahead of me, propped against the wall next to the pallet in this corridor, and the floor between us is clear. I will step forward to close the distance and reach its location.", + "The mop is now clearly ahead of me, leaning against the yellow block wall with its handle and pad in plain view, though it still sits a short distance away. I will step forward once more to close that remaining gap and stand right at the mop's location as the task requires.", + "I am now right beside the mop, so close that only its upper handle fills my view against the wall. Tilting my head down should bring the mop head and the floor at my feet into sight, letting me confirm I am standing at the target location.", + "The mop stands directly at my feet, its head resting on the floor immediately in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_c/infos.json b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0d648a4f34098d91a53b707b313a1cfd8b51980 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000127_y-001436_z000099_t1_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Look around for the wall-mounted fire extinguisher, then approach the target area.", + "Type": 1, + "Start_Pose": [ + 126.577, + -1436.478, + 98.866, + 0.0, + -144.48, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -144.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -119.48, + 0.0 + ], + [ + 126.577, + -1436.478, + 98.866, + 0.0, + -94.48, + 0.0 + ], + [ + 116.746, + -1561.952, + 98.866, + 0.0, + -94.48, + 0.0 + ], + [ + 116.746, + -1561.952, + 98.866, + 0.0, + -69.48, + 0.0 + ], + [ + 160.864, + -1679.826, + 98.866, + 0.0, + -69.48, + 0.0 + ], + [ + 204.982, + -1797.699, + 98.866, + 0.0, + -69.48, + 0.0 + ], + [ + 249.1, + -1915.572, + 98.866, + 0.0, + -69.48, + 0.0 + ], + [ + 290.615, + -2025.814, + 98.866, + 0.0, + -69.48, + 0.0 + ], + [ + 290.615, + -2025.814, + 98.866, + 0.0, + -69.48, + 0.0 + ], + [ + 290.615, + -2025.814, + 98.866, + 0.0, + -69.48, + 0.0 + ] + ], + "Rationale": [ + "From here I mostly see tall storage racks filling the left half of my view and open floor toward the loading opening ahead, with no fire extinguisher on any visible wall. The clearer wall surfaces continue off to my right, so I will turn right to bring that unseen section of the warehouse wall into view.", + "The rotation opened up the far wall with the roll-up doorway and a second rack on my right, but I still do not see a wall-mounted extinguisher anywhere in this span. I will keep scanning in the same rightward direction to reveal the wall panels hidden behind the near racking.", + "A red fire extinguisher is now visible mounted on the tan wall to the right of the central rack, so the search is settled. I will walk forward to close the large open floor distance toward that wall instead of continuing to rotate.", + "After advancing, the extinguisher sits off to the right of my heading while the rack ahead is drifting into the center of my view. I will turn right to place the extinguisher and its wall closer to the middle of my path before continuing forward.", + "The turn brought the extinguisher near the center of my view with clear floor between me and the tan wall it hangs on. I will step forward along this heading to reduce the remaining distance to the target area.", + "The extinguisher has grown noticeably and the pallet and green chairs beside it are now distinct, so my heading is carrying me straight at the target wall. I will keep walking forward since nothing blocks the lane between the rack on my left and the shelving on my right.", + "I am close enough now that the extinguisher fills a good part of my view against the tan block wall, but there is still a stretch of floor and the pallet between us. I will advance again to bring myself right up to the target area.", + "The extinguisher is large and close on the wall just ahead and slightly above my line of sight, with only a short gap of floor left. I will take one more step forward to settle into the target area directly beneath it.", + "I am now right up against the yellow block wall, and only the lower red base of the extinguisher clips the top edge of my view while the rest of my sight is filled with bare wall. Since I am close enough that the mount sits above my current pitch, I will tilt my gaze upward to bring the whole wall-mounted extinguisher into view and confirm I am at the target area.", + "The wall-mounted fire extinguisher is centered and fully visible directly in front of me at close range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5b3d72c5abaeada3856dfe0f199d0c1566d1e0cc --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the silver trash bin, then head toward the potted plant.", + "Type": 3, + "Start_Pose": [ + 131.745, + -591.332, + 98.866, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 131.745, + -591.332, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 79.113, + -705.658, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 26.481, + -819.983, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -26.152, + -934.309, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -26.152, + -934.309, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -111.128, + -1020.147, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -207.145, + -1101.517, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -207.145, + -1101.517, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -136.654, + -1041.779, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -136.654, + -1041.779, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -136.654, + -1041.779, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + -136.654, + -1041.779, + 98.866, + 0.0, + -64.72, + 0.0 + ], + [ + -136.654, + -1041.779, + 98.866, + 0.0, + -39.72, + 0.0 + ], + [ + -136.654, + -1041.779, + 98.866, + 0.0, + -14.72, + 0.0 + ], + [ + -14.926, + -1073.759, + 98.866, + 0.0, + -14.72, + 0.0 + ], + [ + 106.802, + -1105.739, + 98.866, + 0.0, + -14.72, + 0.0 + ], + [ + 106.802, + -1105.739, + 98.866, + 0.0, + -14.72, + 0.0 + ] + ], + "Rationale": [ + "The silver domed trash bin stands well ahead beside the open warehouse doorway, and the leafy potted plant sits further to the right near the green chairs. The tiled floor between us is clear, so I will walk straight ahead to begin closing on the bin.", + "The bin beside the doorway has grown larger and sits a little left of my heading, with shelving passing on my left and clear floor in front. Another stride forward should keep reducing the distance before I judge my line more finely.", + "The dark domed bin now stands clearly beside the warehouse entrance, closer but drifting toward the left half of my view as I advance. The lane in front of me remains open, so I will step forward once more and correct my heading from nearer in.", + "My heading now points straight into the warehouse doorway while the trash bin sits noticeably off to my left, close to the cooler cabinets. A turn to the left should swing the bin back onto my line of travel so the remaining approach is direct.", + "The bin now sits near the middle of my view, standing between the glass cooler cabinets and the doorframe. With my heading lined up on it and clear tile in between, I will walk forward to close the gap.", + "The silver domed bin fills much more of my view and stands only a short stretch of tile away, still centered on my path. One more step forward should place me right beside it.", + "The silver domed trash bin is directly in front of me at arm's length, towering in the near view against the doorframe. I have arrived at it, so I mark reaching the trash bin before setting off toward the leafy potted plant standing by the green chairs.", + "Standing this close, the bin and the doorframe crowd my view and leave me almost no room to swing around. Backing up a step should open the space I need to turn cleanly toward the potted plant by the chairs behind me.", + "With the silver trash bin now a short distance ahead of me and my visit to it done, I need to head for the leafy potted plant that stands back along the tiled aisle behind my right shoulder. The storeroom doorway and shelving straight ahead lead nowhere useful, so I will begin swinging my heading to the right.", + "My view still opens into the blue-floored storeroom with racking, and the trash bin has slid to my left, so I am not yet pointed at the potted plant. I will keep rotating right to bring the tiled shop aisle and the greenery near the seating back into view.", + "The doorway has shifted to my left and the tan block wall with a green chair is entering on my right, which tells me the seating area is the direction I want. The potted plant sits beyond those chairs, so I will continue turning right.", + "Both green chairs are now in front of me and the tall variegated plant in its dark pot has appeared at the right edge of my view. It is still too far off-center to walk straight at, so I will turn right again to bring it toward the middle.", + "The potted plant now stands clearly ahead of me beside the chairs, with the open tiled aisle running past it toward the shop floor. One more rotation to the right should line my heading up with that aisle so I can walk directly at the plant.", + "My heading now runs down the open tiled aisle with the tall potted plant standing ahead on the left beside the coolers. The floor between us is clear, so I will walk forward to close the remaining gap to it.", + "The plant's fronds now fill the left side of my view, so I am nearly beside it but not yet level with the pot. Another step forward should bring me right up alongside the planter.", + "The potted plant's leaves are directly beside me at arm's length on my left. Both named destinations have been reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_b/infos.json b/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a2b9990f8b12e7c38a2f3cd4376933ab341af1b8 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the potted plant, then proceed to the doorway.", + "Type": 3, + "Start_Pose": [ + 131.745, + -591.332, + 98.866, + 0, + -114.72, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 131.745, + -591.332, + 98.866, + 0, + -114.72, + 0 + ], + [ + 79.113, + -705.658, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 79.113, + -705.658, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 79.728, + -831.515, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 80.343, + -957.373, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 80.343, + -957.373, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 80.343, + -957.373, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 80.343, + -957.373, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -15.674, + -1038.743, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -111.691, + -1120.114, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -207.708, + -1201.485, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -207.708, + -1201.485, + 98.866, + 0.0, + -139.72, + 0.0 + ] + ], + "Rationale": [ + "From the aisle between the stocked shelves I can see the tall leafy plant in its grey pot standing against the far wall beside the green chairs. It is well out of reach, so I will walk forward along the open tiled floor to close that gap.", + "The potted plant now sits off to my right, near the edge of my view, while my heading still points down the aisle past it. I will turn right so the plant comes into the middle of my view before I continue toward it.", + "The turn has brought the potted plant into clear view ahead, beside the drinks cooler and the pair of green chairs. Nothing blocks the tiled floor between us, so I will step forward to shorten the remaining distance.", + "The plant is noticeably larger now, its leaves rising in front of the tan block wall just left of the cooler. I am still a few paces short of standing beside it, so I will keep walking straight ahead.", + "The potted plant fills the right of my view, its pot right at my feet against the wall beside the green chairs. I have reached the plant. I mark reaching it before turning toward the open doorway leading into the stockroom.", + "Standing at the plant, I am facing the blank block wall and the chairs, with only a sliver of the open doorway and blue stockroom floor showing at the far left of my view. I will turn left to swing that doorway into view.", + "The doorway with its blue floor and racking is now in my view but still off to the left, not straight ahead of me. I will turn left again to bring it closer to the centre of my heading before walking.", + "The open doorway into the stockroom, with its blue floor and loaded racking, now lies ahead of me across clear tiles. With the bin and coolers safely off to the side, I will walk forward toward that opening.", + "The open doorway with its pale frame stands ahead and slightly right, with the blue warehouse floor and racking visible through it. My heading lines up with that opening, so I will step forward to close the remaining gap toward it.", + "The doorway frame now fills much of my view and the blue floor beyond it spreads out just ahead of me, so only a short gap remains. I will take one more step forward to bring myself right up to the opening.", + "I am standing at the doorway itself, its frame beside me and the warehouse floor opening out ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_c/infos.json b/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1c6aa24d39ecc9af1964e5ba2fad25f33598cb2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the potted plant, then navigate to the silver trash bin.", + "Type": 3, + "Start_Pose": [ + 131.745, + -591.332, + 98.866, + 0, + -114.72, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 131.745, + -591.332, + 98.866, + 0, + -114.72, + 0 + ], + [ + 131.745, + -591.332, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 131.789, + -717.189, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 131.789, + -843.046, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 132.096, + -968.903, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 132.711, + -1094.761, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 132.711, + -1094.761, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 132.26, + -1002.362, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + 132.26, + -1002.362, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 132.26, + -1002.362, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + 132.26, + -1002.362, + 98.866, + 0.0, + -164.72, + 0.0 + ], + [ + 10.85, + -1035.53, + 98.866, + 0.0, + -164.72, + 0.0 + ], + [ + -110.56, + -1068.699, + 98.866, + 0.0, + -164.72, + 0.0 + ], + [ + -110.56, + -1068.699, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -206.577, + -1150.07, + 98.866, + 0.0, + -139.72, + 0.0 + ], + [ + -206.577, + -1150.07, + 98.866, + 0.0, + -139.72, + 0.0 + ] + ], + "Rationale": [ + "The tall potted plant stands against the tan wall beside the two green chairs, but it sits off to the right of my heading with shelving crowding my forward path. I will turn right to put that plant closer to the center of my view before walking toward it.", + "The potted plant now sits nearly straight ahead beside the green chairs, with clear tiled floor between me and it. I will walk forward to cut down that distance.", + "The plant and its silver pot have grown larger ahead of me, and the drink cooler on my right leaves the lane open. I will keep walking forward since the plant is still several paces away.", + "The plant's fronds and metal pot are now clearly resolved right in front of the wall, with the chairs to its left and the cooler to its right. Nothing blocks the remaining gap, so I will step forward again to close on it.", + "The plant fills much of my view now, but I am still a stride short of standing right beside it. I will move forward once more to reach it.", + "The fern's fronds and thick green stalks fill my whole view at arm's length, with the green chair right at my side. I am standing at the potted plant. I mark reaching it, and now I turn my attention to the silver trash bin.", + "Standing this close, the plant's foliage blocks nearly everything and I cannot pick out the room or spot the silver trash bin. I will back up a step to open my view and give myself room to reorient toward it.", + "With a step of clearance the plant now sits on my right and the wall with the chairs runs off to my left toward the open doorway, where a dark bin stands near the corner. I will turn left to swing my view along that side of the room and pick out the silver trash bin.", + "The tall potted plant is now behind my shoulder and the far left of my view shows the dark trash bin with its metallic domed lid standing beside the doorway. I will turn left again to swing that bin away from the edge of my sight and toward the middle of my view before walking to it.", + "The trash bin with the metal lid now sits left of center beside the chilled cabinets, but my heading still points across the seating and the doorway rather than down the open tiled floor. Another left turn should put the clear walking lane toward that bin ahead of me.", + "I am now facing down the open aisle, with the dark trash bin and its silver lid standing ahead beside the run of glass cabinets. The tiled floor between us is clear, so I will walk forward to close the gap.", + "The bin has grown noticeably larger and its rounded metal lid is clearly visible against the pale wall by the warehouse opening. Nothing blocks the lane, so I will keep walking to bring myself within arm's reach of it.", + "The trash bin is close now, but it sits right of my heading against the corner by the warehouse entrance while my path runs slightly past it. A small right turn should place it squarely in front of me so my next step lands beside it.", + "The bin with the shiny domed lid now stands directly ahead of me at the edge of the blue warehouse floor. One more step forward should bring me right up against it.", + "The trash bin with its silver domed lid fills the near foreground directly beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_d/infos.json b/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a4f5db5bce784b09ae1d4e282c8716194170920 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000132_y-000591_z000099_t3_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Make your way to the doorway, then reach the orange juice in the refrigerator.", + "Type": 3, + "Start_Pose": [ + 131.745, + -591.332, + 98.866, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 131.745, + -591.332, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 79.113, + -705.658, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + 26.481, + -819.983, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -26.152, + -934.309, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -78.784, + -1048.634, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -131.416, + -1162.96, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -131.416, + -1162.96, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -92.776, + -1079.027, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -54.136, + -995.094, + 98.866, + 0.0, + -114.72, + 0.0 + ], + [ + -54.136, + -995.094, + 98.866, + 0.0, + -89.72, + 0.0 + ], + [ + -54.136, + -995.094, + 98.866, + 0.0, + -64.72, + 0.0 + ], + [ + -54.136, + -995.094, + 98.866, + 0.0, + -39.72, + 0.0 + ], + [ + -54.136, + -995.094, + 98.866, + 0.0, + -14.72, + 0.0 + ], + [ + 67.592, + -1027.075, + 98.866, + 0.0, + -14.72, + 0.0 + ], + [ + 189.321, + -1059.055, + 98.866, + 0.0, + -14.72, + 0.0 + ], + [ + 189.321, + -1059.055, + 98.866, + 0.0, + -39.72, + 0.0 + ], + [ + 189.321, + -1059.055, + 98.866, + 0.0, + -39.72, + 0.0 + ] + ], + "Rationale": [ + "From this spot between the shop shelving, the open doorway in the far wall sits almost straight ahead, past the green chairs. Nothing blocks the tiled floor between me and it, so I will walk forward to close that distance.", + "The doorway has grown larger and the racking behind it is now clearer, confirming my heading is good. The floor ahead stays open, so I will keep walking toward that opening.", + "I can now see straight through the opening to the blue floor and the orange racking beyond, with the bin and chairs flanking my path. The gap is still a few paces off, so another step forward should bring me nearer.", + "The door frame now fills much of my view and the loading area behind it is fully exposed. I am close but not yet at the threshold, so I will walk forward again.", + "The opening is directly in front of me with the frame edges to either side and the blue floor starting just past my feet. One more step should carry me right into the doorway itself.", + "The pale tiles have given way to the blue warehouse floor and the tall racking now stands beside me, so I am standing in the doorway itself. I have reached that opening. I mark arriving here before turning my attention to the chilled cabinets in the shop, where the orange juice sits.", + "The drinks cabinets I need are back inside the shop, behind me, while everything ahead is storage racking and empty warehouse floor. Rather than spin around in this narrow gap, I will step backward through the opening to regain the shop side.", + "I have moved back into the door frame with the bin and racking still filling my view, so I am not yet clear of the opening. Another step backward should put me onto the shop tiles with room to reorient toward the chilled cabinets.", + "The open doorway with the blue warehouse floor sits just ahead of me, and I have already marked reaching it, so it is no longer where I need to be. The chilled cabinets belong back in the shop behind my right shoulder, so I will turn right to swing my heading off the doorway toward them.", + "The doorway has slid to my left edge and I am now facing the blank block wall with the green chairs, which holds nothing I need. I will keep turning right to carry my view further into the shop where the glass drink cabinets stand.", + "A dark glass-fronted cooler stacked with bottles is just creeping into the right edge of my view beyond the potted plant. Another right turn should bring that chilled cabinet line properly in front of me instead of the chairs.", + "The whole run of refrigerated cabinets is now visible along the wall to my right, stretching away down the shop floor. I will turn right once more so that aisle runs straight ahead of me and I can walk down it.", + "The aisle now opens straight in front of me with the refrigerated cabinets running along my left side. I will walk forward to close the distance to those chilled shelves and see what drinks are stocked in them.", + "I can make out juice cartons and a large orange bottle behind the glass door on my left, but I am still short of it. Stepping forward again should bring that section of the cooler alongside me for a proper look.", + "I am now standing level with the cooler section holding the bottled drinks, but it is edge on to me along my left. I will turn left to face the glass doors squarely so the orange juice sits centered in front of me.", + "The orange juice bottles sit directly in front of me behind the refrigerator glass, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000200_y001632_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x000200_y001632_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c3767e28cb2a86ab9350885fb9d4ef9abb17a4b5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000200_y001632_z000099_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Explore the nearby area until you find the pink promotional sign board near the entrance, then head to that location.", + "Type": 1, + "Start_Pose": [ + 200.06, + 1632.411, + 98.866, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 148.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 173.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + -161.64, + 0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + -136.64, + 0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + -111.64, + 0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + -86.64, + 0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + -61.64, + 0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + -36.64, + 0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + -11.64, + 0.0 + ], + [ + 323.331, + 1607.017, + 98.866, + 0.0, + -11.64, + 0.0 + ], + [ + 446.601, + 1581.624, + 98.866, + 0.0, + -11.64, + 0.0 + ], + [ + 446.601, + 1581.624, + 98.866, + 0.0, + 13.36, + -0.0 + ], + [ + 569.054, + 1610.706, + 98.866, + 0.0, + 13.36, + -0.0 + ], + [ + 691.507, + 1639.788, + 98.866, + 0.0, + 13.36, + -0.0 + ], + [ + 691.507, + 1639.788, + 98.866, + 0.0, + 13.36, + -0.0 + ] + ], + "Rationale": [ + "From just inside the doorway I can see the glass entrance doors and street ahead of me, plus a lit advertising panel and a shopping cart along the wall to my right, but nothing pink that matches the promotional sign board I am looking for. The open store interior clearly continues to my right, so I will turn right to begin a steady scan of the entrance area in one consistent direction.", + "The doors are now on my left and the leaning illuminated panel and cart are directly ahead, while brighter shelving and store lighting open up on my right side. Still no pink board is in sight, so I will keep rotating right to bring that brighter interior stretch of the entrance zone into view.", + "I now see the cart corral, stacked green baskets, a bin and the first refrigerated displays, but none of these is the pink promotional board. Continuing the same rightward rotation should reveal the checkout frontage beyond them without me backtracking over ground I have already scanned.", + "The view has opened onto the checkout counters and aisle shelving, with only small yellow hanging signs visible and no pink board among them. I will hold the same rightward scan to sweep the rest of this front-of-store band.", + "In front of me is a row of checkout lanes with pillars and yellow promotional discs above them, none of which is the pink sign board I need. Since this section is clear, I will rotate right again to expose the next portion of the frontage.", + "This heading shows a symmetric bank of checkout islands and stocked shelves deeper in the store, which is away from the entrance area where the pink board should stand. Turning right once more should swing my view back toward the front wall and the glazed frontage on that side.", + "I can now see the far checkouts with produce bins and the windowed wall beginning to appear on the right, which is the kind of entrance frontage the promotional board would be placed near. No pink board is in view yet, so I will keep turning right toward that glazed side.", + "The glazed frontage and the produce and cart area on the right are now clearly the entrance-side zone, and the remaining unscanned portion of it sits just past the right edge of my view. I will continue the same rightward turn to bring that last stretch of the entrance frontage in front of me.", + "A tall pink promotional board with a smiling mouth graphic has appeared at the far right edge of my view, near the front windows and the entrance area. It sits too far to the side for me to walk straight at it, so I will turn right once more to bring it toward the center of my heading.", + "The pink promotional board with the red smile is now roughly ahead of me, standing beside the cart corral near the bright entrance frontage. The floor between me and it is open tile with no obstruction, so I will walk forward to close the distance.", + "The pink board reads clearly now and has grown larger ahead of me, confirming it is the promotional sign near the entrance. It is still several steps away, so I will continue walking forward along the same open lane.", + "The pink promotional sign now fills much of the right side of my view rather than sitting in front of me, so walking straight would carry me past it. I will turn right to place the sign squarely on my heading before advancing further.", + "The pink sign board is now centered ahead with the balloons and cart row just beyond it near the entrance. A short gap of clear floor remains, so I will step forward to reach the sign.", + "The pink promotional board is large and directly ahead of me, with its text and smile graphic clearly legible. One more step forward should bring me right up to its location by the entrance.", + "The pink promotional sign board fills my view at arm's length, with the entrance doorway and balloons beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000200_y001632_z000099_t1_b/infos.json b/dataset/trajectory/Supermarket/task_x000200_y001632_z000099_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..910f52869d26d0890a097a478ea8f6dace68f6d5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000200_y001632_z000099_t1_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Scan the surroundings to locate the trash bin near the row of green chairs by the checkout area, then move to that location.", + "Type": 1, + "Start_Pose": [ + 200.06, + 1632.411, + 98.866, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 148.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 173.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + -161.64, + 0.0 + ], + [ + 80.608, + 1592.767, + 98.866, + 0.0, + -161.64, + 0.0 + ], + [ + -38.845, + 1553.123, + 98.866, + 0.0, + -161.64, + 0.0 + ], + [ + -158.297, + 1513.479, + 98.866, + 0.0, + -161.64, + 0.0 + ], + [ + -277.749, + 1473.835, + 98.866, + 0.0, + -161.64, + 0.0 + ], + [ + -277.749, + 1473.835, + 98.866, + 0.0, + -161.64, + 0.0 + ] + ], + "Rationale": [ + "From just inside the entrance I am facing the glass doors and the street outside, so neither the green chairs nor a trash bin is anywhere in this view. The store interior clearly extends to my right, past the display board and the shopping cart. I will turn right to begin a consistent scan toward the checkout area.", + "Turning has brought the lit interior into the edge of my view, and I can now make out green seating just behind the shopping cart on the right. The checkout area itself is still cut off by the corner wall and the cart. I will keep turning in the same direction to open up that seating row and look for a bin beside it.", + "The checkout zone is now visible, with a row of green chairs on the right and a dark cylindrical trash bin standing just beside them behind the stanchion rail. That is the target described in the task, but it sits off to my right rather than ahead of me. I will turn right once more to bring the bin and its chairs onto my forward path.", + "The trash bin now sits near the middle of my view with the green chairs immediately to its right, so my heading is lined up with the target. The tiled floor between me and it is open and clear of carts or barriers. I will walk forward to close that distance.", + "The bin and the pair of green chairs beside it have grown noticeably larger and stay near the center of my view, confirming the approach is on line. There is still a stretch of empty floor before I reach the stanchion rail in front of them. I will continue walking forward.", + "The trash bin is directly ahead, with the green chairs on its right and the folded display panel on its left, so I am tracking straight at it. I am still several paces short of standing beside it. I will step forward again to keep closing in.", + "The bin now fills a large part of the lower center of my view and the green chairs sit right beside it behind the rope barrier. A final short step should place me right at the bin rather than a stride short of it. I will move forward once more.", + "The trash bin stands directly in front of me, right beside the green chairs at the checkout area. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000200_y001632_z000099_t1_c/infos.json b/dataset/trajectory/Supermarket/task_x000200_y001632_z000099_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9d5f01316316157995b2283ade418b1cf18c8b58 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000200_y001632_z000099_t1_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search nearby for the purple balloon near the clustered shopping carts, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + 200.06, + 1632.411, + 98.866, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 123.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 98.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 73.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 48.36, + -0.0 + ], + [ + 200.06, + 1632.411, + 98.866, + 0.0, + 23.36, + -0.0 + ], + [ + 315.603, + 1682.315, + 98.866, + 0.0, + 23.36, + -0.0 + ], + [ + 431.145, + 1732.219, + 98.866, + 0.0, + 23.36, + -0.0 + ], + [ + 431.145, + 1732.219, + 98.866, + 0.0, + -1.64, + 0.0 + ], + [ + 556.953, + 1728.617, + 98.866, + 0.0, + -1.64, + 0.0 + ], + [ + 682.76, + 1725.015, + 98.866, + 0.0, + -1.64, + 0.0 + ], + [ + 769.152, + 1723.156, + 98.866, + 0.0, + -1.64, + 0.0 + ], + [ + 769.152, + 1723.156, + 98.866, + 0.0, + -1.64, + 0.0 + ] + ], + "Rationale": [ + "From this entrance vestibule I can see glass doors and the bright lot ahead, with only the edge of a single cart visible at the far right and no purple balloon anywhere in view. I will turn left to begin a consistent-direction scan of the interior, since the store side away from the doors is more likely to hold the clustered shopping carts named in the task.", + "The view has swung across more entry doors and outdoor pavement, and still no cart cluster or purple balloon appears. I will keep turning left in the same direction to continue the sweep toward the darker interior side of the lobby.", + "At the left edge of my view a dark mass of stacked shopping carts is starting to appear, which matches the cart cluster cue in the task. I will turn left again to bring that cluster and the space around it fully into view where a purple balloon would likely be.", + "The clustered shopping carts are now clearly on my left with something dark and rounded just above them, but the store interior beyond is still cut off by the wall edge. I will turn left once more to center the cart cluster so I can confirm whether the purple balloon is tethered there.", + "I can now see a purple balloon with a green one floating beside the long line of shopping carts, right next to the pink sign, which matches the target described in the task. I will walk forward to close the distance toward that cluster.", + "The purple balloon and the cart cluster have grown larger ahead of me, confirming I am closing on the right spot. I will keep walking forward to reduce the remaining distance to that location.", + "The purple balloon now sits toward the left side of my view while the carts and the pillar fill the center and right of my path. I will turn left to put the balloon squarely ahead so my next steps carry me straight to it.", + "The purple balloon is now near the middle of my view, hovering just past the pink sign at the head of the cart cluster. I will walk forward along this clear heading to reach that location.", + "The purple balloon labeled with lettering is clearly in view just ahead, beside the green one and right next to the line of nested shopping carts on my right. It is still several paces off, so I will keep walking straight toward it to close the remaining gap.", + "The purple balloon now fills much of the center of my view, with the carts close on my right, confirming I am nearly at the target cluster. I will take one more short step forward to settle directly at the balloon's location.", + "The purple balloon fills my view at arm's reach beside the cart cluster. The search and approach are complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff9a1f58a992dcf2796fd8ce3ba7876d87a71d64 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t3_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the gold hand truck, then proceed to the dark trash bin.", + "Type": 3, + "Start_Pose": [ + 234.8, + -1730.879, + 98.866, + 0.0, + -141.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 234.8, + -1730.879, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + 136.165, + -1809.056, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + 37.53, + -1887.233, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -61.105, + -1965.41, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -159.74, + -2043.587, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -258.374, + -2121.764, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -258.374, + -2121.764, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -258.374, + -2121.764, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -380.807, + -2150.932, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -503.24, + -2180.099, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -625.672, + -2209.267, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -747.559, + -2220.781, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -747.559, + -2220.781, + 98.866, + 0.0, + -166.6, + 0.0 + ] + ], + "Rationale": [ + "The yellow hand truck stands far ahead against the tan wall, near the open loading door, with clear blue floor between us. I will walk straight forward to close that distance.", + "The hand truck has grown slightly larger and remains near the center of my view, so my heading is good. I keep walking forward toward it.", + "The yellow hand truck now reads clearly against the tan wall with the leaning pallet beside it, and it is still some distance off. Another step forward should bring me closer.", + "The hand truck fills more of my view and its frame and wheels are distinct, but I am not yet beside it. I continue advancing on the same line.", + "The hand truck is close now, its handle rising nearly to the top of my view. One more step forward should put me right at it.", + "The yellow hand truck stands right in front of me, its frame filling my view against the tan wall. I have reached it. I mark arriving here before setting off for the dark trash bin over by the shutter.", + "With the hand truck reached, the dark bin sits off to my left, tucked beside the pillar near the metal shutter. I will turn left to bring it in front of me for a straight approach.", + "The turn has placed the dark bin ahead of me beside the pillar, with clear blue floor leading to it. I will walk forward to close on it.", + "The dark trash bin now sits clearly ahead of me, tucked against the wall beside the steel column and just left of it. My heading points straight at it with open floor between, so I will step forward to close the remaining gap.", + "The dark bin has grown noticeably larger and is still just left of the column, meaning my line of travel is good. Nothing blocks the floor between us, so another step forward should bring me closer to it.", + "The dark bin now fills much of the lower view, its open rim visible only a short distance ahead against the yellow wall. One more step forward should place me right beside it.", + "The dark trash bin's rim is right at my feet in the corner, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t3_b/infos.json b/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b8472a1f9eb4cb81c1aa3f46cefde9781c07cf1a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t3_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Make your way to the corrugated metal wall panel, then approach the gold hand truck.", + "Type": 3, + "Start_Pose": [ + 234.8, + -1730.879, + 98.866, + 0.0, + -141.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 234.8, + -1730.879, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + 136.165, + -1809.056, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + 37.53, + -1887.233, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + 37.53, + -1887.233, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -84.902, + -1916.401, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -207.335, + -1945.568, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -329.768, + -1974.736, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -452.2, + -2003.903, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -574.633, + -2033.071, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -697.065, + -2062.238, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -819.498, + -2091.406, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -819.498, + -2091.406, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -819.498, + -2091.406, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -819.498, + -2091.406, + 98.866, + 0.0, + -116.6, + 0.0 + ], + [ + -819.498, + -2091.406, + 98.866, + 0.0, + -91.6, + 0.0 + ], + [ + -819.498, + -2091.406, + 98.866, + 0.0, + -66.6, + 0.0 + ], + [ + -819.498, + -2091.406, + 98.866, + 0.0, + -41.6, + 0.0 + ], + [ + -819.498, + -2091.406, + 98.866, + 0.0, + -16.6, + 0.0 + ], + [ + -698.885, + -2127.362, + 98.866, + 0.0, + -16.6, + 0.0 + ], + [ + -578.271, + -2163.319, + 98.866, + 0.0, + -16.6, + 0.0 + ], + [ + -457.657, + -2199.275, + 98.866, + 0.0, + -16.6, + 0.0 + ], + [ + -457.657, + -2199.275, + 98.866, + 0.0, + -16.6, + 0.0 + ] + ], + "Rationale": [ + "The ribbed corrugated metal panel sits far ahead on the left-hand wall, past the racking that frames this aisle, and the gold hand truck stands further right near the open bay. The floor between me and that panel is clear, so I will walk forward to cut down the distance before worrying about heading.", + "The corrugated panel has grown slightly larger and the racks have slid to the edges of my view, confirming I am closing on the far wall. It is still well away, so I will keep walking forward through the open bay rather than turn this early.", + "From here the corrugated panel sits noticeably left of the direction I am facing, while my heading points more toward the open loading doorway on the right. I will turn left so the panel comes toward the middle of my view and I can walk straight at it.", + "The turn has swung the corrugated panel into the middle of my view with clear floor running up to it. With the heading now good, I will step forward to close the remaining span across the bay.", + "The corrugated panel is squarely ahead and its horizontal ribs are becoming distinct, so my line is holding. Nothing blocks the path except the bin and pallets set off to the right, and I will keep walking straight toward the panel.", + "The panel now fills a good part of my view and the surrounding wall band reads clearly, so I am within a short walk of it. I will advance again to keep shrinking that gap.", + "Only a few paces of floor remain between me and the corrugated panel, which now dominates the view with its frame and sill visible. I will step forward again to bring myself right up against it.", + "The corrugated panel is close enough that its metal slats and the concrete lip beneath it read plainly, though I am not yet standing at it. I will take one more step forward to finish closing on it.", + "The ribbed metal shutter panel now fills most of my view, with the yellow-painted block corner and the bin just off to my right. A short gap of blue floor still separates me from it, so I will step forward again to close on the panel.", + "The corrugated panel now spans the left of my view and its lower edge sits near my feet, but I am slightly off its face. One more step should bring me right up against the metal wall panel.", + "The ribbed metal panel and its frame fill my view at arm's length, with the yellow block wall pressed against it on the right. I have reached the corrugated metal wall panel. I mark reaching it before turning back toward the gold hand truck near the open doorway.", + "Standing this close, the metal panel blocks nearly everything ahead of me and the hand truck lies well behind my right shoulder, back toward the open bay. I will turn right to begin swinging my heading away from the wall.", + "The panel has slid to my left edge and I am now facing the yellow block corner, so I still have no line toward the hand truck. Turning right again should keep rotating me along the wall toward the open side of the bay.", + "Only the yellow corner and the rim of the blue bin are ahead of me now, which means I am still aimed into the dead end. I will keep turning right to bring the open floor and the hand truck into view.", + "The bin sits centered against the yellow wall and the dark steel column is entering from my right, so my heading is coming around but the hand truck is still out of sight. Another right turn should carry my view past the column.", + "The column now stands in the middle of my view with the leaning pallet showing beyond it on the right, which is the stretch of wall where the yellow hand truck stands. I will turn right once more to clear the column and face that area.", + "Swinging away from the corner has opened the bay, and the gold hand truck now stands against the far wall to the right of my heading, past the black pillar. One more turn to the right should put it and the clear blue floor lane straight ahead of me.", + "The gold hand truck is now set roughly ahead of me along the yellow wall, with open floor between us and nothing in the way. I will walk forward to cut down that distance.", + "The hand truck has grown noticeably larger and keeps its place slightly left of my heading, so my line is good. I keep walking forward to close the remaining gap along the wall.", + "The gold hand truck is only a short distance ahead on my left, its frame and wheel now filling much of that side of my view. One more step forward should bring me right alongside it.", + "The gold hand truck stands immediately beside me at the left edge, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t5_a_pd/infos.json b/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6f0e3ffa471bfa0f0228220743ade111426bf206 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the tomato near the gold hand truck, then place it near the dark trash bin.", + "Type": 5, + "Start_Pose": [ + 234.8, + -1730.879, + 98.866, + 0, + -141.6, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -361.224, + -2136.453, + 68.866, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 234.8, + -1730.879, + 98.866, + 0, + -141.6, + 0 + ], + [ + 136.165, + -1809.056, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + 37.53, + -1887.233, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -61.105, + -1965.41, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -159.74, + -2043.587, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -258.374, + -2121.764, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -258.374, + -2121.764, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -258.374, + -2121.764, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -258.374, + -2121.764, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -380.807, + -2150.932, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -503.239, + -2180.1, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -625.672, + -2209.268, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -747.558, + -2220.781, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -677.519, + -2204.094, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -677.519, + -2204.094, + 98.866, + 0.0, + -166.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -361.224, + -2136.453, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -361.224, + -2136.453, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -361.224, + -2136.453, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -361.224, + -2136.453, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -361.224, + -2136.453, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -361.224, + -2136.453, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -361.224, + -2136.453, + 68.866, + 0.0, + 0.0, + 0.0 + ], + [ + -244.632, + -2138.12, + 68.973, + -28.202, + -91.455, + 1.862 + ], + [ + -253.048, + -2141.468, + 69.246, + -28.189, + -116.443, + 1.872 + ], + [ + -374.868, + -2171.471, + 69.556, + -28.193, + -116.451, + 1.872 + ], + [ + -497.344, + -2200.646, + 69.554, + -28.198, + -116.45, + 1.868 + ], + [ + -620.02, + -2229.876, + 69.191, + -28.196, + -116.453, + 1.865 + ], + [ + -742.195, + -2241.452, + 68.596, + -28.209, + -116.466, + 1.854 + ], + [ + -745.613, + -2220.316, + 113.866, + 0.0, + -166.6, + 0.0 + ], + [ + -745.613, + -2220.316, + 113.866, + 0.0, + -166.6, + 0.0 + ] + ], + "PD_Dist_2D": [ + 720.9, + 595.5, + 470.2, + 345.4, + 221.9, + 103.9, + 103.9, + 21.4, + 20.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From my starting spot in the warehouse bay I can see the gold hand truck resting against the far tan wall, with the red tomato on the floor just beside it and a dark trash bin further left near the shutter. Both task targets lie well ahead of me, so I will walk forward to close that long distance. My heading already lines up with the tomato, so no turn is needed yet.", + "The hand truck and the tomato have grown noticeably larger, confirming my forward heading is carrying me straight toward them. There is still a wide stretch of empty blue floor before I would be close enough to reach the tomato. I will keep walking forward along this same line.", + "The tomato and the gold hand truck are now clearly centered ahead of me, with the dark trash bin visible against the wall to their left. I am still too far away for a reliable grasp, and nothing blocks the path between us. I will advance again to shorten the remaining gap.", + "The tomato now fills a large part of the lower view and the hand truck stands close beside it against the tan wall. I am nearly at the hand truck but still slightly short of a comfortable pickup distance. One more step forward should bring the tomato within arm's reach.", + "I have essentially reached the gold hand truck, which now towers in front of me beside the pallet and the tan wall. The tomato has dropped out of my forward-level view because it sits low on the floor right at my feet, so a final small step should place me squarely over it. I will step forward once more to settle into pickup position.", + "I am standing right at the gold hand truck, but my view is aimed at the wall and the tomato is not in it, which means the fruit is below my line of sight. To confirm the tomato is directly in front of my feet before grasping, I will tilt my gaze downward. That should bring the low object into view for a clean pick.", + "With my gaze lowered the tomato is now plainly visible on the blue floor at my feet, immediately left of the gold hand truck. I have reached the hand truck as the task requires and the fruit is within grasping range. I will attempt to pick it up now.", + "The grasp worked: the tomato is now lifted against my body with my hand and arm wrapped around it instead of resting free on the tiles. Carrying it, I need the dark trash bin that stands near the roller shutter off to my left rather than the wall ahead. I will turn left to bring that side of the bay and the bin into view for the carry.", + "The tomato is secured in my hands after the grasp, and from this heading the dark trash bin sits ahead against the far wall beside the steel pillar. I will walk forward to close the remaining distance across the open blue floor toward that bin.", + "The dark bin has grown larger in view and now sits just left of the steel pillar, so my heading is still carrying me toward it while I hold the tomato. I will step forward again to keep shortening the gap before I try to place the tomato.", + "The bin is now clearly ahead at the base of the wall, close beside the pillar, with unobstructed tile between us. I will advance once more to get within placing range of it.", + "The bin's open rim is now visible only a short step away in the corner, so I am nearly close enough to release the tomato into it. I will take one more short step forward to stand directly over the opening.", + "I am right up against the corner and the dark bin's rim shows at the bottom edge of my view, meaning the container is directly beneath me. I will release the tomato here so it should fall into the bin as the task requires.", + "The tomato now rests in the dark trash bin directly in front of me. The task goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t5_b_pd/infos.json b/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..73bc81f2409b5800074d594e94cbf614990a075f --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000235_y-001731_z000099_t5_b_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the jerry can by the ladder beside the open entrance, then leave it by the wooden pallet.", + "Type": 5, + "Start_Pose": [ + 234.8, + -1730.879, + 98.866, + 0, + -141.6, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -48.208, + -2065.068, + 18.866, + 0, + 30, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 234.8, + -1730.879, + 98.866, + 0, + -141.6, + 0 + ], + [ + 136.165, + -1809.056, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + 136.165, + -1809.056, + 98.866, + 0.0, + -116.6, + 0.0 + ], + [ + 79.811, + -1921.593, + 98.866, + 0.0, + -116.6, + 0.0 + ], + [ + 79.811, + -1921.593, + 98.866, + 0.0, + -116.6, + 0.0 + ], + [ + 79.811, + -1921.593, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -18.824, + -1999.771, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -117.459, + -2077.948, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -117.459, + -2077.948, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -239.891, + -2107.116, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -362.324, + -2136.284, + 98.866, + 0.0, + -166.6, + 0.0 + ], + [ + -362.324, + -2136.284, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -460.958, + -2214.461, + 106.454, + 0.0, + -141.6, + 0.0 + ], + [ + -404.532, + -2169.739, + 98.866, + 0.0, + -141.6, + 0.0 + ], + [ + -404.532, + -2169.739, + 98.866, + 0.0, + -141.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -48.208, + -2065.068, + 18.866, + 0.0, + 30.0, + -0.0 + ], + [ + -48.208, + -2065.068, + 18.866, + 0.0, + 30.0, + -0.0 + ], + [ + -48.208, + -2065.068, + 18.866, + 0.0, + 30.0, + -0.0 + ], + [ + -48.208, + -2065.068, + 18.866, + 0.0, + 30.0, + -0.0 + ], + [ + 99.178, + -1930.609, + 68.973, + -28.202, + -66.455, + 1.862 + ], + [ + 92.965, + -1937.2, + 69.246, + -28.189, + -91.443, + 1.872 + ], + [ + -4.762, + -2015.875, + 69.556, + -28.193, + -91.451, + 1.872 + ], + [ + -103.433, + -2094.078, + 69.554, + -28.198, + -91.45, + 1.868 + ], + [ + -112.39, + -2098.003, + 68.654, + -28.208, + -116.458, + 1.852 + ], + [ + -234.256, + -2127.733, + 69.076, + -28.189, + -116.441, + 1.867 + ], + [ + -356.423, + -2156.826, + 69.456, + -28.207, + -116.465, + 1.857 + ], + [ + -348.57, + -2153.369, + 68.397, + -28.202, + -91.458, + 1.859 + ], + [ + -447.414, + -2230.975, + 68.518, + -28.205, + -91.459, + 1.854 + ], + [ + -459.391, + -2213.219, + 48.866, + 0.0, + -141.6, + 0.0 + ], + [ + -459.391, + -2213.219, + 48.866, + 0.0, + -141.6, + 0.0 + ] + ], + "PD_Dist_2D": [ + 437.9, + 315.5, + 315.5, + 192.3, + 21.4, + 20.4, + 21.4, + 21.4, + 20.7, + 21.4, + 21.4, + 21.9, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the entrance side of the warehouse I can see the red jerry can standing on the blue floor near the ladder that leans beside the open bay door. It is still far ahead, so I will walk forward to close the gap before worrying about fine alignment. This straight advance should keep both the can and the ladder in view.", + "The jerry can is now clearly nearer, but it sits right of my heading, offset toward the ladder and the shelving on that side. I will turn right to bring it toward the middle of my view so a straight walk leads directly onto it. This should set up a clean approach for grasping.", + "With the jerry can now sitting close to the center of my view, just left of the ladder, my heading looks usable for a direct approach. I will step forward to reach grasping range beside the ladder. The floor between us is clear, so this advance should bring the can within reach.", + "The jerry can is now large in the lower part of my view, right at my feet beside the ladder and the open entrance. This is close enough for a grasp, so I will attempt to pick it up. If the grip takes, I should then be free to carry it toward the wooden pallet.", + "The grasp worked, since the jerry can is now held in front of me and no longer resting on the floor. The wooden pallet leaning against the far wall lies to the left of my current heading, past the hand truck. I will turn left so that the delivery area comes into the center of my view.", + "Carrying the can, I can now see the hand truck and the stacked wooden pallet against the wall left of the open bay door. They are still well across the floor, so I will walk forward to shorten that distance. The tiled floor ahead looks clear for the carry.", + "The pallet and the yellow hand truck have grown noticeably larger, but I am still several paces short of the delivery spot. I will keep walking forward along this clear stretch of floor while holding the can. Another step should put the pallet close enough to line up on.", + "I am now close to the corner where the wooden pallet rests against the wall beside the hand truck, but it sits left of my heading while the bright doorway fills the right of my view. I will turn left to bring the pallet more centrally in front of me. That heading should let me approach the drop point directly.", + "I am still carrying the jerry can, and the stack of wooden pallets now sits ahead and slightly to my right against the yellow wall. The floor between me and that corner is clear, so I will walk forward to close the remaining distance to the delivery spot.", + "The pallet stack has grown noticeably larger and now lies just off to my right beside the yellow wall, so I am close but not yet alongside it. Carrying the can, I will step forward again to bring myself level with the pallets before turning toward them.", + "I am now beside the corner with the pallet stack sitting at my lower right against the yellow wall, while my heading points at the roller shutter instead. I will turn right to face the pallets directly so the can can be placed onto them.", + "The wooden pallet stack is now centred low ahead of me against the yellow wall, but it is still a short distance out of comfortable placing reach. Carrying the jerry can, I will step forward once more to stand right over the pallets before releasing it.", + "I am standing right at the edge of the wooden pallet stack, which fills the lower part of my view against the yellow wall. Since this is the designated delivery surface and the jerry can is still in my hands, I will release it here so it should come to rest on the pallets.", + "The jerry can now rests on the wooden pallets in front of me, no longer in my hands. The delivery condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000316_y-001656_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x000316_y-001656_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d72f6fdd0ac44fbdd4a48a9bf8d6bc587017c6c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000316_y-001656_z000099_t1_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Locate the fire extinguisher mounted on the warehouse wall.", + "Type": 1, + "Start_Pose": [ + 315.936, + -1656.448, + 98.866, + 0.0, + 4.32, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 54.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 79.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 104.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 129.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 154.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 179.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + -155.68, + 0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + -130.68, + 0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + -105.68, + 0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + -130.68, + 0.0 + ], + [ + 230.676, + -1744.965, + 98.866, + 0.0, + -130.68, + 0.0 + ], + [ + 230.676, + -1744.965, + 98.866, + 0.0, + -105.68, + 0.0 + ], + [ + 196.661, + -1866.14, + 98.866, + 0.0, + -105.68, + 0.0 + ], + [ + 196.661, + -1866.14, + 98.866, + 0.0, + -80.68, + 0.0 + ], + [ + 196.661, + -1866.14, + 98.866, + 0.0, + -55.68, + 0.0 + ], + [ + 267.622, + -1970.088, + 98.866, + 0.0, + -55.68, + 0.0 + ], + [ + 267.622, + -1970.088, + 98.866, + 0.0, + -55.68, + 0.0 + ] + ], + "Rationale": [ + "I am standing in a narrow aisle between tall pallet racks, and the only wall ahead is a plain partition with no red extinguisher on it. Since the racks block most of the room, I will rotate right in place to begin a systematic sweep of the surrounding walls.", + "Turning has brought loaded shelving and a stretch of block wall into sight, but no mounted extinguisher shows anywhere along it. I will keep rotating right to bring more of the perimeter wall into my sightline.", + "Large crates on the racking now fill most of what is in front of me, hiding the wall behind them. Rotating further right should clear the shelving edge and expose open wall where an extinguisher could be mounted.", + "Past the rack upright I can now see a dark steel column and a slice of the far wall, but nothing red is mounted there. I will continue turning right so the open floor beyond the racking comes into my sightline.", + "The sweep has opened onto a doorway with a wheeled trolley beside it, and the painted wall around that door carries no extinguisher. I will keep rotating right to inspect the next stretch of the perimeter.", + "This sector shows the doorway, a cabinet and more racking, still with no extinguisher fixed to the block wall. Continuing the rightward rotation should reveal the wider bay to my right.", + "A freestanding rack of crates stands in the middle of the open bay ahead, and the wall visible past it is empty. I will turn right again to check the remaining side of this large open area.", + "I now face a broad blue floor with a roller shutter and a bright opening in the far wall, but no extinguisher is mounted on that span. I will continue the rightward sweep toward the racking and wall on the far side.", + "Scanning this side of the bay shows only shelving, a roller shutter and an open loading door, with no red extinguisher on any wall panel. I will keep rotating right to bring the next stretch of wall into view.", + "The wall stretch now in front of me carries only a bin, pallets and a hand truck, and the tall racking on my right still hides the corner beyond it. Continuing the rightward sweep should expose that hidden wall section.", + "Past the rack upright I can just make out a small red extinguisher mounted on the far yellow wall to my right. The crates and steel frame immediately ahead leave no walking lane, so I turn slightly back to the left to face the open floor and set up a clear approach.", + "The blue floor ahead is clear all the way to the far wall, with the racking safely off to my right. I will walk forward to close distance toward the wall section where I glimpsed the red extinguisher.", + "Walking ahead has swung my heading toward the shutter wall, and the racking on my right still screens the yellow wall panel I want. Turning right should bring that wall and the extinguisher back into the middle of my view.", + "The red fire extinguisher is now plainly visible, mounted on the yellow block wall to the right of the shelving unit. With the target confirmed and clear floor between us, I will walk forward to close in on it.", + "Advancing has brought me close to the shelving, and the wall corner now hides the extinguisher just beyond my right edge. I turn right to swing that mounted extinguisher back into view.", + "The extinguisher is back in sight on the yellow wall, but it sits off to the right of my heading with the wall angling away. Another turn right should centre it so I can face it squarely.", + "The red fire extinguisher is now clearly mounted on the yellow block wall ahead of me and roughly centered in my view. Nothing blocks the floor between me and that wall, so I will walk straight forward to close the remaining distance and confirm it at close range.", + "The fire extinguisher is mounted on the warehouse wall directly in front of me, large and unmistakable. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000316_y-001656_z000099_t1_b/infos.json b/dataset/trajectory/Supermarket/task_x000316_y-001656_z000099_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d0ed1aabf7836643948f615f2e45a719217f5251 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000316_y-001656_z000099_t1_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Explore the area until you identify the rolling cart with 4 wheels near the wall, then head toward that location.", + "Type": 1, + "Start_Pose": [ + 315.936, + -1656.448, + 98.866, + 0.0, + 4.32, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 4.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 29.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 54.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 79.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 104.32, + -0.0 + ], + [ + 315.936, + -1656.448, + 98.866, + 0.0, + 129.32, + -0.0 + ], + [ + 236.185, + -1559.081, + 98.866, + 0.0, + 129.32, + -0.0 + ], + [ + 156.435, + -1461.714, + 98.866, + 0.0, + 129.32, + -0.0 + ], + [ + 156.435, + -1461.714, + 98.866, + 0.0, + 129.32, + -0.0 + ] + ], + "Rationale": [ + "I am standing in a warehouse aisle between tall racking, and the only cart-like object ahead is a small hand truck at the far end, not a four wheeled rolling cart. I will turn right to begin a steady scan of the surrounding bays and wall areas for the target.", + "The new heading shows mostly shelving and stacked wooden crates, with no wheeled cart against the visible wall section. I will keep rotating right in the same direction to sweep further along the wall.", + "This heading is almost entirely blocked by large crates on the shelf right in front of me, so it gives me no information about the wall behind them. Continuing the same rightward sweep should open up the floor space beyond the racking.", + "The rack edge has cleared enough to reveal open blue floor and a white wall, and at the far right margin of my view I can just make out a dark wheeled trolley with a caster. I will turn right again to bring that promising object fully into view.", + "The rolling cart with its tubular frame and four casters is now clearly visible against the wall, but it sits well to the right of my heading with crates still crowding the left side. One more turn right should center it so I can walk straight toward it.", + "The four wheeled rolling cart by the wall is now roughly ahead of me with clear blue floor in between and no obstruction on the path. I will step forward to close the distance to it.", + "The cart has grown noticeably larger and its casters are clearly visible, confirming I am closing on the right object, but I am still a few steps short of it. I will walk forward again to arrive at the cart's location by the wall.", + "The four wheeled rolling cart stands directly in front of me against the wall, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000436_y-001664_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x000436_y-001664_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3740f96b9ac42a57210c9f2e332687d9283ea4a5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000436_y-001664_z000099_t1_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Search the surrounding area for the metal ventilation grate on the wall, then move to that location.", + "Type": 1, + "Start_Pose": [ + 436.133, + -1663.809, + 98.866, + 0.0, + 7.2, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 436.133, + -1663.809, + 98.866, + 0.0, + 7.2, + -0.0 + ], + [ + 436.133, + -1663.809, + 98.866, + 0.0, + -17.8, + 0.0 + ], + [ + 436.133, + -1663.809, + 98.866, + 0.0, + -42.8, + 0.0 + ], + [ + 436.133, + -1663.809, + 98.866, + 0.0, + -67.8, + 0.0 + ], + [ + 436.133, + -1663.809, + 98.866, + 0.0, + -92.8, + 0.0 + ], + [ + 436.133, + -1663.809, + 98.866, + 0.0, + -117.8, + 0.0 + ], + [ + 436.133, + -1663.809, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + 436.133, + -1663.809, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + 328.851, + -1657.186, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + 205.835, + -1683.783, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + 205.835, + -1683.783, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + 105.584, + -1759.877, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + 5.334, + -1835.972, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -94.917, + -1912.066, + 98.866, + 0.0, + -142.8, + 0.0 + ], + [ + -94.917, + -1912.066, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -217.933, + -1938.663, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -340.95, + -1965.26, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -463.967, + -1991.857, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -586.983, + -2018.454, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -710.0, + -2045.051, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -833.016, + -2071.649, + 98.866, + 0.0, + -167.8, + 0.0 + ], + [ + -833.016, + -2071.649, + 98.866, + 0.0, + -167.8, + 0.0 + ] + ], + "Rationale": [ + "From this narrow aisle I only see storage racks on both sides and a plain end wall with a hand truck in front of it, so no metal ventilation grate is in view. I will turn left to begin a steady scan of the surrounding space in one consistent direction.", + "The aisle has shifted so the racking now fills more of the left side, and the visible walls still show no louvered metal panel. I will keep rotating left at the same pace to continue sweeping this dark storage area for the grate.", + "My view is now mostly filled by a close shelf frame and stacked crates, which blocks any distant wall surface where a grate could sit. I will continue the left rotation to clear this obstruction and expose more of the room.", + "I can see a wooden pallet, green trays and a crate top under the dark shelf, but still nothing resembling a slatted metal vent on a wall. I will hold the same leftward sweep so the scan stays consistent rather than doubling back.", + "A brighter opening is starting to appear at the left edge past the shelving, while the sector directly ahead is just shelf undersides and pallets with no grate. I will turn left again to bring that brighter, more open part of the warehouse into view.", + "A dark ladder frame stands right in front of me and hides much of the open floor beyond it, so I cannot judge that far wall yet. I will continue the leftward sweep to look past this ladder into the larger lit hall.", + "Past the ladder I can now see the open warehouse hall, and a grey slatted panel set into the far wall to the left of center looks like the metal ventilation grate. I will turn left once more to bring that panel toward the middle of my view and clear the ladder from my path.", + "The slatted metal grate on the far wall is now clearly ahead of me across the open blue floor, with nothing blocking the route in front. I will walk forward to close the long distance toward it.", + "From this open bay I can see a metal louvered grate set into the far wall past the tall pallet racks, which matches the ventilation grate I am looking for. The floor ahead is clear blue matting with nothing blocking my path, so I will keep walking forward to close the distance and confirm the panel.", + "The tall loaded rack now fills the left and center of my view and stands between me and the wall carrying the grate, so pushing straight on would run me into the shelving. Turning right should point me into the open floor lane beside the rack while the grate stays in sight off to my left.", + "With the heading shifted, the racks now sit to either side and a clear corridor of floor runs ahead toward the far wall. I will step forward along this open lane to get nearer the louvered grate that shows on the left portion of that wall.", + "The grate and the surrounding wall are noticeably larger than a moment ago, confirming I am closing on the right part of the building. Nothing obstructs the mat floor in front of me, so I will continue walking forward.", + "The metal grate is clearly resolved on the wall ahead to my left, with the steel column, bin and pallets marking that corner. I am still several strides away, so I will keep advancing across the open floor.", + "As I have come closer, the grate has drifted to the left side of my view while the column and shutter opening dominate the center and right. I will turn left to bring the grate onto my heading so my remaining steps carry me straight to it.", + "The turn worked, and the louvered ventilation grate now sits near the middle of my view on the wall ahead. The floor between us is empty, so I will walk forward to reach that spot.", + "The grate is directly ahead and its slats are clearly readable, but I am still a few paces short of the wall. I will continue stepping forward to arrive at the grate's location.", + "The louvered metal ventilation grate is centered ahead on the lower wall and fills a good part of my view, with clear blue floor between me and it. I will keep walking straight toward it to close the remaining gap, since nothing blocks the path apart from the bin and column well off to the right.", + "The grate now dominates the view and its slats and frame are clearly resolved, so my heading is still correct. A few steps of floor remain before I am at the wall, so I will advance again to shorten that distance.", + "The ventilation grate is close now, with its concrete sill and surrounding tan wall filling most of my view. I will step forward once more to stand right at the grate rather than stopping short of it.", + "The grate now spans nearly the whole view and only a narrow band of floor is left at its base. I will take one final step so I am directly at the ventilation grate's location on the wall.", + "The metal ventilation grate fills my view at arm's length on the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..889517cbfbc2ad45cdc4b173269ca575608f022c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the leftmost shopping cart in the row.", + "Type": 2, + "Start_Pose": [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 508.298, + 1437.902, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 508.298, + 1437.902, + 98.866, + 0.0, + 68.6, + -0.0 + ], + [ + 554.221, + 1555.083, + 98.866, + 0.0, + 68.6, + -0.0 + ], + [ + 600.144, + 1672.265, + 98.866, + 0.0, + 68.6, + -0.0 + ], + [ + 646.067, + 1789.447, + 98.866, + 0.0, + 68.6, + -0.0 + ], + [ + 646.067, + 1789.447, + 98.866, + 0.0, + 68.6, + -0.0 + ] + ], + "Rationale": [ + "A line of nested carts stands against the wall on my left, and the end of that line farthest left sits back in the corner beside the tall purple advertising sign, so that corner cart is my target. The carts look alike, so I hold onto that sign as my anchor. I am still far across the tiled entry, so I will walk forward to close the gap.", + "The carts have slid to the very edge of my view on the left while I face the glass doors, so walking straight ahead would take me past them. Turning left should swing the cart row and the corner with the purple sign into the middle of my view for a direct approach.", + "Now the purple sign and the carts beside it sit ahead on my left, so my heading points into that corner rather than at the doors. The cart tucked deepest into the corner by the sign is still the one I want, and the floor between us is clear, so I will step forward.", + "The nested carts are noticeably larger now, with their red handles clearly visible along the brown wall on my left. I am still short of the corner cart at the far end of the line, so I will keep walking forward toward it.", + "The carts now fill the left side of my view so closely that the line no longer reads as a countable row from its end, but I am still tracking the cart tucked in the corner by the sign. One more step forward should bring me level with it.", + "I am standing directly beside the corner cart at the end of the line, its red handle within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf53323a2ce4e0aad83a2a1664e12024fc92f42 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the rightmost glass door at the entrance.", + "Type": 2, + "Start_Pose": [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 516.201, + 1312.291, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 455.953, + 1422.793, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 395.706, + 1533.295, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 395.706, + 1533.295, + 98.866, + 0.0, + 143.6, + -0.0 + ], + [ + 294.403, + 1607.982, + 98.866, + 0.0, + 143.6, + -0.0 + ], + [ + 193.099, + 1682.669, + 98.866, + 0.0, + 143.6, + -0.0 + ], + [ + 91.796, + 1757.356, + 98.866, + 0.0, + 143.6, + -0.0 + ], + [ + -9.507, + 1832.044, + 98.866, + 0.0, + 143.6, + -0.0 + ], + [ + -110.81, + 1906.731, + 98.866, + 0.0, + 143.6, + -0.0 + ], + [ + -110.81, + 1906.731, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + -171.058, + 2017.233, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + -171.058, + 2017.233, + 98.866, + 0.0, + 118.6, + -0.0 + ] + ], + "Rationale": [ + "The entrance glazing spans my front and the panels all look alike, so I pin my target to the door at the far right end of that run, where the glass meets the brick and the wall corner. That end lies right of my current heading, so I turn right to bring it toward the middle of my view.", + "The door bay now sits ahead and slightly left, with the interior wall and carts on my right marking where the glazing ends. Open tile floor lies between me and the entrance, so I step forward to close that gap.", + "I am closer, yet the entrance frames still fill only the upper left of my view and the corner where the frontage ends is still some way off. Nothing blocks the tiles in front of me, so I keep walking forward to shorten the remaining distance.", + "The doors I have drawn level with are now off to my left, while the end of the glazed frontage against the brick and tan wall sits to my right. I turn right so my heading points at that end door rather than at the middle of the run.", + "My heading now runs along the frontage toward its far end, with the lit poster board and cart line on my right as a wall reference. The floor ahead is clear, so I walk forward to close on that end door.", + "The end doorway with its brick pier is growing in the left half of my view, and the interior wall stays on my right. I continue forward since the direct line to that doorway remains unobstructed.", + "The frontage no longer reads as a countable row from here, but the open doorway beside the brick pier is unmistakably the one I chose. It is still a few paces off, so I step forward again toward it.", + "The doorway beside the brick pier now dominates my left, with the entry mat and the street visible through it. The poster board leaning on the right wall leaves the path open, so I advance to bring myself into the doorway itself.", + "The glazed leaf and its brick jamb sit just off my left shoulder, with the crosswalk and bollard bright through the opening. A last stride of clear tile separates me from the threshold, so I walk forward to reach it.", + "I am now level with the doorway, but my heading runs into the dark corner wall and the leaning sign on my right while the opening has slid to my left edge. I turn left to square myself onto the door and its threshold.", + "The open leaf beside the brick pier now stands centered ahead, with the mat, sidewalk and crosswalk laid out straight through it. Nothing intervenes, so I step forward to bring myself to the doorway.", + "I stand in the end doorway beside the brick pier, its frame at arm's reach on both sides. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_c/infos.json b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..13334950a6eb2a18ed0acbc76f96b4a606cf59d3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the second door from the left in the storefront.", + "Type": 2, + "Start_Pose": [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 508.298, + 1437.902, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 508.298, + 1437.902, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 448.051, + 1548.404, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 387.803, + 1658.906, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 387.803, + 1658.906, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 379.9, + 1784.516, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 371.997, + 1910.127, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 364.095, + 2035.738, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 364.095, + 2035.738, + 98.866, + 0.0, + 93.6, + -0.0 + ] + ], + "Rationale": [ + "From here the whole glass frontage is in view, and I can count four door bays across it, so my target is the one just right of the bay at the left end. The bays are identical, so I hold that place against the left end of the storefront. I walk forward to close the open floor between the carts and the entrance.", + "The door I chose sits close to straight ahead, but walking on this heading would carry me in at an angle and past its left edge. I turn right to set a short diagonal that should let me gain ground across the front of it before I face it again.", + "On this angled heading the storefront now runs off to my left, with my door sitting second along that run from its left end. I step forward to carry the diagonal, gaining lateral offset while still closing on the glass.", + "The door bays have grown noticeably and the mats in front of them are visible, so the diagonal is working. I take another step forward to finish the offset and bring myself square with the bay I am heading for.", + "I have drifted right of the door I want, and it now sits off to my left with its vestibule glass clearly separated from the neighbouring bay. I turn left to swing my heading back onto it so the remaining approach can be a straight walk.", + "The turn has put my door roughly ahead, its frame and the mat beneath it centred in front of me. I walk forward to close the last stretch of tiled floor toward that entrance.", + "The glass and its swing panel now fill much of my view, with the parking lot and a yellow post visible through it. I step forward again to bring myself right up to that doorway.", + "This close the frontage no longer reads as a countable row, but the open panel and threshold directly in front of me belong to the door I have been tracking. One more step forward should place me at it.", + "The door frame and threshold I was tracking are right against me, filling my view. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_d/infos.json b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..750db262bf9f707b8c513ca3a5ee50a6aef362f1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_d/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Move to the rightmost yellow bollard near the doors.", + "Type": 2, + "Start_Pose": [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 516.201, + 1312.291, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 455.953, + 1422.793, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 395.706, + 1533.295, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 335.458, + 1643.797, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 335.458, + 1643.797, + 98.866, + 0.0, + 143.6, + -0.0 + ], + [ + 234.155, + 1718.484, + 98.866, + 0.0, + 143.6, + -0.0 + ], + [ + 132.852, + 1793.171, + 98.866, + 0.0, + 143.6, + -0.0 + ], + [ + 132.852, + 1793.171, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 72.604, + 1903.674, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 12.356, + 2014.176, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + -47.891, + 2124.678, + 98.241, + 0.0, + 118.6, + -0.0 + ], + [ + -108.139, + 2235.18, + 98.241, + 0.0, + 118.6, + -0.0 + ], + [ + -108.139, + 2235.18, + 98.241, + 0.0, + 118.6, + -0.0 + ] + ], + "Rationale": [ + "Through the glass frontage I can see yellow posts outside the entrance, and the one I want is the rightmost, standing at the far right end of the door bank near the brick pier. The posts look alike, so I hold mine by that pier. I turn right to swing my heading toward it.", + "The entrance now runs across the left of my view and the yellow post I am after sits outside beyond that glass. The tiled floor between me and the doors is open and clear, so I step forward to close the distance.", + "The glass frontage has grown noticeably closer and the yellow post I am heading to is still visible outside past the doorways. Nothing stands in the open floor ahead, so I keep walking forward.", + "I am close enough now to make out the individual door frames and the mats laid inside them, with my yellow post standing out on the pavement beyond. The path stays clear, so another step forward should bring me nearer the entrance.", + "My current heading points at the left half of the door bank, while the opening nearest my yellow post lies further along to my right, next to the brick pier. I turn right so my forward direction lines up with that right-hand end of the entrance.", + "With the doorways now off my left shoulder and the interior wall and carts on my right, my heading runs along the frontage toward its right end. The floor between me and that corner is open, so I walk forward.", + "The right-hand corner of the vestibule is closer, and through the opening on my left I can see the pavement and my yellow post outside. Nothing blocks the mats ahead, so I continue forward toward that last doorway.", + "I have reached the right end of the entrance, where the wall and its display panel now fill my forward view and the open doorway lies on my left. My yellow post stands out on the pavement through that opening, so I turn left to face straight through it.", + "The last opening is squared up in front of me, with the mat across its threshold and the pavement bright beyond. My yellow post stands out there past the crossing, so I step forward to pass through the doorway.", + "I am in the threshold itself now, the brick pier tight on my right and the open glass leaf swung out to my left. My post sits just beyond the mat where the paving meets the road, and nothing crowds the gap, so I keep walking.", + "Out on the paving another yellow post has come into view at my left edge, but the one I am going to is the post ahead of me beside the brick pier. It sits a few paces off at the edge of the crossing, so I continue toward it.", + "Only my post fills the ground ahead now, planted on the kerb strip where the striped crossing begins, the pier still at my right shoulder. A short step should bring me right up beside it.", + "The yellow post is right at my feet, its rounded top filling the near ground before me. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_e/infos.json b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6f78c0b500a83c70358ea9c26cda7b62e25a9a1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t2_e/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the second door from the right in the storefront.", + "Type": 2, + "Start_Pose": [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 516.201, + 1312.291, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 508.298, + 1437.902, + 98.866, + 0.0, + 93.6, + -0.0 + ], + [ + 508.298, + 1437.902, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 448.051, + 1548.404, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 387.803, + 1658.906, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 327.555, + 1769.408, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 267.308, + 1879.91, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 207.06, + 1990.412, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 167.832, + 2051.776, + 98.866, + 0.0, + 118.6, + -0.0 + ], + [ + 167.832, + 2051.776, + 98.866, + 0.0, + 118.6, + -0.0 + ] + ], + "Rationale": [ + "The storefront's glass doors run across the far wall ahead of me. Counting in from the right end, the last door stands against the brick pier, so my target is the open glass door immediately to its left. I will walk forward to close some of this distance.", + "From here the left half of the door run fills my view straight ahead, while the door beside the brick pier sits off to my right. I will turn right so that door falls near the center of my heading before I keep walking.", + "The turn has placed the door next to the brick pier roughly ahead of me, with the rest of the run trailing off to my left. The path across the tiled floor is clear, so I will step forward toward that door.", + "The door beside the brick pier is growing larger and stays centered in my view. Nothing blocks the tile between me and it, so I will continue walking straight ahead.", + "The glass door with the brick pier at its right shoulder is clearly ahead, and the entrance mats are now visible on the floor before it. I will keep advancing to reach it.", + "The doors further along the run are sliding out of my view at the left edge, so I am holding to the open door that sits against the brick pier. It stands directly ahead, and I will keep walking toward it.", + "The open glass door and the brick pier beside it now fill much of my view, and the sidewalk beyond is plainly visible. A few more steps should bring me right up to it, so I will move forward again.", + "I am nearly at the doorway, with the door's frame and glass panels immediately in front of me and the brick pier close on the right. One short step forward should place me at the door itself.", + "The door's frame and glass fill my view at arm's length. The approach is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..acba92d180c9da603b3fc7024a49f71a8e8f7bb9 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000516_y001312_z000099_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Lift the metal bucket near the leftmost shopping cart in the row.", + "Type": 5, + "Start_Pose": [ + 516.201, + 1312.291, + 98.866, + 0, + 93.6, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 654.542, + 1749.057, + 18.866, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 516.201, + 1312.291, + 98.866, + 0, + 93.6, + 0 + ], + [ + 516.201, + 1312.291, + 98.866, + 0.0, + 68.6, + -0.0 + ], + [ + 562.124, + 1429.473, + 98.866, + 0.0, + 68.6, + -0.0 + ], + [ + 608.047, + 1546.655, + 98.866, + 0.0, + 68.6, + -0.0 + ], + [ + 608.047, + 1546.655, + 98.866, + 0.0, + 68.6, + -0.0 + ], + [ + 608.047, + 1546.655, + 98.866, + 0.0, + 68.6, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 654.542, + 1749.057, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + 654.542, + 1749.057, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + 654.542, + 1749.057, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + 654.542, + 1749.057, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + 587.943, + 1553.878, + 68.973, + -28.202, + 118.745, + 1.862 + ], + [ + 587.943, + 1553.878, + 68.973, + -28.202, + 118.745, + 1.862 + ] + ], + "PD_Dist_2D": [ + 458.2, + 458.2, + 332.7, + 207.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The row of nested shopping carts and the dark metal bucket beside them sit far to my left, near the wall, while my heading points mostly at the glass entrance doors ahead. I will turn left so that the cart row and the bucket move toward the center of my view before I close the distance. This should give me a straight walking line toward the leftmost cart area.", + "The cart row and the metal bucket now sit within my forward view, roughly ahead and slightly right of center, with clear open tile between us. Nothing blocks that lane, so I will walk forward to cut the remaining distance to the leftmost cart position. The bucket should grow noticeably larger as I advance.", + "The nested carts and the metal bucket are clearly larger and closer now, but the bucket is still several paces away and too distant to grasp. The floor between us remains clear, so I will step forward again to reach an arm's length interaction distance. That should place the bucket directly in front of me.", + "The metal bucket now fills the lower center of my view right beside the leftmost cart in the row, well within reach. Since I have reached the leftmost cart position as the task requires, I will attempt to grasp and lift the bucket now. The grasp should register given how close and centered it is.", + "The metal bucket is now held in my grip, tilted in my hands above the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5f741e05df1a9ddfe4462bf6daf60e5e738184c5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the leftmost yellow bollard near the store entrance.", + "Type": 2, + "Start_Pose": [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 589.346, + 2775.386, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 589.346, + 2775.386, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 489.362, + 2698.943, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 389.378, + 2622.499, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 289.393, + 2546.055, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 189.409, + 2469.612, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 89.425, + 2393.168, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + -10.559, + 2316.724, + 98.14, + 0.0, + -142.6, + 0.0 + ], + [ + -10.559, + 2316.724, + 98.14, + 0.0, + -167.6, + 0.0 + ], + [ + -10.559, + 2316.724, + 98.14, + 0.0, + -167.6, + 0.0 + ] + ], + "Rationale": [ + "A row of yellow bollards guards the supermarket entrance, and the one I want is at the far left end of that row, planted beside the brick pillar where the canopy begins. I am still out on the open roadway, well short of the walkway. I will walk forward to close on the entrance frontage.", + "The frontage is much nearer now, but my heading points straight into the open doorways rather than along the walkway. The bollard beside the brick pillar lies off to my left. I will turn left so that end of the frontage sits ahead of me before I advance further.", + "The turn has brought the left stretch of the frontage into view, with the brick pillar and its bollard standing down the walkway ahead of me. Nothing blocks the pavement between us. I will step forward along the storefront to cut that distance.", + "The pillar and the bollard at its base are still a fair way down the frontage from where I stand. My heading already runs parallel to the walkway toward them. Another forward step should shorten the gap without any turning.", + "The pillar has grown noticeably larger and the bollard planted at its foot is now clearly resolved just left of my heading. I am still several strides short of it. I will keep walking forward along the frontage.", + "Closer bollards now loom large in front of me, so the frontage no longer reads as a countable line from this angle; I am holding to the one standing at the base of the brick pillar. It still sits ahead and slightly left of me. I will continue forward toward it.", + "The bollard at the brick pillar is now close, standing left of the entry doorway I am passing. I am not yet level with it. I will take another step forward along the pavement to draw alongside.", + "The brick pillar now rises directly ahead-left with its bollard right at my side, so I am nearly level with the end of the frontage. A final forward step should bring me up beside that bollard rather than leaving it behind my shoulder. I will advance once more.", + "I have drawn level with the brick pillar, and its bollard has slipped to the very edge of my view on the left. Turning left should bring that bollard squarely in front of me instead of leaving it at my shoulder.", + "The bollard at the brick pillar stands centered right at my feet. I have reached it, so the task is done and there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b2312ccec8e364419a62cd68550b90a1f95eafc5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head toward the rightmost yellow bollard by the supermarket.", + "Type": 2, + "Start_Pose": [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 647.656, + 2886.923, + 87.15, + 0.0, + -92.6, + 0.0 + ], + [ + 641.947, + 2761.194, + 87.15, + 0.0, + -92.6, + 0.0 + ], + [ + 636.237, + 2635.464, + 87.15, + 0.0, + -92.6, + 0.0 + ], + [ + 630.528, + 2509.735, + 87.15, + 0.0, + -92.6, + 0.0 + ], + [ + 624.819, + 2384.005, + 87.15, + 0.0, + -92.6, + 0.0 + ], + [ + 624.819, + 2384.005, + 87.15, + 0.0, + -92.6, + 0.0 + ] + ], + "Rationale": [ + "Several identical yellow bollards stand along the supermarket frontage, so I settle on the last one at the right end of the run, the one planted beside the brick pillar at the edge of the entrance canopy. That bollard lies well to the right of my current heading. I turn right so it comes into the center of my view.", + "The yellow bollard beside the brick pillar now sits just right of center ahead of me, with open pavement and crosswalk stripes between us. Nothing blocks the straight line, so I walk forward to cut down the distance.", + "The bollard at the brick pillar has grown noticeably and stays near the middle of my view, confirming my heading is still good. I am still out on the roadway, so I keep walking forward toward it.", + "The other bollards have slid off to the left edge of my view, but the one I chose is unmistakable now, standing full height against the brick pillar just ahead. The curb and entrance walkway are close, so I step forward again to close the remaining gap.", + "The bollard beside the brick pillar towers on the right of my view, and only a short stretch of walkway separates us. One more step forward should bring me right up beside it.", + "The yellow bollard at the brick pillar stands immediately at my right, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_c/infos.json b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1ba0ee1441703e68703060e23979bfab0e724d7 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Approach the second yellow bollard from the left.", + "Type": 2, + "Start_Pose": [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 589.346, + 2775.386, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 531.036, + 2663.85, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 531.036, + 2663.85, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 431.052, + 2587.406, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 331.068, + 2510.962, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 231.083, + 2434.519, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 131.099, + 2358.075, + 92.765, + 0.0, + -142.6, + 0.0 + ], + [ + 131.099, + 2358.075, + 92.765, + 0.0, + -142.6, + 0.0 + ] + ], + "Rationale": [ + "Counting the yellow posts along the storefront from the left, the second one is the short bollard standing at the sidewalk edge beside the glass vestibule with the teal-lit display behind it. It is still well ahead of me across the open drive lane, so I will walk forward to close that gap.", + "The bollard beside the vestibule doorway is noticeably larger now, but the curb line is still several strides off. I will keep walking forward to shorten the remaining distance before adjusting my heading.", + "My forward walking has carried me past the line of the bollard beside the vestibule doorway, which now sits far out on the left side of my view while I face the wide entrance glass. I will turn left to bring that post back toward the middle of my heading.", + "The turn has put the bollard beside the vestibule doorway near the center of my view, with clear pavement leading toward it. I will step forward along this heading to close on it.", + "The bollard beside the vestibule doorway stays centered and is growing taller in my view, so my heading is good. I will continue forward toward it.", + "From this close angle the frontage no longer reads as a countable row, so I simply keep following the bollard that stands beside the vestibule doorway, still centered ahead of me. It is close but not yet within arm's reach, so I will advance again.", + "The bollard beside the vestibule doorway now fills much of the lower center of my view, with only a stride or so of pavement left. One more step forward should bring me right up beside it.", + "The yellow bollard beside the vestibule doorway stands directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_d/infos.json b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a7e1c2e6ff3827369c76afba30ac01069baf2a6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_d/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Navigate to the left glass door of the supermarket entrance.", + "Type": 2, + "Start_Pose": [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 589.346, + 2775.386, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 531.036, + 2663.85, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 531.036, + 2663.85, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 431.052, + 2587.406, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 331.068, + 2510.962, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 231.083, + 2434.519, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 231.083, + 2434.519, + 87.15, + 0.0, + -167.6, + 0.0 + ], + [ + 108.16, + 2407.492, + 87.15, + 0.0, + -167.6, + 0.0 + ], + [ + 108.16, + 2407.492, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 8.176, + 2331.048, + 97.969, + 0.0, + -142.6, + 0.0 + ], + [ + -91.808, + 2254.605, + 97.969, + 0.0, + -142.6, + 0.0 + ], + [ + -91.808, + 2254.605, + 97.969, + 0.0, + -117.6, + 0.0 + ], + [ + -131.502, + 2159.549, + 98.15, + 0.0, + -117.6, + 0.0 + ], + [ + -131.502, + 2159.549, + 98.15, + 0.0, + -117.6, + 0.0 + ] + ], + "Rationale": [ + "From the parking lot I can see the whole supermarket entrance, and its run of glass doors ends on the left with a single pale door tucked against the tall brick pillar, so that pillar-side door is my target. I am still far out on the asphalt with the canopy well ahead. I will walk forward to close on the entrance.", + "The canopy now fills more of my view and the bright interior is clearer, but I am still out on the road with the sidewalk edge ahead of me. The pale door beside the brick pillar sits well to my left along the facade. I will keep walking forward to get within reach of the frontage before shifting toward it.", + "I am close under the canopy now, and the open double doorways fill the center and right of my view while the pillar end of the facade is off to my left. Heading straight would carry me into the wide central opening instead of the pale door by the pillar. I will turn left to swing my heading toward that left end.", + "My heading now runs along the storefront, with the parking lot opening on the left and the pale door beside the brick pillar visible ahead past the bollards. Nothing blocks the lane in front of me. I will walk forward to travel down the frontage toward that door.", + "The pillar and the pale door ahead have grown larger, so this heading is carrying me along the front toward the left end as intended. I am still several paces short of that door. I will keep moving forward.", + "The pale door beside the brick pillar is now clearly separate from the wide glass panels on my right, and the checkout area glows just inside it. It still sits ahead of me rather than beside me. I will advance again to draw level with it.", + "I am right at the frontage now, but a line of yellow bollards and the curbed planter crowd the narrow walkway straight in front of the door. Turning left puts the open lane and crossing ahead of me so I can keep advancing with a clear path past that clutter, holding the pale door by the pillar off my right. I will turn left.", + "The open lane ahead is clear and the brick pillar with the pale entrance door stands just to my right. Stepping forward here should bring me level with that doorway with room to turn back into it. I will move forward.", + "The pale entrance door has slipped to the very edge of my view while the brick pier fills the middle, so my heading now runs past the frontage instead of into it. A right turn should swing that doorway back toward the center where I can approach it directly.", + "The pale door now stands squarely framed ahead with the lit checkout floor showing through its glass, and the bollards sit off to the side rather than across my path. Several paces of open pavement still separate me from it, so I will walk forward.", + "The door frame has grown tall in my view and the tiled entry floor inside is plainly visible, confirming this heading is closing on it. I am still short of the threshold with nothing in between. I will advance again.", + "At this range the glass leaf and its frame crowd the right half of my view while the brick jamb cuts off the left, so I am angled slightly across the doorway rather than facing it. Turning right should square me with the opening for the last step in.", + "The doorway is straight in front of me now, its glass and push bar centered with the store aisles opening beyond. Only a short step remains to stand at the door itself, so I will move forward.", + "The pale glass door at the pillar end of the entrance is right against me, its bar and panel filling my view. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_e/infos.json b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8fc159fdd2c2e633dbaa749d8ae83830e36c475a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t2_e/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the third yellow bollard from the left.", + "Type": 2, + "Start_Pose": [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 647.656, + 2886.923, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 589.346, + 2775.386, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 531.036, + 2663.85, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 472.726, + 2552.313, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 414.416, + 2440.776, + 87.15, + 0.0, + -117.6, + 0.0 + ], + [ + 414.416, + 2440.776, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 314.432, + 2364.333, + 88.461, + 0.0, + -142.6, + 0.0 + ], + [ + 314.432, + 2364.333, + 88.461, + 0.0, + -142.6, + 0.0 + ] + ], + "Rationale": [ + "Three yellow bollards line this supermarket frontage: two set close together in front of the left-hand doors, and a third standing on its own beside the right-hand entrance, which is the one I want. It is well down the walkway from me, so I step forward along the frontage to close that distance.", + "The bollard by the right-hand entrance is still some way ahead of me on the walkway. Nothing blocks the pavement in front, so I keep walking forward toward it.", + "The frontage is opening up around me and the pair of bollards by the left doors has drifted toward my left side. My chosen bollard beside the entrance is still further along, so I advance again.", + "From this close the frontage no longer reads as a tidy row, since the nearer posts have slid to my left edge and the far end is out of view. I am still heading for the bollard that stands beside the entrance, so I take another step forward.", + "My chosen bollard now sits off to the left of my heading rather than in front of me, so walking on would carry me past it. I turn left to bring it into the middle of my view and line my body up with it.", + "The bollard I am after is now squarely ahead on the raised walkway, with only a short gap left. One step forward should bring me right up beside it.", + "The yellow bollard beside the entrance now stands immediately in front of me, close enough to touch. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..166f599d75ee86a2e08fe04619eaa58a20c1e2ff --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x000648_y002887_z000087_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the ceramic pot at the leftmost yellow bollard near the store entrance.", + "Type": 5, + "Start_Pose": [ + 647.656, + 2886.923, + 87.15, + 0, + -117.6, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -73.7, + 2445.758, + 5.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 647.656, + 2886.923, + 87.15, + 0, + -117.6, + 0 + ], + [ + 647.656, + 2886.923, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 547.672, + 2810.479, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 447.688, + 2734.036, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 347.703, + 2657.592, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 247.719, + 2581.148, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 147.735, + 2504.704, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 147.735, + 2504.704, + 87.15, + 0.0, + -142.6, + 0.0 + ], + [ + 147.735, + 2504.704, + 87.15, + 0.0, + -167.6, + 0.0 + ], + [ + 24.812, + 2477.678, + 87.15, + 0.0, + -167.6, + 0.0 + ], + [ + 24.812, + 2477.678, + 87.15, + 0.0, + -167.6, + 0.0 + ], + [ + 24.812, + 2477.678, + 87.15, + 0.0, + -167.6, + 0.0 + ], + [ + 24.812, + 2477.678, + 87.15, + 0.0, + -167.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + -73.7, + 2445.758, + 5.15, + 0.0, + 0.0, + 0.0 + ], + [ + 29.993, + 2456.953, + 57.256, + -28.202, + -117.455, + 1.862 + ], + [ + 29.993, + 2456.953, + 57.256, + -28.202, + -117.455, + 1.862 + ] + ], + "PD_Dist_2D": [ + 845.6, + 845.6, + 720.5, + 595.8, + 471.7, + 348.8, + 229.1, + 229.1, + 229.1, + 103.6, + 103.6, + 21.4, + 21.4 + ], + "Rationale": [ + "From here I can see the supermarket frontage with a row of yellow bollards along the entrance, and the ceramic pot sits near the leftmost bollard at the far left edge of my view. My current heading points at the middle of the entrance, so the target is too far to the side for a straight approach. I will turn left to bring that leftmost bollard and the pot toward the center of my view before walking in.", + "The turn has put the left end of the storefront ahead of me, with a pale yellow bollard and the ceramic pot near the curb on that side. The pot still looks small and distant across open pavement, and nothing blocks the lane between us. I will walk forward to close that gap.", + "The brick pillar and the leftmost yellow bollard are noticeably larger now, and the ceramic pot beside the curb is clearer at the left of my path. I am still well short of arm's reach for a grasp. I will keep walking forward along this heading to shorten the remaining distance.", + "The ceramic pot now reads clearly as a round terracotta vessel resting on the pavement just left of the leftmost yellow bollard by the curb. My heading is still lined up on that corner of the entrance, and the way ahead is unobstructed. I will step forward again to get nearer to the pot.", + "I am close enough now to see the pot's rim and its shadow on the asphalt, with the leftmost bollard rising just behind it on the walkway edge. It is still a couple of paces beyond a comfortable reach, so stopping here would likely leave the grasp out of range. I will advance once more toward the pot.", + "The terracotta ceramic pot is now clearly visible on the pavement to my left, just beyond the leftmost yellow bollard by the store entrance, but it is still several paces off. I will keep walking forward along the frontage to close that remaining gap before I try to reach for it.", + "The pot now sits large in the lower left of my view beside the entrance pavement, so it looks like it could be within arm's reach. I will attempt to pick it up from here rather than spend more steps closing in.", + "My grasp attempt did not take hold, since nothing is in my hands. It was sitting off to my left rather than straight ahead, so I will turn left to bring it back in front of me for a better approach line.", + "With this heading the ceramic pot is centered ahead of me on the crosswalk, close to the kerb with the yellow bollard just to its right. My earlier reach from further back came up empty, so I will step forward to stand right over the pot before trying again.", + "After this step forward the pot has dropped out of my level view, which suggests it is now on the ground just below me near the kerb and bollard. I will look down to bring it back into sight and confirm it is directly at my feet before reaching for it.", + "An earlier grab attempt from farther back left the ceramic pot still sitting on the pavement, so I closed the remaining gap and tipped my view down. Now the pot fills the lower center of my view, right at my feet beside the leftmost yellow bollard by the store entrance. I will attempt the pick again from this near, downward-facing pose, which should put the pot within grasping reach.", + "The ceramic pot is now in my hands and no longer resting on the pavement by the bollard. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..71b689ff44fadb26794227d774f9dc433347e0c3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the leftmost green chair beside the closed metal shutter.", + "Type": 2, + "Start_Pose": [ + 1031.301, + -478.278, + 98.866, + 0.0, + -28.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1031.301, + -478.278, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1142.096, + -537.985, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1252.891, + -597.692, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1363.687, + -657.399, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1474.482, + -717.106, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1585.277, + -776.813, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1696.072, + -836.52, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1782.857, + -895.305, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1782.857, + -895.305, + 98.866, + 0.0, + -28.32, + 0.0 + ] + ], + "Rationale": [ + "Ahead and slightly right, a pair of green chairs sits under the closed metal shutter window, with the left one of that pair standing next to a tall upright banner. Other green chairs line the far left wall by the vending machine, but they are not by the shutter. I walk forward toward the shutter-side pair.", + "The chairs beneath the shuttered glass are larger now, and the banner beside the left one is clearer. My heading still points at that seating, so no turn is needed. I keep walking forward.", + "The chair beside the banner under the shuttered window remains roughly centered in my view, so my line of travel is still good. There is open tile floor between me and it. I continue straight ahead.", + "The seating under the shuttered window now reads clearly as two chairs, the nearer one to the banner being the one I want. Nothing blocks the path across the tiles. I step forward again to close the remaining gap.", + "The chairs by the shuttered window fill much more of my view, with the banner directly beside the left one. My heading is still on that chair. I advance further.", + "Only the shutter-side pair remains in view now, and the banner marks the left chair of that pair just ahead. A few more paces should bring me right up to it. I keep moving forward.", + "I am nearly at the chair beside the banner under the closed shutter, with its seat and back filling the lower view. One short step should place me directly at it. I move forward that last bit.", + "The green chair beside the banner under the closed metal shutter is right in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0a19ad4d26cf219e5e5459b484425027d6d52170 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the rightmost green chair near the windows.", + "Type": 2, + "Start_Pose": [ + 1031.301, + -478.278, + 98.866, + 0.0, + -28.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1031.301, + -478.278, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1142.096, + -537.985, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1252.891, + -597.692, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1252.891, + -597.692, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1378.539, + -604.981, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1504.187, + -612.27, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1504.187, + -612.27, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1614.982, + -671.976, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1725.777, + -731.683, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1797.381, + -776.379, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1797.381, + -776.379, + 98.866, + 0.0, + -28.32, + 0.0 + ] + ], + "Rationale": [ + "Two clusters of green chairs are in view: one against the left wall, and a pair by the windows on the right. Of that window pair, the rightmost sits against the black trash can beside the green cooler display, so that chair is my target. I walk forward to close the distance.", + "The window seating is larger now, and the chair standing next to the black trash can by the cooler is still well across the floor. Nothing blocks the tiled space in front of me, so I keep walking straight toward it.", + "The free-standing sign board and the near end of the seating sit directly on my current line, while the open floor in front of the green cooler runs clear along the window wall. I turn right so my approach follows that open lane toward the chair standing by the black trash can.", + "With the lane in front of the cooler display now ahead of me, the floor is clear for several strides. I walk forward along it, keeping the seating and its trash can off to my left.", + "The cooler shelves fill more of my right side, meaning I am drawing level with the window bay where my chair stands. I take another step forward to bring myself alongside it before turning back toward the seats.", + "My chosen chair and its neighbour have slid to the far left edge of my view, with the trash can just beyond them. I turn left to bring that seating back in front of me so I can walk straight at it.", + "The two window seats are back in front of me, with the black trash can marking the end of the row beside the cooler. The chair against that can is the one I picked, so I step forward toward it.", + "From this close the seats no longer read as a row across the window wall, but the chair pressed up against the black trash can is still the one I chose. Only a short gap of tile remains, so I advance again to reach it.", + "The chair beside the black trash can now fills the lower centre of my view, close enough that the window blinds behind it show every slat. A short stretch of tile still separates me from its seat, so I take one more step to stand right at it.", + "The green chair by the windows is right in front of me, its seat within arm's reach. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/infos.json b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..34445f1cd77a1588b9579f9dc7495073e686296a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t2_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Navigate to the leftmost shelving unit with the green trim.", + "Type": 2, + "Start_Pose": [ + 1031.301, + -478.278, + 98.866, + 0.0, + -28.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1031.301, + -478.278, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1142.096, + -537.985, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1252.891, + -597.692, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1252.891, + -597.692, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1378.539, + -604.981, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1504.187, + -612.27, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1629.835, + -619.558, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1754.915, + -626.847, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1754.915, + -626.847, + 98.866, + 0.0, + -3.32, + 0.0 + ] + ], + "Rationale": [ + "Two green-trimmed shelving units stand side by side against the right wall, and the leftmost is the one nearest the black bin and the row of green chairs. They look much alike, so I fix my target as that bin-side unit rather than a spot in the row. I step forward across the open tiled floor to close the gap.", + "The green-trimmed unit beside the bin is larger in view now, its stocked shelves clearly readable. The floor between us is still clear, so I keep walking straight to shorten the distance before I need to swing toward it.", + "My target, the green-trimmed unit standing next to the black bin and the chairs, now sits off to my right rather than ahead of me. A modest turn to the right should put its front squarely in my path so I can walk straight in.", + "The turn brought the green-trimmed unit next to the bin into the center-right of my view, with the chairs and sign to its left. The lane in front of it is open, so I walk forward toward its stocked front face.", + "The green top rail and the shelves of cartons and bottles are much closer and fill more of my view. Nothing blocks the tiles between me and the unit, so I continue advancing on it.", + "I am close enough that the pair no longer reads as a row from here; only the green-trimmed unit beside the bin and chairs fills my view, which is the one I chose. A couple more steps should bring me right up against its shelves.", + "The green-trimmed unit now dominates my view, with its lower crates and mid shelf just ahead of me. One more step forward should place me directly at its face, close enough to count as standing at it.", + "The shelves of the green-trimmed unit are 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/Supermarket/task_x001031_y-000478_z000099_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a08ce066168ac79eb19334cd75985561f080db5 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001031_y-000478_z000099_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Grab the trash bag near the green chair beside the closed metal shutter.", + "Type": 5, + "Start_Pose": [ + 1031.301, + -478.278, + 98.866, + 0, + -28.32, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1758.951, + -769.509, + 12.866, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1031.301, + -478.278, + 98.866, + 0, + -28.32, + 0 + ], + [ + 1142.096, + -537.985, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1252.891, + -597.692, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1363.687, + -657.399, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1363.687, + -657.399, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1489.334, + -664.688, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1614.982, + -671.976, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1614.982, + -671.976, + 98.866, + 0.0, + -3.32, + 0.0 + ], + [ + 1614.982, + -671.976, + 98.866, + 0.0, + -3.32, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1758.951, + -769.509, + 12.866, + 0.0, + 0.0, + 0.0 + ], + [ + 1758.951, + -769.509, + 12.866, + 0.0, + 0.0, + 0.0 + ], + [ + 1758.951, + -769.509, + 12.866, + 0.0, + 0.0, + 0.0 + ], + [ + 1758.951, + -769.509, + 12.866, + 0.0, + 0.0, + 0.0 + ], + [ + 1758.951, + -769.509, + 12.866, + 0.0, + 0.0, + 0.0 + ], + [ + 1758.951, + -769.509, + 12.866, + 0.0, + 0.0, + 0.0 + ], + [ + 1758.951, + -769.509, + 12.866, + 0.0, + 0.0, + 0.0 + ], + [ + 1615.609, + -650.623, + 68.973, + -28.202, + 46.825, + 1.862 + ], + [ + 1615.609, + -650.623, + 68.973, + -28.202, + 46.825, + 1.862 + ] + ], + "PD_Dist_2D": [ + 783.8, + 658.9, + 534.4, + 410.9, + 410.9, + 289.3, + 173.9, + 21.4, + 21.4 + ], + "Rationale": [ + "From this open stretch of tiled floor I can see the row of green chairs set against the slatted metal shutter across the room, with a dark trash bag resting on the floor near them. The whole target area is far off, so I will walk straight forward to close that distance. The path ahead looks clear of shoppers and fixtures.", + "The chairs by the shutter and the black trash bag beside them now read clearly, so my heading is still good. They are well beyond arm's reach, so I will keep walking forward to shrink the remaining gap. The floor between me and them stays open.", + "The green chairs and the slumped black bag are noticeably closer now, sitting to the left of the green refrigerated display case. I am still too far to reach the bag, so another forward step should bring the chair area within working distance. Nothing blocks the tiles in front of me.", + "The trash bag and the chairs against the shutter now sit noticeably left of my center, but continuing straight would carry me toward the doorway wall rather than the bag's floor position. A small turn to the right should point me down the open lane beside the cooler case that leads directly toward that spot. I will rotate slightly right before advancing again.", + "After the slight rotation the trash bag and the two green chairs by the shuttered window sit comfortably in view with the cooler case to my right. The bag is still several paces off, so I will step forward along this clear lane. This should bring me close enough to reach down for it.", + "The trash bag now looms large and low at the left, right beside the green chairs and the standing bin. It is still slightly beyond comfortable grasping range, so one more forward step should place it directly at my feet. The floor immediately ahead remains clear.", + "I am now standing right at the chairs beside the closed shutter, with the black trash bag filling the lower left of my view within easy reach. This is the moment to reach down and attempt to grab it. The grasp should close on the bag since nothing else is between my hands and it.", + "The trash bag is now held low in front of me, filling my view as I look down at it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001060_y-000576_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x001060_y-000576_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..447aedeb0b74e683c88fd5e71a9bf883063169d9 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001060_y-000576_z000099_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Look around for the white vending machine with a blue front panel and a red top beside the black cylindrical bin, then approach it.", + "Type": 1, + "Start_Pose": [ + 1059.874, + -575.734, + 98.866, + 0.0, + 58.08, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1059.874, + -575.734, + 98.866, + 0.0, + 58.08, + -0.0 + ], + [ + 1059.874, + -575.734, + 98.866, + 0.0, + 33.08, + -0.0 + ], + [ + 1059.874, + -575.734, + 98.866, + 0.0, + 8.08, + -0.0 + ], + [ + 1059.874, + -575.734, + 98.866, + 0.0, + -16.92, + 0.0 + ], + [ + 1059.874, + -575.734, + 98.866, + 0.0, + -41.92, + 0.0 + ], + [ + 1059.874, + -575.734, + 98.866, + 0.0, + -66.92, + 0.0 + ], + [ + 1109.213, + -691.519, + 98.866, + 0.0, + -66.92, + 0.0 + ], + [ + 1158.552, + -807.304, + 98.866, + 0.0, + -66.92, + 0.0 + ], + [ + 1207.89, + -923.089, + 98.866, + 0.0, + -66.92, + 0.0 + ], + [ + 1257.229, + -1038.874, + 98.866, + 0.0, + -66.92, + 0.0 + ], + [ + 1257.229, + -1038.874, + 98.866, + 0.0, + -66.92, + 0.0 + ] + ], + "Rationale": [ + "From this spot I see refrigerated drink coolers, a wet floor sign and a cleaning cart, but no white vending machine with a blue front and red top, and no black cylindrical bin. I will turn left to begin a steady scan of the store in one consistent direction, which should reveal the walls hidden outside my current field of view.", + "The rotation has only brought more shelving and window frontage into view, still with no vending machine or black cylindrical bin. I will keep turning left in the same direction so the scan continues to sweep new sections of the room.", + "Ahead I now see a chilled display case and window bays, but nothing matching the white vending machine with a blue panel and red top. I will continue the left turn to bring the next wall segment into view.", + "A quieter corner with green chairs and a dark cylindrical bin against the wall has come into view, which is a strong cue that the vending machine sits along this wall. I will turn left once more to swing that wall toward the center of my view.", + "The blue fronted vending machine with a red top is now visible to the left of center, standing next to the black cylindrical bin under the red welcome banner. I will turn left one more step to center it before walking up to it.", + "The vending machine with its blue front and red top now sits near the middle of my view, with the black cylindrical bin right beside it. It is still far across the tiled floor, so I will walk forward toward it along a clear path.", + "The vending machine and the black bin next to it have grown noticeably larger, confirming I am closing on the right target. The floor ahead remains clear, so I will keep stepping forward to shorten the remaining distance.", + "The blue vending machine now fills a large part of my view with the black cylindrical bin plainly beside it. I am still a few paces short of a close standing position, so I will move forward again.", + "The blue-fronted vending machine with its red top now fills much of my view, and the black cylindrical bin sits just to its right against the wall, confirming this is the target described in the task. I am still a couple of paces short of standing right at its front panel, so I will step forward once more to close that remaining gap.", + "The blue-panelled vending machine fills my view at close range with the black cylindrical bin beside it. The approach target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001060_y-000576_z000099_t1_b/infos.json b/dataset/trajectory/Supermarket/task_x001060_y-000576_z000099_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e21a0d3f04622fdf9e1900584d258e87d8bda8d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001060_y-000576_z000099_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Explore the nearby area until you find the green chairs near the store windows, then head to that location.", + "Type": 1, + "Start_Pose": [ + 1059.874, + -575.734, + 98.866, + 0.0, + 58.08, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1059.874, + -575.734, + 98.866, + 0.0, + 58.08, + -0.0 + ], + [ + 1059.874, + -575.734, + 98.866, + 0.0, + 33.08, + -0.0 + ], + [ + 1059.874, + -575.734, + 98.866, + 0.0, + 8.08, + -0.0 + ], + [ + 1059.874, + -575.734, + 98.866, + 0.0, + -16.92, + 0.0 + ], + [ + 1180.285, + -612.364, + 98.866, + 0.0, + -16.92, + 0.0 + ], + [ + 1300.696, + -648.993, + 98.866, + 0.0, + -16.92, + 0.0 + ], + [ + 1421.107, + -685.623, + 98.866, + 0.0, + -16.92, + 0.0 + ], + [ + 1541.517, + -722.252, + 98.866, + 0.0, + -16.92, + 0.0 + ], + [ + 1661.928, + -758.882, + 98.866, + 0.0, + -16.92, + 0.0 + ], + [ + 1782.339, + -795.511, + 98.866, + 0.0, + -16.92, + 0.0 + ], + [ + 1782.339, + -795.511, + 98.866, + 0.0, + -16.92, + 0.0 + ] + ], + "Rationale": [ + "From where I stand the aisle ahead shows coolers, produce shelving and a wet-floor sign, but no green chairs and only a narrow sliver of window light at the far left edge. Since the storefront glazing seems to continue off to my left, I will turn left to scan that side of the store for the seating area.", + "Turning has brought a long row of tall storefront windows into view on my left, which is the semantic cue I want, yet I still see only shelving and coolers beneath them. I will continue turning left in the same direction to sweep further along that window wall for the green chairs.", + "The window wall now fills the view and I can make out small green seats far off on the left near a standing sign, though the shelving unit partly blocks that corner. I will keep turning left to bring that seating area toward the center of my view before moving.", + "The green chairs are now clearly in view against the windows, sitting near the entrance doors with the standing sign beside them. With the open tile floor between us free of obstacles, I will walk forward to close the distance to that seating spot.", + "The chairs beside the window blinds have grown larger, so my heading is carrying me toward them. I will step forward again to keep closing on the seating area by the storefront glass.", + "The pair of green chairs under the tall windows is now well centered and the branded standing sign next to them is legible, confirming I am on the right line. I will continue walking forward to reach that spot.", + "Both green chairs are close ahead against the window glass, with the cooler on my right and the trash bin just beside them. I will advance again to finish closing the remaining gap to the seating.", + "The two green chairs now fill much of the view directly in front of the storefront windows, only a short gap remains. I will take one more step forward to stand right at the seating area.", + "The two green chairs sit directly ahead against the tall store windows, filling much of my view but still a short distance away across the tile. I will take one more step forward to close that last gap and stand right at the seating by the glass.", + "The green chairs are right in front of me against the store window blinds, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001218_y-000579_z000099_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x001218_y-000579_z000099_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..85dc91f4375b57f18d2eaf7ade0a1619c0db39cb --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001218_y-000579_z000099_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the first trash bin from the left.", + "Type": 2, + "Start_Pose": [ + 1217.681, + -578.717, + 98.866, + 0.0, + -28.32, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1217.681, + -578.717, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1217.681, + -578.717, + 98.866, + 0.0, + -53.32, + 0.0 + ], + [ + 1292.862, + -679.654, + 98.866, + 0.0, + -53.32, + 0.0 + ], + [ + 1368.044, + -780.591, + 98.866, + 0.0, + -53.32, + 0.0 + ], + [ + 1443.225, + -881.528, + 98.866, + 0.0, + -53.32, + 0.0 + ], + [ + 1443.225, + -881.528, + 98.866, + 0.0, + -78.32, + 0.0 + ], + [ + 1468.704, + -1004.781, + 98.866, + 0.0, + -78.32, + 0.0 + ], + [ + 1468.704, + -1004.781, + 98.866, + 0.0, + -78.32, + 0.0 + ] + ], + "Rationale": [ + "Two black bins stand along this wall, and the leftmost one is the one tucked beside the near pair of green chairs against the tan wall, while the other sits by the refrigerated cases on the right. It hugs the far left edge of my view right now, so I turn left to bring it in front of me before walking.", + "The turn has put the bin beside the green chairs ahead of me, slightly left, with clear tiled floor between us. I walk forward to close the long gap.", + "The bin and its adjoining chairs have grown larger and remain slightly left of my heading. Nothing blocks the tiles between us, so I keep walking toward it.", + "The bin beside the pair of green chairs is now clearly framed on my left and still a few strides off. I continue forward to shorten that distance.", + "Walking straight has carried the bin toward my left side, so my heading now points past it at the doorway and the standing sign. I turn left to put the bin squarely in front of me.", + "The bin now sits ahead of me between the vending machine and the green chairs, still a short walk away. I step forward to arrive right beside it.", + "The black bin beside the green chairs now fills the space directly before me at arm's length. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001218_y-000579_z000099_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x001218_y-000579_z000099_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..77ab0fef68c63a2ce14d72777288557311416935 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001218_y-000579_z000099_t2_b/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Go to the second green chair from the right along the wall.", + "Type": 2, + "Start_Pose": [ + 1217.681, + -578.717, + 98.866, + 0.0, + -28.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1217.681, + -578.717, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1328.476, + -638.424, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1439.271, + -698.131, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1550.067, + -757.838, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1660.862, + -817.545, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1771.657, + -877.252, + 98.866, + 0.0, + -28.32, + 0.0 + ], + [ + 1771.657, + -877.252, + 98.866, + 0.0, + -28.32, + 0.0 + ] + ], + "Rationale": [ + "Counting the green chairs along the window wall from the right end, the pair nearest the trash bin gives me my target: the second one in, which stands right beside the tall Drylands DairyGoods banner. Since the chairs are identical, I will hold onto that banner as my marker and walk straight ahead to close the distance.", + "The chair beside the banner sign is still well ahead across the open tiled floor, with nothing between me and it. I will keep walking straight to bring it closer.", + "My chair beside the banner has grown noticeably larger and sits slightly right of my heading, so my current direction remains good. I will continue forward to shorten the remaining gap.", + "Only two green chairs remain in view now that the far left ones have slid out of sight, and mine is the one hugging the banner. I will step forward again to reach it.", + "The chair pressed against the banner now fills much of my view just ahead and to the right. One more step forward should place me right at it.", + "The green chair beside the banner fills my view directly ahead within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d07069edddb901dbcefa80239c67148548782731 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the red advertising standee, then head to the potted plant.", + "Type": 3, + "Start_Pose": [ + 1268.705, + 1358.492, + 98.866, + 0.0, + -25.44, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1268.705, + 1358.492, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1268.705, + 1358.492, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1394.56, + 1357.525, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1520.416, + 1356.559, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1646.271, + 1355.592, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1755.202, + 1370.526, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1755.202, + 1370.526, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1662.805, + 1371.236, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1570.407, + 1371.945, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1570.407, + 1371.945, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1570.407, + 1371.945, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1570.407, + 1371.945, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1602.048, + 1250.128, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1633.688, + 1128.311, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.954, + 1006.543, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.993, + 885.917, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.993, + 765.291, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.993, + 765.291, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1693.823, + 669.345, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1693.823, + 669.345, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1769.901, + 618.023, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1769.901, + 618.023, + 98.866, + 0.0, + -25.44, + 0.0 + ] + ], + "Rationale": [ + "The tall red beer standee stands off to my right, just past the end of the produce counter, while my current heading points across the open tile floor. A small turn to the right should bring that sign into the middle of my view so I can walk straight at it.", + "The red standee with the bottle graphic now sits near the center of my view, with clear tile between me and it. I will walk forward to start closing that gap.", + "The red sign has grown noticeably larger and stays roughly ahead of me, with open floor and nothing blocking the lane. Another stride forward should keep shrinking the distance to it.", + "The red panel with the beer bottle now dominates the middle of my view, standing at the end of the produce counter. I keep walking forward to bring myself right up beside it.", + "The standee is close enough that its bottle graphic fills much of the right half of my view, and the counter's end is slipping past on my left. One more step forward should put me level with the sign.", + "The red beer standee is right against me, its panel filling my view from arm's length at the end of the produce counter. I have arrived at it. I mark reaching this red sign and now set off for the leafy potted plant.", + "Standing this tight against the red panel, the window wall and the counter corner crowd out nearly everything else, so I cannot pick out a potted plant anywhere. Backing away should reopen the store floor in front of me and give me room to turn.", + "The standee has pulled back into full view and the banana counter is reappearing on my left, but I am still tucked into this window corner with little floor around me. Another step back should clear the counter's end and leave space to swing toward the greenery I want next.", + "The red beer standee stands clearly ahead of me at a comfortable viewing distance, so that destination is behind me as a goal. Nothing resembling a potted plant appears in this window-side view, so I will turn left to sweep the open store interior for greenery.", + "Turning has pushed the standee to the right edge and brought the long produce display into view, but I still see only fruit crates and windows. I will keep rotating left to bring the open floor of the store into the center of my view where taller greenery would show.", + "The aisle beside the produce tiers is now opening up on my left, with the store depth and its lit ceiling coming into view. Another left turn should line my heading straight down that walkway so I can search it for the potted plant.", + "My heading now runs straight along the clear tiled aisle, with the fruit stand on my right and leafy foliage showing further down beside the window wall. I will walk forward to close on that greenery.", + "The walkway ahead stays unobstructed and the melon display slides past on my right as I advance. The leafy plants beside the far windows are still some distance off, so I keep walking forward.", + "Tall fronds near the coolers on the right are becoming distinct as I get closer along this aisle. Nothing blocks the tiles in front of me, so another step forward should shorten the gap to that plant.", + "I can now make out a tall fern in a grey pot standing ahead on my right, just past the end of the produce counter. The route to it remains clear, so I continue walking forward.", + "The potted fern is close now, standing beside the black bin and the window wall a short way ahead on my right. One more step forward should bring me level with it.", + "The tall potted fern now stands ahead and slightly to my right, near the window beside the black kiosk. My current heading points down the open aisle past it, so I will turn right to bring the plant and its grey pot into the center of my view before continuing.", + "With the fern and its grey pot centered ahead beside the window, my heading is now clean toward it. I will walk forward to close the remaining gap across the tiled floor.", + "The fern has grown large in front of me but its foliage and pot now sit toward the right of my view, with the aisle opening off to my left. A small right turn should square me onto the pot before I take the last steps.", + "The fern fills the left of my view with its grey pot at floor level just ahead, and the bin and window frame mark the corner beyond. I will step forward once more to stand right beside the plant.", + "The potted fern's fronds and stems are directly beside me, filling my view at arm's length. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/infos.json b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b1ef9019ff6bb2c7d3792040426bcc7afd01a5c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Approach the watermelon display, then proceed to the potted plant.", + "Type": 3, + "Start_Pose": [ + 1268.705, + 1358.492, + 98.866, + 0.0, + -25.44, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1268.705, + 1358.492, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1382.36, + 1304.427, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1496.015, + 1250.363, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1609.67, + 1196.298, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1609.67, + 1196.298, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1659.93, + 1101.212, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1659.93, + 1101.212, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1659.93, + 1101.212, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.993, + 980.586, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.993, + 859.959, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.993, + 739.333, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.993, + 739.333, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1714.897, + 643.272, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1714.897, + 643.272, + 98.866, + 0.0, + -50.44, + 0.0 + ] + ], + "Rationale": [ + "The long wooden produce stand ahead holds the striped watermelons among the crates of lemons and greens, so that is where I need to be first. It is still well across the open tiled floor, so I will walk straight ahead to close the gap.", + "The melon stand has grown larger and the crates of lemons and bananas are now distinct, confirming my heading is right. Nothing blocks the tiled floor between us, so I keep walking straight toward the watermelons.", + "The stand now fills much of my view and the individual watermelons on the upper tier are clearly separated. I am still a few paces short of standing at the display, so I advance again.", + "The produce tiers now fill my view at arm's length, so walking straight would only press me into the counter face. Turning left should swing me along the length of the display, where the walkway runs and the melons sit beside me.", + "With the stand now running away to my right, the open aisle beside it is clear ahead. I step forward along it to bring myself level with the watermelons on the tier.", + "The big striped watermelons are right beside me on the tier, close enough to touch, with the crates of potatoes and lemons at my hip. I have reached the watermelon display. I mark reaching it and now turn my attention to the leafy potted plant standing further along the aisle.", + "The melons are beside me, but the tall potted greenery sits further along to my left, past the end of the counter. Turning left should put that walkway and the plant in front of me so I can walk straight at it.", + "The wide tiled aisle now opens ahead of me with the tall potted plant standing beside the counter further along on the right. The path is unobstructed, so I walk forward to close on it.", + "The tall leafy plant in its grey pot stands ahead along the window wall, still several strides away past the produce shelving. My heading already lines up with that open aisle, so I will walk forward to close the gap.", + "The potted plant is now clearly nearer on my right, its fronds rising beside the dark bin at the end of the display. Nothing blocks the tiled floor between us, so another step forward should bring me alongside it.", + "I have drawn level enough that the potted plant now sits far over on my right edge, nearly slipping out of view while I face down the aisle. Turning right should swing it into the centre of my view for a straight final approach.", + "The potted plant now sits squarely ahead of me, its pot resting on the tiles beside the window. A short walk forward should bring me right up to it.", + "The potted plant fills my view at arm's reach, its pot directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/infos.json b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0c2745fc8981bf5cba5a232cfddf8d77e2c6c8b2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the brown fruit crate near the watermelons, then move to the potted plant.", + "Type": 3, + "Start_Pose": [ + 1268.705, + 1358.492, + 98.866, + 0, + -25.44, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1268.705, + 1358.492, + 98.866, + 0, + -25.44, + 0 + ], + [ + 1382.36, + 1304.427, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1496.015, + 1250.363, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1609.67, + 1196.298, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1609.67, + 1196.298, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1609.67, + 1196.298, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1609.67, + 1196.298, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1641.311, + 1074.481, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.98, + 952.994, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1659.993, + 832.367, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1661.82, + 711.714, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1661.82, + 711.714, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1741.038, + 614.094, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1741.038, + 614.094, + 98.866, + 0.0, + -50.44, + 0.0 + ] + ], + "Rationale": [ + "The tiered produce stand lies well ahead of me across the open floor, with watermelons and crates of citrus visible along its top shelf. I will walk forward to close that gap and bring the brown wooden crate beside the melons within reach.", + "The stand is noticeably larger now, and I can pick out the green watermelons with a brown slatted crate of yellow fruit sitting just beside them. Nothing blocks the tiles ahead, so I keep walking straight toward that crate.", + "The display now fills much of my view, and the brown crate of oranges sits right next to the two striped watermelons on the lower tier. I am still a couple of paces short of standing at it, so I advance again.", + "The brown slatted crate of oranges is directly in front of me with the striped watermelons resting alongside it, close enough to touch. I have arrived at the fruit crate by the watermelons. I mark reaching it, then set off toward the potted plant.", + "Facing straight into the produce shelf leaves me with only fruit and window ahead, so I cannot travel this way toward a potted plant. Turning left swings my heading along the aisle beside the stand, where the store interior opens up and greenery should come into view.", + "The aisle beside the display is now partly visible on my left, but my heading still cuts across the crates rather than down the walkway. Another left turn should line me up with the open lane where leafy plants stand near the windows.", + "I am now aimed down the open walkway with the produce tiers on my right and clear tiling ahead. Tall green fronds rise beside the stand further along, so I walk forward to close on that greenery.", + "The tall leafy plant ahead on my right is larger and its stalks now stand clear above the crates of potatoes and peppers. The lane in front of me stays unobstructed, so I keep walking toward it.", + "The produce stand has fallen away behind my right shoulder and a tall leafy plant in a grey pot now stands ahead along the window wall. That is the planter I am heading for, still several strides off down this open aisle. I walk forward to close the gap.", + "The potted plant has grown much larger in view, its grey pot sitting just right of my path near the green dairy sign. I am close but not yet beside it. Another step forward should bring me level with the planter.", + "The plant is now very near, but its pot has slid to the far right edge of my view while my heading points on down the empty aisle. Turning right should swing the planter back into the centre of my view so I can step straight at it.", + "The tall fern in its grey pot now sits squarely ahead of me with clear floor between us. My heading is right, so a step forward should carry me up beside the planter.", + "The potted plant's fronds fill my view at arm's length, so I am standing right at it. The task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_d/infos.json b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4abb4e25f447874e0fc0f6ff622364129363270d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t3_d/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Make your way to the potted plant, then approach the watermelon display.", + "Type": 3, + "Start_Pose": [ + 1268.705, + 1358.492, + 98.866, + 0.0, + -25.44, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1268.705, + 1358.492, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1268.705, + 1358.492, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1349.167, + 1294.332, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1429.325, + 1197.3, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1509.483, + 1100.268, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1589.641, + 1003.236, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1589.641, + 1003.236, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1621.281, + 881.419, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1652.921, + 759.602, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1679.837, + 638.097, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1679.837, + 638.097, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1679.837, + 638.097, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1762.803, + 595.688, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1762.803, + 595.688, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1679.362, + 635.38, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1595.922, + 675.072, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1595.922, + 675.072, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1595.922, + 675.072, + 98.866, + 0.0, + 24.56, + -0.0 + ], + [ + 1595.922, + 675.072, + 98.866, + 0.0, + 49.56, + -0.0 + ], + [ + 1595.922, + 675.072, + 98.866, + 0.0, + 74.56, + -0.0 + ], + [ + 1629.429, + 796.388, + 98.866, + 0.0, + 74.56, + -0.0 + ], + [ + 1659.95, + 917.65, + 98.866, + 0.0, + 74.56, + -0.0 + ], + [ + 1659.992, + 1037.634, + 98.866, + 0.0, + 74.56, + -0.0 + ], + [ + 1659.992, + 1037.634, + 98.866, + 0.0, + 49.56, + -0.0 + ], + [ + 1659.992, + 1037.634, + 98.866, + 0.0, + 24.56, + -0.0 + ], + [ + 1659.992, + 1037.634, + 98.866, + 0.0, + 24.56, + -0.0 + ] + ], + "Rationale": [ + "The produce display stretches across my front right, and the tall leafy plant I need to reach stands beyond its left end, near the windows. Facing this way I would walk straight into the stand, so I turn left to open the clear lane running alongside it.", + "The aisle now runs clear ahead between the melon crates on my left and the long display on my right, with the leafy plant standing far down beside the window wall. Nothing blocks the tiled floor in front of me, so I walk forward to close that distance.", + "The watermelons and lemon crates on the display have grown larger on my right, confirming I am tracking along it in the correct direction. The lane stays unobstructed, so I keep walking forward toward the plant beside the glass.", + "The melons on the tiered stand are close beside me now and the greenery near the window pillars is drawing nearer ahead. The walkway remains wide and empty, so another step forward continues to shorten the gap.", + "The leafy fronds beside the window are clearly ahead of me and the display corner is coming up on my right. I advance again to bring myself level with that end of the stand where the plant stands.", + "The stepped produce stand now crowds my right shoulder and its crates sit directly in my forward path, while the open floor continues off to my left. I turn left to square up with that clear lane so I can keep walking toward the plant by the glass.", + "From this heading the walkway ahead is wide and clear, and the tall potted plant with its long fronds sits just off my right beside the window and the trash bin. I step forward to draw alongside it.", + "The potted plant is noticeably larger on my right, its pot now clearly on the tile near the green sign board. Another step forward should bring me level with it rather than leaving it behind my shoulder.", + "The tall potted fern by the window wall now stands close on my right, its fronds filling that side of my view. I am still slightly short of it along this aisle, so I will walk forward another step to draw level with its planter.", + "I have walked far enough along the aisle that the potted fern sits off my right shoulder rather than ahead of me. Turning right should swing my heading toward the plant and the window bay it stands in.", + "The fern has come into view on my right, but it is still offset from the centre of my heading, with the green dairy sign and lockers taking up the middle. A second turn right should bring the plant squarely in front of me before I close in.", + "The potted fern is now centred ahead of me, its silver planter resting on the tiles by the window. Only a short gap of floor separates us, so I will step forward to stand right at it.", + "The fern's stems and fronds fill my whole view at arm's length, with the planter directly beneath me against the window. I am standing at the potted plant, so I mark reaching it before turning my attention toward the wooden stand of watermelons across the floor.", + "Pressed this close, the fern's foliage blocks nearly everything and I cannot see the produce area I want to reach next. Backing up a step should open enough space to look past the plant and pick out the watermelon stand.", + "The whole fern and the bin beside it are visible again, but I am still tucked into this window bay with the planter and post close in front. One more step back should give me room to turn freely toward the fruit stands without brushing them.", + "I now have clear tile around me, with the fern and bin ahead against the glass and no produce in sight from this heading. The fruit stands lie off to my right along the windows, so I will turn that way to bring the watermelon display into view.", + "With the fern and the bin now beside me, the wooden produce stand is only just entering the right edge of my view, its crates and pale melons catching the window light. I will turn right again to swing that stand into the middle of my view so I can judge the route toward the watermelons.", + "The tiered produce stand now spreads across the right of my view, with big green striped melons resting on its upper shelf. One more turn right should bring the length of that display and the open floor beside it in front of me for a straight approach.", + "The stand now runs off to my left while the melons sit at its far end, so walking straight from here would carry me into its side. Turning right once more should line me up with the clear tiled aisle that runs alongside the display.", + "The aisle ahead is clear tile, and the produce stand with its watermelons lies close along my left shoulder. I will walk forward to travel down that open lane and draw level with the melons.", + "Two whole watermelons are now clearly on the shelf at my left, but I am still passing the near end of the stand. Another step forward should bring me alongside them rather than behind them.", + "A large watermelon is close at my lower left, so I am nearly abreast of the display but still angled past it down the aisle. I will take one more step forward to settle at the stand's front before facing it.", + "My heading now points down the open floor toward the carts, leaving the melon shelf swung off to my left. I will turn left to bring the produce stand back in front of me.", + "The turn brought a watermelon into the lower left corner, so the melon section is still off to that side rather than squarely before me. Another left turn should put the watermelon display centered in my view at close range.", + "The watermelons on the wooden display stand fill the near edge of my view, within arm's reach. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t5_a_pd/infos.json b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b383898db72666ba24024b6c6040611efc8acb0e --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001269_y001358_z000099_t5_a_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Lift the wicker basket at the red advertising standee, then set it down near the potted plant.", + "Type": 5, + "Start_Pose": [ + 1268.705, + 1358.492, + 98.866, + 0, + -25.44, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1786.966, + 1439.22, + 33.866, + 90, + 14.56, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1268.705, + 1358.492, + 98.866, + 0, + -25.44, + 0 + ], + [ + 1268.705, + 1358.492, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1394.56, + 1357.525, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1520.416, + 1356.559, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1520.416, + 1356.559, + 98.866, + 0.0, + 24.56, + -0.0 + ], + [ + 1634.888, + 1408.872, + 98.866, + 0.0, + 24.56, + -0.0 + ], + [ + 1634.888, + 1408.872, + 98.866, + 0.0, + 24.56, + -0.0 + ], + [ + 1550.848, + 1370.466, + 98.866, + 0.0, + 24.56, + -0.0 + ], + [ + 1466.807, + 1332.06, + 98.866, + 0.0, + 24.56, + -0.0 + ], + [ + 1466.807, + 1332.06, + 98.866, + 0.0, + -0.44, + 0.0 + ], + [ + 1466.807, + 1332.06, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1466.807, + 1332.06, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1466.807, + 1332.06, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1498.448, + 1210.243, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1530.088, + 1088.426, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1561.729, + 966.609, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1593.369, + 844.792, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1625.01, + 722.975, + 98.866, + 0.0, + -75.44, + 0.0 + ], + [ + 1625.01, + 722.975, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1705.168, + 625.943, + 98.866, + 0.0, + -50.44, + 0.0 + ], + [ + 1705.168, + 625.943, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1640.149, + 656.872, + 98.866, + 0.0, + -25.44, + 0.0 + ], + [ + 1640.149, + 656.872, + 98.866, + 0.0, + -25.44, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1786.966, + 1439.22, + 33.866, + 90.0, + 14.56, + 0.0 + ], + [ + 1786.966, + 1439.22, + 33.866, + 90.0, + 14.56, + 0.0 + ], + [ + 1786.966, + 1439.22, + 33.866, + 90.0, + 14.56, + 0.0 + ], + [ + 1786.966, + 1439.22, + 33.866, + 90.0, + 14.56, + 0.0 + ], + [ + 1786.966, + 1439.22, + 33.866, + 90.0, + 14.56, + 0.0 + ], + [ + 1786.966, + 1439.22, + 33.866, + 90.0, + 14.56, + 0.0 + ], + [ + 1625.457, + 1428.04, + 68.973, + -28.202, + 74.705, + 1.862 + ], + [ + 1541.076, + 1389.481, + 69.572, + -28.191, + 74.708, + 1.872 + ], + [ + 1457.089, + 1351.096, + 69.396, + -28.199, + 74.706, + 1.867 + ], + [ + 1466.781, + 1352.823, + 68.437, + -28.202, + 49.704, + 1.861 + ], + [ + 1474.915, + 1349.545, + 69.581, + -28.205, + 24.701, + 1.862 + ], + [ + 1491.057, + 1345.054, + 68.759, + -14.175, + -8.247, + 6.959 + ], + [ + 1487.023, + 1337.718, + 68.648, + -28.208, + -25.297, + 1.851 + ], + [ + 1518.947, + 1216.289, + 69.07, + -28.189, + -25.282, + 1.869 + ], + [ + 1550.508, + 1094.736, + 69.452, + -28.205, + -25.305, + 1.859 + ], + [ + 1582.145, + 972.965, + 69.605, + -28.191, + -25.29, + 1.872 + ], + [ + 1613.817, + 850.984, + 69.38, + -28.206, + -25.302, + 1.863 + ], + [ + 1645.538, + 728.89, + 68.872, + -28.203, + -25.3, + 1.855 + ], + [ + 1641.816, + 737.72, + 69.316, + -28.192, + -0.289, + 1.869 + ], + [ + 1720.964, + 640.347, + 69.584, + -28.203, + -0.299, + 1.863 + ], + [ + 1714.459, + 645.811, + 68.419, + -28.195, + 24.708, + 1.865 + ], + [ + 1703.361, + 626.802, + 63.866, + 90.0, + -25.44, + 0.0 + ], + [ + 1703.361, + 626.802, + 63.866, + 90.0, + -25.44, + 0.0 + ] + ], + "PD_Dist_2D": [ + 524.5, + 524.5, + 400.8, + 279.1, + 279.1, + 155.1, + 21.4, + 21.4, + 21.4, + 20.8, + 19.3, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 22.4, + 21.4, + 21.9, + 70.0, + 70.0 + ], + "Rationale": [ + "The red beer standee with the wicker basket leaning at its base sits far off to the right side of my view, near the front windows past the produce display. I will turn right so that standee and basket move toward the center of my heading before I start walking. That should give me a straight approach line down the open tiled floor.", + "The red standee with the wicker basket propped against it is now ahead of me, with clear tile between me and the produce stand on the left. I will walk forward to close the long gap toward it. The shopping carts on my right leave enough room to pass.", + "The standee and the round wicker basket at its foot are noticeably larger now, but still several strides away across the tile. I will keep walking forward to shorten that remaining distance. The produce counter stays clear of my line on the left.", + "The basket and its standee have drifted to the right of my heading as I approached, sitting off center against the window wall. I will turn right to bring the basket back in front of me. That should line up my last approach step so the basket ends up directly within reach.", + "The red standee and the wicker basket are now centered ahead of me, but still slightly too far for a grab. I will step forward once more to stand right over the basket. That should place it close enough in front of me to attempt the lift.", + "The wicker basket now fills the lower center of my view, resting against the base of the red standee and well inside my reach. I will attempt to pick it up so I can carry it toward the potted plant. If the grasp takes, the basket should lift off the floor into my hands.", + "The pick worked: the wicker basket is now held low in front of me beside the parked carts. I am standing tight against the standee corner, so I will step backward to open up space around me. That should give me room to swing around toward the store interior without dragging the basket across the display.", + "I am carrying the basket and the red standee, the window corner, and the cart row are still close around me. I will back up one more step to clear that pinched corner. With more open tile behind me, I should be able to turn freely toward the aisle leading to the potted plant.", + "The wicker basket is in my hands and I have stepped back from the red beer standee in the corner, so nothing more is needed here. Ahead of me the view is boxed in by the window wall and the row of shopping carts on my right, while the produce stands and the open store floor lie off to my left. I will turn left to start swinging my heading away from this corner and toward the interior where the potted plant should be.", + "My heading has come around so the produce display now fills the left and center of my view, with the beer standee pushed off to the right. That is still not a clear line into the store, since the fruit stand blocks the direction I want to travel. I will turn left again to keep rotating toward the open floor beyond the display.", + "The long produce counter now runs diagonally across my view and the standee has slid to the far right edge, so I am nearly clear of the pickup corner. The basket is still with me, and I need a heading that points down the length of the store rather than across the fruit stand. I will turn left once more to bring the open aisle into the center of my view.", + "The wide tiled aisle is now opening on my left with the produce shelves running along my right side, so I am close to a clean travel heading. One more small rotation should square me with that corridor instead of angling into the shelving. I will turn left to finish lining up before walking the basket toward the plant.", + "I am now facing straight down the main aisle, with produce counters on both sides and clear tile stretching far ahead toward the back of the store. Carrying the basket, my next need is distance covered along this corridor toward the potted greenery on the right-hand side. I will step forward along the open aisle.", + "The walk down the aisle is going smoothly, with the shelving on my right sliding past and the far wall of chillers growing larger. No obstruction stands between me and the stretch of floor ahead, so continuing straight is the efficient way to carry the basket onward. I will take another step forward.", + "Further down the aisle I can now make out tall green foliage beside the window wall on my right, past the green dairy sign, which matches the potted plant I need to reach. The lane in front of me is still empty, so there is no reason to turn yet. I will keep walking forward to close the remaining distance.", + "The potted plant next to the window wall is clearly in view on my right, with its grey planter and a bin beside it, but it is still several paces off my current line. Walking straight a bit further should bring me level with it before I angle in. I will step forward again while holding the basket.", + "I still have the wicker basket held in front of me, and the tall potted plant by the window wall is now clearly visible ahead on my right. It is still several paces off, so I will keep walking forward along the open aisle to close that gap.", + "The potted plant now sits well off to my right edge, near the window and the dark advertising column, while my heading points straight down the empty aisle. Turning right should bring the plant into the center of my view so I can walk directly at it with the basket.", + "The potted plant in its grey pot is now squarely ahead of me beside the window and the standing display column. The basket is still in my grip, so I will step forward to get within setting-down range of the pot.", + "I am close now, but the plant has drifted to the right side of my view with its foliage filling that edge while the display column sits ahead of me. A small turn to the right should square me up with the pot before I release the basket.", + "The potted plant now fills my view directly in front of me, with its trunk and pot base just a step away. This is the intended destination for the basket, so I will release it here and expect it to settle on the floor at the plant.", + "The wicker basket is resting on the floor right at the base of the potted plant. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0aa064fe0a23e25486367d3d71ea718336f53487 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001381_y-001865_z000099_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Find the wooden board near the open door.", + "Type": 1, + "Start_Pose": [ + 1380.673, + -1865.482, + 98.866, + 0.0, + 99.36, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1380.673, + -1865.482, + 98.866, + 0.0, + 99.36, + -0.0 + ], + [ + 1380.673, + -1865.482, + 98.866, + 0.0, + 124.36, + -0.0 + ], + [ + 1380.673, + -1865.482, + 98.866, + 0.0, + 149.36, + -0.0 + ], + [ + 1380.673, + -1865.482, + 98.866, + 0.0, + 174.36, + -0.0 + ], + [ + 1380.673, + -1865.482, + 98.866, + 0.0, + -160.64, + 0.0 + ], + [ + 1380.673, + -1865.482, + 98.866, + 0.0, + -135.64, + 0.0 + ], + [ + 1380.673, + -1865.482, + 98.866, + 0.0, + -110.64, + 0.0 + ], + [ + 1380.673, + -1865.482, + 98.866, + 0.0, + -85.64, + 0.0 + ], + [ + 1380.673, + -1865.482, + 98.866, + 0.0, + -60.64, + 0.0 + ], + [ + 1442.381, + -1975.175, + 98.866, + 0.0, + -60.64, + 0.0 + ], + [ + 1504.089, + -2084.868, + 98.866, + 0.0, + -60.64, + 0.0 + ], + [ + 1504.089, + -2084.868, + 98.866, + 0.0, + -35.64, + 0.0 + ], + [ + 1606.374, + -2158.205, + 98.866, + 0.0, + -35.64, + 0.0 + ], + [ + 1695.955, + -2196.972, + 98.866, + 0.0, + -35.64, + 0.0 + ], + [ + 1695.955, + -2196.972, + 98.866, + 0.0, + -35.64, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a tiled wall and the edge of a gray panel right in front of me, so I can see neither a doorway nor anything wooden. I need to sweep my heading to open up the room. I will turn right to begin scanning for the open door.", + "The sweep so far has only traded tile for more of the gray panel beside me, which still blocks any view into the room. Nothing resembling an open door has appeared yet. I will keep rotating right to bring an unobstructed direction into view.", + "Now the flat gray panel fills almost the entire view and the tile has slipped off to the edge, so I am facing a solid surface at close range. There is still no sign of a doorway or a wooden board. I will continue turning right to clear this panel.", + "Past the panel edge I can now make out a dark recess with round fittings on its wall, which is an enclosed stall rather than the open door I am looking for. This direction leads nowhere useful. I will turn right again to keep the scan moving toward open space.", + "I am now looking along a row of closed stall partitions, but a patch of patterned floor tile has appeared at the far right edge, suggesting the room opens that way. The wooden board should be out in that open area near a door. I will turn right toward that opening.", + "The partitions are sliding off to my left and the open washroom floor with its tiled wall is coming into view on the right. That open side is where a door could be, so the scan is finally paying off. I will turn right once more to face it fully.", + "On the right of my view a pale door stands ajar with sunlight and a slatted wooden surface visible beyond its frame, which matches the open door named in my task. It is still off to the side of my heading. I will turn right to bring that doorway toward the center before advancing.", + "The open door is now well within view ahead and slightly to my right, with the sunlit space and its wooden slats showing through the gap. I want it squarely in front of me before I walk toward it. I will turn right once more to finish lining up my heading.", + "The doorway sits squarely ahead across a clear stretch of tiled floor, with daylight spilling in from the space beyond it. Nothing stands between me and that threshold, so distance is all that separates me from whatever wooden piece rests out there. I will walk straight toward it.", + "Closing in has made the pale slatted wooden piece beyond the threshold much clearer, sitting in sunlight beside a dark bin. A few paces of tile still remain before the doorway itself. Another step forward should bring me nearly to the opening.", + "At this range the swung-back door panel fills the middle of my view and the actual passable gap has slid to its right, so walking on as I am would put me into the panel. I need the opening centered before I go through. Turning right should aim me at the gap.", + "The gap is now framed ahead of me with the slatted wooden surface and the bin lit up on the paving outside. Nothing occupies the threshold itself. Stepping forward should carry me through and out beside that wooden piece.", + "Out in the sunlight the wooden board is unmistakable, its pale slats leaning against the yellow wall next to the dark bin. It still sits slightly ahead and low in my view rather than right at my feet. One more step should close that last bit of distance.", + "The slatted wooden board leans against the sunlit yellow wall directly in front of me. It is the board I was after, so the task is complete." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..86a8f3df543f7a4709ee731fa135dbad2f7f453d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001393_y-001817_z000099_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Scan the surroundings to locate the dark bin near the doorway, then move to that location.", + "Type": 1, + "Start_Pose": [ + 1393.458, + -1817.055, + 98.866, + 0.0, + 158.88, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1393.458, + -1817.055, + 98.866, + 0.0, + 158.88, + -0.0 + ], + [ + 1393.458, + -1817.055, + 98.866, + 0.0, + -176.12, + 0.0 + ], + [ + 1393.458, + -1817.055, + 98.866, + 0.0, + -151.12, + 0.0 + ], + [ + 1393.458, + -1817.055, + 98.866, + 0.0, + -126.12, + 0.0 + ], + [ + 1393.458, + -1817.055, + 98.866, + 0.0, + -101.12, + 0.0 + ], + [ + 1393.458, + -1817.055, + 98.866, + 0.0, + -76.12, + 0.0 + ], + [ + 1393.458, + -1817.055, + 98.866, + 0.0, + -51.12, + 0.0 + ], + [ + 1472.459, + -1915.032, + 98.866, + 0.0, + -51.12, + 0.0 + ], + [ + 1551.459, + -2013.008, + 98.866, + 0.0, + -51.12, + 0.0 + ], + [ + 1585.806, + -2109.445, + 98.866, + 0.0, + -51.12, + 0.0 + ], + [ + 1585.806, + -2109.445, + 98.866, + 0.0, + -26.12, + 0.0 + ], + [ + 1585.806, + -2109.445, + 98.866, + 0.0, + -1.12, + 0.0 + ], + [ + 1585.806, + -2109.445, + 98.866, + 0.0, + -1.12, + 0.0 + ], + [ + 1585.806, + -2109.445, + 98.866, + 0.0, + -1.12, + 0.0 + ] + ], + "Rationale": [ + "My view is almost entirely blocked by a pale panel right in front of me, with only a strip of tiled wall visible at the left edge, so I cannot see any bin or doorway from here. I will turn right to begin a consistent scan and open up the room beyond this panel.", + "Turning has only brought a flat grey surface directly ahead, still with no bin or doorway in sight. I will keep rotating right in the same direction to sweep past this obstruction and reveal more of the room.", + "A dark gap with hinge hardware has appeared at the edge of the panel, hinting that the open space of the room lies further to my right. I will continue the same rightward scan to bring that opening into view.", + "The scan now shows a row of stall partitions, a tiled wall, and patterned floor opening to my right, so the room is finally becoming readable. No dark bin or doorway is visible yet, so I will keep turning right to extend the sweep.", + "More of the room is visible now, including a floor mat and a pale panel with a green sign on the right that could be a door. I will continue turning right to bring that likely doorway and its surroundings fully into view.", + "I can now see an open doorway with warm light beyond it and a dark cylindrical bin standing just beside it, which matches the target described in the task. I will turn right once more to center that doorway and bin in front of me before approaching.", + "The dark bin beside the open doorway is now roughly ahead of me, with clear tiled floor between us and the sink counter to my right. I will walk forward to close the distance toward that bin.", + "The dark bin and the doorway have grown noticeably larger, confirming my heading is taking me toward them. I am still several steps away, so I will continue walking forward along the open floor.", + "The dark cylindrical bin now stands close on my right, beside the counter and just short of the open doorway ahead. I am still slightly behind it, so I will step forward once more to bring myself level with the bin at the doorway.", + "I have advanced into the doorway threshold, and the view is now dominated by the open door and the sunlit area beyond, with the bin no longer centered in front of me. Since the bin sits to my right against the wall, I will turn right to bring it back into view and face it.", + "A dark surface has appeared at the lower right edge of my view, consistent with the bin I am trying to face, but it is still far off center. I will turn right again to place the bin squarely in front of me.", + "The dark bin is now directly ahead of me, but only its curved lid edge is visible at the bottom of my view because it is short and I am standing right beside it. I will look down to bring the whole bin into view and confirm I am at its location.", + "The dark bin sits directly below me beside the open doorway, fully in view and within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001399_y000580_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x001399_y000580_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..65d6eb7b9c536e6c8b4ff7c520894c35e1759342 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001399_y000580_z000099_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Search nearby for the tall potted plant near the window, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + 1399.045, + 580.119, + 98.866, + 0.0, + 90.72, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1399.045, + 580.119, + 98.866, + 0.0, + 90.72, + -0.0 + ], + [ + 1399.045, + 580.119, + 98.866, + 0.0, + 65.72, + -0.0 + ], + [ + 1399.045, + 580.119, + 98.866, + 0.0, + 40.72, + -0.0 + ], + [ + 1399.045, + 580.119, + 98.866, + 0.0, + 15.72, + -0.0 + ], + [ + 1399.045, + 580.119, + 98.866, + 0.0, + -9.28, + 0.0 + ], + [ + 1523.257, + 559.823, + 98.866, + 0.0, + -9.28, + 0.0 + ], + [ + 1647.469, + 539.527, + 98.866, + 0.0, + -9.28, + 0.0 + ], + [ + 1647.469, + 539.527, + 98.866, + 0.0, + 15.72, + -0.0 + ], + [ + 1755.961, + 577.16, + 98.866, + 0.0, + 15.72, + -0.0 + ], + [ + 1755.961, + 577.16, + 98.866, + 0.0, + 15.72, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the market aisle I see produce stands, shopping carts, and a bank of windows across the far wall, but no tall potted plant standing beside them. I will turn left to begin a steady scan of the window side of the room, where such a plant would most plausibly be placed. This should bring the unseen left portion of the glass wall into view.", + "The scan now shows a long stretch of tall windows on my left with fruit crates and shelving beneath them, still without any tall potted plant. Continuing the same leftward sweep keeps the search consistent and reveals more of the glazed wall. I will turn left again.", + "At the far left edge of my view I can now make out green fronds near the glass, which is a promising cue for the potted plant I am looking for. I will keep turning left in the same direction to bring that corner of the window wall fully into view. That should confirm whether it is the tall potted plant.", + "The tall potted plant is now clearly visible in its grey pot against the window, sitting left of my heading beside a dark bin. I will turn left once more to bring it closer to the center of my view so I can walk straight at it. A centered target makes the approach simpler.", + "The tall potted plant by the window is in view ahead of me, with the dairy cooler and sign off to my left and clear floor tile between us. I will walk forward across the open aisle to close that distance. Nothing appears to block the path.", + "The plant has grown noticeably larger in front of me, confirming I am closing on it, but I am still several paces short of the window. I will step forward again to continue the approach. The floor ahead remains clear.", + "Now that I am close, the potted plant has drifted to the right side of my view while the advertising sign occupies the left. I will turn right to bring the plant back to the center of my heading. That should let me finish the approach straight on.", + "The tall potted plant is now centered directly in front of me at the window, with its pot and the nearby bin plainly visible. I will take one more step forward to stand right at its location. That short advance should place me close enough to count as reaching it.", + "The tall potted plant fills my view at arm's length against the window glass. The task is complete, so I stop here rather than move closer." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001489_y000629_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x001489_y000629_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e016284be39a663fa544de1415fef17f0440c012 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001489_y000629_z000099_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Explore the area until you identify the blue cleaning cart in the store aisle, then head toward that location.", + "Type": 1, + "Start_Pose": [ + 1488.976, + 629.393, + 98.866, + 0.0, + 63.84, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1488.976, + 629.393, + 98.866, + 0.0, + 63.84, + -0.0 + ], + [ + 1488.976, + 629.393, + 98.866, + 0.0, + 88.84, + -0.0 + ], + [ + 1488.976, + 629.393, + 98.866, + 0.0, + 113.84, + -0.0 + ], + [ + 1488.976, + 629.393, + 98.866, + 0.0, + 138.84, + -0.0 + ], + [ + 1488.976, + 629.393, + 98.866, + 0.0, + 163.84, + -0.0 + ], + [ + 1488.976, + 629.393, + 98.866, + 0.0, + -171.16, + 0.0 + ], + [ + 1488.976, + 629.393, + 98.866, + 0.0, + -146.16, + 0.0 + ], + [ + 1488.976, + 629.393, + 98.866, + 0.0, + -121.16, + 0.0 + ], + [ + 1423.853, + 521.692, + 98.866, + 0.0, + -121.16, + 0.0 + ], + [ + 1358.73, + 413.991, + 98.866, + 0.0, + -121.16, + 0.0 + ], + [ + 1293.606, + 306.291, + 98.866, + 0.0, + -121.16, + 0.0 + ], + [ + 1234.237, + 199.129, + 98.866, + 0.0, + -121.16, + 0.0 + ], + [ + 1234.237, + 199.129, + 98.866, + 0.0, + -121.16, + 0.0 + ] + ], + "Rationale": [ + "From where I stand the view is filled with produce bins, tall windows and a few shopping carts, and there is no blue cleaning cart anywhere in this part of the store. I will turn right to begin a steady scan in one consistent direction so I can sweep the aisles beyond this fruit display.", + "The wide aisle ahead between the produce counters shows only shopping trolleys parked by the window wall, none of them a cleaning cart. I will keep rotating right in the same direction to bring the unseen store interior into view.", + "This angle still shows fresh produce tables with melons, potatoes and apples, plus the same trolleys off to the left, so the target is not here. I will continue the right turn to sweep further toward the deeper part of the store.", + "Past the produce table I can now see structural pillars and the beginning of proper shelving aisles further into the store, which is a more likely place for a cleaning cart than this fruit section. I will turn right again to bring those aisles fully in front of me.", + "A tall gondola stacked with detergent jugs and cleaning bottles has come into view on my right, a strong cue that the cleaning section lies in that direction. I will turn right once more to face that aisle squarely and look for the cart there.", + "The cleaning aisle with its rows of detergent bottles and buckets is now largely in front of me, but the far end of that aisle is still cut off at the right edge of my view. I will turn right again to expose the rest of the aisle where a cleaning cart would most plausibly be parked.", + "At the far end of the cleaning aisle I can now make out a blue wheeled cart standing near the green display and the yellow caution signs, which matches the cleaning cart I was told to find. It sits toward the right of my view, so I will turn right to center it before moving.", + "The blue cleaning cart with its yellow waste bag and mop handles is now clearly ahead of me along the detergent shelving, roughly in line with my heading. I will walk forward to close the remaining distance to it.", + "The blue cleaning cart with its yellow bag is clearly visible ahead beside the cleaning-supply shelves, roughly centered in my view. The aisle floor in front of me is open, so I will keep walking forward to close the remaining distance toward it.", + "The blue cleaning cart now fills a larger part of my view slightly left of center, confirming I am on a good line toward it. There is still a gap of open aisle between us, so I will step forward again rather than adjust my heading.", + "The cart is close now, with its blue frame, bottles, and yellow bag plainly detailed just ahead on my left. One more step forward should bring me right up to it and satisfy the requirement to reach the cart's location.", + "The blue cleaning cart is directly in front of me, filling my view at arm's length in this aisle. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001510_y-001817_z000099_t1_a/infos.json b/dataset/trajectory/Supermarket/task_x001510_y-001817_z000099_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..93c69d2558d8aa8792730d3aa68f8a3adda1010b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001510_y-001817_z000099_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Explore the restroom for the open gray door with a small green label on its lower half, then approach the doorway.", + "Type": 1, + "Start_Pose": [ + 1509.833, + -1817.046, + 98.866, + 0, + 99.36, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1509.833, + -1817.046, + 98.866, + 0, + 99.36, + 0 + ], + [ + 1509.833, + -1817.046, + 98.866, + 0.0, + 124.36, + -0.0 + ], + [ + 1509.833, + -1817.046, + 98.866, + 0.0, + 149.36, + -0.0 + ], + [ + 1509.833, + -1817.046, + 98.866, + 0.0, + 174.36, + -0.0 + ], + [ + 1509.833, + -1817.046, + 98.866, + 0.0, + -160.64, + 0.0 + ], + [ + 1509.833, + -1817.046, + 98.866, + 0.0, + -135.64, + 0.0 + ], + [ + 1509.833, + -1817.046, + 98.866, + 0.0, + -110.64, + 0.0 + ], + [ + 1509.833, + -1817.046, + 98.866, + 0.0, + -85.64, + 0.0 + ], + [ + 1519.401, + -1942.541, + 98.866, + 0.0, + -85.64, + 0.0 + ], + [ + 1528.969, + -2068.036, + 98.866, + 0.0, + -85.64, + 0.0 + ], + [ + 1528.969, + -2068.036, + 98.866, + 0.0, + -60.64, + 0.0 + ], + [ + 1590.677, + -2177.729, + 98.866, + 0.0, + -60.64, + 0.0 + ], + [ + 1590.677, + -2177.729, + 98.866, + 0.0, + -35.64, + 0.0 + ], + [ + 1666.586, + -2195.481, + 98.866, + 0.0, + -35.64, + 0.0 + ], + [ + 1666.586, + -2195.481, + 98.866, + 0.0, + -35.64, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a blank tiled wall right in front of me, so there is no door, label, or opening to judge from here. I will turn right to begin a steady scan of the restroom and start bringing more of the room into view.", + "The view still shows only tiled wall, now seen at a shallow angle, so the gray door has not appeared yet. I will keep rotating right in the same direction to sweep past this wall toward the open part of the room.", + "A pale gray panel edge has come into view on the right side, suggesting the restroom interior opens up in that direction. I will continue turning right to reveal that area and check whether it holds the gray door with the green label.", + "The gray panels ahead are stall partitions with latches and a dark cubicle interior, not the exit door I need, and there is no green label on them. I will keep turning right to scan past the stalls toward the rest of the room.", + "A row of stall doors now stretches across my view with tiled floor opening to the right, and none of them carries a small green marking. I will continue the same rightward sweep to inspect the far wall beyond the stalls.", + "The stalls are sliding off to my left and a plain tiled wall with more open floor is coming into view, still without any labeled door. I will keep rotating right so the unseen corner of the room enters my view.", + "At the right edge of my view I can now see a gray door with a small green label on its lower half, which matches the target described in the task. I will turn right once more to bring that door toward the center of my view so I can head straight for it.", + "The gray door with the green label is now roughly ahead of me and it stands ajar, with brighter space showing through the gap beside it. The floor between us is clear tile, so I will walk forward to close the distance toward that doorway.", + "The gray door with the small green label on its lower half stands open ahead and slightly to my right, with bright light spilling in from the space beyond it. Nothing blocks the tiled floor between me and it, so I will keep walking straight to close the remaining distance.", + "I am now close enough that the labeled gray door fills the right portion of my view while plain tiled wall occupies the center and left. Turning right should bring the door and the opening beside it into the middle of my view for a straight final approach.", + "The open gray door with its green label is now centered in front of me, and the sunlit space beyond the frame is clearly visible to its right. I will step forward to bring myself right up to the doorway.", + "The door panel with its green label now fills most of my view at arm's length, and the actual passage is at the right edge where daylight and the outdoor floor show through. Turning right should point me at the opening instead of the door leaf itself.", + "The open leaf with its green label is now off to my left and the clear doorway gap lies straight ahead, showing the sunlit exterior wall and bench beyond. I will step forward through that gap to reach the doorway itself.", + "I am standing at the doorway with the sunlit exterior area directly before me. The task objective is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_a/infos.json b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4aceabd579589f0d61f7fa34a66b1d0118102f01 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the silver trash can on the sidewalk.", + "Type": 0, + "Start_Pose": [ + 1547.742, + 2593.683, + 87.15, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1547.742, + 2593.683, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1478.532, + 2698.805, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1409.323, + 2803.926, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1340.113, + 2909.047, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1340.113, + 2909.047, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1232.962, + 2975.071, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1125.81, + 3041.094, + 98.052, + 0.0, + 148.36, + -0.0 + ], + [ + 1125.81, + 3041.094, + 98.052, + 0.0, + 148.36, + -0.0 + ] + ], + "Rationale": [ + "From here I can see the sidewalk strip ahead with benches and a small silver cylindrical trash can standing beside the tall sign pole. That container matches the target, so I will move forward across the open pavement to begin closing the sizable gap.", + "The benches and the silver can have grown slightly larger, confirming I am heading toward the right part of the sidewalk. The path is still clear asphalt, so another forward step should keep shrinking the distance.", + "The silver trash can is now clearly resolved beside the striped pole base, though still several strides off and slightly right of my heading. I will keep advancing forward before making any heading adjustment.", + "The trash can and its pole now sit right of my view center, with the near bench crowding the left foreground of my path. I will turn right to place the can more centrally in front of me so my next steps lead straight to it.", + "After the turn, the silver can and its pole are lined up ahead along the sidewalk edge with clear ground between us. I will move forward along this heading to close the remaining distance.", + "The silver can is now large in the near foreground just left of the striped pole base, but I am still a step short of standing beside it. One more forward step should bring me right up to it.", + "The silver trash can stands immediately in front of me at the sidewalk edge, filling the near view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/infos.json b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4be9e3acf846f903870faddc8a7751e3c9f5a5a8 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the yellow-and-black striped bollard.", + "Type": 0, + "Start_Pose": [ + 1547.742, + 2593.683, + 87.15, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1547.742, + 2593.683, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1478.532, + 2698.805, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1409.323, + 2803.926, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1409.323, + 2803.926, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1302.171, + 2869.949, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1195.02, + 2935.972, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1087.868, + 3001.996, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 980.717, + 3068.019, + 97.996, + 0.0, + 148.36, + -0.0 + ], + [ + 980.717, + 3068.019, + 97.996, + 0.0, + 123.36, + -0.0 + ], + [ + 980.717, + 3068.019, + 97.996, + 0.0, + 123.36, + -0.0 + ] + ], + "Rationale": [ + "I can pick out the yellow-and-black striped bollard standing at the foot of the tall sign post ahead of me, just right of my heading across the open parking area. The ground between us is flat and clear, so I will step forward to begin closing that distance.", + "The striped bollard now appears slightly larger and clearer beside the sign post, confirming my previous step brought me nearer. Nothing blocks the pavement ahead, so I will keep walking forward toward it.", + "The striped bollard sits a bit right of the middle of my view, so walking straight would carry me past its left side. I will turn right a small amount to put it more directly in front of me before continuing.", + "After the small turn the striped bollard is now near the center of my view, at the base of the sign post across the walkway. With my heading pointed at it and clear ground between, I will step forward to shorten the gap.", + "The striped bollard has grown noticeably and its yellow bands are clearly readable, so I am still several paces short of it. I will continue forward along the same heading to close more distance.", + "The bollard now stands large and slightly left of center, with the grey capped post beside it, so I am getting close but not yet beside it. I will take another forward step toward it.", + "The striped bollard fills the left part of my view at close range, its base and the sign post just a step or two away. One more forward step should bring me right up alongside it.", + "I am now standing right next to the striped bollard, but it has slid to the far left of my view and is partly out of sight behind the post structure. I will turn left so the bollard sits squarely in front of me at this close standing distance.", + "The yellow-and-black striped bollard stands directly before me, within arm's reach at the center of my view. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_c/infos.json b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ece2354bf38d32811cb5af8cf588e59bb0b9df92 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_c/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head toward the stone bench near the trash can.", + "Type": 0, + "Start_Pose": [ + 1547.742, + 2593.683, + 87.15, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1547.742, + 2593.683, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1478.532, + 2698.805, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1409.323, + 2803.926, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1340.113, + 2909.047, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1270.904, + 3014.169, + 92.609, + 0.0, + 123.36, + -0.0 + ], + [ + 1201.694, + 3119.29, + 97.976, + 0.0, + 123.36, + -0.0 + ], + [ + 1201.694, + 3119.29, + 97.976, + 0.0, + 123.36, + -0.0 + ] + ], + "Rationale": [ + "I can see a pale stone bench ahead on the paved island, with a dark cylindrical trash can standing just beside it at the base of the tall sign post. My heading is already lined up with that bench and trash can pair, and the open asphalt between us is clear, so I will step forward to begin closing the distance.", + "The bench and the trash can beside it now appear slightly larger and lower in my view, which tells me my previous step brought me closer along a good line. No obstruction sits on the pavement in front of me, so I will continue straight forward toward that bench.", + "The stone bench and the striped trash can are clearly resolved now, sitting a little left of the sign post directly ahead of me. I am still a few paces short of standing next to them, so I will keep advancing straight without changing my heading.", + "The bench now fills much of the lower left of what I see and the trash can stands close beside it, so only a short distance remains. I will take another step forward to bring myself right up alongside the bench.", + "The bench end is very near at my lower left and the trash can rises close on my right, so I am nearly at the target spot. One more forward step should place me directly beside the bench next to the trash can.", + "The stone bench sits directly at my feet with the trash can right beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_d/infos.json b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7640b614bb197f4c251082d78ce51796d6923ca2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t0_d/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the tall billboard pole between the two benches.", + "Type": 0, + "Start_Pose": [ + 1547.742, + 2593.683, + 87.15, + 0.0, + 123.36, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1547.742, + 2593.683, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1478.532, + 2698.805, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1478.532, + 2698.805, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1371.381, + 2764.828, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1264.229, + 2830.851, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1157.078, + 2896.874, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1049.927, + 2962.897, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1049.927, + 2962.897, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 980.717, + 3068.019, + 98.074, + 0.0, + 123.36, + -0.0 + ], + [ + 980.717, + 3068.019, + 98.074, + 0.0, + 123.36, + -0.0 + ] + ], + "Rationale": [ + "The tall billboard pole with its yellow striped base stands ahead on the right side of the lot, with a wooden bench on either side of it. It is still far off across the open asphalt, so I will walk straight ahead to begin closing that gap before refining my heading.", + "The billboard pole and its striped base now sit noticeably right of my forward direction, so walking straight would carry me past its left side. I will turn right to bring the pole and the two benches toward the middle of my view.", + "The turn has placed the billboard pole close to the center of my view, with a bench to its left and another farther right along the curb. With the heading now pointing at the target, I will step forward to shorten the remaining distance.", + "The pole and the trash bin beside it have grown larger and the near bench is drifting toward my left edge, confirming I am closing on the target. The path over the flat lot is unobstructed, so I will keep walking forward.", + "The striped base of the billboard pole is now clearly visible at the curb, and the second bench sits just to its right. I am still several strides short of standing beside it, so I will continue advancing.", + "The pole now fills a tall band of my view and the curb line beneath it is close, but I am not yet level with its base. I will take another step forward to reach the space between the two benches.", + "As I closed in, the billboard pole slid to the far left of my view while the bench and curb dominate the center. I will turn left to swing the pole back in front of me so my final steps land beside its base.", + "The turn has recentered the billboard pole with its striped base directly ahead, the trash bin at its left and a bench at its right. A short step forward should bring me right up between the benches at the pole.", + "The billboard pole's striped base fills the view directly ahead, within arm's reach beside the bench. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t5_a_p/infos.json b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..02d13010085778c3b1777ef2225f221ca1aeb2a8 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001548_y002594_z000087_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Lift the green bell pepper at the silver trash can on the sidewalk.", + "Type": 5, + "Start_Pose": [ + 1547.742, + 2593.683, + 87.15, + 0, + 123.36, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1092.072, + 2984.441, + 32.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1547.742, + 2593.683, + 87.15, + 0, + 123.36, + 0 + ], + [ + 1478.532, + 2698.805, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1409.323, + 2803.926, + 87.15, + 0.0, + 123.36, + -0.0 + ], + [ + 1409.323, + 2803.926, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1302.171, + 2869.949, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1195.02, + 2935.972, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1195.02, + 2935.972, + 87.15, + 0.0, + 148.36, + -0.0 + ], + [ + 1195.02, + 2935.972, + 87.15, + 0.0, + 148.36, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1092.072, + 2984.441, + 32.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1092.072, + 2984.441, + 32.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1092.072, + 2984.441, + 32.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1092.072, + 2984.441, + 32.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1092.072, + 2984.441, + 32.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1092.072, + 2984.441, + 32.15, + 0.0, + 0.0, + 0.0 + ], + [ + 1184.338, + 2917.472, + 57.256, + -28.202, + -161.495, + 1.862 + ], + [ + 1184.338, + 2917.472, + 57.256, + -28.202, + -161.495, + 1.862 + ] + ], + "PD_Dist_2D": [ + 600.3, + 480.6, + 365.0, + 365.0, + 239.3, + 113.8, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the green bell pepper sitting on the sidewalk ahead, near the silver trash can and the benches under the sign pole. It is still far off across the open pavement, so I will walk forward to close that distance. This should bring the pepper into a clearer, nearer position for a grasp.", + "The pepper and the silver trash can look noticeably larger now, but they are still several strides away on the sidewalk. Nothing blocks the ground in front of me, so I will keep walking straight toward them. Another step forward should put the pepper within a comfortable reach range.", + "The bell pepper now sits low and off to the right side of my view rather than straight ahead of my heading. Continuing forward on this heading would carry me past it toward the benches. I will turn right to bring the pepper closer to the center of my view before advancing again.", + "After the turn, the pepper sits near the middle of my view on the sidewalk edge, with the trash can just beyond it. The path between us is flat and clear, so I will step forward along this heading. This should shorten the remaining gap toward a reachable distance.", + "The pepper now appears large and close in the lower part of my view, but it is still slightly out ahead of my feet. One more walking step should bring it directly in front of me at grasping range. I will move forward before attempting to lift it.", + "The green bell pepper is right at my feet, its top just entering the bottom of my view beside the curb near the silver trash can. This is close enough for a grasp, so I will attempt to pick it up. If my reach lands correctly, the pepper should come up into my hands.", + "The green bell pepper is now held in my hands, lifted clear of the sidewalk. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_a/infos.json b/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e81b3081159b1facfe60e796979542f8d00441b2 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the leftmost stall door.", + "Type": 2, + "Start_Pose": [ + 1684.072, + -2190.126, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1684.072, + -2190.126, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + 1568.367, + -2145.139, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + 1568.367, + -2145.139, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + 1485.796, + -2050.152, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + 1403.225, + -1955.165, + 98.866, + 0.0, + 131.0, + -0.0 + ], + [ + 1403.225, + -1955.165, + 98.866, + 0.0, + 131.0, + -0.0 + ] + ], + "Rationale": [ + "Counting the row of stall doors ahead, the leftmost one is the panel ending against the brick side wall on the left, so that is my target from here on. The doors all look alike, so I hold it by that wall. I will walk forward to close the open floor between us.", + "I am now close to the partitions, but the door beside the brick side wall sits well off to the left edge of my view while the nearer doors dominate the center. A modest turn to the left should bring that end door in front of me. I will turn left.", + "The turn worked, and the stall door standing against the brick side wall is now ahead of me with clear tiled floor and a mat between us. Nothing blocks that lane. I will walk forward to close on it.", + "The panels now fill most of my view and the brick side wall is close on my left, so I am nearly at the end door but not yet standing at it. A short further advance should put me right in front of it. I will step forward again.", + "The stall door beside the brick side wall now stands directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_b/infos.json b/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7c4d6b8459e32836538696af000c18244f63a838 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_b/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Head toward the third stall door from the left.", + "Type": 2, + "Start_Pose": [ + 1684.072, + -2190.126, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1684.072, + -2190.126, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + 1568.367, + -2145.139, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + 1453.389, + -2093.947, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + 1453.389, + -2093.947, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + 1453.389, + -2093.947, + 98.866, + 0.0, + -179.0, + 0.0 + ] + ], + "Rationale": [ + "The stall doors line the far wall ahead of me, and counting from the left end of the row the third one is the panel whose pair of dark knobs sits just left of the wide rightmost door. The doors are otherwise identical, so I hold that one by its place beside the dark ajar gap. I walk forward to close the distance.", + "The row now fills much more of my view and my target door with its two dark knobs is directly ahead and slightly right. I am still a few paces short of standing at it, so I keep walking forward.", + "This close, the panels no longer read as a countable row, but the door I chose, with its two knobs and the dark opening beside it, is off toward the right of my view. I turn right so that door is squarely in front of me rather than skewed at the edge.", + "The stall door I chose stands squarely in front of me, its knobs within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_c/infos.json b/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1ceafcc9184d468c4072f6e472f7d3606eb9e9b3 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_c/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Approach the rightmost door in the row of gray restroom stalls.", + "Type": 2, + "Start_Pose": [ + 1684.072, + -2190.126, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1684.072, + -2190.126, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + 1684.072, + -2190.126, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + 1558.232, + -2192.323, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + 1432.392, + -2194.519, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + 1432.392, + -2194.519, + 98.866, + 0.0, + -179.0, + 0.0 + ] + ], + "Rationale": [ + "From here the gray stall doors run across in front of me, and the one I want is the last panel at the right end, standing right against the corner brickwork; the panels look alike, so that corner is what holds it for me. It sits off to my right of my current heading, so I will turn right to bring it toward the middle of my view.", + "The stall door beside the right-hand brick corner is now roughly ahead of me, with clear tiled floor between us. I will walk forward to close that distance.", + "The stall door against the brick corner now fills much of my view, with its latch hardware visible at arm-scale, but I am still a short way short of it. I will step forward again to come up close to it.", + "The gray stall door beside the brick corner fills my view with its latch within reach. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_d/infos.json b/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fd078b98cdfe21c2349e28135cb9c2f66318ec54 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001684_y-002190_z000099_t2_d/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Proceed to the second stall door from the right.", + "Type": 2, + "Start_Pose": [ + 1684.072, + -2190.126, + 98.866, + 0.0, + 156.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1684.072, + -2190.126, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + 1568.367, + -2145.139, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + 1453.389, + -2093.947, + 98.866, + 0.0, + 156.0, + -0.0 + ], + [ + 1453.389, + -2093.947, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + 1368.333, + -2102.093, + 98.866, + 0.0, + -179.0, + 0.0 + ], + [ + 1368.333, + -2102.093, + 98.866, + 0.0, + -179.0, + 0.0 + ] + ], + "Rationale": [ + "The row of stall doors runs along the wall ahead, and counting in from the right end, my target is the door immediately left of the last one before the corner. The panels look alike, so I hold that one by its place beside the corner wall. I walk forward to close the gap.", + "The stalls now fill much of my view, and the door I chose, the one bearing a knob and latch next to the corner-side door, sits ahead and slightly right. I am still several paces short of it. I keep walking forward to bring myself in front of it.", + "At this range the panels crowd my view and my heading is aimed slightly past the door I want, whose knob and latch sit off to my right. A small turn right should square my body with that door's face. I turn right to correct the heading.", + "I am now squared up with the door I picked, its knob and latch plainly in front of me beside the edge and the dark gap of the adjacent partition. Only a short step of distance remains. I move forward to stand right at it.", + "The stall door with its knob and latch fills my view directly ahead, within arm's reach. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001729_y000123_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x001729_y000123_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e05d7ca7d992f51e4c32bb747fdbcab0a7df814a --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001729_y000123_z000099_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the green freestanding sign, then head toward the green chars near the entrance.", + "Type": 3, + "Start_Pose": [ + 1729.162, + 122.946, + 98.866, + 0.0, + -117.6, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1729.162, + 122.946, + 98.866, + 0.0, + -117.6, + 0.0 + ], + [ + 1729.162, + 122.946, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + 1629.178, + 46.502, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + 1529.194, + -29.941, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + 1429.209, + -106.385, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + 1429.209, + -106.385, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + 1306.286, + -133.412, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + 1183.363, + -160.438, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + 1183.363, + -160.438, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + 1183.363, + -160.438, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + 1183.363, + -160.438, + 98.866, + 0.0, + -117.6, + 0.0 + ], + [ + 1183.363, + -160.438, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1183.363, + -160.438, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + 1231.324, + -276.8, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + 1279.286, + -393.163, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + 1327.247, + -509.525, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + 1375.208, + -625.888, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + 1423.169, + -742.25, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + 1471.13, + -858.613, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + 1519.091, + -974.975, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + 1567.052, + -1091.337, + 98.866, + 0.0, + -67.6, + 0.0 + ], + [ + 1567.052, + -1091.337, + 98.866, + 0.0, + -67.6, + 0.0 + ] + ], + "Rationale": [ + "The tall green A-frame sign stands well off to my left, near the drink shelving, while my body faces the open floor ahead. I will turn left to put that sign closer to the centre of my path before walking toward it.", + "The green sign now sits ahead of me beside the tall column, with clear tiled floor between us. I will walk forward to close that distance.", + "The sign has grown larger and stays just left of the pillar, so my heading is still good. I keep walking forward to shorten the gap.", + "The green sign is clearly nearer now, its cow logo and lettering readable beside the pillar. Nothing blocks the tiles between us, so I continue advancing.", + "The sign has drifted toward the left edge of my view as I closed in, so walking straight on would carry me past it. I will turn left to bring it back in front of me.", + "The green sign sits ahead beside the pillar with an open lane of floor leading to it. I will step forward to finish closing on it.", + "The sign is close enough that its cow emblem and lettering fill much of my right-forward view. One more step forward should bring me right alongside it.", + "The green A-frame sign now towers right beside me, its cow logo filling my view at arm's length. I am standing at the sign, so I mark reaching it and turn my attention toward the green chairs by the entrance.", + "I am standing right beside the green Holy Cow sign, so that stop is behind me and the seating by the entrance is what I need next. The sign and pillar block most of my view and nothing of the front of the store is visible ahead. I will pivot right to swing my heading back toward the entrance side.", + "The pivot has slid the green sign toward my left edge and opened up the aisle-end display, but the entrance area is still not in sight. I will keep turning right to bring the front wall of the store into view.", + "The red Welcome banner and the drink coolers along the front wall have come into view on my right, so the entrance side is close to my heading. A further right pivot should place that front area squarely ahead of me.", + "I can now see the pair of green chairs against the front wall beside the vending machine, to the right of my current heading, with the entrance doors just past them. One more right pivot should center that seating so I can walk straight at it.", + "The green chairs by the entrance doors are now roughly ahead of me and the tiled floor between us is clear and open. I will walk forward to close that distance.", + "The chairs by the doorway have grown larger and the second pair further along the window wall is also visible, confirming my heading is good. The floor ahead stays clear, so I will keep walking toward the seating.", + "The pair of green chairs beside the bin and the entrance door is clearly ahead and noticeably nearer. Nothing blocks the way, so I will continue advancing toward them.", + "The two green chairs against the wall by the entrance are close now, though still several paces off across the open tiles. I will step forward again to draw right up to them.", + "The pair of green chairs against the tan wall by the entrance doors sits ahead and slightly right, still several paces off across open tile. Nothing blocks the floor between us, so I will keep walking forward to close that gap.", + "The green chairs are now clearly centered ahead beside the bin and the entrance doorway, larger in view than a moment ago. The floor stays clear, so I will walk forward again to draw nearer to them.", + "The two green chairs fill much more of my view now, their seats and frames clearly resolved against the wall. I am close but not yet beside them, so another step forward should bring me right up to the seating.", + "The chairs are directly in front of me at close range, with the wall behind them filling most of my view. One more step should place me right at the seating by the entrance.", + "The green chairs are right in front of me at arm's length by the entrance wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001729_y000123_z000099_t3_b/infos.json b/dataset/trajectory/Supermarket/task_x001729_y000123_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..63f4e722ccb8082da8e30c0db76a3217777b4d3d --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001729_y000123_z000099_t3_b/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Make your way to the green chair, then approach the green freestanding sign.", + "Type": 3, + "Start_Pose": [ + 1729.162, + 122.946, + 98.866, + 0.0, + -117.6, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1729.162, + 122.946, + 98.866, + 0.0, + -117.6, + 0.0 + ], + [ + 1670.852, + 11.409, + 98.866, + 0.0, + -117.6, + 0.0 + ], + [ + 1670.852, + 11.409, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1665.143, + -114.32, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1659.433, + -240.05, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1653.724, + -365.779, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1648.015, + -491.508, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1642.305, + -617.238, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1636.596, + -742.967, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1630.887, + -868.697, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1625.177, + -994.426, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1619.468, + -1120.156, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1619.468, + -1120.156, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1623.66, + -1027.851, + 98.866, + 0.0, + -92.6, + 0.0 + ], + [ + 1623.66, + -1027.851, + 98.866, + 0.0, + -117.6, + 0.0 + ], + [ + 1623.66, + -1027.851, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + 1623.66, + -1027.851, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + 1623.66, + -1027.851, + 98.866, + 0.0, + 167.4, + -0.0 + ], + [ + 1623.66, + -1027.851, + 98.866, + 0.0, + 142.4, + -0.0 + ], + [ + 1623.66, + -1027.851, + 98.866, + 0.0, + 117.4, + -0.0 + ], + [ + 1565.739, + -916.111, + 98.866, + 0.0, + 117.4, + -0.0 + ], + [ + 1507.819, + -804.372, + 98.866, + 0.0, + 117.4, + -0.0 + ], + [ + 1449.899, + -692.632, + 98.866, + 0.0, + 117.4, + -0.0 + ], + [ + 1391.978, + -580.893, + 98.866, + 0.0, + 117.4, + -0.0 + ], + [ + 1334.058, + -469.153, + 98.866, + 0.0, + 117.4, + -0.0 + ], + [ + 1276.138, + -357.413, + 98.866, + 0.0, + 117.4, + -0.0 + ], + [ + 1218.217, + -245.674, + 98.866, + 0.0, + 117.4, + -0.0 + ], + [ + 1218.217, + -245.674, + 98.866, + 0.0, + 142.4, + -0.0 + ], + [ + 1218.217, + -245.674, + 98.866, + 0.0, + 167.4, + -0.0 + ], + [ + 1218.217, + -245.674, + 98.866, + 0.0, + 142.4, + -0.0 + ], + [ + 1118.501, + -168.882, + 98.866, + 0.0, + 142.4, + -0.0 + ], + [ + 1118.501, + -168.882, + 98.866, + 0.0, + 167.4, + -0.0 + ], + [ + 1118.501, + -168.882, + 98.866, + 0.0, + -167.6, + 0.0 + ], + [ + 1118.501, + -168.882, + 98.866, + 0.0, + -142.6, + 0.0 + ], + [ + 1118.501, + -168.882, + 98.866, + 0.0, + -142.6, + 0.0 + ] + ], + "Rationale": [ + "Far across the store, against the tan wall beside the vending machines, I can pick out a pair of small green chairs. They are a long way off, so I will walk forward across the open tiled floor to close some of that distance before refining my heading.", + "After advancing, the green chairs sit right of my current heading, near the vending machines against the tan wall. I will turn right to put that seating area closer to the center of my view before continuing.", + "The turn brought the green chairs and the vending machines into the middle of my view, with clear tile between me and them. I will walk forward along this aisle to cut down the remaining distance.", + "The green chairs by the tan wall are growing larger and stay near the center of my path. Nothing blocks the open lane between the coolers on my left and the stocked shelving on my right, so I will keep walking toward them.", + "The two green chairs against the tan wall are now clearly resolved ahead, with the bin and vending machine beside them. The floor between us is still open, so I will continue walking straight toward that seating.", + "The pair of green chairs sits against the beige wall straight ahead, past the vending machine and bin, and my heading is already lined up on them. The aisle floor in front of me is clear, so I will keep walking forward to close the remaining distance to that seating.", + "The two green chairs have grown noticeably larger in front of me, confirming my line of travel is correct. Nothing blocks the open floor between me and the wall they stand against, so another step forward should bring me closer to them.", + "The green chairs and the black bin beside them are now clearly resolved ahead of me at the tan wall. I am still several paces short of standing at that seating, so I keep advancing on the same straight line.", + "The chairs now fill a good part of my view with the doorway and the tall sign off to my right, so I am nearly at the seating. A further step forward should bring me right up to the green chairs without needing any turn.", + "The two green chairs now dominate my view, with the wall behind them only a short stretch of floor away. One more step should put me directly at the seating rather than merely near it.", + "The pair of green chairs now fills most of my view against the tan block wall, so only a short gap remains. I will step forward once more to close that gap and stand directly at them.", + "The two green chairs are right at my feet, their backs filling my view against the block wall, so nothing separates me from them. I have arrived at the green chairs. I mark reaching them and now set out for the green freestanding sign out on the shop floor.", + "Pressed this close to the chairs and the wall, I can see almost nothing but plastic seat backs and blockwork, which leaves me no room to swing around. Backing up a step should open enough distance to look across the floor for the green freestanding sign.", + "With a little clearance regained, the chairs and the tan wall still occupy my whole heading and no freestanding sign is anywhere in sight. Turning left should sweep my view off this wall toward the open part of the shop where such a sign may stand.", + "The turn has brought the vending machine and the corner into view, but I am still facing wall and fixtures rather than open floor. I will keep turning left to bring the aisles ahead into view and look for the green freestanding sign.", + "The green seats behind me are already reached, and my view is still filled by the vending machine and the blank corner wall, which hold nothing that resembles a freestanding sign. I continue rotating left so the open sales floor stretching away past the coolers comes into view. That wider aisle is where a standing sign is likely to be visible.", + "The turn has brought the long line of coolers and the bright stacked shelving into view, but no green freestanding sign is showing along this corridor yet. I keep swinging left to sweep more of the shop floor across my field of view. A further step of rotation should open up the wider central area.", + "The shelf island and the broad tiled floor are now ahead of me, yet the green sign I need is still not in my view. I turn left again to bring the deeper part of the store, beyond the pillar, into the centre of my heading. That should reveal whether a route runs that way.", + "The store now opens out in front of me with clear tiled floor and long shelf rows, and a dark standing board sits by the far shelving rather than the green sign I want. One more turn left should place the unobstructed lane down the middle of the floor straight ahead of me. From there I can walk deeper and check.", + "My heading is now down the open aisle, with clear tiled floor ahead and shelving flanking me on the right. Nothing blocks the first several steps, so I walk forward to cover distance into the main shop area where a freestanding sign could stand. Advancing should also bring the far end of the floor into clearer view.", + "The open floor ahead of me is clear all the way to the front windows, with tall product shelving on my right and a freestanding upright panel standing beside the pillar. That panel shows only a flat dark face from here, so it is not yet the green sign I am after. I will keep walking straight to close the distance and see it and the aisle beyond more clearly.", + "The pillar and the upright board beside it have grown noticeably larger, so my heading down this open lane is carrying me toward them. The board still presents a plain grey back rather than any green signage, and nothing blocks the tiles in front of me. I will step forward again to bring the area around that pillar within closer view.", + "More of the store is opening up as I advance: a cleaning cart and a small yellow floor sign now stand out beside the shelving to my right, and the checkout area sits far ahead. None of that is the green freestanding sign, so I have no reason to turn yet. I will continue walking straight along this open lane.", + "From this closer position the freestanding panel by the pillar is clearly a plain grey board, not the green sign I want. The aisle of bottles and the cart ahead are still some way off, and the floor between remains clear. I will keep advancing so that whatever stands beyond the pillar comes into view.", + "The cart and the yellow folding sign are now close on my left and the grey panel is drifting to my right edge as I pass it, which tells me my walking line is good. The green sign I am looking for is still not in view, likely hidden behind the shelving or the pillar. I will take another step forward to open up that far side.", + "The floor ahead is clear apart from the cleaning cart and the yellow folding sign near the shelf end, and neither is the green freestanding sign I want. I will walk further along this open aisle so the displays on the right side come into view.", + "Straight ahead the long green-trimmed shelf run fills my view and hides whatever stands along the right side of the aisle. I will turn right to sweep that hidden stretch and look for the green freestanding sign.", + "A bright green panel has just entered the very edge of my view on the right, but only a sliver of it is visible. I will turn right again to bring that green board fully in front of me and confirm it is the freestanding sign.", + "That last turn to the right carried me past the green panel, and now only a plain board leaning against the brown pillar sits ahead of me. I will turn back left to swing the green sign into view again.", + "The green board is back at the right edge of my view, tall and freestanding beside the wall. It is still some distance off, so I will step forward to close the gap toward it.", + "My step forward has carried me past the tall green freestanding sign, which sat at the right edge of my view and is now out of sight behind me on that side. I will turn right to swing my heading back toward it and bring it into view again.", + "The first turn has brought the brown and grey pillar into the right of my view, but the green sign standing beside it is still just outside my field of view. I will turn right again to keep sweeping toward that corner where the sign should appear.", + "The green sign with the white cow now shows at the right edge of my view, close beside the pillar, so my rightward sweep is working. One more turn right should bring it fully in front of me rather than clipped at the border.", + "The green freestanding cow sign now stands directly before me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t0_a/infos.json b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11efee984af2f2bdfaf29f436b9b01f58b5c2dd9 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t0_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the silver trash bin against the brown wall.", + "Type": 0, + "Start_Pose": [ + 1790.871, + -2154.903, + 98.866, + 0.0, + 96.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1790.871, + -2154.903, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1776.667, + -2029.848, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1770.274, + -1912.667, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1770.274, + -1912.667, + 98.866, + 0.0, + 121.48, + -0.0 + ], + [ + 1770.274, + -1912.667, + 98.866, + 0.0, + 121.48, + -0.0 + ], + [ + 1770.274, + -1912.667, + 98.866, + 0.0, + 121.48, + -0.0 + ] + ], + "Rationale": [ + "Down this narrow corridor I can see the trash bin standing against the tan brick wall on my right, just past the row of green chairs. It is still several meters ahead, so I will move forward along the tiled floor to close that distance while keeping it in view.", + "The bin now appears larger and lower in my view at the right side of the corridor, so my heading down the hallway is still good. I will advance once more to bring myself alongside it rather than stopping short.", + "I have come far enough that the bin has slipped to the right edge of my view, hugging the tan brick wall beside the chairs. I will turn right to swing my heading toward it so it sits in front of me instead of at the periphery.", + "After turning, only the metallic top edge of the bin appears at the bottom right, since it is short and now very close to me. I will look down to bring the whole bin into view and confirm I am standing right at it.", + "The silver-topped trash bin is directly beside me at the base of the brown brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t0_b/infos.json b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3f07d56595a0f9d102105315e54f6415d4c5e57c --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t0_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the red fire extinguisher in the hallway.", + "Type": 0, + "Start_Pose": [ + 1790.871, + -2154.903, + 98.866, + 0.0, + 96.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1790.871, + -2154.903, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1776.667, + -2029.848, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1770.274, + -1912.667, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1786.152, + -1815.432, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1794.109, + -1695.689, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1793.85, + -1574.388, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 121.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 146.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 171.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 171.48, + -0.0 + ] + ], + "Rationale": [ + "Down the narrow tiled corridor I can pick out a small red fire extinguisher mounted on the right-hand wall near the far doorway, well ahead of me. The hallway straight in front is clear apart from the bin and chairs hugging the right side, so I will move forward along the open left portion to start closing that distance.", + "The extinguisher on the right wall now reads slightly larger, confirming my heading is pointed down the corridor toward it. The green chairs and bin stay clear of my line of travel, so another forward step should continue reducing the gap.", + "The red cylinder against the tan block wall is clearly resolved now, still ahead and to my right beside the doorway. My heading needs no correction yet, so I keep advancing straight down the hall.", + "I can now see the extinguisher's bracket and body distinctly on the right wall, but it is still several steps beyond the row of chairs. The floor ahead toward the open doorway is clear, so I continue forward.", + "The extinguisher is large in view now, hanging on the right wall just past the elevator panel, but I am not yet abreast of it. I will take another forward step to bring myself level with its position.", + "The extinguisher fills the right edge of my view, meaning it sits almost directly beside me rather than ahead. One more short forward step should place me squarely at its mounting point in front of the doorway.", + "I have drawn level with the extinguisher's wall, so it has slipped out of my forward view, which is now filled by the open doorway and the vertical pipes. I will turn right toward that right-hand wall to bring the extinguisher back into my field of view and face it.", + "The rotation has swung the restroom door and the tan block wall into view, but the extinguisher is still just outside the right edge of my sight. I will turn right again to bring it fully into view and center my heading on it.", + "The red extinguisher body is clipped at the right edge of my view, with the brick wall and its mount filling the center. I will turn right once more so the extinguisher should sit squarely in front of me at close range.", + "The red fire extinguisher is centered directly in front of me on the hallway wall, close enough to touch. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_a/infos.json b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f83942832ec4d03fe22c8efacf69dd961c3a6ac6 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the silver trash bin, then head toward the red fire extinguisher.", + "Type": 3, + "Start_Pose": [ + 1790.871, + -2154.903, + 98.866, + 0.0, + 96.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MidwayTarget", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1790.871, + -2154.903, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1776.667, + -2029.848, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1776.667, + -2029.848, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1770.274, + -1912.667, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1786.152, + -1815.432, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1794.109, + -1695.689, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1793.85, + -1574.388, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1793.85, + -1574.388, + 98.866, + 0.0, + 121.48, + -0.0 + ], + [ + 1789.294, + -1471.198, + 98.866, + 0.0, + 121.48, + -0.0 + ], + [ + 1789.294, + -1471.198, + 98.866, + 0.0, + 146.48, + -0.0 + ], + [ + 1789.294, + -1471.198, + 98.866, + 0.0, + 146.48, + -0.0 + ] + ], + "Rationale": [ + "The corridor runs straight ahead, and the round metal trash bin stands against the right-hand wall beside the green seats. Nothing blocks the tiled floor between us, so I will walk forward to close that gap.", + "The metal trash bin now fills the right side of my view at arm's length, its lid level with my waist. I have reached the trash bin. I mark reaching it and now aim for the red fire extinguisher mounted further down the corridor wall.", + "Down the corridor the small red fire extinguisher hangs on the tan wall past the row of green chairs. The walkway on my left is clear of the seating, so I will step forward along it toward the extinguisher.", + "The red extinguisher on the right wall is larger now but still several paces off, near the doorway at the end of this passage. I will keep walking straight to shorten the remaining distance.", + "The extinguisher and its bracket are clearly resolved on the right wall just before the open doorway. The floor between us stays clear, so I will advance again rather than turn this early.", + "The extinguisher is now high on the right wall, close beside the elevator panel and well past the last green chair. One more step forward should bring me level with it.", + "The red extinguisher has slid to the far right edge of my view, almost out of sight against the tan wall, while my heading still points down the corridor. Turning right should swing it back into the center of my view for a controlled final approach.", + "The extinguisher now sits squarely ahead on the tan wall with its bracket clearly in view, but there is still a short stretch of floor between us. I will step forward to close that last gap.", + "I am now level with the tan block wall on my right, but the red extinguisher I am heading for has slid out of view past that edge and only bare masonry fills the right side. Turning right should swing my heading onto the wall section where it hangs and bring it back in front of me.", + "The red fire extinguisher hangs on the wall directly at my side, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/infos.json b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..445861267771caeb8d17e503a5ee16bbbea56aa0 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t3_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Make your way to the red extinguisher, then approach the silver trash bin.", + "Type": 3, + "Start_Pose": [ + 1790.871, + -2154.903, + 98.866, + 0.0, + 96.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1790.871, + -2154.903, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1776.667, + -2029.848, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1770.274, + -1912.667, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1786.152, + -1815.432, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1794.109, + -1695.689, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1793.85, + -1574.388, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 121.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 146.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 171.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 171.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 171.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + -163.52, + 0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + -138.52, + 0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + -113.52, + 0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + -88.52, + 0.0 + ], + [ + 1797.195, + -1574.42, + 98.866, + 0.0, + -88.52, + 0.0 + ], + [ + 1800.446, + -1700.237, + 98.866, + 0.0, + -88.52, + 0.0 + ], + [ + 1800.446, + -1700.237, + 98.866, + 0.0, + -113.52, + 0.0 + ], + [ + 1787.588, + -1813.673, + 98.866, + 0.0, + -113.52, + 0.0 + ], + [ + 1787.588, + -1813.673, + 98.866, + 0.0, + -113.52, + 0.0 + ] + ], + "Rationale": [ + "Down this narrow tiled corridor I can already pick out a small red extinguisher mounted on the tan block wall past the row of green seats. That is my first destination, and the floor between us is clear. I will walk forward to close the distance.", + "The red extinguisher on the right wall has grown slightly larger and the seats beside me have slid back, so my heading down the corridor is good. Nothing blocks the walkway toward the far doorway. Another step forward should keep shrinking the gap.", + "The extinguisher now reads clearly as a red cylinder on its bracket ahead and to my right, well past the last of the green chairs. My path along the tiles remains open. I will keep walking straight toward it.", + "The extinguisher is noticeably nearer, hanging beside the pale door frame at the corridor's end. I am still a few paces short of standing beside it. Continuing straight ahead is the direct way in.", + "The red extinguisher is now large on the right wall, its label and hose plainly visible above the vertical pipes. I am close but not yet level with it. One more step forward should bring me alongside.", + "The extinguisher sits high on the wall just off my right shoulder and the open doorway with the pipes is directly ahead. Advancing once more should place me right at the wall where it is mounted. I will step forward.", + "I have walked level with the mounting wall, so my view is now filled by the doorway and the restroom sign rather than the extinguisher. It lies off to my right, behind the pipes. Turning right should swing my heading back onto it.", + "The rotation has brought the pale restroom door and the block wall around, but the extinguisher is still further to my right, not yet centered. I need a bit more rotation before I am squarely facing it. I will turn right again.", + "The red extinguisher body has swung into the upper right of my view, but it is still clipped by the frame edge while the restroom door fills my left side. I will turn right again to bring the extinguisher fully in front of me as I close on it.", + "The extinguisher is now centered ahead of me on the tan block wall, but it hangs high enough that its top is cut off by the upper edge of my view. I will look up so the whole mounted extinguisher sits clearly in front of me.", + "The red extinguisher hangs in its bracket directly in front of me, close enough to see its labels and hose clearly. I have reached the red extinguisher. I mark reaching it, and now I set off for the silver trash bin.", + "My view is filled by the extinguisher and the bare block wall, which gives me nothing useful for finding a trash bin. I will turn right to sweep my gaze along the corridor and pick up the silver bin.", + "The extinguisher has slid to my left edge and green chairs are appearing along the wall, but there is still no bin in sight. I will keep turning right to open up more of the corridor.", + "A metallic bin top has just come into the right edge of my view beside the row of green chairs. I will turn right again to bring that bin and the corridor beyond it properly into my forward view.", + "The corridor now opens to my right with the chairs on one side and a pail standing by the windows further down. I will turn right once more so I face straight along that open lane toward the bins.", + "I am now squared onto the corridor, with the chairs to my left and the metal pail standing beside the windows well ahead. The floor between us is clear, so I will walk forward to close the distance to the bin.", + "Having marked the wall-mounted extinguisher behind me, my remaining goal is the metal bin standing at the far end of this tiled passage. The way ahead is clear, with only the domed black bin set against the wall to my left. I will walk forward to close the gap.", + "My heading has drifted toward the glazed blind-covered wall on my right, so the open floor of the passage sits off to one side of my view. A small turn to the left should square me with the corridor and put the metal bin ahead on a straight walking line. I will turn left.", + "The passage now runs straight in front of me with the metal bin standing near the far corner, only a short stretch of tile away. Nothing blocks that line, so a single step forward should bring me right up beside it.", + "The metal trash bin stands immediately in front of me at the end of the passage, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t5_a_pd/infos.json b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4bcb32d6ca3c635916f8af665eb018670856a1ef --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x001791_y-002155_z000099_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the trash bag at the silver trash bin, then drop it near the red fire extinguisher.", + "Type": 5, + "Start_Pose": [ + 1790.871, + -2154.903, + 98.866, + 0, + 96.48, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1783.896, + -1865.917, + 18.866, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1790.871, + -2154.903, + 98.866, + 0, + 96.48, + 0 + ], + [ + 1776.667, + -2029.848, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1776.667, + -2029.848, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1770.274, + -1912.667, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1786.152, + -1815.432, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1794.109, + -1695.689, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1793.85, + -1574.388, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 96.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 121.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 146.48, + -0.0 + ], + [ + 1789.688, + -1449.603, + 98.866, + 0.0, + 171.48, + -0.0 + ], + [ + 1846.664, + -1461.13, + 98.866, + 0.0, + 171.48, + -0.0 + ], + [ + 1846.664, + -1461.13, + 98.866, + 0.0, + 171.48, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1783.896, + -1865.917, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + 1783.896, + -1865.917, + 18.866, + 0.0, + 0.0, + 0.0 + ], + [ + 1755.518, + -2032.864, + 68.973, + -28.202, + 146.625, + 1.862 + ], + [ + 1749.101, + -1915.386, + 68.38, + -28.22, + 146.604, + 1.849 + ], + [ + 1765.026, + -1818.614, + 69.14, + -28.212, + 146.616, + 1.852 + ], + [ + 1773.002, + -1699.109, + 69.544, + -28.197, + 146.628, + 1.866 + ], + [ + 1772.742, + -1577.753, + 69.534, + -28.201, + 146.628, + 1.865 + ], + [ + 1768.543, + -1452.689, + 69.135, + -28.188, + 146.639, + 1.875 + ], + [ + 1771.01, + -1461.701, + 69.122, + -28.205, + 171.623, + 1.858 + ], + [ + 1777.05, + -1468.406, + 68.721, + -28.189, + -163.362, + 1.87 + ], + [ + 1780.349, + -1475.043, + 68.632, + -14.092, + -146.176, + 6.87 + ], + [ + 1777.437, + -1450.759, + 58.866, + 0.0, + 171.48, + -0.0 + ], + [ + 1777.437, + -1450.759, + 58.866, + 0.0, + 171.48, + -0.0 + ] + ], + "PD_Dist_2D": [ + 289.1, + 164.1, + 21.4, + 21.3, + 21.4, + 21.4, + 21.4, + 21.4, + 22.3, + 22.7, + 27.1, + 70.0, + 70.0 + ], + "Rationale": [ + "The black trash bag is sitting on the tiled floor a few paces ahead of me, beside the tall silver-topped trash bin against the right wall. It is still too far to grasp, so I will walk straight forward along the corridor to close that gap. This should place the bag within reach for a pickup.", + "The trash bag now fills the lower center of my view, right at my feet beside the silver-topped bin, so I am close enough to handle it. I will reach down and grab the bag here rather than step any nearer and risk bumping it. Once it is in hand, I can carry it toward the red fire extinguisher further down the corridor.", + "The grab worked, since the bag is now held low right in front of me and stays with me instead of resting on the tiles. With it secured, I will step forward along the corridor toward the far end where the red fire extinguisher is mounted. Carrying it that way should keep the bag with me as I advance.", + "The corridor is clear ahead with the green chairs lining the right wall, and the red fire extinguisher is visible further down on that same wall near the open doorway. I am still well short of it, so I will keep walking straight while holding the bag. Each step should bring the extinguisher closer.", + "The red extinguisher on the right wall now appears larger and closer, just before the open passage at the end of this corridor. Nothing blocks the tiled floor between me and it, so I will continue walking forward with the bag. This should shorten the remaining distance to the drop-off spot.", + "I am nearly level with the chairs and the red extinguisher stands out plainly on the right wall next to the elevator panel and pipes. I still need a bit more ground to reach the wall section where it hangs, so I will step forward again while carrying the bag. That should bring me alongside the extinguisher.", + "The red extinguisher is now right beside me on the wall to my right, and the passage continues through the doorway straight ahead. I will take one more step forward so I stand squarely in the open floor next to the extinguisher rather than crowded against the pipes. From there I can turn to face the wall where the bag belongs.", + "Facing straight through the doorway, my view is now filled with the pipes and the restroom wall, and the extinguisher has slipped out of sight past my right shoulder. I will turn right to swing my heading back toward that wall section. This should bring the extinguisher into the center of my view for placing the bag.", + "My heading has swung toward the restroom door and the vertical pipes, but the tan block wall that carries the red fire extinguisher is still sliding in at the right edge of my view. I am still holding the trash bag, so I only need the drop point squarely in front of me. I will turn right again to keep bringing that wall section around toward the center.", + "The red fire extinguisher has now appeared at the far right edge of my view, mounted on the tan block wall, so my rotation is heading the right way. It is still too far off center for a clean release of the bag in front of it. I will turn right once more to bring the extinguisher into the middle of my view.", + "The red fire extinguisher is now mounted directly ahead of me on the tan wall, close enough that its bracket and hose fill the center of my view. I am still carrying the trash bag, and this spot is the delivery point named in the task. I will release the bag here so it should come to rest right at the extinguisher.", + "The trash bag now sits on the floor directly beneath the red fire extinguisher, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_a/infos.json b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac51c3ef1084490b5930b08d2b943412e69153b8 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the vending machine, then head toward the green trash bin.", + "Type": 3, + "Start_Pose": [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -24.308, + 1717.145, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -22.727, + 1842.994, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -22.727, + 1842.994, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 31.893, + 1956.384, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 86.512, + 2069.773, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 86.512, + 2069.773, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 88.094, + 2195.622, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 89.552, + 2277.815, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 89.552, + 2277.815, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 88.391, + 2185.422, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 88.391, + 2185.422, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 88.391, + 2185.422, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + -6.998, + 2267.528, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + -6.998, + 2267.528, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + -125.584, + 2300.699, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + -125.584, + 2300.699, + -202.751, + 0.0, + 164.28, + -0.0 + ] + ], + "Rationale": [ + "From this open bay I can see the tall vending machines set against the far wall, just left of the doorway, with clear floor between me and them. Nothing blocks the lane, so I will walk straight ahead to close that distance.", + "The vending machines have grown larger in view, so my heading is carrying me toward them. The bollards stand well to either side of my path, leaving the lane clear, so I will keep walking forward.", + "The two vending machines now sit noticeably left of my center of view while the corridor doorway lies straight ahead. To walk in on the machines rather than past them, I will turn left to bring them toward the middle of my heading.", + "The turn has put the pair of vending machines near the middle of my view, with only bare floor and a bollard between us. I will step forward along this heading to close on them.", + "The vending machines now fill much of the frame, so I am close but not yet standing at their fronts. I will advance again to bring myself right up to them.", + "At this range the drink machine with the bottle panel sits to the right of my center, while the covered car takes up my left. I will turn right so the machine fronts sit squarely ahead before I step in the last stretch.", + "Both machine fronts now sit centered in my view with clear floor immediately before them. I will walk forward to stand directly at the machines.", + "The bottle panel and selection buttons of the drink machine fill nearly my whole view, so I am within a step of its face. One more short advance should place me right at it.", + "The illuminated drink display and its selection buttons fill my whole view at arm's length, so I am standing right at the vending machine. I have reached it. I mark reaching this machine before setting off toward the green trash bin.", + "Pressed this close to the machine glass I cannot see anything else of the room, so I have no room to swing my heading toward the green bin. I will step straight back to open space in front of the machine, which should give me a wider view and clearance to turn.", + "Backing off has restored my view of the machine face with open floor and the corridor opening visible past its right edge. The green bin lies off that way, beyond my current heading, so I will turn right to bring that side of the room into view.", + "The turn has brought the green trash bin into the right edge of my view beside the concrete pillar, but it is still far off center. Another right turn should place it closer to the middle of my heading before I walk that way.", + "I can now see the green trash bin standing against the pillar ahead and slightly right of my heading, with clear floor between us. I will walk forward to close that gap.", + "Walking forward has brought me close to the bin, but it now sits low at the right edge of my view while a bare wall and doorway occupy the center. I will turn right so the bin sits squarely ahead of me.", + "The green trash bin is now centered in front of me with only a short stretch of floor left. I will step forward to finish closing on it.", + "The green trash bin's rim is directly beneath me at the bottom of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_b/infos.json b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..366606a3f2b4c957f0a7b8b4bae69305f8cfe38c --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Approach the white parked car, then proceed to the green trash bin.", + "Type": 3, + "Start_Pose": [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -24.308, + 1717.145, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -22.727, + 1842.994, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -22.727, + 1842.994, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 31.893, + 1956.384, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 86.512, + 2069.773, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 86.512, + 2069.773, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 183.935, + 2149.456, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 261.486, + 2228.554, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 337.209, + 2307.915, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 337.209, + 2307.915, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 265.574, + 2249.571, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 194.051, + 2191.072, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 122.528, + 2132.572, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 122.528, + 2132.572, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 122.528, + 2132.572, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 122.528, + 2132.572, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 122.528, + 2132.572, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 27.138, + 2214.678, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 27.138, + 2214.678, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + -94.013, + 2248.778, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + -94.013, + 2248.778, + -202.751, + 0.0, + 164.28, + -0.0 + ] + ], + "Rationale": [ + "From the open floor of this garage I can pick out the covered white car parked far off to my left and the green bin standing near the corridor ahead on the right. The car is my first destination, so I will walk forward to cut the long open distance between me and that bay.", + "The vending machines and the covered car on my left have grown larger, so the previous step clearly closed distance. Nothing blocks the aisle in front of me, so I will keep walking forward before angling toward the parked car.", + "The white covered car now sits at the far left edge of my view while my heading still points down the middle of the garage toward the corridor. To close on the car rather than pass it, I will turn left so that bay comes into the center of my view.", + "The turn has swung the covered white car well into my field of view, left of the vending machines, with clear floor between us. I will walk forward to shorten that gap.", + "The covered car is noticeably nearer and its shape is clearer, but I am still short of it and the vending machines dominate my right side. I will keep stepping forward to bring myself alongside the parked car.", + "My advance has carried me close to the vending machines, and the covered white car has slid off to my left while the machines fill most of my view. I will turn left to face the car directly again before continuing toward it.", + "The turn has put the covered white car squarely ahead of me in its bay, with the pay machine now off at my right. The floor in front is clear, so I will walk forward to reach the car.", + "The sheeted white car now fills much of my view and its front end is only a short distance away past the small post. I will step forward again to draw right up beside it.", + "The covered white car now fills most of my view, its flank sweeping across the space just ahead of me. Only a short stretch of floor still separates us, so I will walk forward once more to stand right at the car.", + "The white parked car lies directly before me under its cover, near enough to touch along its body. I have reached it. I mark that arrival, and now I am heading for the green trash bin standing over by the far doorway.", + "Pressed this close, the car's flank on my left and the concrete wall on my right pinch me into a narrow slot with little room to swing around. Stepping straight back should pull me out toward open floor where I can reorient toward the green bin.", + "I have eased back a little and can now see past the car's tail, yet the vehicle and the pillar still frame a tight lane around me. Another step backward should open enough clearance before I change heading toward the bin.", + "The pay station has reappeared on my right and the car has dropped back into the middle distance, so the space around me is opening up. One more step back should leave me enough room to turn cleanly away from the vehicle toward the green bin.", + "I now stand clear of the covered car with open floor beneath me, and the route toward the green bin lies off to my right, past the vending machines against that wall. I will turn right to begin swinging my heading away from the car.", + "The turn has brought the pay station ahead with the drinks machine beside it, so I am still facing the wall rather than the passage I want. I will keep turning right toward the side where the green bin stands.", + "Both machines now sit squarely in front of me, with brighter open floor showing just past their right edge. I will turn right again to bring that opening, and the bin I am heading for, into my line of travel.", + "The green bin now sits at the far right of my view, past the vending machines and beside the concrete pier. One more turn to the right should swing it toward the middle of my heading so I can walk straight at it.", + "The green bin is now roughly ahead of me beside the pillar, with clear open floor between us. I will walk forward to cut down that gap.", + "The bin is close now, but the recess with the door and blank wall lies directly off my left shoulder, so walking straight on would press me into that corner. Turning right puts the open bay in front of me and should let my next step bring me level with the bin.", + "The green bin stands just off to my left front against the pillar, and the parking floor ahead is clear. A single step forward should bring me right up beside it.", + "The green bin stands right at my side, close enough to touch. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_c/infos.json b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..932ccc06ff4d2f7bc3393b9a6c3f7d5d836e9f60 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head to the pillar near the speed bump, then move to the vending machine.", + "Type": 3, + "Start_Pose": [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -25.89, + 1591.296, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -77.643, + 1706.022, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -129.395, + 1820.749, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -181.148, + 1935.475, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -219.559, + 2018.557, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -219.559, + 2018.557, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -219.559, + 2018.557, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -219.559, + 2018.557, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + -219.594, + 2018.58, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + -219.594, + 2018.58, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + -259.289, + 1935.192, + -196.261, + 0.0, + 64.28, + -0.0 + ], + [ + -259.289, + 1935.192, + -196.261, + 0.0, + 39.28, + -0.0 + ], + [ + -161.866, + 2014.875, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + -64.444, + 2094.558, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 32.979, + 2174.24, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 130.401, + 2253.923, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 130.401, + 2253.923, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 130.401, + 2253.923, + -202.751, + 0.0, + 64.28, + -0.0 + ] + ], + "Rationale": [ + "The yellow and black speed bump lies far off at the right edge of my view, and the concrete pillar standing beside it is barely in frame. I will turn right so that pillar and the bump beside it sit ahead of me, giving me a clean line to walk.", + "The striped speed bump now runs along the floor on my right, and the square concrete pillar next to it stands ahead in the open bay. Nothing blocks the floor between us, so I walk forward to close that gap.", + "The pillar beside the speed bump has grown noticeably larger just right of my heading, so I am on the correct line. The bay floor ahead is still clear, and I continue walking to shorten the remaining distance.", + "That pillar now fills much of the right half of my view, which tells me I am only a couple of paces short of standing beside it. I keep walking forward to reach it rather than stopping out here in the middle of the bay.", + "The pillar's face is directly beside me on the right, close enough that its surface dominates my view, and the bollard and bin mark the wall ahead. One more short step forward should place me level with the pillar rather than just short of it.", + "The broad concrete pillar beside the speed bump now fills the right of my view at arm's length, with the bollard and green bin right at its base. I have arrived at that pillar. I mark reaching it, and now I turn my attention toward the vending machine standing against the wall behind me on the left.", + "The pillar I came for is right beside me, but my heading points into the bare bay past it, and the vending machine is off to my left along the corridor wall. I will turn left to swing my view off the pillar face and back toward that wall.", + "The corridor doorway, the bin and the edge of a vending machine cabinet have come into the left side of my view, so my target lies further around in that direction. I will turn left again to bring the machines nearer to the center of my heading before walking.", + "The bank of vending machines with its lit panel now stands clearly ahead on my left, and the floor between us looks open. I will step forward to close that distance and bring the machine within reach.", + "My last step forward left the scene essentially unchanged, so I gained no ground toward the vending machines and something ahead of me is holding me in place. I will try one more forward step to confirm whether this heading is genuinely blocked.", + "My last two attempts to walk forward left me standing in exactly the same spot, so the wall and pillar edge directly ahead are blocking this line. The vending machines sit off to my left, too close to swing toward from here. I will step back to open up room to reorient.", + "Backing off has given me clear floor around me again, and the vending machines stand to my left with their fronts angled away from my heading. Turning left should put that bank of machines ahead of me on an open, unobstructed line.", + "The vending machines now sit ahead of me with open bay floor between us and no pillar in the way. Walking forward should close the remaining distance toward them.", + "The machines have grown noticeably larger, confirming this heading is finally carrying me forward. I will keep walking to bring their fronts within close reach.", + "The tall drinks machine and its neighbouring panel now dominate the right of my view, so I am only a short walk from standing at them. One more step forward should bring me alongside their fronts.", + "The tall drink machine now fills the right edge of my view and the adjacent panel with its small screen sits just ahead of my shoulder, so I am nearly alongside the row but not yet level with it. I will take one more step forward to bring the machine fronts directly beside me.", + "I am standing right beside the machines, with the coin slots, buttons and the PAY HERE panel filling the right half of my view while my heading still points down the empty bay. Turning right should square me up to the machine front instead of leaving it at the edge of my view.", + "The vending machine's PAY HERE panel, buttons and coin slot fill my view at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_d/infos.json b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e005aecd1474e69bc63b7151a0f5b2abcea0df17 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_d/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Navigate to the green trash bin, then go to the white car.", + "Type": 3, + "Start_Pose": [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -24.308, + 1717.145, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -24.308, + 1717.145, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -76.061, + 1831.871, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -127.814, + 1946.598, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -153.552, + 2024.25, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -154.021, + 2107.43, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -154.021, + 2107.43, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -152.44, + 2233.279, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -152.44, + 2233.279, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -152.44, + 2233.279, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + -152.44, + 2233.279, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + -152.44, + 2233.279, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + -30.469, + 2264.324, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 84.311, + 2277.884, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 205.352, + 2285.286, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 327.016, + 2303.543, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 327.016, + 2303.543, + -202.751, + 0.0, + 14.28, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the parking garage I can already pick out the green trash bin standing against the wall beside the lit corridor entrance, well ahead and slightly right of me. Nothing blocks the open floor between us, so I will walk straight ahead to cut down that distance before adjusting my heading.", + "The green bin sits to the right of my current heading, near the bright corridor opening, while I am aimed at the vending machines and the empty bay. I will turn right to bring the bin closer to the center of my view before continuing forward.", + "The turn has placed the green bin near the middle of my view, tucked against the wall by the lit doorway. The floor ahead is clear apart from the slim bollard, so I will step forward to close on it.", + "The green bin is noticeably larger and still ahead of me on the left side of the pillar. My heading remains good, so I will keep walking to shorten the remaining gap.", + "The green bin now stands out clearly against the wall just left of center, with the fire alarm above it. There is still open ground between us, so I will continue advancing toward it.", + "The bin fills much more of my view now and its open lid is visible, so I am only a short distance away. I will take another step forward to draw right up beside it.", + "The green bin has drifted to the left edge of my view as I closed in, sitting against the wall by the corridor. I will turn left to face it squarely so my final step should land me right at it.", + "The green bin is now centered in front of me with the corridor doorway just beyond it. One more step forward should put me right up against the bin.", + "The green trash bin now fills the lower right of my view, its rim close enough to touch beside the concrete pillar. I am standing at it, so I mark reaching the green bin before setting off for the white car.", + "Standing at the green bin, my view is boxed in by the pillar and the corridor door, with no car anywhere ahead. I turn left to begin swinging my heading back toward the open parking bays where a covered vehicle should be found.", + "The swing has brought the corridor and its door across my view, but the parking floor is still off to my left behind the pillar. I continue turning left to keep bringing the open bays into the center of my view.", + "The open garage floor is opening up on my left, with a pale covered car shape visible past the vending machines. One more left turn should place that white vehicle closer to straight ahead so I can walk directly at it.", + "The white covered car now sits ahead of me across the open bay, with clear floor between us alongside the vending machines. I step forward to close that distance.", + "The covered white car has grown larger ahead and slightly left as I pass the vending machine on my right. The lane stays open, so I keep walking toward the vehicle.", + "The white car's covered hood now stretches across the middle of my view, only a short stretch of floor away. I advance again to bring myself right up beside it.", + "The white car's covered body now dominates the lower half of my view, just past the pillar on my right. One more step forward should put me directly at the vehicle.", + "The white car fills my view right in front of me, within arm's reach. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_e/infos.json b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e218550d1a85d5f27c84ff3b381a2b5cf685fff --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000026_y001591_z-000203_t3_e/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Make your way to the lit doorway, then reach the pillar near the speed bump.", + "Type": 3, + "Start_Pose": [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -25.89, + 1591.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -24.308, + 1717.145, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -22.727, + 1842.994, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -21.145, + 1968.843, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -40.393, + 2073.916, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -38.811, + 2199.765, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -37.23, + 2325.614, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -37.23, + 2325.614, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -38.391, + 2233.221, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -38.391, + 2233.221, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -38.391, + 2233.221, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + -38.391, + 2233.221, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + -38.391, + 2233.221, + -202.751, + 0.0, + -170.72, + 0.0 + ], + [ + -38.391, + 2233.221, + -202.751, + 0.0, + -145.72, + 0.0 + ], + [ + -38.391, + 2233.221, + -202.751, + 0.0, + -120.72, + 0.0 + ], + [ + -102.685, + 2125.024, + -202.751, + 0.0, + -120.72, + 0.0 + ], + [ + -102.685, + 2125.024, + -202.751, + 0.0, + -145.72, + 0.0 + ], + [ + -154.428, + 2096.629, + -202.751, + 0.0, + -145.72, + 0.0 + ], + [ + -210.596, + 2105.962, + -202.751, + 0.0, + -145.72, + 0.0 + ], + [ + -210.596, + 2105.962, + -202.751, + 0.0, + -145.72, + 0.0 + ] + ], + "Rationale": [ + "From this open parking level I can see a brightly lit doorway straight ahead down the middle bay, past the vending machines on the left. The floor between me and it is clear of posts, so walking straight forward should close that gap.", + "The lit doorway has grown larger and stays centred in my view, confirming my heading is good. Nothing blocks the lane between the vending machines and the green bin, so I keep walking forward.", + "The bright opening now reads clearly as a corridor mouth with a pale door at its end, and the bollards have slipped to the sides of my path. Still well short of it, so I advance again.", + "The vending machines are drawing past on my left and the corridor entrance sits just ahead of me, slightly right of centre. Another step forward should carry me into that lit passage.", + "I am at the mouth of the narrow passage, with concrete walls tightening on both sides and the lit door glowing at its end. The way is straight and clear, so I keep moving toward that door.", + "Inside the corridor the frosted door is lit from above and only a short stretch of floor remains, with the standpipe hugging the left wall clear of my line. One more step forward should bring me right up to it.", + "The frosted door fills my view under its glowing ceiling light, with the corridor walls close on either side and no floor left between us. I have arrived at the lit doorway. I mark reaching it, then turn my attention to the pillar standing beside the yellow and black speed bump out in the parking bays.", + "This corridor is too narrow to swing around in with the standpipe and walls hemming me in, and my remaining destination lies back out in the open parking area. Backing up along the passage should give me the clearance to face that way without a cramped maneuver.", + "The lit door is still straight ahead down this narrow corridor, but I have already marked arriving there, so the pillar by the speed bump is what I need now. The open parking bays lie off to my right past the corridor mouth, so I will turn right to swing my heading out of this dead end.", + "The corridor with its lit door has slid to my left and the open garage floor with a green covered car is opening on my right past the concrete pillar and green bin. That open bay is where I can search for the speed bump, so I will keep turning right.", + "I am now facing across the wide parking level, with the bin and alarm panel at my left and rows of pillars stretching away. No speed bump is in sight yet in this direction, so I will continue rotating right to bring more of the bay into view.", + "The bay ahead shows only bollards, painted stalls, and the covered car, with nothing striped on the floor. The unexamined part of the level still lies further round to my right, so I will turn right again.", + "My view has swept past the far pillars and the covered car sits well to my left now, yet the floor ahead is still plain concrete. Turning right once more should uncover the section of the bay I have not yet inspected.", + "The yellow and black speed bump has come into view on the floor to my right, with a square pillar standing just beside it. I will turn right once more to bring that pillar and bump nearer the centre of my heading before walking over.", + "The striped speed bump now lies ahead and slightly right, with the pillar beside it a good distance off across open floor. Nothing blocks the ground between us, so I will walk forward to close that gap.", + "I am close to the speed bump now, but my walk has left it filling my right foreground while the pillar beside it sits off my left. I will turn left to put that pillar in front of me so I can step straight up to it.", + "The yellow and black speed bump lies on the floor to my right, and the broad concrete pillar just beside it now stands squarely ahead of me. I will walk forward to close the remaining gap to that pillar.", + "The pillar next to the speed bump now fills much of my view, but I am still a stride or two short of standing at it. Another step forward should bring me right up against its face.", + "The concrete pillar beside the speed bump fills my view at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_a/infos.json b/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c867786a7e10bb5235fc1775f3e0ebfb361b515 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_a/infos.json @@ -0,0 +1,326 @@ +{ + "Instruction": "Explore the nearby area until you find the green car in the parking area, then head to that location.", + "Type": 1, + "Start_Pose": [ + -45.818, + 2618.049, + -202.751, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 119.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 144.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -165.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -140.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -115.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -90.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -65.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -90.96, + 0.0 + ], + [ + -72.645, + 2519.13, + -202.751, + 0.0, + -90.96, + 0.0 + ], + [ + -74.754, + 2393.288, + -202.751, + 0.0, + -90.96, + 0.0 + ], + [ + -74.754, + 2393.288, + -202.751, + 0.0, + -115.96, + 0.0 + ], + [ + -74.754, + 2393.288, + -202.751, + 0.0, + -140.96, + 0.0 + ], + [ + -121.62, + 2311.729, + -202.751, + 0.0, + -140.96, + 0.0 + ], + [ + -121.62, + 2311.729, + -202.751, + 0.0, + -165.96, + 0.0 + ], + [ + -190.979, + 2258.455, + -202.751, + 0.0, + -165.96, + 0.0 + ], + [ + -257.849, + 2259.575, + -202.751, + 0.0, + -165.96, + 0.0 + ], + [ + -365.969, + 2252.568, + -202.751, + 0.0, + -165.96, + 0.0 + ], + [ + -488.069, + 2222.035, + -202.751, + 0.0, + -165.96, + 0.0 + ], + [ + -610.168, + 2191.501, + -202.751, + 0.0, + -165.96, + 0.0 + ], + [ + -610.168, + 2191.501, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -733.731, + 2215.43, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -857.294, + 2239.359, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -980.858, + 2263.288, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -1104.421, + 2287.216, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -1227.985, + 2311.145, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -1351.548, + 2335.074, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -1475.111, + 2359.003, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -1598.675, + 2382.931, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -1722.238, + 2406.86, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -1722.238, + 2406.86, + -202.751, + 0.0, + 169.04, + -0.0 + ] + ], + "Rationale": [ + "My view is filled by a blank pale door panel, so I have no sight of the parking area or any green car from here. I will turn right to begin a steady scan in one consistent direction and look for an opening or route out of this doorway.", + "The door edge and its handle are now at the center with rough concrete wall appearing to the right, confirming I am standing right at a doorway rather than in open space. I will keep turning right in the same direction to bring more of the surroundings into view and look for a passage.", + "The door has slid to the left edge and most of my view is now blank concrete wall, so this heading offers nothing useful for the search. I will continue the rightward scan to sweep past this wall and hopefully reveal an opening.", + "I am facing a featureless concrete wall with only a faint seam and the floor line visible, so there is still no target and no route in this direction. I will keep rotating right in the same consistent direction to get past this blank surface.", + "The wall ends at a column on the right and behind it I can see open floor, ceiling beams, and a yellow wheel stop, which reads as an indoor parking area. I will continue turning right to bring that opening more toward the center and judge whether it is passable.", + "The parking bays with bollards, wheel stops, and ceiling strip lights are now clearly ahead through the gap between the walls, a strong cue that the parking area lies this way. No green car is visible yet, so I will turn a little further right to line up the passage and check the space beyond it.", + "The corridor into the garage is framed between the wall on my left and a standpipe on the right, and the target car is still not in view. I will turn right once more to check what lies along that right-hand side before committing to the passage.", + "This heading is largely blocked by the standpipe and the concrete wall on my right, so there is nothing to gain by facing further that way. I will turn back left to re-center the open passage into the parking area, which should give me a clear line to walk forward.", + "The narrow gap between the concrete walls and the pipe column now frames a clear opening into a large underground parking floor ahead, with painted bays and a wheel stop visible. No green car is in sight from inside this passage, so I will step forward to leave the cramped corridor and get onto the open parking deck where I can actually scan.", + "I am at the mouth of the parking floor, but the two heavy columns on either side still crop most of the bay area out of my view. Advancing again should carry me clear of that pinch point and widen how much of the parking level I can inspect for the green car.", + "I am now out on the open deck and can see rows of columns, empty bays and a lit corridor to the right, but no green car anywhere in this heading. Turning left should sweep my view toward the darker unexplored bays on that side of the level.", + "The left sweep has opened up a deeper aisle of columns and empty parking spaces, yet the green car still does not appear in it. I will keep rotating the same way to continue this consistent scan across the remaining unseen portion of the floor.", + "A wide column on my left and the bin just ahead are blocking a large slice of the aisle I am trying to inspect. Walking forward should shift my viewpoint past those obstructions and expose the bays hidden behind them.", + "Moving up past the column has revealed a green car parked along the far left wall of this level, which matches the target I was told to find. I will turn left to bring it out of the edge of my view and closer to my heading before approaching.", + "The green car now sits well inside my view, off to the left across the open bays, so the earlier turn put me on a usable heading. With unobstructed floor between us, I will walk forward to close distance toward it.", + "The green car has grown slightly larger and stays steady in the left part of my view, confirming I am closing on it rather than drifting off. The aisle ahead is still clear, so I will keep walking forward to reduce the remaining distance.", + "The green covered car is clearly visible ahead and slightly to my left, parked against the far wall of this underground parking level. The floor between us is open and unobstructed, so I will keep walking forward to close the remaining distance.", + "The green car is noticeably larger now and still sits to the left of the pillar directly ahead of me. Nothing blocks the lane I am walking in, so I will continue forward toward it.", + "I still have a clear line toward the green covered car on the left side of my view, with only open bay markings on the ground ahead. Another step forward should bring me closer without needing to change heading yet.", + "The green car sits well to the left of my current heading, so walking straight would carry me past it rather than to it. I will turn left to bring the car nearer the center of my view before continuing.", + "The turn has brought the green covered car much closer to the center of my view, so my heading now points at it. The floor ahead is open, so I will step forward to close the distance.", + "The green car remains centered ahead of me and appears larger than a moment ago, confirming my heading is good. I will keep walking forward toward it.", + "The covered green car now fills a good portion of the view ahead, parked in its bay by the wall with the standpipe. There is still open floor between us, so I will continue advancing.", + "The green car is close enough now that I can make out its wheel and the folds of its cover, but I am not yet at its parking bay. I will take another step forward to finish closing in on it.", + "The green covered car sits clearly ahead of me in its marked bay against the far wall, centered slightly left in my view. The floor between us is open and unobstructed, so I will keep walking straight to close the remaining distance.", + "The green car now fills a larger part of my view, confirming that my heading is taking me straight toward it. There is still open floor before the bay, so another step forward should bring me closer to the target location.", + "The covered green car is close now, with its wheel and the wall pipe clearly resolved, but I am not yet standing at its parking space. I will step forward again to keep reducing the gap to the target.", + "The green car now spans most of my forward view and I can see the painted bay line just in front of it. Another step should place me essentially at the car's parking location.", + "I am nearly against the green covered car, with its body filling the lower view and the wheel visible just ahead of me. One more short step forward should put me right at the vehicle in its parking space.", + "The green covered car fills my view directly in front of me at its parking bay. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_b/infos.json b/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1a9841430b6fa5bd91275ac9cb8b44902657ede --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Scan the surroundings to locate the green trash bin, then move to that location.", + "Type": 1, + "Start_Pose": [ + -45.818, + 2618.049, + -202.751, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 119.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 144.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -165.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -140.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -115.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -90.96, + 0.0 + ], + [ + -72.645, + 2519.13, + -202.751, + 0.0, + -90.96, + 0.0 + ], + [ + -74.754, + 2393.288, + -202.751, + 0.0, + -90.96, + 0.0 + ], + [ + -74.754, + 2393.288, + -202.751, + 0.0, + -65.96, + 0.0 + ], + [ + -74.754, + 2393.288, + -202.751, + 0.0, + -40.96, + 0.0 + ], + [ + -13.455, + 2308.219, + -202.751, + 0.0, + -40.96, + 0.0 + ], + [ + -13.455, + 2308.219, + -202.751, + 0.0, + -65.96, + 0.0 + ], + [ + -13.455, + 2308.219, + -202.751, + 0.0, + -90.96, + 0.0 + ], + [ + -13.455, + 2308.219, + -202.751, + 0.0, + -115.96, + 0.0 + ], + [ + -13.455, + 2308.219, + -202.751, + 0.0, + -140.96, + 0.0 + ], + [ + -13.455, + 2308.219, + -202.751, + 0.0, + -165.96, + 0.0 + ], + [ + -13.455, + 2308.219, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -120.841, + 2325.701, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -120.841, + 2325.701, + -202.751, + 0.0, + 169.04, + -0.0 + ], + [ + -120.841, + 2325.701, + -202.751, + 0.0, + 169.04, + -0.0 + ] + ], + "Rationale": [ + "My view is filled by a pale blank surface right in front of me, so there is no green trash bin and no usable cue at this heading. I will turn right to start a steady scan in one consistent direction and open up the rest of the room.", + "The rotation has revealed a door with a lever handle and a rough wall beside it, but still no green bin anywhere in view. I will keep turning right in the same direction to continue the scan past this doorway.", + "Now the door edge sits at the left and a large blank wall dominates the rest of my view, offering no sign of the target. Continuing the same rightward sweep should carry my gaze off this wall and toward more open space.", + "I am facing a plain concrete wall with a low base, which tells me nothing about where a green trash bin might be. I will keep rotating right so the scan stays consistent and reaches whatever lies beyond this wall.", + "An opening has appeared past the wall corner on my right, showing a lit interior with a bollard and yellow floor markings, which looks like a much larger space worth searching. The bin is not visible yet, so I will keep turning right to bring that opening fully in front of me.", + "The opening is now clearly a passage into a wide garage level with ceiling lights and floor bollards, but no green bin is in sight from here. One more turn to the right should square me with that passage so I can head into the open area.", + "I am aligned with the narrow passage and the floor ahead is clear between the columns, with the large lit space beyond it. Since nothing near me matches the green bin, I will walk forward into that open area to gain a wider vantage for the search.", + "I have advanced into the gap and the columns still frame my view, restricting how much of the level I can inspect. Stepping forward again should clear the columns and expose more of the open floor where a trash bin would likely stand.", + "From this open spot in the parking level I can see bollards, bare concrete walls and a lit doorway ahead right, but no green trash bin anywhere in this field of view. I will turn right to keep my scan sweeping in one consistent direction toward the wider, brighter part of the garage on that side. That should bring the unseen bays past the near pillar into view.", + "The rotation has opened up a deeper bay on the right with a parked vehicle far back, yet still no green bin stands out along these walls. I will continue turning right in the same direction to cover the remaining sector of that larger bay. Any bin parked against a column or wall there should become visible.", + "A wide concrete pillar and wall edge now fill the right side of my view and hide much of the larger bay beyond it. Rather than keep spinning in place, I will walk forward into the open floor ahead so that occluding structure moves aside. Advancing should give me a clearer vantage over the far parking area.", + "Stepping forward has put me in the open with a broad view of columns and a vehicle body on my right, but no green trash bin is visible from this heading. I will now turn left to sweep back across the long stretch of bays and walls on that side, which I have not examined from this new position. A bin set against one of those walls may come into view.", + "The view now shows mostly blank concrete wall and two bollards, with nothing green against it. I will keep turning left in the same steady direction to bring the darker bays further along that wall into view. Continuing the sweep should cover the sector I have not inspected from here.", + "A speed bump and more empty floor have come into view on the left, but the wall stretch in front of me holds no green bin. I will continue the leftward turn to open up the deeper bays beyond that near column. That direction still holds the most unchecked space.", + "The left side is now opening into a long row of columns and lit parking rows, which is a promising area, but a near column still blocks part of it. I will turn left again to bring that lit corridor of bays fully in front of me. A trash bin is most likely placed near those pillars or walls.", + "Swinging further left has revealed a green vehicle parked at the far end of the bay, but that is a car and not the trash bin I need. I will keep turning left to cover the remaining wall and column area on that side. The bin may be standing against the structure just beyond my current edge of view.", + "The green trash bin now stands clearly near the concrete pillar on the left edge of my view, low and close to the wall. Since it sits well off to my left, I will turn left once more so the bin moves toward the center of my heading before I walk to it.", + "The green trash bin is now roughly ahead of me, just right of the pillar and still several steps away across open garage floor. I will walk forward to close that gap, and the bin should grow larger and nearer in front of me.", + "I am right beside the pillar with the fire alarm, and only the dark top rim of the trash bin shows at the bottom edge of my view, so I am standing essentially at it. I will tilt my gaze downward to bring the bin fully into view and confirm I have reached its location.", + "The green trash bin is directly below me, filling the near foreground within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_c/infos.json b/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..991d3ad7b21ab105ab6ab9ea28b5213e2333b774 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_c/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Search nearby for the doorway glowing with orange light, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + -45.818, + 2618.049, + -202.751, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 119.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 94.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 69.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 44.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 19.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -5.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -55.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -80.96, + 0.0 + ], + [ + -67.562, + 2544.659, + -202.751, + 0.0, + -80.96, + 0.0 + ], + [ + -56.328, + 2422.772, + -202.751, + 0.0, + -80.96, + 0.0 + ], + [ + -42.309, + 2298.595, + -202.751, + 0.0, + -80.96, + 0.0 + ], + [ + -42.309, + 2298.595, + -202.751, + 0.0, + -55.96, + 0.0 + ], + [ + 28.143, + 2194.302, + -202.751, + 0.0, + -55.96, + 0.0 + ], + [ + 98.595, + 2090.009, + -202.751, + 0.0, + -55.96, + 0.0 + ], + [ + 169.048, + 1985.717, + -202.751, + 0.0, + -55.96, + 0.0 + ], + [ + 169.048, + 1985.717, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + 276.975, + 1920.97, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + 384.903, + 1856.223, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + 492.83, + 1791.476, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + 600.757, + 1726.729, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + 600.757, + 1726.729, + -202.751, + 0.0, + -55.96, + 0.0 + ], + [ + 671.21, + 1622.437, + -202.751, + 0.0, + -55.96, + 0.0 + ], + [ + 671.21, + 1622.437, + -202.751, + 0.0, + -55.96, + 0.0 + ] + ], + "Rationale": [ + "I am standing right up against a blank painted panel that fills almost my whole view, so nothing here can tell me where an orange lit doorway might be. I will turn left to start a consistent scan of my surroundings and open up some usable space to look into.", + "The rotation so far has only slid me across more of the same flat surface with a bright glare patch, and still no opening is in sight. I will keep turning left in the same direction so the scan stays consistent and may bring an edge of this surface into view.", + "A white door jamb and a strip of rough wall have now appeared on the left side, showing that the flat panel ends there and real space opens beyond it. I will continue turning left to bring that opening more toward the center of my view and see what lies past it.", + "The jamb has swung across to my right and I am now facing a textured wall with a narrow gap beside it, so no lit doorway is exposed yet. I will keep turning left to sweep past this wall and check the region beyond it.", + "My view is filled by a close pale wall with only a sliver of something brighter at its right edge, which gives me no cue about the orange doorway. I will continue the same leftward sweep to move off this blank wall and look for an opening.", + "I am still looking straight at featureless speckled concrete with no edge, opening, or warm light anywhere in it. I will keep rotating left in the same direction so the scan stays uninterrupted and may uncover the far side of this wall.", + "A vertical corner edge has come into the left of my view, suggesting the wall is about to end and open into another space. I will turn left again to swing past that corner and expose whatever room lies beyond.", + "Past the pipe on my left I can now see a large open interior with concrete columns and ceiling lights, which is a promising area to search for a glowing doorway. I will turn left once more to bring that open space fully in front of me before moving into it.", + "The scan from my starting spot against the blank wall has finally opened onto a gap between concrete walls, with a lit parking area visible straight ahead. No orange doorway is in sight yet from this cramped position, so I will step forward through the opening to gain a wider vantage on the garage. Moving out of this narrow slot should reveal much more of the space than turning in place can.", + "I have advanced a little, but the wall and pipe on my right still crop most of the room into a narrow slice. The open floor with bollards continues ahead, so I will keep walking forward to clear this doorway edge and expose the rest of the level. A fuller view should let me spot any warm orange light source.", + "Now that I am clear of the narrow passage, the garage bay is fully open and I can see a warm orange glow spilling from a doorway on the right side of the far wall. That matches the target, so I will keep walking forward to close the large gap across this bay. Committing to it now avoids wasting time on further scanning.", + "The orange doorway is clearly glowing off to my right, while my current heading points at the blank concrete wall straight ahead. I will turn right to bring that lit opening toward the center of my view before continuing. This should give me a straighter walking line to it.", + "The turn has brought the orange doorway into the middle-right of my view, with clear floor and only widely spaced bollards between us. I will walk forward to cut down the remaining distance to that lit opening. The path looks unobstructed for several steps.", + "The glowing doorway has grown noticeably larger and the warm light now spreads across the floor in front of it, confirming I am closing in. Nothing blocks the lane between me and it, so I will continue walking forward. Each step should sharpen the doorframe and its surroundings.", + "The lit doorway is close enough now that I can make out its frame, the red fire alarm beside it, and the pipework on the adjacent wall. I am still several strides short of standing at the entrance, so I will keep walking forward. This should bring me right up to the threshold area.", + "As I have advanced, the orange doorway has drifted toward the left edge of my view because my heading is angled past it into the wider bay. I will turn right to recenter the lit opening and keep a straight approach line. Correcting the heading now keeps the target squarely in front for the remaining steps.", + "The doorway ahead on my left is clearly the one washed in warm orange light, spilling a bright patch onto the floor of this concrete garage level. Now that my heading points into the open bay in front of it, I will walk forward to close the remaining distance.", + "The glowing doorway has grown noticeably larger and the orange cast on the surrounding wall and floor is stronger, confirming I am closing on the right target. The path in front of me is still clear open deck, so I will keep walking forward toward it.", + "I am now close enough to see the doorway's frame and the lit interior beyond it, with the red alarm fixture on the wall beside it. Another step forward should bring me nearly level with the opening.", + "The orange doorway is very close on my left, its warm glow now lighting the ground right at my feet. I will advance one more step so I stand directly beside the opening rather than short of it.", + "The lit opening has slid to the far left edge of my view while my body still faces the open parking bay ahead. I will turn left to square myself with the doorway and bring it back into the center of my view.", + "Facing left has put the orange-lit doorway directly in front of me, with the corridor and its warm light clearly visible through the frame. I will step forward to reach the threshold itself.", + "I am standing at the orange-glowing doorway, its frame beside me and the warm-lit space opening directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_d/infos.json b/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4ead3e4b79a25e28e753a5ac4678e845652cfd0f --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000046_y002618_z-000203_t1_d/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Search the surrounding area for the ladder, then move to that location.", + "Type": 1, + "Start_Pose": [ + -45.818, + 2618.049, + -202.751, + 0.0, + 119.04, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 119.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 94.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 69.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 44.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + 19.04, + -0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -5.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -55.96, + 0.0 + ], + [ + -45.818, + 2618.049, + -202.751, + 0.0, + -80.96, + 0.0 + ], + [ + -67.562, + 2544.659, + -202.751, + 0.0, + -80.96, + 0.0 + ], + [ + -56.328, + 2422.772, + -202.751, + 0.0, + -80.96, + 0.0 + ], + [ + -42.309, + 2298.595, + -202.751, + 0.0, + -80.96, + 0.0 + ], + [ + -42.309, + 2298.595, + -202.751, + 0.0, + -55.96, + 0.0 + ], + [ + -42.309, + 2298.595, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + 65.618, + 2233.848, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + 173.546, + 2169.101, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + 271.782, + 2117.85, + -202.751, + 0.0, + -30.96, + 0.0 + ], + [ + 271.782, + 2117.85, + -202.751, + 0.0, + -5.96, + 0.0 + ], + [ + 393.232, + 2117.486, + -202.751, + 0.0, + -5.96, + 0.0 + ], + [ + 518.411, + 2104.417, + -202.751, + 0.0, + -5.96, + 0.0 + ], + [ + 518.411, + 2104.417, + -202.751, + 0.0, + 19.04, + -0.0 + ], + [ + 637.384, + 2145.476, + -202.751, + 0.0, + 19.04, + -0.0 + ], + [ + 756.358, + 2186.535, + -202.751, + 0.0, + 19.04, + -0.0 + ], + [ + 875.331, + 2227.594, + -202.751, + 0.0, + 19.04, + -0.0 + ], + [ + 994.304, + 2268.652, + -202.751, + 0.0, + 19.04, + -0.0 + ], + [ + 994.304, + 2268.652, + -202.751, + 0.0, + 19.04, + -0.0 + ] + ], + "Rationale": [ + "I am facing a blank painted surface directly in front of me, with no ladder and no usable depth cue anywhere in view. I will turn left to begin a consistent scan of the surroundings and open up some part of the space that is not this flat panel.", + "The rotation has only brought another stretch of the same bright, featureless surface into view, so nothing here identifies the ladder or a way out. I will keep turning left in the same direction to continue the scan without breaking its consistency.", + "A white door edge and a rough concrete wall have now entered the left side of my view, which is the first real structure I have seen and hints at an opening rather than a dead panel. I will continue turning left to bring that edge and whatever lies past it more fully in front of me.", + "The door frame and its jamb now sit on the right of my view while a broad concrete wall fills the left, so the opening is not yet centered and no ladder is in sight. I will keep turning left to sweep past this wall and check the space it hides.", + "My view is now almost entirely close concrete wall, which tells me I am facing into a corner rather than toward anything traversable. I will continue the same leftward scan to get past this blank surface and look for the ladder elsewhere.", + "Still nothing but the speckled concrete surface close in front of me, so this heading offers no target and no route. I will keep rotating left in the same direction to maintain a consistent sweep of the surroundings.", + "A vertical edge has appeared at the left of my view where the wall ends, suggesting the surface is about to give way to open space. I will turn left again to bring that edge around and see what lies beyond it.", + "Past the pipe and the wall corner I can now see a lit open interior with a ceiling fixture and a bare floor stretching away on the left, which is a far more promising place to search than these close walls. The ladder is still not in sight, so I will turn left once more to face that opening squarely before moving into it.", + "My scan around this spot has only shown blank walls and a pipe run until now, when a doorway ahead opens onto a large lit garage bay with columns and floor posts. No ladder is visible from this cramped position, so I will walk forward through the opening to reach the open space where a ladder could plausibly be standing.", + "The doorway now frames more of the garage floor, but the concrete jambs still cut off most of the bay to either side. I will keep walking forward so I can clear the opening and get a wide enough view of the space to spot a ladder.", + "I am out into the bay now and can see columns, floor posts, and a warmly lit passage over on the right side, but no ladder in this stretch. I will continue forward into the middle of the open floor to gain a vantage point where the areas hidden behind these columns should become visible.", + "From this position the wall straight ahead closes off the space, while the right side of the bay stays open past the columns toward a lit doorway. I will turn right to point my scan into that unexplored open area rather than continue toward the blank wall.", + "Turning has brought a much deeper part of the garage into view on the right, with further rows of columns and lighting beyond the near pillar. I will turn right once more to bring that larger open section fully in front of me and continue the search there.", + "In the far right part of the bay, past the parked car, I can make out a stepladder standing on the garage floor near the wall. That is the target I was searching for, so I will walk forward to close the distance toward it.", + "The stepladder on the right is noticeably larger and clearer now beside the lit wall, confirming it is the ladder I want. I will keep walking forward along this open lane to shorten the remaining distance.", + "The ladder is still ahead on my right, though a concrete column now stands close in the center of my view and hides part of the floor. I will step forward again to pass alongside the column and keep closing on the ladder.", + "A thick concrete column fills the left half of my view and hides much of the bay ahead, while the stepladder I am after stands far off near the right wall under the strip light. Turning right should swing the column out of my path and bring the ladder closer to the center of my heading before I continue walking.", + "With the column now off to my left edge, the stepladder is clearly in view ahead near the right wall and the aisle in front of me is open floor. I will walk forward to close the remaining distance toward it.", + "The stepladder has grown noticeably larger and sits slightly right of my heading, confirming I am closing on it. The floor between us is empty, so I continue walking forward.", + "The stepladder now stands well to the right of my current heading, so walking straight ahead would carry me past it. A turn to the right should place it directly in front of me for the final approach.", + "The stepladder is now near the center of my view with clear floor leading up to it. I will step forward to reduce the remaining gap.", + "The ladder keeps growing in front of me and stays roughly centered, so my heading is still good. I continue walking forward to get closer to it.", + "The stepladder now fills a large part of my view and its individual steps are clearly visible, so I am only a short distance away. Another step forward should bring me right up to its location.", + "The ladder stands directly ahead and nearly spans my view, so I am almost at its position. One more forward step should place me right beside it.", + "The stepladder fills my view directly ahead, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..77e69d87fb8eb5132255810074ed15e27b23e636 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Walk to the metal stepladder against the wall.", + "Type": 0, + "Start_Pose": [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -126.827, + 1666.032, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + -30.81, + 1747.403, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 65.207, + 1828.774, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 65.207, + 1828.774, + -202.751, + 0.0, + 15.28, + -0.0 + ], + [ + 186.617, + 1861.942, + -202.751, + 0.0, + 15.28, + -0.0 + ], + [ + 308.027, + 1895.11, + -202.751, + 0.0, + 15.28, + -0.0 + ], + [ + 429.437, + 1928.279, + -202.751, + 0.0, + 15.28, + -0.0 + ], + [ + 550.846, + 1961.447, + -202.751, + 0.0, + 15.28, + -0.0 + ], + [ + 550.846, + 1961.447, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 646.864, + 2042.818, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 742.881, + 2124.189, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 838.898, + 2205.56, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 838.898, + 2205.56, + -202.751, + 0.0, + 15.28, + -0.0 + ], + [ + 960.308, + 2238.728, + -202.751, + 0.0, + 15.28, + -0.0 + ], + [ + 960.308, + 2238.728, + -202.751, + 0.0, + 15.28, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the concrete parking level, the metal stepladder standing against the far wall is barely at the left edge of what I can see, well off my current heading. I will turn left so that the ladder sits nearer the middle of my view and I can head straight for it.", + "The stepladder is now ahead of me on the left side, standing against the wall of the open bay with clear floor between us. Nothing blocks the immediate lane, so I will step forward to begin closing that distance.", + "The ladder appears slightly larger and still lies ahead to my left, so my heading is roughly usable and the gap is still substantial. I will keep walking forward across the open floor to shorten it.", + "A broad concrete column now stands squarely in front of me and the stepladder shows to its left, so continuing straight would take me into the column rather than toward the target. I will turn left to open the clear lane past that column and set a heading into the bay where the ladder stands.", + "With the column now off to my right, the long open bay stretches ahead and the stepladder stands against the wall a little right of my heading. The path in front is bare floor, so I will step forward to close the remaining distance.", + "The stepladder is clearly resolved ahead of me, still a good stretch away beside the wall with the parked car off to my right. The lane stays open, so I will continue forward toward it.", + "The ladder has grown noticeably and remains slightly right of straight ahead, which tells me I am tracking toward it. I will take another step forward, since I am still too far away to consider myself at it.", + "The stepladder now stands out plainly against the wall a bit to my right, with several strides of empty marked floor still separating us. I will move forward again to keep reducing that gap before fine tuning my heading.", + "The metal stepladder now stands clearly ahead but sits to the right of my current heading, near the plain concrete wall on that side. I will turn right so my body points more directly at it before continuing to close the remaining open floor.", + "The stepladder is now near the middle of my view with the bare wall behind it, and the floor in front of me is clear painted bays. I will step forward to cut down the distance to it.", + "The stepladder has grown noticeably taller in front of me and its legs and treads are more distinct, so my heading is still good. I will keep walking forward to close more of the gap.", + "The stepladder is clearly closer, with its individual rungs and top platform now readable just left of my forward line. I will take another step forward since there is still open floor before reaching it.", + "At this short range the stepladder has drifted to my left side while my body still faces the empty bay beyond it. I will turn left to bring the ladder back squarely in front of me before the last step in.", + "The stepladder is now centered directly ahead of me and standing against the wall beside the lit tube fixture. One more short step forward should place me right beside it.", + "The metal stepladder stands within arm's reach directly before me, against the concrete wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_b/infos.json b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b02d43b3cd46b291f35eb49df0dbdb785517bd80 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the dark green trash bin near the gray door.", + "Type": 0, + "Start_Pose": [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -74.195, + 1780.358, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -74.195, + 1780.358, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -74.81, + 1906.215, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -75.425, + 2032.073, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -76.04, + 2157.93, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -76.04, + 2157.93, + -202.751, + 0.0, + 115.28, + -0.0 + ], + [ + -129.787, + 2271.736, + -202.751, + 0.0, + 115.28, + -0.0 + ], + [ + -129.787, + 2271.736, + -202.751, + 0.0, + 115.28, + -0.0 + ], + [ + -129.787, + 2271.736, + -202.751, + 0.0, + 115.28, + -0.0 + ] + ], + "Rationale": [ + "From here I can already pick out the dark green trash bin standing beside the lit gray door on the far right side of this concrete hall. Nothing blocks the open floor ahead, so I will step forward to begin closing the long distance toward that corner.", + "The bin and its gray door sit noticeably right of the direction I am facing, with a support column and vending machines filling the middle of my view. I will turn slightly right so my heading points more directly at that doorway alcove.", + "Now the gray door and the green bin beside it sit almost straight ahead down the open bay. The floor between us is clear, so I will walk forward to shorten the gap.", + "The doorway recess is growing larger and the green bin is clearly resolved against the concrete wall on the right. I will continue forward since my heading still leads straight into that alcove.", + "I am close enough now to see the bin's perforated body and slot beside the red alarm box on the wall. One more step forward should bring me nearly level with it.", + "My heading now points down the narrow corridor toward the gray door, while the green bin has slid to the far right edge of what I can see. I will turn right so the bin sits in front of me rather than off to the side.", + "The dark green bin is now centered low in my view, standing against the concrete pier just outside the gray door. I will take one more step forward to finish closing on it.", + "I am standing right beside the bin now, and only its upper rim shows at the bottom of my view because my gaze is level with the wall and alarm box. I will tilt my gaze downward to bring the whole bin and the floor at my feet into view and confirm how close I am.", + "The dark green trash bin stands directly at my feet, with the gray door just beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_c/infos.json b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fedf5b22be808429d6998912a31ee5905428a939 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Approach the gray metal door.", + "Type": 0, + "Start_Pose": [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -74.195, + 1780.358, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -21.563, + 1894.683, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -21.563, + 1894.683, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -22.178, + 2020.541, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -40.877, + 2127.425, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -41.492, + 2253.283, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -54.361, + 2369.891, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -57.48, + 2492.617, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -72.986, + 2605.544, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -72.986, + 2605.544, + -202.751, + 0.0, + 90.28, + -0.0 + ] + ], + "Rationale": [ + "From this open concrete floor I can see a lit corridor opening ahead and slightly right, with a pale gray door set at its far end. Nothing blocks the stretch of floor between me and that opening, so I will walk forward to close the large distance first.", + "The corridor mouth and the gray door inside it have grown slightly larger, confirming I am closing on the right target. The floor ahead is still clear of the support posts and the covered vehicle on my left, so I will keep walking forward.", + "The gray door and its corridor now sit off to my right, while the vending machines and a bollard occupy the middle of my view. I will turn right to put the doorway on my center line before continuing.", + "The turn brought the corridor and the gray door onto my heading, framed between the concrete columns. With the passage clear ahead, I will walk forward to enter it and shorten the remaining distance.", + "The door stays near the center of my view as the vending machines slide past on my left and the trash bin on my right. The corridor floor ahead is empty, so I will continue walking straight toward the door.", + "I am now inside the narrow passage with its walls on both sides and the gray door plainly ahead, its handle becoming visible. Heading still looks true, so another step forward should bring me closer.", + "The gray door fills more of the corridor end and the pipe running along the left wall passes clear of my path. I will step forward again to keep reducing the remaining gap.", + "The door and its frame now dominate my view with the lever handle clearly on its right side, though a short stretch of floor still separates us. I will take one more step forward to reach a position right at the door.", + "The gray metal door now fills my view, centered in its frame with the handle at my right at arm's height. I am close but still a short stride short of standing right at it, so I will step forward once more to close that last gap.", + "The gray door surface fills my entire view at arm's length. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_d/infos.json b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..312df8168831dbf715c22b3c0566ebef47c38bb2 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_d/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Move to the red fire safety sign on the wall.", + "Type": 0, + "Start_Pose": [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -126.827, + 1666.032, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -127.442, + 1791.889, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -128.057, + 1917.747, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -128.672, + 2043.604, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -129.287, + 2169.462, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + -129.287, + 2169.462, + -202.751, + 0.0, + 115.28, + -0.0 + ], + [ + -182.21, + 2265.043, + -202.751, + 0.0, + 115.28, + -0.0 + ], + [ + -182.21, + 2265.043, + -202.751, + 0.0, + 115.28, + -0.0 + ] + ], + "Rationale": [ + "From this open parking level I can pick out a small red fire safety marker high on the wall to the right of the far doorway, off to the right of my current heading. I will turn right to bring that red marker closer to the center of my view before advancing.", + "The red fire safety marker and the doorway beneath it now sit ahead of me with clear floor and no bollards blocking the line of travel. I will move forward to begin closing the long distance across this level.", + "The vending machines on the left and the red marker beside the doorway have grown larger, confirming my heading is carrying me toward the target wall. I will continue forward since the path stays clear of the concrete columns.", + "The red marker with its hanging cable is clearly resolved now on the wall panel right of the corridor opening, but it is still several strides away. I will keep moving forward to shorten that remaining gap.", + "The wall panel with the red marker and the green bin beside it fill much more of my view, so I am close but not yet beside the sign. I will advance once more to reach comfortable viewing distance of that wall.", + "I am now near the corridor mouth, and the red fire safety marker sits on the wall panel toward the right edge of my view rather than in front of me. I will turn right to square my heading onto that marker.", + "The red fire safety marker is now centered on the concrete wall panel directly ahead of me, with only the bin slightly off to the left of the path. I will step forward to close the last short distance to the sign.", + "The red fire safety marker fills my view at arm's-length range on the wall directly ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_e/infos.json b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4608c3af2a75d5c7313bd04d7beabd38ad6c2313 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000127_y001666_z-000203_t0_e/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the white covered object resting between concrete pillars.", + "Type": 0, + "Start_Pose": [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -126.827, + 1666.032, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -74.195, + 1780.358, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -21.563, + 1894.683, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + -21.563, + 1894.683, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 74.455, + 1976.054, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 161.48, + 2056.511, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 211.832, + 2129.977, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 278.338, + 2180.035, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 336.885, + 2176.936, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 336.885, + 2176.936, + -202.751, + 0.0, + 40.28, + -0.0 + ] + ], + "Rationale": [ + "Across the open parking level I can see a low white sheeted shape standing between concrete pillars to my left, which matches the covered object I need to reach. Nothing blocks the bare floor directly ahead, so I will step forward to begin closing the gap.", + "The covered shape on my left has grown larger and its draped contour is clearer beside the vending machines. The floor between me and that pillar bay is still open, so another forward step should shorten the distance further.", + "The white covered object now sits well to the left of my heading while the vending machines and doorway occupy the center of my view. I will turn left to bring the draped shape and its pillar bay in front of me before advancing again.", + "After turning, the draped white object lies near the middle of my view between the concrete pillars, with only a support column to my left and open floor in between. Moving forward should carry me straight toward it.", + "The covered object is clearly ahead now, its pale sheet draped over a low body with a dark wheel showing beneath. My heading is good, so I continue forward to keep closing distance.", + "The draped object fills more of my view and I can make out the folds of the cover and the concrete wall behind it. I am not yet close enough to consider myself at it, so I take another step forward.", + "The white cover now dominates the left and center of my view, with the small bollard and the pillar edge close on either side. A further short step forward should bring me right up beside the covered object.", + "I am nearly against the sheeted body, which stretches across my view between the concrete pillars with its dark underside just below me. One last short step forward should place me directly at the covered object.", + "The white covered object stands directly before me between the concrete pillars, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000155_y001745_z-000203_t1_a/infos.json b/dataset/trajectory/UndergroundParking/task_x-000155_y001745_z-000203_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..404b899bbe83b22b6855eb5ab6113fbdca082df1 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000155_y001745_z-000203_t1_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Look around for the stepladder near the concrete columns, then approach the target area.", + "Type": 1, + "Start_Pose": [ + -154.772, + 1745.045, + -202.889, + 0.0, + -145.92, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.772, + 1745.045, + -202.889, + 0.0, + -145.92, + 0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + -170.92, + 0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 139.08, + -0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 114.08, + -0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 89.08, + -0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 64.08, + -0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 39.08, + -0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 14.08, + -0.0 + ], + [ + -32.694, + 1775.664, + -202.751, + 0.0, + 14.08, + -0.0 + ], + [ + 89.384, + 1806.282, + -202.751, + 0.0, + 14.08, + -0.0 + ], + [ + 211.461, + 1836.901, + -202.751, + 0.0, + 14.08, + -0.0 + ], + [ + 333.539, + 1867.519, + -202.751, + 0.0, + 14.08, + -0.0 + ], + [ + 455.617, + 1898.138, + -202.751, + 0.0, + 14.08, + -0.0 + ], + [ + 577.695, + 1928.756, + -202.751, + 0.0, + 14.08, + -0.0 + ], + [ + 577.695, + 1928.756, + -202.751, + 0.0, + 39.08, + -0.0 + ], + [ + 675.395, + 2008.098, + -202.751, + 0.0, + 39.08, + -0.0 + ], + [ + 773.095, + 2087.441, + -202.751, + 0.0, + 39.08, + -0.0 + ], + [ + 870.795, + 2166.783, + -202.751, + 0.0, + 39.08, + -0.0 + ], + [ + 968.495, + 2246.125, + -202.751, + 0.0, + 39.08, + -0.0 + ], + [ + 1022.533, + 2309.822, + -202.751, + 0.0, + 39.08, + -0.0 + ], + [ + 1022.533, + 2309.822, + -202.751, + 0.0, + 14.08, + -0.0 + ], + [ + 1022.533, + 2309.822, + -202.751, + 0.0, + 14.08, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, a broad concrete column fills the right half of my view and hides most of the bay behind it, and I see no stepladder anywhere in the open floor ahead. I will turn left to begin a steady scan of the surrounding columns in one consistent direction. This should open up the parking bays currently outside my field of view.", + "The rotation has opened a long row of columns with a green covered car parked at the far left, but there is still no stepladder among them. I will keep turning left in the same direction so the sweep stays systematic rather than jumping between headings. More of the left-hand bays should come into view.", + "This heading shows mostly empty floor between evenly spaced columns, with the covered car near the middle distance and nothing resembling a stepladder. Continuing the same leftward sweep keeps my coverage of the garage continuous. I will turn left again to reveal the section still behind my shoulder.", + "A near column now blocks part of my view on the left and I can see a doorway area beyond it, but no stepladder has appeared yet. I will continue turning left to clear that column and inspect the area it is hiding. Keeping one rotation direction avoids rescanning ground I have already covered.", + "The lit doorway, a waste bin and bollards are now in front of me, which is service equipment but not the stepladder I am looking for. I will turn left once more to carry the scan past this alcove and into the next stretch of columns. The target may be standing in a bay that is still out of sight.", + "Vending machines and a covered vehicle occupy this side of the concourse, and there is still no stepladder in the visible bays. I will keep the sweep going to the left so the remaining unscanned portion of the level comes into view. The consistent direction should soon bring me back toward areas near my starting heading.", + "At the far left edge of my view, deep in the next bay, I can make out a stepladder standing among the concrete columns. I will turn left to bring it out of the periphery and toward the centre of my view. That should give me a clear heading toward the target area.", + "The stepladder is now clearly visible in the left half of my view, standing in the open floor between the concrete columns. I will turn left once more to line my heading up with it before moving. With the target committed to, a further scan is unnecessary.", + "After scanning around the columns, I can now see a stepladder standing in the open bay ahead, past the row of concrete pillars. The floor between me and it is clear, so I will walk forward to close the long distance toward that target area.", + "The stepladder remains ahead and slightly right of my heading, and it has grown a little larger, which confirms my heading is good. I will keep walking forward across the open bay to reduce the remaining distance.", + "The stepladder is clearly closer now, standing near the wall past the column line, and nothing blocks my lane. I will take another step forward to continue closing on it.", + "The stepladder ahead keeps growing in my view, so my current heading is carrying me straight toward it. I will continue walking forward since the bay between the columns is still open.", + "The stepladder now reads clearly as a wooden A-frame ladder a few bays ahead, confirming it is the object the task describes. I will keep moving forward to bring myself into the parking bay where it stands.", + "The ladder is close enough now that I can see its individual rungs beside the lit wall, but it sits a bit right of my heading. I will step forward once more before adjusting my direction.", + "The stepladder now stands to the right of my straight-ahead direction, so continuing forward would carry me past it. I will turn right to place the ladder closer to the center of my view before advancing again.", + "The turn has brought the stepladder near the middle of my view with clear floor between us. I will walk forward to close the last stretch to the target area around the ladder.", + "The stepladder stands clearly ahead of me between the concrete columns, backlit by the wall-mounted tube light, and the parking bay floor in front of me is empty. I will keep walking straight toward it to close the remaining gap.", + "The stepladder now fills a larger part of my view and its legs and rungs are clearly resolved, so my heading toward it is still correct. I will step forward again to keep reducing the distance to the target area.", + "The stepladder is close now, standing just left of my centerline against the bare concrete wall with the fluorescent tube beside it. Another forward step should bring me right up to the target area beside it.", + "The stepladder is very near, its frame now spanning the left half of my view with the wall light directly beside it. I will take one more short step forward to settle at the target area rather than stopping short of it.", + "I am right at the stepladder, but it has slid to the far left edge of my view while the lit wall dominates the center. Turning left should bring the ladder back into the middle of my view so I am squarely facing the target area.", + "The stepladder stands directly in front of me at arm's length, centered among the concrete columns. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000155_y001745_z-000203_t1_b/infos.json b/dataset/trajectory/UndergroundParking/task_x-000155_y001745_z-000203_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a55546eb8dc9575d16b948072e988b795caa5ae3 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000155_y001745_z-000203_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the nearby area until you find the trash bin near the fire alarm, then head to that location.", + "Type": 1, + "Start_Pose": [ + -154.772, + 1745.045, + -202.889, + 0.0, + -145.92, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.772, + 1745.045, + -202.889, + 0.0, + -145.92, + 0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + -170.92, + 0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 139.08, + -0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 114.08, + -0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + 89.08, + -0.0 + ], + [ + -152.751, + 1870.888, + -202.751, + 0.0, + 89.08, + -0.0 + ], + [ + -150.73, + 1996.731, + -202.751, + 0.0, + 89.08, + -0.0 + ], + [ + -140.544, + 2118.169, + -202.751, + 0.0, + 89.08, + -0.0 + ], + [ + -140.544, + 2118.169, + -202.751, + 0.0, + 114.08, + -0.0 + ], + [ + -191.896, + 2233.076, + -202.751, + 0.0, + 114.08, + -0.0 + ], + [ + -191.896, + 2233.076, + -202.751, + 0.0, + 114.08, + -0.0 + ] + ], + "Rationale": [ + "From here a large concrete column fills the right half of my view and blocks most of the parking level, and I see no trash bin or fire alarm anywhere in the open bays ahead. I will turn left to begin a consistent scan of the surrounding area for the wall fixtures that usually accompany a fire alarm.", + "The rotation has opened up a wider stretch of the garage with a green vehicle and a distant shutter, but still no trash bin or red alarm unit on any wall. I will keep turning left in the same direction to sweep further around and cover the parts of the level still hidden behind the columns.", + "This heading shows more empty floor and repeating columns, with the green vehicle now toward the right and nothing resembling a bin or an alarm panel. I will continue the left rotation to hold a single consistent scan direction and reveal the wall areas still outside my field of view.", + "A small red fixture is now faintly visible on the far left wall near a recessed area, which is a promising cue for a fire alarm location. I will turn left again to bring that wall section and the alcove beside it fully into the center of my view.", + "Now I can clearly see a red alarm unit mounted on the wall by the doorway alcove, with a green cylindrical bin standing directly beneath it. I will turn left once more to place that alcove near the center of my heading before walking toward it.", + "The alcove with the vending machines is now roughly ahead of me, and the green bin under the red alarm sits just right of the doorway with clear floor between us. I will walk forward to close the distance toward that bin.", + "The bin and the red alarm box above it are noticeably larger now, confirming I am on a direct line toward them, and the floor ahead stays open apart from the low bollards to the right. I will keep walking forward to continue closing in on the bin.", + "The green trash bin under the red fire alarm is close and clearly framed against the wall to the right of the doorway, though still a few paces off. I will step forward again to reach the immediate area beside the bin.", + "The green trash bin sits directly beneath the red fire alarm pull station and bell on the wall ahead, slightly to the right of my heading. I will turn right to bring that bin and alarm into the center of my view before closing the last of the distance.", + "The trash bin and the fire alarm above it are now centered in front of me with clear open floor between us. I will step forward to close the remaining gap and stand at that location.", + "The trash bin is right at my feet with the red fire alarm pull station on the wall beside it. The task target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000155_y001745_z-000203_t1_c/infos.json b/dataset/trajectory/UndergroundParking/task_x-000155_y001745_z-000203_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..066d0398fb220baf53ab04a6ba6d9dee5498c9b4 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000155_y001745_z-000203_t1_c/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Scan the surroundings to locate a green car, then move to that location.", + "Type": 1, + "Start_Pose": [ + -154.772, + 1745.045, + -202.889, + 0.0, + -145.92, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -154.772, + 1745.045, + -202.889, + 0.0, + -145.92, + 0.0 + ], + [ + -154.772, + 1745.045, + -202.751, + 0.0, + -170.92, + 0.0 + ], + [ + -279.054, + 1725.183, + -197.218, + 0.0, + -170.92, + 0.0 + ], + [ + -403.336, + 1705.321, + -202.751, + 0.0, + -170.92, + 0.0 + ], + [ + -403.336, + 1705.321, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -524.367, + 1739.843, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -645.399, + 1774.366, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -766.431, + 1808.888, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -887.463, + 1843.41, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -1008.495, + 1877.933, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -1129.526, + 1912.455, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -1250.558, + 1946.978, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -1371.59, + 1981.5, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -1492.622, + 2016.023, + -202.751, + 0.0, + 164.08, + -0.0 + ], + [ + -1492.622, + 2016.023, + -202.751, + 0.0, + 139.08, + -0.0 + ], + [ + -1587.724, + 2098.461, + -202.751, + 0.0, + 139.08, + -0.0 + ], + [ + -1682.826, + 2180.899, + -202.751, + 0.0, + 139.08, + -0.0 + ], + [ + -1777.928, + 2263.338, + -202.751, + 0.0, + 139.08, + -0.0 + ], + [ + -1803.028, + 2310.657, + -202.751, + 0.0, + 139.08, + -0.0 + ], + [ + -1803.028, + 2310.657, + -202.751, + 0.0, + 139.08, + -0.0 + ] + ], + "Rationale": [ + "I am standing in an underground parking level and a wide concrete column directly ahead blocks much of my forward view, with no green car visible in the open bays to my right. I will turn left to sweep the unseen portion of the garage and open up the aisle hidden behind that column.", + "The turn has revealed a green shape parked against the far left wall, which matches the green car I am looking for. I will walk forward along the open aisle to close distance and get a clearer look at it.", + "The green car is now larger and more distinct on the left side of the bay ahead, confirming it as my target. The lane in front of me is still clear, so I will keep walking forward to shorten the remaining distance.", + "The green car sits well to my left while my heading is aimed down the central aisle, so straight walking would carry me past it. I will turn left to bring the car nearer to the center of my view before advancing again.", + "The turn has placed the green car more centrally in my view, with a clear stretch of floor leading toward it. I will step forward to continue closing the gap to the target bay.", + "The green car keeps growing in my view as I advance, so my current heading is carrying me toward it. I will walk forward again since the path ahead remains clear of columns and debris.", + "The green car is still ahead and to my left, and there is plenty of open bay between us. I will keep stepping forward to reduce the remaining distance before any final heading adjustment.", + "My target, the covered green car, is now noticeably closer and steady in the left half of my view. The lane ahead is clear apart from a low speed bump to the right, so I will continue walking forward.", + "The green covered car is clearly visible ahead and to my left, resting in a bay against the far wall, so the search part of the task is already settled. Since there is open, unobstructed floor between me and it, I will keep walking forward to close the remaining distance. Each step should make the car appear larger and nearer in my view.", + "The green covered car now fills more of my left-forward view and its wheel and body shape are easier to read, confirming I am getting closer. The lane between the pillars is still clear, so no reorientation is needed yet. I will take another step forward to continue reducing the gap.", + "The green car sits ahead on my left with its parking bay markings now visible, so my current heading is still carrying me usefully toward it. Nothing blocks the floor directly in front of me. I will continue walking forward rather than turning while the target keeps drifting into a closer, clearer position.", + "The covered green car is noticeably nearer, with the glossy folds of its cover and its front wheel now distinct on my left. I am still several bays away, so stopping or turning now would be premature. I will step forward again to keep shrinking the distance to it.", + "The green car now dominates the left side of my view and is close enough that its rear end is near the edge of my sight. Advancing once more should bring me alongside its bay before I need to adjust my heading. I will keep moving forward on this line.", + "The green car has slid so far toward the left edge of my view that continuing straight would carry me past its bay instead of to it. I will turn left to bring the car back into the center of my heading. That should give me a direct line to walk in on it.", + "After the turn the green covered car sits squarely ahead of me in its marked bay, so my heading is now aimed at the target. The floor between us is empty and short. I will walk forward to close the last stretch toward it.", + "The green car is directly in front of me and now spans most of my view, which confirms the turn put me on a good line toward it. I am still a short distance off from being right at the vehicle. I will step forward again to finish arriving at its location.", + "The green covered car now fills most of my view just ahead and slightly to my left, with its near flank only a short gap away across the marked bay. I still have clear floor between me and its body, so I will step forward again to close the remaining distance to the vehicle.", + "The green car now spans nearly the whole lower view and its curved body is directly in front of me, so I am within a step of it. I will advance once more to settle right at the vehicle before treating the goal location as reached.", + "The green car is directly in front of me, filling my view at arm's length. The task location is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000510_y001591_z-000203_t1_a/infos.json b/dataset/trajectory/UndergroundParking/task_x-000510_y001591_z-000203_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ef37df2bc6b59f54e6ffe51f4c2e0cf4a5b45c39 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000510_y001591_z-000203_t1_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Search nearby for the car covered with a green sheet, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + -510.315, + 1590.617, + -202.751, + 0.0, + -35.52, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -510.315, + 1590.617, + -202.751, + 0.0, + -35.52, + 0.0 + ], + [ + -510.315, + 1590.617, + -202.751, + 0.0, + -60.52, + 0.0 + ], + [ + -510.315, + 1590.617, + -202.751, + 0.0, + -85.52, + 0.0 + ], + [ + -510.315, + 1590.617, + -202.751, + 0.0, + -110.52, + 0.0 + ], + [ + -510.315, + 1590.617, + -202.751, + 0.0, + -135.52, + 0.0 + ], + [ + -510.315, + 1590.617, + -202.751, + 0.0, + -160.52, + 0.0 + ], + [ + -510.315, + 1590.617, + -202.751, + 0.0, + 174.48, + -0.0 + ], + [ + -510.315, + 1590.617, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -618.736, + 1654.533, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -727.158, + 1718.449, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -835.579, + 1782.365, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -944.001, + 1846.281, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -1052.422, + 1910.198, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -1160.844, + 1974.114, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -1269.265, + 2038.03, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -1377.687, + 2101.946, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -1486.108, + 2165.862, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -1594.53, + 2229.778, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -1702.951, + 2293.694, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -1786.236, + 2351.491, + -202.751, + 0.0, + 149.48, + -0.0 + ], + [ + -1786.236, + 2351.491, + -202.751, + 0.0, + 149.48, + -0.0 + ] + ], + "Rationale": [ + "I am facing a blank concrete wall in a dim corner of the parking structure, with no covered car anywhere in sight. The open, brighter space appears past the pillar edge to my left, so I will turn left to begin a consistent scan toward it.", + "The view now shows another closed corner with a low ceiling and no vehicles, so the target is still not found. I will keep rotating left in the same direction to sweep toward the lit lane hinted at on the left side.", + "A painted parking stripe and a bright wash of light on the left suggest the main parking bays open in that direction, but no covered car is visible yet. I will continue the same leftward sweep to bring that lit area into view.", + "The bay to my left is opening up with rows of lit ceiling fixtures and a wide clear floor, which is where parked cars would most likely be. Nothing green is visible yet, so I will keep turning left to reveal more of that open parking area.", + "The wide illuminated parking hall is now largely in view with pillars, a shutter, and speed bumps, but the target is not yet centered. I will turn left again to sweep the remaining left portion of this bay where cars would be parked.", + "A green shape is now appearing at the far left edge of my view, which matches the sheet-covered car I am looking for. I will turn left once more to bring it fully into view and confirm it.", + "The car draped in a green sheet is clearly visible ahead on the left side of the bay, so the search target is found. I will turn left once more to place it closer to the center of my heading before walking toward it.", + "The green sheet-covered car is now roughly ahead of me, slightly left, with an unobstructed stretch of floor between us. I will walk forward to close the distance toward that parking spot.", + "The green sheeted car is clearly visible ahead in the parking bay along the far wall, still small and distant in my view. My heading is already lined up with it, so I will keep walking straight to close the gap.", + "The covered car has grown slightly larger and the low ceiling beam overhead has passed behind me, confirming my forward motion is effective. The floor between us remains clear of obstacles, so I will continue advancing on the same heading.", + "The car under the green sheet stays in the same part of my view and keeps growing, so no heading change is needed yet. I will take another step forward to keep reducing the remaining distance.", + "I can now make out the wheel and the folds of the sheet, which tells me I am well within the same bay area as the target. Nothing blocks the route between me and it, so I will keep moving straight ahead.", + "The covered car fills more of my view and the pillars beside it are drawing nearer, so my approach is proceeding as intended. I will continue forward rather than adjust heading, since the target remains comfortably in front of me.", + "The green sheeted vehicle is now plainly in front of me with its parking bay lines visible, but I am still several steps short of standing beside it. I will step forward again to close the remaining distance.", + "The car under the green cover is close enough that I can see the wheel and the pipework on the wall behind it. Since the direct path stays clear, I will keep advancing to reach it.", + "The green covered car now dominates my forward view and I am nearly alongside its parking bay. I will take another step forward to finish closing in on it.", + "The green sheeted car now fills much of the view ahead, clearly identified as my target in this parking level. It still sits a few car lengths away, slightly left of my heading but well within my forward path. I will keep walking straight to close the remaining gap.", + "The covered car has grown noticeably larger and its draped body now spans most of my view, so I am closing in steadily. I am still short of standing beside it, with clear floor between us. I will continue forward to reach the parking bay it occupies.", + "The green sheet now dominates the near field and I can see the tire and the bay line just in front of me, so I am nearly at the vehicle. One more short step should place me directly at its side rather than a stride away. I will advance forward to settle at the target location.", + "The green sheeted car fills my view directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000868_y001942_z-000203_t5_a_p/infos.json b/dataset/trajectory/UndergroundParking/task_x-000868_y001942_z-000203_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c1f054052415e5ccd63c8933b3d533a15362727f --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000868_y001942_z-000203_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the trash bag from the green car.", + "Type": 5, + "Start_Pose": [ + -868.032, + 1941.852, + -202.751, + 0, + 145.92, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1728.826, + 2213.255, + -281.04, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -868.032, + 1941.852, + -202.751, + 0, + 145.92, + 0 + ], + [ + -972.275, + 2012.377, + -202.751, + 0.0, + 145.92, + -0.0 + ], + [ + -1076.519, + 2082.902, + -202.751, + 0.0, + 145.92, + -0.0 + ], + [ + -1076.519, + 2082.902, + -202.751, + 0.0, + 170.92, + -0.0 + ], + [ + -1200.801, + 2102.764, + -202.751, + 0.0, + 170.92, + -0.0 + ], + [ + -1325.083, + 2122.627, + -202.751, + 0.0, + 170.92, + -0.0 + ], + [ + -1449.365, + 2142.489, + -202.751, + 0.0, + 170.92, + -0.0 + ], + [ + -1573.646, + 2162.351, + -202.751, + 0.0, + 170.92, + -0.0 + ], + [ + -1573.646, + 2162.351, + -202.751, + 0.0, + 170.92, + -0.0 + ], + [ + -1573.646, + 2162.351, + -202.751, + 0.0, + 170.92, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1728.826, + 2213.255, + -281.04, + 0.0, + 0.0, + 0.0 + ], + [ + -1728.826, + 2213.255, + -281.04, + 0.0, + 0.0, + 0.0 + ], + [ + -1728.826, + 2213.255, + -281.04, + 0.0, + 0.0, + 0.0 + ], + [ + -1728.826, + 2213.255, + -281.04, + 0.0, + 0.0, + 0.0 + ], + [ + -1728.826, + 2213.255, + -281.04, + 0.0, + 0.0, + 0.0 + ], + [ + -1728.826, + 2213.255, + -281.04, + 0.0, + 0.0, + 0.0 + ], + [ + -1728.826, + 2213.255, + -281.04, + 0.0, + 0.0, + 0.0 + ], + [ + -1728.826, + 2213.255, + -281.04, + 0.0, + 0.0, + 0.0 + ], + [ + -1576.414, + 2141.169, + -232.645, + -28.202, + -138.935, + 1.862 + ], + [ + -1576.414, + 2141.169, + -232.645, + -28.202, + -138.935, + 1.862 + ] + ], + "PD_Dist_2D": [ + 902.6, + 782.8, + 665.2, + 665.2, + 539.5, + 413.8, + 288.3, + 163.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The green covered car sits far ahead in the parking level, with a dark trash bag resting on the floor beside its rear. The open concrete floor between us is clear, so I will walk forward to close that large gap before I can reach the bag.", + "The green car and the trash bag beside it now appear larger, confirming I am closing on the right target. The floor ahead remains clear of pillars and obstacles, so I will keep walking forward.", + "The car and the trash bag now sit off to the right of my heading as I advance, so walking straight would slant me past them rather than at them. I will turn right to swing my facing back onto the bag so continued walking leads straight to it.", + "After the turn the green car and the dark bag beside its rear wheel sit comfortably framed ahead of me. With that alignment set and clear floor between us, I will walk forward to shorten the remaining distance.", + "The trash bag beside the covered car is noticeably closer and still lined up with my path. It remains too far to grasp, so I will continue walking forward.", + "The bag now stands out clearly against the pale floor near the car's rear, but it is still several paces off to my left front. I will step forward again to bring it within reach.", + "The trash bag is large in front of me at the rear corner of the green car, yet a short gap remains before it is at my feet. One more step forward should place me close enough to reach down and grab it.", + "The trash bag now fills the near foreground directly in front of me, just beside the green car, well within arm's reach. I will attempt to pick it up now, since standing any closer is unnecessary.", + "The trash bag is now held in my hands rather than resting beside the green car. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000868_y001942_z-000203_t5_a_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x-000868_y001942_z-000203_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6e8e733e6b0f84b1264e7fd66fef9d75347ce468 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000868_y001942_z-000203_t5_a_pd/infos.json @@ -0,0 +1,487 @@ +{ + "Instruction": "Pick up the jerry can, then put it down near the covered car.", + "Type": 5, + "Start_Pose": [ + -868.032, + 1941.852, + -202.751, + 0, + 145.92, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1941.864, + 1791.621, + -290.589, + 0, + 0.964, + 0.265 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -868.032, + 1941.852, + -202.751, + 0, + 145.92, + 0 + ], + [ + -868.032, + 1941.852, + -202.751, + 0.0, + 170.92, + -0.0 + ], + [ + -992.314, + 1961.714, + -202.751, + 0.0, + 170.92, + -0.0 + ], + [ + -1116.596, + 1981.577, + -202.751, + 0.0, + 170.92, + -0.0 + ], + [ + -1116.596, + 1981.577, + -202.751, + 0.0, + -164.08, + 0.0 + ], + [ + -1237.627, + 1947.054, + -202.751, + 0.0, + -164.08, + 0.0 + ], + [ + -1358.659, + 1912.532, + -202.751, + 0.0, + -164.08, + 0.0 + ], + [ + -1479.691, + 1878.009, + -199.783, + 0.0, + -164.08, + 0.0 + ], + [ + -1600.723, + 1843.487, + -202.506, + 0.0, + -164.08, + 0.0 + ], + [ + -1721.755, + 1808.964, + -202.506, + 0.0, + -164.08, + 0.0 + ], + [ + -1721.755, + 1808.964, + -202.506, + 0.0, + -164.08, + 0.0 + ], + [ + -1721.755, + 1808.964, + -202.506, + 0.0, + 170.92, + -0.0 + ], + [ + -1721.755, + 1808.964, + -202.506, + 0.0, + 170.92, + -0.0 + ], + [ + -1846.036, + 1828.826, + -202.506, + 0.0, + 170.92, + -0.0 + ], + [ + -1846.036, + 1828.826, + -202.506, + 0.0, + 170.92, + -0.0 + ], + [ + -1846.036, + 1828.826, + -202.506, + 0.0, + 170.92, + -0.0 + ], + [ + -1846.036, + 1828.826, + -202.506, + 0.0, + 145.92, + -0.0 + ], + [ + -1846.036, + 1828.826, + -202.506, + 0.0, + 120.92, + -0.0 + ], + [ + -1846.036, + 1828.826, + -202.506, + 0.0, + 95.92, + -0.0 + ], + [ + -1859.018, + 1954.014, + -202.506, + 0.0, + 95.92, + -0.0 + ], + [ + -1872.0, + 2079.202, + -202.506, + 0.0, + 95.92, + -0.0 + ], + [ + -1876.312, + 2154.344, + -202.506, + 0.0, + 95.92, + -0.0 + ], + [ + -1868.886, + 2082.728, + -202.506, + 0.0, + 95.92, + -0.0 + ], + [ + -1868.886, + 2082.728, + -202.506, + 0.0, + 95.92, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1941.864, + 1791.621, + -290.589, + 0.0, + 0.964, + 0.265 + ], + [ + -1848.804, + 1807.644, + -232.645, + -28.202, + -138.935, + 1.862 + ], + [ + -1856.959, + 1811.584, + -232.372, + -28.189, + -163.923, + 1.872 + ], + [ + -1863.424, + 1818.594, + -233.039, + -28.215, + 171.048, + 1.849 + ], + [ + -1873.424, + 1831.442, + -232.858, + -14.175, + 138.113, + 6.959 + ], + [ + -1880.184, + 1951.086, + -232.419, + -28.198, + 146.066, + 1.865 + ], + [ + -1893.199, + 2076.568, + -232.956, + -28.191, + 146.079, + 1.871 + ], + [ + -1897.492, + 2151.573, + -232.759, + -28.202, + 146.062, + 1.86 + ], + [ + -1876.106, + 2152.355, + -252.506, + 0.0, + 95.92, + -0.0 + ], + [ + -1876.106, + 2152.355, + -252.506, + 0.0, + 95.92, + -0.0 + ] + ], + "PD_Dist_2D": [ + 1084.3, + 1084.3, + 964.7, + 846.8, + 846.8, + 721.2, + 595.6, + 470.2, + 345.1, + 220.8, + 220.8, + 220.8, + 220.8, + 102.8, + 102.8, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The covered car sits ahead of me on the left, but the small red jerry can I need first is far off to the right, near the shuttered bay. My heading points too far left to walk toward it directly, so I will turn right to bring the can into the middle of my view before advancing.", + "The red jerry can now sits ahead of me on the open floor, roughly in front of the distant roller shutter, with clear pavement between us. I will walk forward to close that large gap before any grasp is possible.", + "The jerry can has grown slightly larger and the speed bump on the floor is now nearer, so my previous step did close distance toward it. The can remains far away and slightly right of my heading, so I will keep walking forward across the open bay.", + "As I have advanced, the jerry can has drifted to the right side of my view while the covered car dominates the left, so walking straight would carry me past the can. I will turn right to put the can closer to the center of my heading before continuing.", + "After the turn the red jerry can sits near the middle of my view, standing alone on the floor in front of the shutter. The lane between the pillars and the speed bump is clear, so I will step forward to keep closing on it.", + "The red jerry can stands ahead of me on the open bay floor, still small and far away, with clear concrete between us. My heading points straight at it, so another step forward should close the gap without needing a turn.", + "The can has grown noticeably larger and sits just left of my center line, confirming my heading is still good. Nothing blocks the lane between the pillars, so I continue walking straight toward it.", + "The jerry can is now clearly detailed with its handle visible, but it is still several strides beyond arm's reach. I keep advancing on the same line to bring it close enough to grasp.", + "The can fills a good part of the lower view and sits directly in front of me, yet its base is still short of my feet. One more step should place it within grabbing range before I try to lift it.", + "The jerry can now stands immediately before me, close and slightly left of center, low in my field of view. My hands are empty and the target looks near enough to seize, so I will attempt the grasp from this position.", + "My hands are empty and the jerry can was not taken, so that grasp attempt did not work. The can is no longer within my forward view, so I will turn left to bring it back in front of me before trying again.", + "The red jerry can is back in view ahead of me, low and slightly right, and my hands are still empty after the earlier attempt. From this heading it looks reachable, so I will try to grasp it again.", + "That grasp attempt again left my hands empty. The likely problem is range rather than heading, so I will step forward to close the remaining gap to the can.", + "After stepping closer, only a sliver of the red can shows at the very bottom edge of my view, meaning it now sits almost at my feet. I will look down so the can is fully framed before attempting the grasp again.", + "With my gaze lowered, the jerry can fills the near foreground just in front of me and my hands are still empty from the earlier attempts. At this range and framing the handle should be within reach, so I will attempt the grasp.", + "The grasp worked, and the red jerry can is now held in my hands instead of standing on the floor. With the object secured, the remaining half of the task is to carry it to the covered car, which is not in front of me. I will turn left to swing my heading toward the side of the garage where the covered car sits.", + "The jerry can is still firmly in my hands as I scan the bay. The green covered car has just come into the far left edge of my view, too far off axis to walk toward directly. Another left turn should bring it closer to the center of my heading.", + "The covered car is now clearly visible, but it sits left of my forward axis and a concrete pillar stands between it and my straight path. One more left turn should place the car squarely ahead so I can walk to it without weaving around the column.", + "The covered car is now centered in my view with open floor between us and no pillar blocking the line. Still carrying the jerry can, I need to close that gap before I can set it down beside the vehicle. I will step forward along this heading.", + "The covered car has grown noticeably larger ahead, so my previous step closed real distance. I am still a couple of parking stripes away, which is too far to count as putting the can near the vehicle. I will keep walking straight toward its side.", + "I am still carrying the jerry can and the green covered car now fills most of my view just ahead on the right. I am close but not yet beside it, so I will take one more short step forward to bring the can right up against the car's flank before releasing it.", + "The covered car is now immediately in front of and beside me, its green tarp filling the view at arm's length. I am still holding the jerry can, so this is the right spot to release it and leave it resting near the car as the task requires.", + "I see the jerry can resting on the floor right beside the green covered car, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000951_y001904_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x-000951_y001904_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b018d3a6ae92108d106290a35b3a05392395d66b --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000951_y001904_z-000203_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the red sign on the concrete column.", + "Type": 0, + "Start_Pose": [ + -951.204, + 1904.458, + -202.751, + 0.0, + 38.4, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -951.204, + 1904.458, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -852.569, + 1982.635, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -753.934, + 2060.812, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -655.299, + 2138.989, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -556.664, + 2217.166, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -556.664, + 2217.166, + -202.751, + 0.0, + 13.4, + -0.0 + ], + [ + -434.232, + 2246.334, + -202.751, + 0.0, + 13.4, + -0.0 + ], + [ + -311.799, + 2275.501, + -202.751, + 0.0, + 13.4, + -0.0 + ], + [ + -311.799, + 2275.501, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -246.954, + 2310.018, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -246.954, + 2310.018, + -202.751, + 0.0, + 38.4, + -0.0 + ] + ], + "Rationale": [ + "I am in an open concrete parking level with a broad column filling the right side of my view and blocking most of that direction. Far ahead near the doorway area I can make out small red fixtures on the concrete piers, so I will step forward to open up that side of the bay and get a clearer read on them.", + "With the near column now past me, I can see the recessed doorway ahead with a red marking high on the wall beside it and another red item lower on the pier. The path across the empty bay is clear, so I will continue forward to close distance on those signs.", + "The doorway recess and the green bin beside it are noticeably larger now, and a small red plate is becoming distinguishable on the concrete pier to the left of that opening. I will keep walking straight since my heading still points into that corner and nothing blocks the floor.", + "I can now clearly see two red items: one higher up under the beam and one mounted on the column face beside the green bin at about chest height. Continuing forward should bring me close enough to that column to judge which is the sign I need.", + "The concrete column carrying the red sign now sits slightly left of my heading, while my current direction points into the blank corner wall on the right. Turning left should place that column and its red plate closer to the center of my view before I advance further.", + "After the turn, the column with the red sign and the green bin beneath it lies ahead on my right, with open floor and bollards to the left. I will move forward along this line to shorten the remaining distance to that column.", + "The red sign on the concrete pier is much larger now and its conduit is clearly visible, and the green bin marks the base of that same pier just ahead of me. One more step forward should bring me almost level with the sign.", + "I am now nearly alongside the concrete pier, and the red sign with its conduit sits off to my right rather than ahead of me. Turning right should square my heading onto the sign so I can make a short final approach to it.", + "The small red sign is now clearly on the concrete column to my right, at chest height with its conduit running up to the ceiling. I am still a short step away from it, so I will step forward to close that last bit of distance and bring it right beside me.", + "The red sign on the concrete column is directly beside me at arm's length, filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-000951_y001904_z-000203_t0_b/infos.json b/dataset/trajectory/UndergroundParking/task_x-000951_y001904_z-000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f8fc2cc21d07dfac41c774c260bbb7cd8c212265 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-000951_y001904_z-000203_t0_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the dark green trash bin beside the red wall sign.", + "Type": 0, + "Start_Pose": [ + -951.204, + 1904.458, + -202.751, + 0.0, + 38.4, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -951.204, + 1904.458, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -852.569, + 1982.635, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -753.934, + 2060.812, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -655.299, + 2138.989, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -556.664, + 2217.166, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -458.03, + 2295.343, + -202.751, + 0.0, + 38.4, + -0.0 + ], + [ + -458.03, + 2295.343, + -202.751, + 0.0, + 13.4, + -0.0 + ], + [ + -340.7, + 2321.15, + -202.751, + 0.0, + 13.4, + -0.0 + ], + [ + -246.665, + 2308.891, + -202.751, + 0.0, + 13.4, + -0.0 + ], + [ + -246.665, + 2308.891, + -202.751, + 0.0, + 13.4, + -0.0 + ], + [ + -246.665, + 2308.891, + -202.751, + 0.0, + 13.4, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the parking level I can already pick out a small dark green bin far ahead, standing against the wall next to a red sign near the doorway recess. My heading points roughly down that open bay, so I will move forward to start closing the long gap.", + "The green bin and the red sign above it are now clearer ahead of me and slightly left of center, confirming I am on the right line. The bay in front stays clear of columns, so another forward step should keep shrinking the distance.", + "The bin against the wall is growing in my view and the red sign beside it is now easy to read as a wall marker. Nothing blocks the lane in front of me, so I continue straight to close more ground.", + "I am now within a few meters of the recess and the dark green bin sits clearly at its base under the red sign, drifting toward the left of my view as I advance. I will step forward again to bring it into close range.", + "The bin is close now, low and to my left beside the doorway recess, while the concrete column and wall fill the right of my view. One more forward step should bring me alongside it rather than leaving me short.", + "My heading now runs almost parallel to the wall, so the dark green bin has slid to the far left edge of my view while blank concrete dominates the center. I will turn left to swing the bin back toward the middle of my view and face the passage it sits in.", + "The turn worked, and the dark green bin now sits near the center of my view against the pillar with the red sign panel just above it. The corridor floor toward it is clear, so I move forward to close the last stretch.", + "The bin is now very near, filling the lower center of my view beside the wall carrying the red alarm sign on my right. A final short step should put me directly beside it, close enough to count as arrived.", + "The dark green bin has come so close that only its rim edges into the bottom of my view, hidden behind the pillar line at eye level. I will tilt my gaze down to bring the whole bin into view and confirm I am standing right beside it before deciding to stop.", + "The dark green trash bin fills the near foreground directly in front of me, within arm's reach beside the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-001957_y001020_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x-001957_y001020_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..57a4ff3c54d14fe33b889c568d61034aa96d2265 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-001957_y001020_z-000203_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Go to the green car parked in the garage.", + "Type": 0, + "Start_Pose": [ + -1956.741, + 1019.543, + -202.751, + 0.0, + 95.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1956.741, + 1019.543, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + -1967.798, + 1144.915, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + -1978.855, + 1270.288, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + -1989.912, + 1395.66, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + -2000.968, + 1521.033, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + -2012.025, + 1646.405, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + -2023.082, + 1771.777, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + -2023.082, + 1771.777, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + -1980.118, + 1890.076, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + -1937.155, + 2008.375, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + -1894.191, + 2126.674, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + -1894.191, + 2126.674, + -202.751, + 0.0, + 70.04, + -0.0 + ] + ], + "Rationale": [ + "From this open parking level I can already pick out the green car in a bay far ahead, just left of the nearest concrete column. My path across the empty floor toward it is clear, so I will step forward to begin closing that distance.", + "The green car has grown slightly and stays a little to the left of the column ahead, confirming my heading is roughly toward it. The floor in front of me is still open, so I will keep walking forward.", + "I am now close enough that the green car's covered body and dark wheels are distinct in its bay ahead and left. The support column sits to the right of my line of travel, so continuing straight ahead should bring me nearer without contacting it.", + "The nearby column now fills the right side of my view as I pass it, while the green car remains clearly ahead on the left. The lane between the bays stays open, so I will take another step forward toward the car.", + "With that column behind me, the green car sits plainly ahead beside the next column and looks considerably closer. There is still a good gap of open floor, so I will continue forward.", + "The covered green car now shows its bumper and tyres clearly in the bay ahead-left, only a short stretch of aisle away. I will step forward again to keep reducing that gap before I need to fine-tune my heading.", + "The green car now sits distinctly to the left of my straight-ahead line, with a concrete column standing right in front of that line. Turning left should swing my heading onto the car itself and keep the column clear of my path.", + "After the turn the green car is squarely ahead of me in its marked bay, with the column now off to my right. The bay approach is open, so I will walk forward to close the remaining distance to the car.", + "The green covered car now sits large and just right of my heading, with clear open floor between us. I will step forward again to close the last stretch of that gap.", + "I am nearly beside the green car, its covered hood and wheel filling the right side of my view at close range. One more step forward should bring me right up alongside it.", + "The green car under its cover is directly beside me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-002452_y002216_z-000203_t1_a/infos.json b/dataset/trajectory/UndergroundParking/task_x-002452_y002216_z-000203_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..74b3cec76797dd693b265980dc319cafdc344822 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-002452_y002216_z-000203_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Explore the area until you identify the car covered with a green tarp, then head toward that location.", + "Type": 1, + "Start_Pose": [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -148.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -148.8, + 0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -173.8, + 0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + 161.2, + -0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + 136.2, + -0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + 111.2, + -0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + 86.2, + -0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + 61.2, + -0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + 36.2, + -0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + 11.2, + -0.0 + ], + [ + -2328.656, + 2240.395, + -202.751, + 0.0, + 11.2, + -0.0 + ], + [ + -2205.194, + 2264.841, + -202.751, + 0.0, + 11.2, + -0.0 + ], + [ + -2088.166, + 2290.829, + -202.751, + 0.0, + 11.2, + -0.0 + ], + [ + -2088.166, + 2290.829, + -202.751, + 0.0, + 11.2, + -0.0 + ] + ], + "Rationale": [ + "I am standing in an empty stretch of the underground garage with a wide pillar directly ahead and no green tarp anywhere in view. I will turn left to begin a steady scan of the surrounding bays and open the blind area hidden behind that pillar.", + "The bay that has come into view is still bare concrete with only the roller shutter and floor markings, so the covered car is not here. I will keep rotating left in the same direction to sweep the next section of the garage.", + "This part of the level is another empty parking area with plain walls and no vehicle of any kind. Continuing the same leftward scan should keep uncovering new ground without repeating what I have already checked.", + "Ahead I only see a corner of blank concrete walls and pillars with nothing parked in the bays. I will turn left again to bring the next unseen stretch of the garage into view.", + "The wall in front of me is unbroken and the bays beside it are empty, so the green tarp is still not in sight. Holding the same rotation direction, I will turn left once more to check the area past this wall.", + "I am facing a flat wall flanked by two pillars with no vehicle between them, and the scan has not yet reached the far side of this bay. I will continue turning left to reveal what lies beyond the pillar on my left.", + "A car draped in a bright green tarp has just appeared at the left edge of my view, partly cut off by a pillar. I will turn left to bring the target fully into the center of my view rather than continue scanning elsewhere.", + "The green tarp covered car is clearly in view now, but it sits left of center with open floor between us. One more left turn should put it straight ahead so I can walk directly toward it.", + "The green tarp draped over a parked car is now clearly in front of me, centered slightly right of my heading in this parking level. Since the target is identified and the floor ahead is open and unobstructed, I will walk forward to close the distance toward it.", + "The tarp covered car has grown noticeably larger and fills more of my view, confirming my heading is carrying me toward it. There is still open floor between us, so I will keep walking forward to reach the car's location.", + "The green tarp now dominates the right half of my view, so I am nearly beside the covered car. One more step forward should bring me right up to it and complete the approach.", + "The green tarp covered car is directly beside me, filling the near field of view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-002452_y002216_z-000203_t1_b/infos.json b/dataset/trajectory/UndergroundParking/task_x-002452_y002216_z-000203_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b98606b2c2da3448d1be57de554eacf7841be1ae --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-002452_y002216_z-000203_t1_b/infos.json @@ -0,0 +1,386 @@ +{ + "Instruction": "Scan the parking area for the doorway glowing with orange light in the distance, then move toward it.", + "Type": 1, + "Start_Pose": [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -148.8, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -148.8, + 0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -123.8, + 0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -98.8, + 0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -73.8, + 0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -48.8, + 0.0 + ], + [ + -2452.118, + 2215.949, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + -2336.962, + 2165.159, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + -2336.962, + 2165.159, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -2211.131, + 2167.795, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -2085.299, + 2170.431, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -1973.758, + 2151.475, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -1847.961, + 2152.655, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -1722.13, + 2155.291, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -1596.298, + 2157.926, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -1470.467, + 2160.562, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -1344.636, + 2163.198, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -1218.804, + 2165.834, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -1092.973, + 2168.469, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -967.141, + 2171.105, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -841.31, + 2173.741, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + -841.31, + 2173.741, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + -726.154, + 2122.951, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + -610.998, + 2072.161, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + -495.842, + 2021.372, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + -380.686, + 1970.582, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + -265.53, + 1919.792, + -196.121, + 0.0, + -23.8, + 0.0 + ], + [ + -150.375, + 1869.002, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + -35.219, + 1818.212, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + 79.937, + 1767.422, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + 195.093, + 1716.633, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + 195.093, + 1716.633, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + 320.925, + 1719.268, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + 446.756, + 1721.904, + -202.751, + 0.0, + 1.2, + -0.0 + ], + [ + 446.756, + 1721.904, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + 561.912, + 1671.114, + -202.751, + 0.0, + -23.8, + 0.0 + ], + [ + 561.912, + 1671.114, + -202.751, + 0.0, + -48.8, + 0.0 + ], + [ + 561.912, + 1671.114, + -202.751, + 0.0, + -48.8, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the parking level I only see concrete pillars, a closed roller shutter ahead on the left, and cool fluorescent strips, with no warm orange glow anywhere in view. I will turn right to begin a steady scan of the surrounding bays for the doorway described in the task.", + "The shutter has swung to my left edge and the newly revealed bays ahead are lit only by pale ceiling fixtures, so the orange doorway is still not in sight. I will keep rotating in the same rightward direction to extend the sweep without losing track of where I have already looked.", + "This sector shows a long row of pillars and an empty parking floor with cold white lighting, again with nothing glowing orange. I will continue the same rightward rotation to bring the next unexamined portion of the level into view.", + "The floor ahead opens into another set of bays with dark recesses on the far right, but no warm-colored opening stands out yet. I will turn right once more to keep the scan moving in one consistent direction across the parking area.", + "Looking down this long aisle I notice the far end on the right side carries a faint warm tint compared with the white-lit bays around me, which may be the orange doorway I am searching for. I will turn right again to bring that promising distant area closer to the center of my view before committing to a heading.", + "The aisle in front of me is clear apart from a green covered car parked well to my right, and far down the level I can make out a warm orange-tinted opening among the pale concrete. That cue is strong enough to stop rotating and commit, so I will step forward along this open lane to close distance and confirm it.", + "After advancing, the warm orange patch sits ahead of me but slightly off my heading, and the wide driving lane leading toward it runs a little to my right past the covered car. I will turn right to line my body up with that lane so my next steps carry me straight toward the glowing opening.", + "With the new heading the lane runs unobstructed ahead and the warm orange doorway remains visible in the far distance, while the covered car is now safely off to my right side. I will walk forward along this lane to reduce the remaining distance to that glowing opening.", + "Down the long bay ahead I can still make out a warm orange patch of light near the far pillars, just left of my heading, which matches the glowing doorway I am looking for. The covered green car sits close on my right but the concrete lane straight in front of me is clear of pillars. I will walk forward to close distance on that glow and confirm it is a doorway.", + "The covered car has slid to the right edge of my view, so it no longer blocks my line down this aisle, and the orange glow in the distance is still sitting slightly left of straight ahead. The floor between me and it is open, with only a low speed bump off to the left. I will keep walking forward toward that lit area.", + "With the parked car behind me, I have a clean view straight down the empty bay, and the orange glow near the distant columns remains the only warm light in an otherwise grey space. It is still small and far off, so distance is what I need to reduce rather than heading. I will step forward again along this open lane.", + "The orange patch ahead is holding steady a little to the left of my heading and looks slightly larger than before, which suggests I am genuinely closing on it. Nothing stands between me and it except open floor and the speed bump well to my left. I will continue advancing rather than adjusting my facing yet.", + "A yellow and black striped beam has come into view on the left, and past the near columns the warm orange area is still visible in the same forward-left direction. My lane remains free, so the efficient choice is more straight walking before I worry about fine alignment. I will move forward again.", + "Looking through the gap between the columns, the orange light ahead-left is becoming more defined against the grey concrete, reinforcing that it marks an opening rather than a reflection. The floor in front of me is flat and empty. I will take another step forward toward it.", + "The warm orange area sits ahead and to my left, and a pale upright object and bin now stand out near the middle of the bay, none of them in my walking line. Continuing straight keeps the glow in view while shrinking the distance to it. I will advance again.", + "The orange glow ahead-left is noticeably nearer now, spilling onto the floor and outlining what looks like a recessed opening in the far wall. My route remains a clear stretch of parking deck with the columns to either side. I will keep walking forward to bring that opening within reach.", + "The warm orange doorway glow is still visible far down the bay, just left of the pillar line ahead of me, and the concrete floor between us is clear. I will keep walking straight to close distance before I need any heading adjustment.", + "The orange-lit opening has grown a little larger and clearer at the far end of the aisle, confirming I am closing on it. My current heading keeps it in front of me, so another step forward is the simplest way to continue the approach.", + "The glowing doorway now reads clearly as an orange-lit passage on the left side of the far wall, and the ramp markings ahead show open floor. I will advance again to shorten the gap before turning toward it.", + "The orange doorway sits noticeably left of my current heading, while straight ahead only leads to a blank concrete wall section and the green bin. Turning left should bring the lit opening closer to the center of my path so I can walk straight at it.", + "The turn placed the orange doorway near the middle of my path, with the open bay and speed bump area clear in front of me. I will step forward along this corrected heading to continue closing on the light.", + "The lit doorway is clearly brighter and wider now, spilling orange onto the floor slab in front of it. The route past the pillar on my right stays open, so I will keep advancing straight.", + "The orange doorway remains ahead and slightly left, and the striped speed bump lies off to my left rather than across my line of travel. I will walk forward again to bring the opening within close range.", + "The glowing opening is much nearer now, with its orange light clearly washing the wall and floor around it. Nothing blocks the stretch of floor between me and that doorway, so I will continue stepping toward it.", + "The doorway with warm orange light is clearly visible ahead of me, slightly left of center, past the long blank wall on my left. The floor between me and it is open and free of obstacles, so I will keep walking straight to close the remaining distance.", + "The glowing doorway has grown noticeably larger and the warm light now spills onto the floor in front of it, confirming I am closing in on the right target. Nothing blocks the lane between the wall on my left and the open bay on my right, so I continue walking forward.", + "The orange doorway ahead is now bright enough that I can pick out the frame and the fixture beside it, so my heading remains good. I will take another step forward to keep shrinking the gap.", + "The lit opening sits just ahead beside the exposed vertical pipe, and the warm glow now covers a wide patch of floor in front of it. The path stays clear, so I keep advancing toward it.", + "I am close to the lit doorway now, with its frame and the small red alarm box clearly visible on the wall beside it. One more step forward should bring me nearly level with the opening.", + "The glowing doorway is now very close on my left, but the concrete wall corner and the vertical pipe run sit almost directly in my forward path. Turning right should point me into the open bay so I have a clear lane to walk before I come around to the opening.", + "With the wall corner no longer in front of me, the floor ahead is open and the orange doorway sits just off to my left. I will step forward along this clear lane to draw level with the opening.", + "The doorway is now very near on my left, its warm light washing over the floor beside me. Another step forward should place me right at the opening.", + "The warm orange glow of the target doorway now spills from an opening close beside me on my left, while my body still points down the open parking bay ahead. Since the doorway is no longer in front of me, I will turn left to bring that lit opening back onto my heading. This should let me approach it straight instead of drifting past its edge.", + "The turn has put the glowing doorway and its bright jamb clearly ahead and slightly to my left, with clear open floor between me and it. I will step forward to close the last of that gap and reach the threshold. Nothing blocks the path, so this advance should bring me right up to the opening.", + "I am now standing at the threshold, with the tall bright opening immediately on my left and the concrete wall and alarm box directly in front of me. Turning left should square me up with the glowing doorway rather than leaving me facing the blank wall beside it.", + "The orange-glowing doorway stands directly in front of me at arm's length, filling my forward direction. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-002528_y001858_z-000203_t2_a/infos.json b/dataset/trajectory/UndergroundParking/task_x-002528_y001858_z-000203_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6d31bdb8afd1e98add102249a64a993c4c4680ba --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-002528_y001858_z-000203_t2_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Walk to the concrete pillar at the near end of the left-hand row.", + "Type": 2, + "Start_Pose": [ + -2528.422, + 1858.379, + -202.751, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2528.422, + 1858.379, + -202.751, + 0.0, + -0.0, + 0.0 + ], + [ + -2402.563, + 1858.379, + -202.751, + 0.0, + 0.0, + 0.0 + ], + [ + -2276.704, + 1858.379, + -202.751, + 0.0, + 0.0, + 0.0 + ], + [ + -2150.845, + 1858.379, + -202.751, + 0.0, + 0.0, + 0.0 + ], + [ + -2024.986, + 1858.379, + -202.751, + 0.0, + 0.0, + 0.0 + ], + [ + -2024.986, + 1858.379, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + -1910.919, + 1805.189, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + -1796.852, + 1751.998, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + -1682.785, + 1698.808, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + -1568.718, + 1645.618, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + -1568.718, + 1645.618, + -202.751, + 0.0, + -25.0, + 0.0 + ] + ], + "Rationale": [ + "The left-hand row of concrete pillars recedes ahead on my left, and its near end is the squat pillar standing where that row opens onto this aisle, just past the marked bays. The floor between us is clear and flat, so I walk straight forward to cut the distance.", + "The pillar at the head of the left row has grown noticeably and now sits ahead and slightly to my left, so my heading is still useful. I continue walking forward along the open aisle to close more of the gap before I need to swing toward it.", + "The near pillar of the left row is closer, and the yellow speed bump on the floor ahead marks the lane I am crossing toward it. Nothing stands in my path, so another forward step is the most direct way to keep gaining ground.", + "I am nearly level with the speed bump, and the pillar I am heading for now stands well to the left of my straight-ahead line. One more forward step should bring me abreast of its bay, where a turn toward it becomes worthwhile.", + "Walking straight would carry me past the pillar, since it now sits off my left shoulder rather than in front of me. I turn left to swing my heading onto it so the remaining approach is a straight walk.", + "The turn has put the pillar squarely ahead of me, with the empty bays of the left row spread out behind it. The floor between us is clear apart from the speed bump off to my right, so I walk forward toward it.", + "The pillar ahead is filling more of my view and its base is clearly visible on the open floor. I keep walking forward on this heading to close the last of the distance.", + "From this close the row no longer reads as a row, but the pillar directly in front of me is the one I have been tracking since I turned onto it. It is only a couple of paces away, so I step forward again to stand beside it.", + "The pillar's face now rises through most of my view, slightly left of centre, and the bare floor beside its base is only a stride off. A single forward step should bring me level with it rather than short of it.", + "The pillar towers at arm's length along my left edge, filling the frame. I am standing at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-002528_y001858_z-000203_t2_b/infos.json b/dataset/trajectory/UndergroundParking/task_x-002528_y001858_z-000203_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..56927345bc2e9a83b51caf732c374d12b6f5de4f --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-002528_y001858_z-000203_t2_b/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Head toward the rightmost concrete column visible ahead.", + "Type": 2, + "Start_Pose": [ + -2528.422, + 1858.379, + -202.751, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2528.422, + 1858.379, + -202.751, + 0.0, + -0.0, + 0.0 + ], + [ + -2528.422, + 1858.379, + -202.751, + 0.0, + 25.0, + -0.0 + ], + [ + -2414.355, + 1911.569, + -202.751, + 0.0, + 25.0, + -0.0 + ], + [ + -2300.288, + 1964.76, + -202.751, + 0.0, + 25.0, + -0.0 + ], + [ + -2186.221, + 2017.95, + -202.751, + 0.0, + 25.0, + -0.0 + ], + [ + -2186.221, + 2017.95, + -202.751, + 0.0, + 25.0, + -0.0 + ] + ], + "Rationale": [ + "Several concrete columns stand across the bay ahead, and the one furthest to the right is the thick pillar near the green covered car, which marks it out from the identical ones on the left. That pillar sits off my right shoulder, so I will turn right to face it.", + "The turn has brought the pillar beside the green covered car near the center of my view, with open floor between us. Nothing blocks the lane, so I will walk straight ahead to close the distance.", + "The column beside the covered car now looms larger and slightly right of center, so my heading is still good. The bay floor in front stays clear, so I will keep walking toward it.", + "The column now fills a tall band directly ahead, but there is still a stretch of floor between us. One more step forward should bring me right up beside it.", + "The concrete column fills my view right in front of me, close enough to touch. I have reached it, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x-002528_y001858_z-000203_t2_c/infos.json b/dataset/trajectory/UndergroundParking/task_x-002528_y001858_z-000203_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c2aa86ae27d9f1b3cc433353897e8ef0237a0d6 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x-002528_y001858_z-000203_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Make your way to the green car on the far right.", + "Type": 2, + "Start_Pose": [ + -2528.422, + 1858.379, + -202.751, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2528.422, + 1858.379, + -202.751, + 0.0, + -0.0, + 0.0 + ], + [ + -2528.422, + 1858.379, + -202.751, + 0.0, + 25.0, + -0.0 + ], + [ + -2528.422, + 1858.379, + -202.751, + 0.0, + 50.0, + -0.0 + ], + [ + -2447.522, + 1954.793, + -202.751, + 0.0, + 50.0, + -0.0 + ], + [ + -2366.621, + 2051.206, + -202.751, + 0.0, + 50.0, + -0.0 + ], + [ + -2285.72, + 2147.62, + -202.751, + 0.0, + 50.0, + -0.0 + ], + [ + -2204.82, + 2244.033, + -202.751, + 0.0, + 50.0, + -0.0 + ], + [ + -2123.919, + 2340.447, + -202.751, + 0.0, + 50.0, + -0.0 + ], + [ + -2123.919, + 2340.447, + -202.751, + 0.0, + 25.0, + -0.0 + ], + [ + -2123.919, + 2340.447, + -202.751, + 0.0, + 25.0, + -0.0 + ] + ], + "Rationale": [ + "Looking down the parking level, the only green vehicle is a car under a green cover at the far right edge of my view, half cut off by the frame. I will turn right so that covered car comes fully into sight instead of sitting at the border.", + "The green covered car is now fully visible, but it still sits to the right of my heading with a pillar edge crowding it. Another turn to the right should put it near the center of my view so I can walk straight toward it.", + "The green covered car now sits squarely ahead of me across several empty painted bays. The floor between us is clear of pillars and obstacles, so I will step forward to begin closing that gap.", + "The covered car has grown noticeably larger and is holding just left of my center, so my heading is still good. Distance remains, so I keep walking forward.", + "The green covered car now fills much of the left half of my view, but a couple of bay widths still separate us. I will advance again to keep shrinking that gap.", + "The covered car's flank now stretches across the left side of my view, close enough that I can see the fabric folds. I am not yet beside it, so another step forward should bring me level with its body.", + "The green covered car dominates the left of my view, and the wall behind it is close, so I am nearly alongside it. One more step forward should place me right at the vehicle.", + "I am now right beside the green covered car, but it has slid off to my left while my heading points into the bare wall and pillar ahead. Turning left should put the vehicle back in front of me.", + "The green covered car fills my view at arm's length, its bodywork right in front of me. I have reached it, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_a_p/infos.json b/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1b938fb9ae9a1697ad5bb625132776ece312f548 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the ceramic vase from the ground near the lit doorway.", + "Type": 5, + "Start_Pose": [ + 32.015, + 1815.855, + -202.751, + 0, + -5.76, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 695.248, + 1618.367, + -284.731, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 32.015, + 1815.855, + -202.751, + 0, + -5.76, + 0 + ], + [ + 157.239, + 1803.224, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 282.462, + 1790.592, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 407.686, + 1777.961, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 532.909, + 1765.329, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 532.909, + 1765.329, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 532.909, + 1765.329, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 532.909, + 1765.329, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 641.062, + 1700.96, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 641.062, + 1700.96, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 641.062, + 1700.96, + -202.751, + 0.0, + -30.76, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 695.248, + 1618.367, + -284.731, + 0.0, + 0.0, + 0.0 + ], + [ + 695.248, + 1618.367, + -284.731, + 0.0, + 0.0, + 0.0 + ], + [ + 695.248, + 1618.367, + -284.731, + 0.0, + 0.0, + 0.0 + ], + [ + 695.248, + 1618.367, + -284.731, + 0.0, + 0.0, + 0.0 + ], + [ + 695.248, + 1618.367, + -284.731, + 0.0, + 0.0, + 0.0 + ], + [ + 695.248, + 1618.367, + -284.731, + 0.0, + 0.0, + 0.0 + ], + [ + 695.248, + 1618.367, + -284.731, + 0.0, + 0.0, + 0.0 + ], + [ + 695.248, + 1618.367, + -284.731, + 0.0, + 0.0, + 0.0 + ], + [ + 695.248, + 1618.367, + -284.731, + 0.0, + 0.0, + 0.0 + ], + [ + 651.459, + 1719.622, + -232.645, + -28.202, + 19.385, + 1.862 + ], + [ + 651.459, + 1719.622, + -232.645, + -28.202, + 19.385, + 1.862 + ] + ], + "PD_Dist_2D": [ + 692.0, + 568.9, + 447.3, + 328.9, + 219.0, + 219.0, + 219.0, + 219.0, + 98.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The warm lit doorway sits ahead on the left side of this concrete level, and a slim pale vase stands on the ground just outside it. It is far too distant to reach from here, so I will walk straight forward to close that gap.", + "The doorway glow and the vase beside it have grown noticeably larger, confirming my heading is taking me toward the target. Nothing blocks the open floor ahead, so I will keep walking forward to shorten the remaining distance.", + "The vase now reads clearly as a tall ceramic piece with floral markings standing on the ground at the edge of the lit doorway. It still stands several strides away, beyond arm's reach, so I will continue forward.", + "The vase is close on my left, near the bright doorway, but my current heading carries me past its side rather than onto it. One more step forward should bring me level with it and inside grasping range.", + "The ceramic vase is now right beside me at the near left edge of my view, close to the lit doorway. My hands are empty and it appears near enough to seize, so I will attempt to pick it up from the ground.", + "My hands are empty and the vase was not taken, so that grab attempt failed. Just before it, the vase sat at the far left edge of my view, barely inside frame beside the lit doorway, which likely put it outside my reach cone. I will turn left to bring it back in front of me.", + "The turn worked and the ceramic vase now stands clearly ahead of me on the floor beside the lit doorway, no longer cut off at the frame edge. Since my earlier grab came up empty, this improved heading is the reason to try again. I will attempt to pick it up from here.", + "My hands are still empty, so that attempt did not take it. Facing it squarely was not enough, which suggests I am simply too far away to reach. I will walk forward to close the gap before trying again.", + "The step brought me right up to the vase, which now fills the lower left of my view at arm's length against the wall by the lit doorway. My hands are still empty, and this is the closest I have been to it. I will reach down and try to grasp it now.", + "The ceramic vase is now held in my hands, lifted off the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_a_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ceedbdd23f0ad4be1620034122a2f98ca4b32127 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_a_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Grab the ceramic pot near the pipe, then leave it near the ladder.", + "Type": 5, + "Start_Pose": [ + 32.015, + 1815.855, + -202.751, + 0, + -5.76, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 573.362, + 1605.215, + -285.724, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 32.015, + 1815.855, + -202.751, + 0, + -5.76, + 0 + ], + [ + 157.239, + 1803.224, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 282.462, + 1790.592, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 407.686, + 1777.961, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 407.686, + 1777.961, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 407.686, + 1777.961, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 515.838, + 1713.591, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 515.838, + 1713.591, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 515.838, + 1713.591, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 515.838, + 1713.591, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 515.838, + 1713.591, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 515.838, + 1713.591, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 606.007, + 1801.398, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 696.176, + 1889.205, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 786.344, + 1977.012, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 876.513, + 2064.82, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 966.682, + 2152.627, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 1056.851, + 2240.434, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 1005.268, + 2190.202, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 1005.268, + 2190.202, + -202.751, + 0.0, + 44.24, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 573.362, + 1605.215, + -285.724, + 0.0, + 0.0, + 0.0 + ], + [ + 573.362, + 1605.215, + -285.724, + 0.0, + 0.0, + 0.0 + ], + [ + 573.362, + 1605.215, + -285.724, + 0.0, + 0.0, + 0.0 + ], + [ + 573.362, + 1605.215, + -285.724, + 0.0, + 0.0, + 0.0 + ], + [ + 573.362, + 1605.215, + -285.724, + 0.0, + 0.0, + 0.0 + ], + [ + 573.362, + 1605.215, + -285.724, + 0.0, + 0.0, + 0.0 + ], + [ + 573.362, + 1605.215, + -285.724, + 0.0, + 0.0, + 0.0 + ], + [ + 573.362, + 1605.215, + -285.724, + 0.0, + 0.0, + 0.0 + ], + [ + 526.235, + 1732.253, + -232.645, + -28.202, + 19.384, + 1.862 + ], + [ + 517.464, + 1735.852, + -232.372, + -28.189, + 44.397, + 1.872 + ], + [ + 508.561, + 1734.907, + -233.039, + -28.215, + 69.367, + 1.849 + ], + [ + 501.237, + 1736.421, + -232.985, + -14.092, + 86.583, + 6.87 + ], + [ + 590.586, + 1816.189, + -232.419, + -28.198, + 94.385, + 1.865 + ], + [ + 680.965, + 1904.205, + -232.956, + -28.191, + 94.398, + 1.871 + ], + [ + 771.231, + 1992.093, + -233.237, + -28.214, + 94.37, + 1.852 + ], + [ + 861.33, + 2079.842, + -233.027, + -28.203, + 94.381, + 1.856 + ], + [ + 951.317, + 2167.479, + -232.618, + -28.187, + 94.397, + 1.872 + ], + [ + 1041.285, + 2255.08, + -232.215, + -28.2, + 94.384, + 1.866 + ], + [ + 1055.418, + 2239.039, + -222.751, + 0.0, + 44.24, + -0.0 + ], + [ + 1055.418, + 2239.039, + -222.751, + 0.0, + 44.24, + -0.0 + ] + ], + "PD_Dist_2D": [ + 580.9, + 460.8, + 344.9, + 239.4, + 239.4, + 239.4, + 122.7, + 122.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The task target, a dark red ceramic pot, sits far ahead on the floor beside the wall with the standpipe and valves, while the stepladder stands off to the right in the open garage bay. It is much too distant to reach, so I will walk straight forward along the open floor to close that gap.", + "The pot beside the pipe wall has grown noticeably larger and the lit doorway next to it is closer, so my heading is good. Still, it remains several strides away and out of arm's reach, so I keep walking forward.", + "The pot now sits clearly to my left front, close to the valve fittings on the wall, but the gap is still too wide for a grasp. The floor between us is clear, so I take another step forward to close in on it.", + "My forward motion has carried the pot to the extreme lower left corner, where it is nearly clipped out of my view. I will turn left to bring it back in front of me so it sits in a controllable part of my view before I try to take it.", + "The turn worked: the ceramic pot is now squarely in front of me on the floor beside the pipe and valve wall, with nothing between us. My hands are empty, so I will try to grab it from this position.", + "My hands are empty, so that grasp attempt did not take hold. The likely reason is that I tried from too far away. I will walk forward to close the remaining gap to the pot before trying again.", + "I have stepped in close to the doorway and standpipe wall, but the pot no longer appears in my forward view because it sits low and near my feet. I will look down to bring the ceramic pot back into sight and judge whether it is within reach.", + "The red ceramic pot is now clearly visible just ahead and slightly left, close enough that its rim fills the lower part of my view. This is much nearer than my earlier unsuccessful attempt. I will try to pick it up from here.", + "The grasp worked, since the ceramic pot is now in my hands rather than on the floor. The ladder stands out in the open parking area, well to my right of this doorway corner. I will turn right to begin swinging my heading toward it.", + "I am carrying the pot and now face the open garage floor, but the ladder is still not within my view, so my heading is not yet correct. The route toward it continues further around to my right. I will turn right again to keep bringing that area into view.", + "The ceramic pot is already in my hands, so the remaining job is to carry it to the ladder. From this heading the ladder stands off to my right against the bright wall, not straight ahead. I will turn right once more so my walking direction should line up with it.", + "The turns have brought the ladder near the middle of my view, roughly along my walking direction, and the pot is still in my hands. The floor ahead is open with no columns or obstacles in the way. I will step forward to close the long distance to the ladder.", + "The ladder is a little larger and remains near the centre of my path, so my heading is still good. Nothing blocks the bay between me and it. I keep walking forward with the pot to shorten the remaining distance.", + "The ladder now reads clearly ahead beside the lit wall, still roughly on my line of travel while I carry the pot. I am not yet close enough for a placement that counts as near it. Another step forward should bring me appreciably closer.", + "The ladder now fills a good part of the view directly ahead, so my heading needs no correction. The pot is still with me and the last stretch of floor is clear. I will advance again to get within releasing range of the ladder.", + "The ceramic pot is held, so I only need to reach the ladder to place it. The stepladder now stands clearly ahead in the open bay with nothing blocking the floor between us. I will keep walking straight to close the remaining gap.", + "The ladder now fills much of my view, but its base is still a short distance ahead of me. Carrying the pot, I want to stand right beside those legs before releasing it so it lands near the ladder. One more step forward should put me there.", + "I am now directly at the stepladder, its rails and rungs filling my view at arm's length. The pot is still in my hands and this spot satisfies the requirement to leave it near the ladder. I will release it here.", + "The ceramic pot now rests on the floor at the foot of the ladder and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_b_p/infos.json b/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b96025e4c76af06148fbcac2985d721bc948d81a --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_b_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the jerry can from the ladder area.", + "Type": 5, + "Start_Pose": [ + 32.015, + 1815.855, + -202.751, + 0, + -5.76, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1103.862, + 2293.829, + -294.446, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 32.015, + 1815.855, + -202.751, + 0, + -5.76, + 0 + ], + [ + 157.239, + 1803.224, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 157.239, + 1803.224, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 276.068, + 1844.697, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 394.897, + 1886.171, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 513.727, + 1927.645, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 632.556, + 1969.119, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 632.556, + 1969.119, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 722.724, + 2056.926, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 812.893, + 2144.734, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 903.061, + 2232.541, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 903.061, + 2232.541, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 903.061, + 2232.541, + -202.751, + 0.0, + 44.24, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 1103.862, + 2293.829, + -294.446, + 0.0, + 0.0, + 0.0 + ], + [ + 887.726, + 2247.414, + -232.645, + -28.202, + 94.384, + 1.862 + ], + [ + 887.726, + 2247.414, + -232.645, + -28.202, + 94.384, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1173.6, + 1066.2, + 1066.2, + 941.8, + 817.8, + 694.5, + 572.3, + 572.3, + 448.8, + 326.9, + 209.9, + 21.4, + 21.4 + ], + "Rationale": [ + "From this parking level entrance I can see the stepladder far off to the right side of the open bay, with a small red can standing beside its legs. That is the jerry can I need, and it is much too distant to reach. I will walk forward to close some of that distance before adjusting my heading.", + "The ladder and the red can sit well off to my right, near the far wall, while my current heading points straight down the open bay past them. Walking on like this would carry me alongside the target instead of toward it. I will turn right to bring the ladder area closer to the centre of my path.", + "After turning, the stepladder with the red can beside it now lies ahead in the right half of my view, with clear floor between us. Nothing blocks the direct line across this bay. I will step forward to shorten the gap to the ladder area.", + "The ladder and the red can beside it are noticeably larger than a moment ago, so this heading is taking me toward them. The floor ahead stays open apart from the parked car far to my right. I will keep walking forward along this line.", + "The red jerry can is now clearly distinguishable at the foot of the stepladder, still several paces off near the lit wall. My heading remains pointed at it and the bay stays open. Another step forward should continue closing the distance.", + "The ladder and the can are closer and better lit by the vertical tube light on the wall behind them, but they are still out of arm's reach. The route ahead is empty concrete. I will advance again toward the ladder area.", + "As I have drawn nearer, the ladder and the red can have drifted toward the right portion of my view rather than sitting square ahead. Walking straight now would take me past their left side. I will turn right to re-centre the can before continuing the approach.", + "The turn has brought the stepladder and the red can into the middle of my view, with the bright wall light directly behind them. They are still a few paces away, too far to grasp. I will step forward along this corrected heading to reach the ladder area.", + "The red jerry can is clearly visible on the floor at the foot of the stepladder ahead of me, slightly left of my heading. It is still several strides away, too far to grasp, so I will walk forward to close that gap.", + "The ladder and the red jerry can now fill much more of my view, confirming I am closing in on the right spot. The can still sits low and a bit left of center, beyond arm's reach, so another step forward should bring it into grasping range.", + "The jerry can is now right in front of me at the base of the ladder, filling the lower left of my view at arm's length. 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 ladder. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_b_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0eb9227a34c837224c197414cfa9ff9c325a4761 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000032_y001816_z-000203_t5_b_pd/infos.json @@ -0,0 +1,544 @@ +{ + "Instruction": "Pick up the trash bag from the ladder area, then place it near the lit doorway.", + "Type": 5, + "Start_Pose": [ + 32.015, + 1815.855, + -202.751, + 0, + -5.76, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1051.949, + 2248.102, + -288.071, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 32.015, + 1815.855, + -202.751, + 0, + -5.76, + 0 + ], + [ + 157.239, + 1803.224, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 157.239, + 1803.224, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 276.068, + 1844.697, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 394.897, + 1886.171, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 513.727, + 1927.645, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 632.556, + 1969.119, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 751.385, + 2010.593, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 870.215, + 2052.066, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 870.215, + 2052.066, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 960.383, + 2139.874, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 960.383, + 2139.874, + -202.751, 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], + [ + 978.841, + 2160.275, + -232.858, + -14.175, + 11.432, + 6.959 + ], + [ + 977.513, + 2152.01, + -232.969, + -28.208, + -5.617, + 1.851 + ], + [ + 979.949, + 2143.388, + -232.301, + -28.198, + -30.614, + 1.867 + ], + [ + 984.866, + 2127.325, + -232.858, + -14.175, + -63.568, + 6.959 + ], + [ + 946.949, + 2013.647, + -232.419, + -28.198, + -55.615, + 1.865 + ], + [ + 912.687, + 1892.234, + -232.956, + -28.191, + -55.601, + 1.871 + ], + [ + 907.879, + 1884.946, + -232.165, + -28.205, + -80.625, + 1.859 + ], + [ + 826.686, + 1789.114, + -232.012, + -28.191, + -80.61, + 1.872 + ], + [ + 744.397, + 1693.661, + -232.237, + -28.206, + -80.622, + 1.863 + ], + [ + 749.087, + 1701.349, + -232.726, + -28.206, + -55.621, + 1.858 + ], + [ + 713.606, + 1588.755, + -232.051, + -28.194, + -55.613, + 1.873 + ], + [ + 693.321, + 1595.495, + -242.789, + 0.0, + -105.76, + 0.0 + ], + [ + 693.321, + 1595.495, + -242.789, + 0.0, + -105.76, + 0.0 + ] + ], + "PD_Dist_2D": [ + 1107.7, + 999.2, + 999.2, + 874.5, + 750.1, + 626.4, + 503.7, + 383.1, + 267.3, + 267.3, + 141.8, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 27.5, + 21.4, + 21.4, + 20.3, + 21.4, + 21.4, + 22.1, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this corner of the garage I can see the stepladder far ahead on the right side, with a dark trash bag slumped at its base. That is the pickup target, so I will walk forward to close the long gap across the open floor.", + "Walking straight ahead keeps the ladder and its bag off to my right instead of in front of me. I will turn right to swing my heading toward that ladder area before continuing.", + "The turn has placed the ladder and the dark bag more centrally ahead of me across the open bays. I will step forward along this heading to shorten the distance to the pickup spot.", + "The ladder and the bag beside it are growing larger ahead and slightly right, so my heading is still usable. I will keep walking forward to reduce the remaining distance.", + "The bag at the foot of the ladder is now clearly distinguishable ahead of me, but still well out of reach. I will continue advancing across the open bay toward it.", + "The bag and ladder remain slightly right of my heading and are still several strides away. Another forward step should keep bringing me into grasping range.", + "The trash bag is now large in view at the base of the ladder, close to the far wall. I will walk forward again to get within reach of it.", + "The bag sits just ahead and to my right beside the ladder, close but not yet within arm's length. I will take another step forward to finish closing the gap before reaching for it.", + "The trash bag sits at the base of the stepladder well off to my right, so continuing straight would carry me past it. I will turn right to bring the bag onto my heading before covering the last short stretch.", + "The bag is now roughly centered under the ladder and only a short walk away. I will step forward to close that remaining gap so the bag comes within grasping range.", + "The trash bag now fills the lower center of my view right at the ladder legs, close enough that nothing else stands between us. I will attempt to pick it up so I can carry it toward the lit doorway.", + "The grasp worked: the bag is in my hands and no longer standing beside the ladder. The lit doorway I must carry it to lies far around to my left, out of my current view, so I will turn left to start swinging back toward it.", + "The bag stays with me as I rotate, and my view still shows the ladder and open parking bays rather than any lit doorway. I will keep turning left to continue sweeping my heading back toward the illuminated exit side of the garage.", + "Ahead I see only rows of columns and a distant bright gap far across the floor, not the doorway I need to reach with this bag. I will turn left again to bring more of the left side of the level into view.", + "My heading now faces a covered car and low ducting, which is not the direction of the lit doorway I must deliver the bag to. I will continue rotating left to keep searching that side of the garage for the bright opening.", + "A chain-link cage and the covered car block the view straight ahead, and the doorway is still not in front of me. I will turn left once more, since the warmer light appears to spill from farther around on that side.", + "The trash bag is in my hands, so the remaining job is to carry it to the lit doorway. That warm opening sits off to my left beside the fire alarm panel, still outside my forward heading. I will turn left again to bring the doorway toward the center of my view.", + "The lit doorway now sits ahead and slightly left, with open concrete floor between me and it. Carrying the bag, I have no obstruction along that line. I will step forward to close the distance toward the opening.", + "The bright doorway has grown larger and the fire extinguisher wall beside it is now clearly resolved, so my heading is good. The floor ahead remains free of the caged storage and parked car on my right. I will keep walking forward with the bag.", + "I am close to the wall containing the lit doorway, but the opening has drifted to the left edge of my view while I face the blank concrete. Walking straight now would carry me past it. I will turn left to put the doorway back in front of me.", + "The lit doorway now reads clearly ahead of me with its glowing interior and pipe visible inside. Nothing blocks the short stretch of floor between us. I will advance with the bag toward that opening.", + "The doorframe fills much more of my view and the lit passage beyond it is plainly visible, so I am nearly at the threshold. I still need to be right at the opening before setting the bag down. I will take another step forward.", + "I am right beside the lit opening, but it currently sits toward the right of my view while the dark garage wall and standpipe occupy the center. To place the bag at the doorway I need to face straight into it. I will turn right to square up with the threshold.", + "The lit doorway is now squarely centered ahead, with the bright corridor and its ceiling light running straight in front of me. One more step should put me at the threshold where the bag belongs. I will move forward into the opening.", + "I am standing inside the brightly lit doorway passage, with the fluorescent fixture overhead and the open garage bay just ahead, still carrying the trash bag. This spot is right at the lit doorway that the task names as the delivery place, so no further approach is needed. I will release the bag here and expect it to settle on the floor beside the threshold.", + "The trash bag now rests on the floor within the lit doorway and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000034_y001842_z-000203_t1_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000034_y001842_z-000203_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e852535112b4f252c03371c619e78451455dba80 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000034_y001842_z-000203_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Look around for the illuminated doorway glowing with white light, then approach the target area.", + "Type": 1, + "Start_Pose": [ + 33.992, + 1842.295, + -202.751, + 0.0, + -56.64, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 33.992, + 1842.295, + -202.751, + 0.0, + -56.64, + 0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + -31.64, + 0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + -6.64, + 0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 18.36, + -0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 43.36, + -0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 68.36, + -0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 93.36, + -0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 118.36, + -0.0 + ], + [ + -25.792, + 1953.049, + -202.751, + 0.0, + 118.36, + -0.0 + ], + [ + -85.577, + 2063.802, + -202.751, + 0.0, + 118.36, + -0.0 + ], + [ + -85.577, + 2063.802, + -202.751, + 0.0, + 93.36, + -0.0 + ], + [ + -92.953, + 2189.445, + -202.751, + 0.0, + 93.36, + -0.0 + ], + [ + -100.33, + 2315.087, + -202.751, + 0.0, + 93.36, + -0.0 + ], + [ + -99.65, + 2437.753, + -202.751, + 0.0, + 93.36, + -0.0 + ], + [ + -107.026, + 2563.396, + -202.751, + 0.0, + 93.36, + -0.0 + ], + [ + -107.026, + 2563.396, + -202.751, + 0.0, + 93.36, + -0.0 + ] + ], + "Rationale": [ + "Most of my view is taken up by a blank concrete wall, and the only opening I can see is a warm orange doorway far to my right, not the white glow I am looking for. I will turn right to begin a steady scan toward the more open part of this garage where other doorways may be.", + "The turn opened up the parking level ahead, but the nearby doorway beside the standpipe glows warm amber rather than white. I will keep rotating right in the same direction to bring more of the unseen bays into view.", + "I now look down a long stretch of empty parking bays with a ladder and scattered clutter, and still no white glowing doorway stands out. Continuing the same rightward scan should reveal the section of the level still hidden behind me.", + "This heading shows a wide structural pillar and a covered vehicle, with the far wall reading as plain concrete rather than an illuminated entry. I will keep the scan turning right in one consistent direction to cover the remaining unseen side.", + "Vending machines and a wall of equipment now dominate my view, which suggests a service or stairwell zone rather than open parking. I will continue turning right, since a pedestrian exit is likely just beyond that machine bank.", + "Past the vending machines on my right I can now see a recessed alcove filled with cool white light and a pale door inside it, which matches the illuminated doorway I am searching for. I will turn right again to bring that glowing opening toward the center of my view.", + "The white glowing recess with its light fixture and pale door is now roughly ahead of me, just right of center, with a green bin marking its right edge. A further small right turn should square my heading with the corridor axis before I start walking toward it.", + "The white lit passage with its pale door sits ahead and a little to my left, and the concrete floor between me and it is clear apart from bollards well to the side. I will step forward to close the distance to that entry before making any finer heading correction.", + "The white-lit alcove with the pale door sits ahead and slightly to my left, clearly brighter than the warm garage lighting around it. I still have open floor between the trash bin and the pillar, so I will step forward again to close distance on that glowing recess.", + "The illuminated doorway now sits noticeably to my left, while my heading points into the open parking bay on the right. Turning left should center the lit corridor entrance so I can walk straight into it.", + "The turn has lined the glowing corridor up directly ahead, with the pale door framed at its end between the concrete walls. I will walk forward into that passage to keep closing on the target.", + "I am inside the narrow passage now, and the white-lit door with its ceiling lamp fills the center of my view. Nothing blocks the corridor floor, so another step forward should bring me closer to the door.", + "The door is larger and squarely ahead, with the pipe on the left and the wall on the right leaving a clear lane. I will continue forward to reach the doorway itself.", + "The white door now fills most of my view and its handle is clearly visible, so I am only a short step away. One more forward step should place me right at the target doorway.", + "I am standing directly at the illuminated white door, with its handle within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000034_y001842_z-000203_t1_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000034_y001842_z-000203_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..26423c9e438a85d47e7dd50ae16c79b386242cea --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000034_y001842_z-000203_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the nearby area for the green trash bin beside the gray door and directly beneath the red fire alarm box, then approach it.", + "Type": 1, + "Start_Pose": [ + 33.992, + 1842.295, + -202.751, + 0.0, + -56.64, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 33.992, + 1842.295, + -202.751, + 0.0, + -56.64, + 0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + -31.64, + 0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + -6.64, + 0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 18.36, + -0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 43.36, + -0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 68.36, + -0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 93.36, + -0.0 + ], + [ + 33.992, + 1842.295, + -202.751, + 0.0, + 118.36, + -0.0 + ], + [ + -25.792, + 1953.049, + -202.751, + 0.0, + 118.36, + -0.0 + ], + [ + -85.577, + 2063.802, + -202.751, + 0.0, + 118.36, + -0.0 + ], + [ + -145.361, + 2174.555, + -202.751, + 0.0, + 118.36, + -0.0 + ], + [ + -145.361, + 2174.555, + -202.751, + 0.0, + 118.36, + -0.0 + ] + ], + "Rationale": [ + "Straight ahead I only face a blank concrete wall with ducting, and no green bin, gray door, or red alarm box is anywhere in this half of the view. The only promising opening is the lit passage and doorway off to my right, so I will turn right to begin a consistent scan toward it. This should bring more of the open bay into view where such fixtures are likely mounted.", + "The turn has opened up a lit corridor entrance and the edge of a large parking bay, but I still see no green bin standing under a red alarm box. Continuing the same rightward sweep keeps the scan consistent and should reveal more of that open bay. I will turn right again rather than commit to this doorway without the cue.", + "Now most of the wide garage floor is in front of me, with a ladder and distant columns, yet nothing matching a green bin beneath a red fire alarm box. Since the unexplored space continues to my right, I will keep rotating in the same direction. This steady sweep avoids re-checking ground I have already looked over.", + "A thick column and a covered vehicle now dominate the middle of my view, and a lit wall section is just appearing at the far right. No bin or alarm box is visible here, so I will continue turning right toward that brighter wall. Service fixtures are more likely mounted along a finished wall than in the open bay.", + "The wall on my right carries vending machines, which is a strong sign of a serviced corner where a waste bin would normally stand, but I still cannot see the green bin or the red alarm box. I will turn right again to bring that wall and the space beyond the machines fully into view. This partial scan is a reasonable bet on where the target sits.", + "The vending machines are now centered and a bright doorway alcove has opened on the right, but the bin itself is still hidden behind the wall edge. Turning right once more should swing that alcove and its adjacent wall into the middle of my view. That is the most likely spot for a bin under a wall-mounted alarm box.", + "I can now see the green bin standing against the wall to the right of the gray door, with the red fire alarm box mounted directly above it, so the target matches the description. It sits right of my heading, so I will turn right to bring it toward the center of my view. That should line me up for a straight walk in.", + "The green bin is now near the center of my view, tucked beside the gray door with the red fire alarm box on the wall above it, and the floor between us is clear apart from bollards well off to the side. I will walk forward along this heading to close the remaining distance. A few steps should put me right beside the bin.", + "The green trash bin now stands clearly ahead against the concrete pillar, with the red fire alarm box mounted directly above it and the gray door in the recess just to its left. This matches the described target exactly, so I keep walking straight toward it instead of scanning further. Another step forward should close a good part of the remaining distance.", + "The bin is noticeably larger and centered slightly left of my heading, with the fire alarm box above it and the gray door beyond, confirming I am closing on the right object. I am still several paces away, too far to count as having reached it. One more step forward should bring me within close range of the bin.", + "The green trash bin is right in front of me, under the red fire alarm box and beside the gray door. The approach goal is met, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000093_y001799_z-000203_t5_a_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x000093_y001799_z-000203_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8fba5af6cbaa8e8262c74cf8b00ef6cab73253e8 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000093_y001799_z-000203_t5_a_pd/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the ceramic pot, then drop it near the green trash bin.", + "Type": 5, + "Start_Pose": [ + 93.35, + 1798.967, + -202.751, + 0, + 86.4, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 209.612, + 2229.573, + -281.403, + 0.374, + 0.756, + 0.836 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 93.35, + 1798.967, + -202.751, + 0, + 86.4, + 0 + ], + [ + 101.253, + 1924.578, + -202.751, + 0.0, + 86.4, + -0.0 + ], + [ + 109.155, + 2050.188, + -202.751, + 0.0, + 86.4, + -0.0 + ], + [ + 109.155, + 2050.188, + -202.751, + 0.0, + 86.4, + -0.0 + ], + [ + 109.155, + 2050.188, + -202.751, + 0.0, + 111.4, + -0.0 + ], + [ + 109.155, + 2050.188, + -202.751, + 0.0, + 136.4, + -0.0 + ], + [ + 18.011, + 2136.982, + -202.751, + 0.0, + 136.4, + -0.0 + ], + [ + -73.133, + 2223.777, + -202.751, + 0.0, + 136.4, + -0.0 + ], + [ + -138.425, + 2285.053, + -202.751, + 0.0, + 136.4, + -0.0 + ], + [ + -86.284, + 2235.401, + -202.751, + 0.0, + 136.4, + -0.0 + ], + [ + -86.284, + 2235.401, + -202.751, + 0.0, + 136.4, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 209.612, + 2229.573, + -281.403, + 0.374, + 0.756, + 0.836 + ], + [ + 209.612, + 2229.573, + -281.403, + 0.374, + 0.756, + 0.836 + ], + [ + 209.612, + 2229.573, + -281.403, + 0.374, + 0.756, + 0.836 + ], + [ + 87.805, + 2050.92, + -232.645, + -28.202, + 136.545, + 1.862 + ], + [ + 88.607, + 2041.472, + -232.372, + -28.189, + 161.557, + 1.872 + ], + [ + 93.512, + 2033.983, + -233.039, + -28.215, + -173.472, + 1.849 + ], + [ + 3.496, + 2121.317, + -233.225, + -28.202, + -173.458, + 1.858 + ], + [ + -87.537, + 2208.006, + -232.964, + -28.208, + -173.458, + 1.852 + ], + [ + -152.397, + 2268.873, + -232.018, + -28.198, + -173.458, + 1.869 + ], + [ + -136.976, + 2283.674, + -222.751, + 0.0, + 136.4, + -0.0 + ], + [ + -136.976, + 2283.674, + -222.751, + 0.0, + 136.4, + -0.0 + ] + ], + "PD_Dist_2D": [ + 446.0, + 323.7, + 205.6, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits on the floor ahead beside the vending machines, still far across the open garage. I will walk forward to close that distance before any grasp is possible.", + "The pot is now noticeably larger and slightly left of my heading, but it remains several paces away. I will step forward again to bring it within reach for picking.", + "The ceramic pot now fills the lower left of my view at close range with nothing between us. I will attempt to pick it up so I can carry it toward the green trash bin.", + "The pot is now in my hands rather than resting on the floor, so the grasp took hold. The green bin stood off to my right near the corridor entrance, so I will turn right to face that direction.", + "The green bin is visible ahead but still sits right of my center, partly behind a concrete pillar. I will turn right once more to line my heading up with it before walking.", + "The green bin now stands roughly ahead of me across the open bay, well beyond dropping range. Carrying the pot, I will walk forward to shorten that gap.", + "The bin has grown much closer, sitting just ahead against the concrete pillar, but I am not yet beside it. I will advance again so the pot can be set down near it.", + "The bin is only a short step ahead, its rim clearly visible at close range beside the pillar. One more forward step should place me right next to it, close enough to release the pot there.", + "I am still carrying the ceramic pot, and the green bin's rounded top is right at the bottom edge of my view, so I am standing immediately beside it. This is close enough to satisfy the placement requirement, so I will release the pot here rather than press further into the wall.", + "The ceramic pot now rests on the floor right beside the green bin, and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000093_y001799_z-000203_t5_b_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x000093_y001799_z-000203_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27ec0e4745226035c6fd0f25f57a108bdafbff51 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000093_y001799_z-000203_t5_b_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the plate, then put it down near the vending machine.", + "Type": 5, + "Start_Pose": [ + 93.35, + 1798.967, + -202.751, + 0, + 86.4, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -90.743, + 2434.062, + -245.698, + 90, + 90.644, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 93.35, + 1798.967, + -202.751, + 0, + 86.4, + 0 + ], + [ + 101.253, + 1924.578, + -202.751, + 0.0, + 86.4, + -0.0 + ], + [ + 101.253, + 1924.578, + -202.751, + 0.0, + 111.4, + -0.0 + ], + [ + 56.556, + 2041.278, + -202.751, + 0.0, + 111.4, + -0.0 + ], + [ + 29.58, + 2154.981, + -202.751, + 0.0, + 111.4, + -0.0 + ], + [ + -16.343, + 2272.163, + -202.751, + 0.0, + 111.4, + -0.0 + ], + [ + -65.924, + 2385.989, + -202.751, + 0.0, + 111.4, + -0.0 + ], + [ + -65.924, + 2385.989, + -202.751, + 0.0, + 111.4, + -0.0 + ], + [ + -32.208, + 2299.959, + -202.751, + 0.0, + 111.4, + -0.0 + ], + [ + 1.507, + 2213.93, + -202.751, + 0.0, + 111.4, + -0.0 + ], + [ + 1.507, + 2213.93, + -202.751, + 0.0, + 86.4, + -0.0 + ], + [ + 1.507, + 2213.93, + -202.751, + 0.0, + 61.4, + -0.0 + ], + [ + 41.74, + 2280.404, + -202.751, + 0.0, + 61.4, + -0.0 + ], + [ + 7.275, + 2217.189, + -202.751, + 0.0, + 61.4, + -0.0 + ], + [ + 7.275, + 2217.189, + -202.751, + 0.0, + 61.4, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -90.743, + 2434.062, + -245.698, + 90.0, + 90.644, + 0.0 + ], + [ + -90.743, + 2434.062, + -245.698, + 90.0, + 90.644, + 0.0 + ], + [ + -90.743, + 2434.062, + -245.698, + 90.0, + 90.644, + 0.0 + ], + [ + -90.743, + 2434.062, + -245.698, + 90.0, + 90.644, + 0.0 + ], + [ + -90.743, + 2434.062, + -245.698, + 90.0, + 90.644, + 0.0 + ], + [ + -90.743, + 2434.062, + -245.698, + 90.0, + 90.644, + 0.0 + ], + [ + -90.743, + 2434.062, + -245.698, + 90.0, + 90.644, + 0.0 + ], + [ + -85.583, + 2377.629, + -232.645, + -28.202, + 161.545, + 1.862 + ], + [ + -51.733, + 2291.251, + -232.045, + -28.191, + 161.548, + 1.872 + ], + [ + -18.036, + 2205.276, + -232.221, + -28.199, + 161.546, + 1.867 + ], + [ + -19.226, + 2215.048, + -233.181, + -28.202, + 136.545, + 1.861 + ], + [ + -15.505, + 2222.989, + -232.036, + -28.205, + 111.541, + 1.862 + ], + [ + 22.761, + 2290.215, + -232.881, + -28.189, + 111.557, + 1.87 + ], + [ + 40.783, + 2278.648, + -232.751, + 90.0, + 61.4, + 0.0 + ], + [ + 40.783, + 2278.648, + -232.751, + 90.0, + 61.4, + 0.0 + ] + ], + "PD_Dist_2D": [ + 661.2, + 544.5, + 544.5, + 419.5, + 303.9, + 178.2, + 54.1, + 21.4, + 21.4, + 21.4, + 20.8, + 19.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The plate is floating well ahead of me near the corridor opening to the right of the vending machines, far out of reach across this parking area. I will walk straight forward to close that large gap before worrying about heading.", + "From here the plate sits noticeably right of my heading, near the recessed passage past the vending machines. Turning right should place it closer to the center of my view so I can advance straight toward it.", + "The plate now sits much closer to the middle of my view, framed in the doorway of the narrow corridor. With the alignment reasonable, I will step forward to keep shortening the distance.", + "The plate has grown larger and stays near my forward line, just inside the passage between the concrete pillars. Another step forward should bring me into the corridor and nearer to grabbing range.", + "I am at the mouth of the corridor with the plate hovering directly ahead, still a couple of strides away. I will keep walking forward to reach a distance where a grab is plausible.", + "Inside the narrow corridor the plate fills much of my lower view but still hangs slightly beyond my reach, near the frosted door. One more step forward should put it close enough to grasp.", + "The plate is now immediately in front of me, its rim spanning the bottom of my view within the corridor. This is the closest workable position, so I will attempt to pick it up.", + "The grab worked, since the plate is now held in my hands rather than hovering free in the corridor. This dead end is too cramped to turn around comfortably, and the vending machines lie back the way I came, so I will step backward out of the passage.", + "The plate is in my hands and moves with me, so the grasp is holding. This narrow alcove ends at a closed door, and the vending machine area lies back behind me, so I will keep stepping backward to clear the tight passage without turning in place here.", + "I have backed out into the wider bay while still carrying the plate. The corridor mouth and the concrete piers on my left edge mark where the machines stand, so I will turn left to bring that side of the bay into view.", + "The edge of the drinks machine with its selection buttons has come into view at my left, but most of it is still off to the side. I will turn left again so the machine front sits squarely ahead of me for placing the plate.", + "Both machines are now directly ahead with the bottle machine centered and clear floor in front of them. I am still a couple of steps away, so I will walk forward to stand close enough to set the carried plate down beside the machine.", + "I am right up against the vending machine, close enough that its selection panel fills my view. This is the spot the task asks for, so I will release the plate here and expect it to come to rest beside the machine.", + "The plate now rests on the floor right beside the vending machine, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000181_y001717_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000181_y001717_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9eb39a15360f0688b6538f766413c0f9838d70a6 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000181_y001717_z-000203_t0_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Go to the green trash bin.", + "Type": 0, + "Start_Pose": [ + 181.422, + 1716.849, + -202.751, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 181.422, + 1716.849, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + 67.767, + 1770.914, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + 67.767, + 1770.914, + -202.751, + 0.0, + 129.56, + -0.0 + ], + [ + -12.391, + 1867.946, + -202.751, + 0.0, + 129.56, + -0.0 + ], + [ + -92.549, + 1964.978, + -202.751, + 0.0, + 129.56, + -0.0 + ], + [ + -142.751, + 2043.785, + -202.751, + 0.0, + 129.56, + -0.0 + ], + [ + -142.751, + 2043.785, + -202.751, + 0.0, + 104.56, + -0.0 + ], + [ + -164.162, + 2164.527, + -202.751, + 0.0, + 104.56, + -0.0 + ], + [ + -195.508, + 2265.078, + -202.751, + 0.0, + 104.56, + -0.0 + ], + [ + -195.508, + 2265.078, + -202.751, + 0.0, + 104.56, + -0.0 + ], + [ + -195.508, + 2265.078, + -202.751, + 0.0, + 104.56, + -0.0 + ] + ], + "Rationale": [ + "I can already pick out the green trash bin standing against the far wall on my left side of this garage level, beside a red fire alarm. It is still a long way off with open floor between us, so I will step forward to cut down that distance before refining my heading.", + "The green bin sits well off to my left against the wall, while my current heading points down the open bay past the parked green car. Turning left should bring the bin and the wall alcove it occupies into the middle of my view so I can walk straight at it.", + "After the turn the green bin is clearly ahead and slightly left, standing next to the lit doorway and the red alarm on the wall. The floor between us is flat and clear apart from the low white posts, so I will keep walking forward to close the gap.", + "The green bin has grown noticeably larger against the wall on my left, so my heading is carrying me toward it. There is still several strides of open concrete before I would be beside it, so I will continue forward.", + "The green bin is now close on my left, sitting in the recess beneath the red alarm box, and its lid detail is clearly resolved. I am not yet within arm's reach of it, so one more forward step should bring me alongside the target.", + "The green bin has drifted to the far left of my view while I am facing across the open bay, so walking straight ahead would carry me past it. I will turn left to put the bin squarely in front of me for a direct final approach.", + "The green bin is now centered ahead of me against the pillar face, with the red alarm and pull station directly above it. The short stretch of floor in front is clear, so I will step forward to stand right at the bin.", + "The green bin now fills the lower center of my view, close against the concrete pier, and its rimmed opening is plainly visible. A final short step forward should place me immediately at the bin rather than a stride short of it.", + "I am now standing right up against the concrete wall with the red alarm pull, and only a dark curved edge of the green bin shows at the very bottom of my view. Since the bin sits low and close to my feet, I will tilt my gaze downward to bring it fully into sight and confirm I have arrived at it.", + "The green trash bin is directly at my feet, close enough to touch. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000181_y001717_z-000203_t0_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000181_y001717_z-000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10ff00d4a6b6fb6487af07e34d3899d43e8daf1f --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000181_y001717_z-000203_t0_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Go to the green car in the parking garage.", + "Type": 0, + "Start_Pose": [ + 181.422, + 1716.849, + -202.751, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 181.422, + 1716.849, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + 67.767, + 1770.914, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -45.888, + 1824.978, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -159.543, + 1879.043, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -273.199, + 1933.108, + -196.258, + 0.0, + 154.56, + -0.0 + ], + [ + -273.199, + 1933.108, + -196.258, + 0.0, + 179.56, + -0.0 + ], + [ + -399.054, + 1934.074, + -202.751, + 0.0, + 179.56, + -0.0 + ], + [ + -524.909, + 1935.041, + -202.751, + 0.0, + 179.56, + -0.0 + ], + [ + -650.765, + 1936.007, + -202.751, + 0.0, + 179.56, + -0.0 + ], + [ + -776.62, + 1936.974, + -202.751, + 0.0, + 179.56, + -0.0 + ], + [ + -902.475, + 1937.94, + -202.751, + 0.0, + 179.56, + -0.0 + ], + [ + -1028.33, + 1938.907, + -202.751, + 0.0, + 179.56, + -0.0 + ], + [ + -1154.186, + 1939.874, + -202.751, + 0.0, + 179.56, + -0.0 + ], + [ + -1154.186, + 1939.874, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -1267.841, + 1993.938, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -1381.496, + 2048.003, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -1495.151, + 2102.068, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -1608.806, + 2156.132, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -1722.462, + 2210.197, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -1810.073, + 2262.979, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + -1810.073, + 2262.979, + -202.751, + 0.0, + 154.56, + -0.0 + ] + ], + "Rationale": [ + "From my start position inside the parking garage I can already pick out a green car parked far ahead in the open bay area beyond the pillars. The floor ahead of me is clear apart from a yellow speed hump off to my right, so I step forward to begin closing that long distance.", + "The green car is still small and far off near the center of my view, so plenty of distance remains. The aisle in front of me stays open between the concrete pillars, so I continue straight forward.", + "A pillar has slid past on my left as I advance, and the green car remains visible ahead across the open floor. Nothing blocks the ground in front of me, so another step forward should keep shrinking the gap.", + "The green car now reads clearly as a covered vehicle parked against the far wall, noticeably larger than before. The lane ahead is still open, so I keep moving straight to gain more ground toward it.", + "A concrete pillar stands close ahead almost on my line of travel, and the wide open aisle continues just to its right. I turn right a small amount to put that clear aisle in front of me while the green car stays in sight off to my left.", + "Now facing along the open aisle, I have clear floor ahead with the green car sitting off to my left near the wall. I step forward to keep making progress down this lane toward the car's row.", + "The green covered car on my left is growing larger as I advance along the aisle, so the distance is shrinking. The way ahead between the pillars is still open, so I continue forward.", + "I can see the green car clearly in its bay to my left, still a few paces further along and to the side. Moving forward again should bring me level with its parking row before I turn toward it.", + "The green covered car sits well ahead on my left, partly hidden behind a concrete column, and the lane in front of me is clear and open. I keep stepping forward along this open bay to close the remaining distance before I need to swing toward it.", + "The green car is now fully visible on my left, larger than before, which tells me my forward steps are genuinely shortening the gap. I continue forward on the same clear heading since nothing blocks the floor ahead.", + "The covered green car has grown noticeably and has drifted further toward my left side as I advance down this lane. I take another step forward to draw level with its bay before turning in toward it.", + "The green car now fills much of my left side and its parking bay is nearly abreast of me. One more forward step should place me close enough to face it squarely.", + "The green car has slid to the far left of my view and I am now essentially alongside its bay, so continuing straight would carry me past it. I turn left to bring the car back in front of me and set a direct heading toward it.", + "After turning, the green covered car sits ahead of me slightly left of center with clear floor between us. I step forward along this new heading to close the short remaining distance.", + "The green car is clearly larger and still ahead and a little to my left, confirming my heading is good. I continue forward to get within a close standing distance of it.", + "The covered green car now dominates the left half of my view and its bay lines run right up toward my feet. I take another forward step to close the last stretch and stand beside it.", + "The green covered car now fills the left half of my view, parked between the marked stall lines just ahead of me. I am still a few paces short of standing beside it, so I step forward again to keep closing the gap.", + "The green car's body and wheel are close enough now that its cover dominates the left side of my view, but its front end still lies forward of me. Another step forward should bring me level with the car rather than stopping short of it.", + "The green cover now spans nearly the whole lower left of my view and the pipe above its bay is right overhead, so I am almost alongside the target. I take one more short step forward to settle directly beside the car.", + "The green car's cover fills my view right beside me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000181_y001717_z-000203_t0_c/infos.json b/dataset/trajectory/UndergroundParking/task_x000181_y001717_z-000203_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6406e403946ddbc93d2fa4c55565a0e93452bc8b --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000181_y001717_z-000203_t0_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Go to the red fire alarm on the wall.", + "Type": 0, + "Start_Pose": [ + 181.422, + 1716.849, + -202.751, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 181.422, + 1716.849, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + 67.767, + 1770.914, + -202.751, + 0.0, + 154.56, + -0.0 + ], + [ + 67.767, + 1770.914, + -202.751, + 0.0, + 129.56, + -0.0 + ], + [ + -12.391, + 1867.946, + -202.751, + 0.0, + 129.56, + -0.0 + ], + [ + -92.549, + 1964.978, + -202.751, + 0.0, + 129.56, + -0.0 + ], + [ + -92.549, + 1964.978, + -202.751, + 0.0, + 104.56, + -0.0 + ], + [ + -124.189, + 2086.795, + -202.751, + 0.0, + 104.56, + -0.0 + ], + [ + -155.829, + 2208.612, + -202.751, + 0.0, + 104.56, + -0.0 + ], + [ + -180.963, + 2265.171, + -202.751, + 0.0, + 104.56, + -0.0 + ], + [ + -180.963, + 2265.171, + -202.751, + 0.0, + 104.56, + -0.0 + ] + ], + "Rationale": [ + "From this open garage bay I can already pick out a small red fire alarm mounted on the concrete wall well to my left, beside a green waste bin. The floor ahead is clear apart from the yellow speed bump off to my right, so I will step forward to close some of that distance before adjusting my heading.", + "The red alarm on the wall sits far to the left of my current heading, so walking straight ahead would carry me past it into the empty bays. I will turn left to bring that wall and its alarm nearer the center of my view.", + "The turn has brought the alarm wall and the corridor doorway beside it into a more central position ahead of me. The intervening floor is bare concrete with only distant pillars, so I will walk forward to shorten the gap to the alarm.", + "The alarm and its dangling cord are noticeably larger now, with the green bin below it, but I am still several strides away from the wall. Nothing blocks the lane between me and that recess, so I will continue forward.", + "The alarm has drifted toward the left portion of my view while a broad concrete pillar fills the space directly in front of me. Turning left should place the alarm ahead of me and open a clear line toward the wall beside the bin.", + "Now the red alarm and its cord sit near the middle of my view on the wall panel beside the corridor entrance and the green bin. With the pillar off to my right and open floor in front, I will step forward to close the remaining distance.", + "The alarm is clearly resolved just ahead, with the manual call point and the red sounder above it on the same wall panel. I am still a couple of paces short of the wall, so I will keep moving forward.", + "The red alarm now dominates the wall directly in front of me, with the bin close under it limiting how much further I can advance. I will take one short step forward so I am standing right at the alarm.", + "The red fire alarm on the wall is directly ahead of me at arm's length, centered in view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a0a0a164ffbfc1db99f6f423847de48298c398c --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Walk to the stepladder, then head toward the illuminated doorway.", + "Type": 3, + "Start_Pose": [ + 226.553, + 1984.461, + -202.751, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 226.553, + 1984.461, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 352.253, + 1978.137, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 352.253, + 1978.137, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 468.848, + 2025.529, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 585.444, + 2072.921, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 702.039, + 2120.313, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 818.635, + 2167.705, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 935.23, + 2215.097, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 1051.826, + 2262.489, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 1051.826, + 2262.489, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 966.227, + 2227.696, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 966.227, + 2227.696, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 966.227, + 2227.696, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 966.227, + 2227.696, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 966.227, + 2227.696, + -202.751, + 0.0, + -77.88, + 0.0 + ], + [ + 966.227, + 2227.696, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 938.171, + 2105.004, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 910.116, + 1982.311, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 910.116, + 1982.311, + -202.751, + 0.0, + -127.88, + 0.0 + ], + [ + 832.837, + 1882.971, + -202.751, + 0.0, + -127.88, + 0.0 + ], + [ + 755.559, + 1783.631, + -202.751, + 0.0, + -127.88, + 0.0 + ], + [ + 678.28, + 1684.29, + -202.751, + 0.0, + -127.88, + 0.0 + ], + [ + 678.28, + 1684.29, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 650.225, + 1561.598, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 650.225, + 1561.598, + -202.751, + 0.0, + -102.88, + 0.0 + ] + ], + "Rationale": [ + "From this open parking level I can pick out the stepladder standing well ahead on the right, beside a bright vertical light on the wall. The floor between us is clear, so I will walk forward to begin closing that distance.", + "After advancing, the stepladder sits noticeably right of where I am facing, so walking straight would carry me past it. I will turn right to bring it toward the middle of my view before continuing.", + "The stepladder now stands near the center of my view with the lit strip just behind it, and a covered car sits well off to my right. With the lane ahead clear, I will step forward toward the ladder.", + "The stepladder is growing larger and holding near the center of my view, which tells me my heading is good. Nothing blocks the parking bay in front of me, so I will keep walking toward it.", + "The ladder's legs and treads are becoming clearly readable, so I still have several strides of ground to cover. My line stays true, so I will continue forward rather than adjust.", + "The stepladder now dominates the middle of my view with the fluorescent tube glowing right beside it. I am close but not yet beside it, so I will take another step forward.", + "The ladder stands only a couple of paces off, its frame now taller than the wall light behind it. I will walk forward again to bring myself right up alongside it.", + "The stepladder fills much of my view and I can see the individual treads and braces clearly, so one more step should put me right at it. I will move forward to close that last bit of ground.", + "The wooden stepladder now fills my view at arm's length, its rungs and spreader bar directly in front of me. That means I have reached the stepladder. I mark arriving here, and now the glowing doorway on the far side of the garage is where I am headed.", + "Standing this close, the ladder legs and rails block most of my forward view, leaving me no clear sight line across the bays. Backing up a short distance should open clearance around the ladder and let me survey the wider floor before I swing toward the lit doorway.", + "With room around the ladder again, my heading still points at it and the wall behind it, where no lit opening shows. The open garage bays stretch away to my left, so I will turn that way to sweep for the illuminated doorway.", + "The ladder has slid to my right edge and I now face rows of columns and a dim recess, with nothing brightly lit ahead. I will keep rotating left to continue scanning the bays for the glowing doorway.", + "My heading has cleared the ladder entirely and shows only bare parking bays and a speed hump, no warmly lit opening. Another left turn should carry my gaze further around the floor toward the doorway I am after.", + "Ahead of me now are the mesh cage and a covered car, still not the lit way out, though the wall on my left is where the brighter light seems to come from. I will turn left again to bring that side of the garage in front of me.", + "A warmly glowing doorway has come into the left part of my view, set in the near wall beyond the cage. One more left turn should place it closer to the center of my heading so I can walk straight at it.", + "The illuminated doorway now sits roughly ahead of me, its light spilling out across the concrete floor, and the route to it is clear open bay. I will walk forward to close the remaining distance toward that opening.", + "The bright doorway glows ahead and slightly left of my heading, with clear open floor between me and it. I will keep walking forward to close the remaining gap before adjusting my heading.", + "After advancing, the lit opening now sits noticeably left of center in my view while I face the blank concrete wall section. I will turn left to bring the doorway onto my line of travel.", + "The glowing doorway now sits near the middle of my view with its frame and the lit interior clearly visible. I will step forward along this heading to close on the opening.", + "The doorway is larger and I can now see the pipe and corridor beyond its frame, so I am closing in properly. I will continue walking forward toward the threshold.", + "The opening is close enough that the corridor lighting and the open door leaf are clearly resolved just ahead and slightly right. Another step forward should bring me to the threshold itself.", + "I am right at the opening, but the swung door panel fills the left of my view and the lit passage runs off to my right. I will turn right to square up with the corridor before entering.", + "The corridor now runs straight ahead of me, framed by the doorway with its lamp overhead and the far room visible at the end. I will step forward through the threshold into the lit passage.", + "I stand inside the brightly lit passage, past its threshold, with its walls and lamp around me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..020a5624ea45d988891c41c9af5934c65c09a36c --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Approach the red fire alarm on the wall, then move to the stepladder.", + "Type": 3, + "Start_Pose": [ + 226.553, + 1984.461, + -202.751, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 226.553, + 1984.461, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 226.553, + 1984.461, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 337.803, + 1925.607, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 449.054, + 1866.752, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 560.304, + 1807.898, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 560.304, + 1807.898, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 636.258, + 1707.541, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 712.213, + 1607.185, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 712.213, + 1607.185, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 712.213, + 1607.185, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 712.213, + 1607.185, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 712.213, + 1607.185, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 712.213, + 1607.185, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 797.855, + 1699.412, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 883.498, + 1791.639, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 969.141, + 1883.866, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 1054.783, + 1976.093, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 1054.783, + 1976.093, + -202.751, + 0.0, + 72.12, + -0.0 + ], + [ + 1093.425, + 2095.873, + -202.751, + 0.0, + 72.12, + -0.0 + ], + [ + 1132.067, + 2215.653, + -202.751, + 0.0, + 72.12, + -0.0 + ], + [ + 1132.067, + 2215.653, + -202.751, + 0.0, + 72.12, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the parking level I can pick out a small red fixture on the far wall to my left, near the lit doorway. My current heading points across the open bays instead of toward it, so I will turn left to bring that wall into the middle of my view before walking.", + "The lit doorway and the concrete wall carrying the red alarm plate now sit ahead and slightly left of my heading. The floor between me and that wall is clear, so I will walk forward to cut down the distance.", + "The wall with the red alarm box and its pull station has grown noticeably larger, confirming my heading is good. I will keep walking forward to close more of the gap.", + "The red alarm plate on the concrete wall ahead is now clearly resolved with its cable and lower pull box. There is still open floor between me and it, so another step forward is the direct way in.", + "I am close to the wall now, but the red alarm has drifted toward the left edge of my view as I advanced. Turning left should re-center it so my remaining steps carry me straight at it.", + "The red alarm and its pull station are centered on the wall panel just ahead of me. A step forward should bring me right up against that section of wall.", + "The red alarm box and the pull station below it are now large and close on the wall in front of me. One more step forward should put me directly at it.", + "The red fire alarm fills my view, its casing and cable close enough to touch on the concrete wall. I have reached it. I mark reaching this alarm and now set off for the stepladder standing out on the parking floor.", + "The red fire alarm fills my view at arm's length, so nothing more is needed at this wall. The stepladder stands out in the open parking bay behind me, not along this concrete face. I turn right to swing my heading off the wall and begin scanning the open floor for it.", + "A concrete pillar face still blocks most of my view, with only a sliver of the lit parking bay showing at the right edge. The stepladder is not yet in sight in that narrow gap. I turn right again to clear the pillar and open up the bay ahead.", + "The parking bay is now mostly open in front of me, but the column edge still crowds the left and I see only bollards and empty stalls. No ladder legs appear in this stretch of floor. I keep turning right to bring the farther side of the bay into view.", + "The wooden stepladder is now visible at the right edge of my view, standing under a bright strip light across the bay. It sits too far to the side for a straight walk from this heading. One more turn right should center it before I set off.", + "The stepladder now sits ahead of me in the open bay, roughly in line with my heading and lit by the vertical strip light behind it. The floor between us is clear of parked cars and obstacles. I walk forward to start closing that distance.", + "The stepladder has grown larger and its splayed legs are clearer, so my heading is carrying me straight at it. There is still a good stretch of empty floor before I reach it. I step forward again to keep closing.", + "The ladder's rungs and side rails are resolving clearly now, drifting slightly right of my center as I gain on it. Nothing stands between me and it on the marked floor. I continue walking forward to shorten the gap.", + "The stepladder now stands tall on the right side of my view, close enough that its top platform reaches near the ceiling pipes. I am not yet beside it, so a further step is worthwhile. I move forward again to draw level with it.", + "The stepladder now stands close on my right, pushed to the edge of my view where I cannot walk straight at it. I will turn right to swing it toward the centre of my heading so my next steps close the remaining gap.", + "The turn brought the stepladder into the middle of my view, standing under the ceiling light a few strides away. I will walk forward along this heading to close on it.", + "The stepladder now fills much of my view, its legs and rungs clearly close ahead. One more step forward should bring me right up beside it.", + "The stepladder's rails and rungs stand directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_c/infos.json b/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b032c01611a5c47eb6982372181c4a36172221f4 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_c/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Navigate to the illuminated doorway, then go to the stepladder.", + "Type": 3, + "Start_Pose": [ + 226.553, + 1984.461, + -202.751, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 226.553, + 1984.461, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 226.553, + 1984.461, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 337.803, + 1925.607, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 449.054, + 1866.752, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 449.054, + 1866.752, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 525.008, + 1766.396, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 600.962, + 1666.039, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 600.962, + 1666.039, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 600.962, + 1666.039, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 600.962, + 1666.039, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 600.962, + 1666.039, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 600.962, + 1666.039, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 686.605, + 1758.266, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 772.248, + 1850.493, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 857.89, + 1942.72, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 943.533, + 2034.947, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 1029.176, + 2127.174, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 1114.818, + 2219.401, + -202.751, + 0.0, + 47.12, + -0.0 + ], + [ + 1114.818, + 2219.401, + -202.751, + 0.0, + 47.12, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the concrete parking deck I can see a warm glowing opening at the far left edge of my view, while a stepladder stands out in the bay to my right. Since the lit doorway is my first destination, I will turn left to bring it in front of me before walking.", + "The glowing doorway now sits ahead and slightly left, with clear open floor between me and the wall that holds it. I will walk forward to close the distance toward that lit opening.", + "The illuminated opening has grown larger and the red alarm box beside it is easier to make out, so my heading is carrying me toward it. I will keep walking forward across the open bay.", + "I am close to the wall now and the bright opening has drifted to the left side of my view, so walking straight would carry me past it. I will turn left to put the doorway squarely ahead.", + "The open door leaf and the warm lit passage behind it are directly in front of me now. I will step forward toward that threshold.", + "The bright frame of the opening fills much of my view and the corridor light beyond is plainly visible, so I am nearly at the threshold. I will take another step forward to stand in the doorway itself.", + "The bright frame stands right beside me with the lamp and the warm corridor opening out just ahead, so I am at the illuminated doorway. I have reached it. I mark that arrival and now head for the stepladder standing out in the parking deck.", + "With the lit doorway reached, the open parking deck beyond the chain link fence lies off to my right. I will turn right to swing my heading out of the corridor and back toward the bay where the stepladder stands.", + "The warm glow of the doorway I reached is now behind my left shoulder, and the open concrete bay stretches away to my right. No stepladder is in that part of the bay yet, so I will keep swinging right to sweep more of the garage floor into view.", + "Facing into the bay I see columns, the yellow gantry beam and empty floor, but still no stepladder. Turning right again should carry my view further along the far wall where the ladder may be standing.", + "A wooden stepladder now stands out against the bright fluorescent tube on the right side of my view. I will turn right once more to bring it closer to the centre of my heading before walking.", + "The stepladder sits roughly ahead of me, backlit by the vertical strip light, with unobstructed floor in between. I will walk forward to begin closing the distance to it.", + "The stepladder has grown larger and stays near the middle of my view, so my heading is good. I keep walking forward to cut down the remaining distance.", + "The ladder's legs and rungs are clearly resolved now against the lit wall, still lined up with my path. Another step forward should bring me appreciably nearer.", + "The stepladder now fills a good part of my view and its shadow spreads across the painted bay markings ahead. I continue walking straight toward it since the floor stays clear.", + "The ladder stands just ahead, its spread legs reaching nearly the full height of my view. One more step forward should place me right beside it.", + "The wooden stepladder now fills the right side of my view, its legs spread just ahead of me on the painted bay markings. One more step should bring me level with it rather than leaving it slightly beyond arm's reach.", + "The stepladder stands directly beside me, its rails filling the near right of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_d/infos.json b/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3123202a95e4644dbee49282ecf6ab154803b23b --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000227_y001984_z-000203_t3_d/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Make your way to the stepladder, then reach the red fire alarm.", + "Type": 3, + "Start_Pose": [ + 226.553, + 1984.461, + -202.751, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 226.553, + 1984.461, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 352.253, + 1978.137, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 352.253, + 1978.137, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 468.848, + 2025.529, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 585.444, + 2072.921, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 702.039, + 2120.313, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 818.635, + 2167.705, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 935.23, + 2215.097, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 1051.826, + 2262.489, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 1051.826, + 2262.489, + -202.751, + 0.0, + 22.12, + -0.0 + ], + [ + 1051.826, + 2262.489, + -202.751, + 0.0, + -2.88, + 0.0 + ], + [ + 1051.826, + 2262.489, + -202.751, + 0.0, + -27.88, + 0.0 + ], + [ + 1051.826, + 2262.489, + -202.751, + 0.0, + -52.88, + 0.0 + ], + [ + 1051.826, + 2262.489, + -202.751, + 0.0, + -77.88, + 0.0 + ], + [ + 1051.826, + 2262.489, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 1023.77, + 2139.797, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 995.715, + 2017.104, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 967.66, + 1894.412, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 939.605, + 1771.72, + -202.751, + 0.0, + -102.88, + 0.0 + ], + [ + 939.605, + 1771.72, + -202.751, + 0.0, + -127.88, + 0.0 + ], + [ + 862.326, + 1672.379, + -202.751, + 0.0, + -127.88, + 0.0 + ], + [ + 790.763, + 1592.528, + -202.751, + 0.0, + -127.88, + 0.0 + ], + [ + 790.763, + 1592.528, + -202.751, + 0.0, + -127.88, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the parking level I can pick out the wooden stepladder standing well ahead on the right, near the bright strip light. A thick concrete column crowds the right side of my view, so I will walk straight forward first to clear it and shorten the distance.", + "Now that I have moved past the column, the stepladder sits ahead but noticeably off to my right rather than straight in front. I will turn right to bring it toward the center of my view before continuing.", + "The stepladder now sits near the middle of my view, with a clear stretch of painted parking floor between us. I will walk forward along this heading to close the gap.", + "The ladder has grown larger and stays centered, confirming my heading is good. Nothing blocks the bay in front of me, so I will keep walking toward it.", + "The stepladder is clearly closer, its legs and rungs now distinct against the lit wall behind it. I am still several strides short, so I will continue advancing.", + "The ladder fills more of my view and sits slightly right of center, but close enough to my heading that no turn is needed yet. I will take another step forward to keep closing.", + "The stepladder now looms just ahead, its top platform above my eye line and the floor drain visible at its base. A little more forward movement should put me right beside it.", + "The ladder's frame now spans much of my view, though I am still a step short of standing at it. I will move forward once more to draw right up alongside it.", + "The wooden stepladder now fills my view at arm's length, its rails and spreader bar right in front of me. I have reached the stepladder. I mark reaching it and now set off to find the red fire alarm on one of these walls.", + "Standing this close, the ladder blocks most of my forward view and I see no red alarm on the walls beyond it. I will turn left to swing my view off the ladder and begin sweeping the open bay for a red fire alarm box.", + "The ladder has slid to the right edge and a wide span of columns and a distant doorway is opening up, but nothing red stands out on those far walls. I will keep turning left to bring more of the garage wall line into view.", + "This heading shows mostly open parking bays and low speed bumps, with no red alarm plate on any wall I can read from here. Turning left again should carry my view toward the nearer walls behind me on that side.", + "A covered car and a chain-link enclosure now dominate the view, and the wall behind them still offers no clear red alarm. I will continue the left sweep to bring the remaining side of this level in front of me.", + "Off to my left a warmly lit doorway breaks the concrete wall, and small red fittings sit on the wall beside it. I will turn left once more to put that lit doorway wall in front of me so I can approach and check those red units.", + "The lit doorway and the concrete wall carrying red fixtures now sit ahead of me, with the fenced enclosure and covered car clear to the right. Walking forward should close the gap so I can make out whether one of those red units is the fire alarm.", + "The doorway and the red fitting above it are noticeably larger, so my heading is carrying me straight at that wall. I will step forward again to keep closing on the red unit until I can reach it.", + "The small red alarm unit on the wall left of the fenced cage is still some distance off, near the lit doorway. Nothing blocks the open floor ahead of me, so I will keep walking straight to close that gap.", + "The red alarm box and its pull station are now clearly readable on the concrete wall to my left front, larger than a moment ago. The floor ahead is still clear, so another step forward should bring me within reach of that wall.", + "I am close to the wall now, but the red alarm sits at the left edge of my view behind the concrete column while my heading points along the fenced cage. Turning left should swing the alarm and the wall it hangs on to the centre of my view.", + "The red alarm box with its dangling pull station is now squarely ahead on the wall beside the open doorway. The floor in front is clear, so I will step forward to bring myself right up to it.", + "The red pull station hangs just ahead at chest height, with the alarm box above it cropped by the top of my view. One more short step should place me directly at the wall within arm's reach of it.", + "The red fire alarm unit is directly in front of me at arm's length on the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000262_y001601_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000262_y001601_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7e68e2510350890cef8ee4252ee608333cd17c --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000262_y001601_z-000203_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the car covered with a white cloth in the parking garage.", + "Type": 0, + "Start_Pose": [ + 262.103, + 1601.214, + -202.751, + 0.0, + 95.04, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 262.103, + 1601.214, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 262.103, + 1601.214, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + 305.067, + 1719.513, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + 348.03, + 1837.812, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + 390.994, + 1956.11, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + 433.958, + 2074.409, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + 476.438, + 2158.953, + -202.751, + 0.0, + 70.04, + -0.0 + ], + [ + 476.438, + 2158.953, + -202.751, + 0.0, + 70.04, + -0.0 + ] + ], + "Rationale": [ + "Scanning this parking level, I see a car draped in a pale cover parked to my left, past the nearest concrete column. My body is currently facing the vending machines and the lit corridor straight ahead, so the cover sits well off my line of travel. I will turn left to bring the covered car closer to the center of my view before walking toward it.", + "The covered car now sits ahead of me and slightly left, with clear open floor between us and no obstruction in the bay markings. My heading looks usable for a straight approach, so no further turning is needed yet. I will step forward to begin closing the distance to it.", + "The draped car appears noticeably larger than before, so my walking direction is carrying me toward it. The floor between me and the parking bay stays clear, with the column edge safely to my right. I will keep moving forward to shorten the remaining gap.", + "I can now make out the tire and wheel arch under the hanging cover, which tells me I am within a few strides of the car. The bay ahead is unobstructed and the target remains near the middle of my view. I will continue forward to close the remaining distance.", + "The covered car fills much of the space in front of me, with its front end and the marked bay lines just a short walk away. Nothing blocks the floor between my feet and the cover. I will take another step forward to arrive right at the car.", + "The pale cover is now directly in front of me at close range, its front lip and the dark tire nearly at my feet. A final short step should place me immediately at the covered car rather than leaving a gap. I will move forward once more, expecting the cover to stop me at arm's reach.", + "The draped car cover is directly in front of me at arm's reach, filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000262_y001601_z-000203_t0_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000262_y001601_z-000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d8e687dccc0b6865edcd3cee93dde82f9e7ba3e --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000262_y001601_z-000203_t0_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Navigate to the payment machine on the wall.", + "Type": 0, + "Start_Pose": [ + 262.103, + 1601.214, + -202.751, + 0.0, + 95.04, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 262.103, + 1601.214, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 251.046, + 1726.586, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 239.989, + 1851.959, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 228.932, + 1977.331, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 246.654, + 2024.476, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 248.079, + 2025.999, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 248.079, + 2025.999, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 256.196, + 1933.956, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 264.314, + 1841.913, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 264.314, + 1841.913, + -202.751, + 0.0, + 120.04, + -0.0 + ], + [ + 201.308, + 1950.866, + -202.751, + 0.0, + 120.04, + -0.0 + ], + [ + 138.303, + 2059.819, + -202.751, + 0.0, + 120.04, + -0.0 + ], + [ + 138.303, + 2059.819, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 127.246, + 2185.192, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 116.569, + 2277.815, + -202.751, + 0.0, + 95.04, + -0.0 + ], + [ + 116.569, + 2277.815, + -202.751, + 0.0, + 95.04, + -0.0 + ] + ], + "Rationale": [ + "Across the open garage floor I can see a wall recess with two upright machines, and the left unit with its small screen and slot panel looks like the payment machine I need to reach. My heading already points toward that recess with clear floor between me and it, so I will step forward to begin closing the distance.", + "The recessed machines have grown noticeably larger ahead of me, confirming that my heading is carrying me toward the payment panel. The bollards sit off to either side of my line of travel, so I will continue straight forward.", + "The payment panel on the wall is now clearly readable slightly left of center, with the drink machine beside it and open floor still between us. A concrete column stands to my left but does not block my line, so another forward step should keep shrinking the gap.", + "I am close enough now that the payment panel and the machine beside it fill much of my forward view, and the low ceiling beam overhead marks the recess I am entering. A bollard sits just to my left, so I will keep pressing straight ahead toward the panel.", + "My last step gained much less ground than the earlier ones, since the payment panel and the drink machine barely shifted in my view, suggesting something near my feet is limiting forward travel. The panel still looks a little farther than a comfortable arm's reach, so I will try one more forward step to close the remainder.", + "The payment kiosk on the wall is close ahead on my left, but my last forward step barely shifted my position and the scene in front of me looks essentially unchanged, so something low or solid is holding me in place. I will press forward once more to test whether there is still any usable clearance along this line toward the kiosk. If I stay stuck, the route straight ahead is not passable from here.", + "Two forward attempts in a row left my position unchanged, with the same near wall, kiosk, and bollard filling my view, so I am pinned against an obstruction on this line. I will step backward to open distance from whatever is blocking me and recover room to see the surrounding floor. That should let me judge a clearer approach to the wall-mounted payment machine.", + "Backing off once has already widened my view, and I can now see the payment kiosk beside the drink machine with a broad concrete pillar and bollards between me and it. I will step back again to gain more maneuvering room before committing to a new line toward the wall. With more space behind me, turning without scraping the pillar should be easier.", + "From this pulled back position, a heavy concrete pillar and a bollard sit almost directly on my straight line to the payment kiosk, which is what stalled my earlier forward pushes. I will turn right so my heading points into the open floor beside that pillar, keeping the kiosk off to my left. That should give me a passable lane to skirt the obstruction before closing in again.", + "After reorienting, the floor ahead of me is clear of pillars and bollards, and the payment kiosk with its screen sits on the wall to my left front. I will walk forward along this open lane to close distance without running into the concrete support that blocked me before.", + "The wall-mounted payment kiosk with its small screen is now at the near left, with the tall drink machine beside it, and the floor straight ahead of me is clear. I will step forward again to close the remaining distance along this bay so the kiosk comes alongside me.", + "The drink machine now looms on my left and the payment kiosk sits just past it against the same wall, so my current heading carries me along the wall rather than toward it. I will turn left to bring the wall-mounted payment machine in front of me before stepping in.", + "After the turn, the payment kiosk and the drink machine are both squarely ahead of me on the wall, with clear floor between us. I will step forward to close that remaining gap toward the kiosk.", + "The machines now fill most of what I see, with the payment kiosk and its buttons at my left and only a short stretch of floor remaining. I will take one more step forward to stand right at the wall unit, close enough to reach it.", + "The machine's panel is directly in front of me at arm's length against the wall. The navigation goal is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000392_y001650_z-000203_t3_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000392_y001650_z-000203_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c71c7b751eeff967890e4e6438e5ceb1aa20aaab --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000392_y001650_z-000203_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the car covered with a white cloth, then head toward the green bin.", + "Type": 3, + "Start_Pose": [ + 392.441, + 1649.52, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 392.441, + 1649.52, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 394.023, + 1775.369, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 395.604, + 1901.218, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 397.186, + 2027.067, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 398.767, + 2152.916, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 398.767, + 2152.916, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 397.606, + 2060.524, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 397.606, + 2060.524, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 397.606, + 2060.524, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 344.497, + 2133.467, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 344.497, + 2133.467, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 223.345, + 2167.567, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 102.194, + 2201.667, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + -18.958, + 2235.767, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + -140.109, + 2269.867, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + -140.109, + 2269.867, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + -140.109, + 2269.867, + -202.751, + 0.0, + 164.28, + -0.0 + ] + ], + "Rationale": [ + "In this parking level I can see a car draped in a white cloth sitting in a bay slightly left of my heading. That draped car is the first place I need to reach, so I walk straight forward to close the open floor between us.", + "The cloth covered car has grown noticeably larger and its dark tires are now clear beneath the drape, so my heading is good. Nothing blocks the floor between us, so I keep walking forward to shorten the remaining gap.", + "The draped car now fills much of the left half of my view and I can make out the folds of cloth over its hood. I am still a couple of bay lengths short of standing beside it, so I advance again.", + "I am nearly level with the rear corner of the cloth covered car, with the pipe-lined wall and a vending machine to my right. One more step forward should bring me right alongside the covered vehicle.", + "The white cloth draped over the car fills my view from arm's length, its curve running right past my shoulder. I have reached the covered car. I mark reaching it before setting off for the green bin standing near the vending machines.", + "Standing this tight against the covered car, the drape and the neighbouring pillar crowd almost everything out of my view. Backing up a few paces should open enough room to swing my heading toward the bin area by the vending machines without scraping past the car.", + "With space regained, the covered car lies off to my left while the lit vending machines and the corridor beyond them sit to my right. The green bin belongs over on that side, so I turn right to bring that stretch of the garage into view.", + "The turn brought the vending machines front and centre, and I can now spot the green bin standing just past them at the right edge of my view. Another turn right should place that bin closer to the middle of my heading before I walk toward it.", + "With the vending machines now on my left, the aisle opens out and I can pick out the green bin standing near the pillars far down the bay. Nothing blocks the floor between us, so I will walk forward to close that distance.", + "The green bin sits noticeably right of my current heading, near the pillar past the vending machines, while the wall and machines crowd my left side. I turn right so my path points at the bin instead of the wall beside it.", + "The green bin now sits just ahead in the open bay, with clear painted floor between us and no pillars in the way. I will walk forward to shorten the distance to it.", + "The bin has grown larger and stands slightly left of straight ahead, next to the pillar with the red alarm box. The route stays clear, so I keep walking toward it.", + "The green bin is close now, standing against the pillar just left of my heading, and I can make out its rim and dark opening. A couple more strides should bring me right up beside it, so I walk on.", + "The bin fills a good part of my left foreground and is only a short step away beside the pillar. I will move forward once more to stand right at it.", + "I am right up against the pillar and the bin has dropped out of my level view, leaving only a dark edge at the bottom left. I look down to bring it back into sight and confirm I am standing at it.", + "The green bin stands directly beside me, within arm's reach at the pillar. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000392_y001650_z-000203_t3_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000392_y001650_z-000203_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d1b0e6a693a0b794856e8c33b19cd8333b01b7c8 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000392_y001650_z-000203_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Go to the green bin, then walk over to the car covered with a white cloth.", + "Type": 3, + "Start_Pose": [ + 392.441, + 1649.52, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 392.441, + 1649.52, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 392.441, + 1649.52, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 340.688, + 1764.246, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 288.936, + 1878.973, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 288.936, + 1878.973, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 193.546, + 1961.079, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 98.157, + 2043.184, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 12.83, + 2127.008, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + -82.56, + 2209.113, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + -82.56, + 2209.113, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + -82.56, + 2209.113, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + -82.56, + 2209.113, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + -82.56, + 2209.113, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + -82.56, + 2209.113, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + -82.56, + 2209.113, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 39.411, + 2240.158, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 161.381, + 2271.202, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 283.367, + 2294.567, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 354.359, + 2310.445, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 354.359, + 2310.445, + -202.751, + 0.0, + 14.28, + -0.0 + ] + ], + "Rationale": [ + "My first destination is the green bin, and I can pick it out far to my right, standing against the wall beside the bright doorway. My body faces the covered car in the middle of the bay instead, so I will turn right to put the bin nearer my heading before walking.", + "The green bin now sits ahead on my right, beside the doorway and the vending machines, with open floor and only slim posts between us. Nothing blocks the lane, so I will walk forward to cut down that distance.", + "The vending machines and the doorway have grown noticeably, and the green bin beside them is still some way off on my right. The floor ahead stays clear, so I will keep walking to close in on the bin.", + "The green bin has drifted to the right of my heading, sitting past the doorway while a concrete column crowds my left. A small turn to the right should place the bin closer to straight ahead so my next steps carry me directly toward it.", + "The green bin now stands almost straight ahead of me, tucked against the wall beside the open doorway. The lane between the bollards is clear, so I will step forward toward it.", + "The bin is larger now and holds its place just ahead of me beneath the fire alarm on the pillar. A few more strides should bring me right up beside it, so I will keep moving forward.", + "The green bin stands close ahead and slightly left, against the pillar at the mouth of the side corridor. I am not yet alongside it, so I will walk forward again to finish closing that gap.", + "The green bin is now only a short distance ahead on my left, its lid clearly visible at close range. One more step should put me level with it, so I will advance.", + "The green bin with its pale rim stands directly beside me at arm's length against the concrete pillar. I have reached it, so I mark arriving here before setting off toward the car draped in the white cloth.", + "The bin is right at my side and nothing under a white cloth appears in this narrow slot between pillar and wall. I will turn left to swing my view off the bin and start sweeping the bays for the covered car.", + "My view has swung onto a narrow side passage ending at a plain door, with only pipework and the bin edge beside it. There is no cloth-covered car this way, so I will keep rotating left to bring more of the garage floor into view.", + "The passage is now squarely ahead and clearly closes at a single door, offering nothing that matches a car under a white sheet. Another left turn should carry my heading past this corridor and back toward the open parking area.", + "Tall vending machines have come into the left of my view, which means the bays beyond them are opening up as I rotate. I will turn left once more to clear that machine front and look for the white-draped car.", + "Past the edge of the vending machine on the far left I can now see a low white shrouded shape sitting in the open bay. One more left turn should bring that cloth-covered car nearer the middle of my view so I can walk straight at it.", + "The car under the white cloth is now clearly ahead of me in the open bay, with the vending machines pushed to my right and clear floor between us. I will walk forward to close that gap.", + "The white sheet over the car has grown larger and sits just ahead and slightly left, with only the pay machine crowding my right shoulder. I will step forward again to come up close beside it.", + "The sheeted car is now clearly ahead and slightly left, past the vending machine edge on my right, with open floor between us. I will keep walking straight to close the remaining gap to it.", + "The white cloth over the car now fills the right half of my view, so I am nearly alongside it. One more short step forward should bring me right up beside the covered car.", + "The car under the white cloth is directly beside me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000477_y001918_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000477_y001918_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..129ee505f80b40c92125c3955561b5cd0954d309 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000477_y001918_z-000203_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the ladder standing on the garage floor.", + "Type": 0, + "Start_Pose": [ + 476.67, + 1917.611, + -202.751, + 0.0, + 5.76, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 476.67, + 1917.611, + -202.751, + 0.0, + 5.76, + -0.0 + ], + [ + 476.67, + 1917.611, + -202.751, + 0.0, + 30.76, + -0.0 + ], + [ + 584.823, + 1981.981, + -202.751, + 0.0, + 30.76, + -0.0 + ], + [ + 692.976, + 2046.35, + -202.751, + 0.0, + 30.76, + -0.0 + ], + [ + 801.128, + 2110.72, + -202.751, + 0.0, + 30.76, + -0.0 + ], + [ + 909.281, + 2175.09, + -202.751, + 0.0, + 30.76, + -0.0 + ], + [ + 1017.434, + 2239.46, + -202.751, + 0.0, + 30.76, + -0.0 + ], + [ + 1017.434, + 2239.46, + -202.751, + 0.0, + 30.76, + -0.0 + ] + ], + "Rationale": [ + "I can see the wooden stepladder standing open on the garage floor well to my right, near the bright wall light. My body is aimed straight down the empty bays, so I will turn right to bring the ladder closer to the center of my view before walking toward it.", + "After turning, the stepladder now sits near the middle of my view with clear floor between us. I will step forward along this heading to start closing the sizable gap.", + "The ladder has grown noticeably larger and stays close to my forward direction, confirming my heading is good. I will keep walking forward since the bay ahead is clear of obstacles.", + "The ladder's legs and rungs are now clearly resolved and it still lies almost straight ahead of me. I will continue forward to reduce the remaining distance without changing heading.", + "The ladder now rises well above my eye level and fills much of the space in front of me, so I am close but not yet beside it. I will take another step forward to finish closing in.", + "The ladder stands directly in front of me, its legs planted on the concrete just a short step away. I will move forward once more to end up right at it.", + "The stepladder's legs and rungs are right in front of me, within arm's reach on the garage floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000477_y001918_z-000203_t0_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000477_y001918_z-000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03ce00e9c0d315e43e4132a0a5ea0652b12265a7 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000477_y001918_z-000203_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the metal chain-link cage enclosure.", + "Type": 0, + "Start_Pose": [ + 476.67, + 1917.611, + -202.751, + 0.0, + 5.76, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 476.67, + 1917.611, + -202.751, + 0.0, + 5.76, + -0.0 + ], + [ + 476.67, + 1917.611, + -202.751, + 0.0, + -19.24, + 0.0 + ], + [ + 595.499, + 1876.137, + -202.751, + 0.0, + -19.24, + 0.0 + ], + [ + 714.329, + 1834.663, + -202.751, + 0.0, + -19.24, + 0.0 + ], + [ + 833.158, + 1793.19, + -202.751, + 0.0, + -19.24, + 0.0 + ], + [ + 951.987, + 1751.716, + -202.751, + 0.0, + -19.24, + 0.0 + ], + [ + 951.987, + 1751.716, + -202.751, + 0.0, + -44.24, + 0.0 + ], + [ + 951.987, + 1751.716, + -202.751, + 0.0, + -69.24, + 0.0 + ], + [ + 996.599, + 1634.028, + -202.751, + 0.0, + -69.24, + 0.0 + ], + [ + 996.599, + 1634.028, + -202.751, + 0.0, + -69.24, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the parking level, the metal chain-link cage sits at the extreme left edge of my view, barely inside my field of vision. I will turn left to swing my heading toward that enclosure so the approach path across the open floor stays visible.", + "After the turn the caged bay with its mesh panels and the yellow height-limit beam is now well inside my view on the left, with clear floor between me and it. I will move forward to begin closing that distance.", + "The chain-link panels and the covered vehicle behind them are noticeably larger and the height-limit sign overhead is now readable, so I am gaining on the enclosure. I will continue forward since the lane ahead remains clear.", + "The wire mesh now dominates the left side of my view and I can make out individual links and the frame posts of the cage. Another forward step should bring me alongside the enclosure rather than stopping short of it.", + "The fenced bay is close on my left, though its corner and gate still lie slightly ahead of my current position. I will take one more forward step to draw level with the enclosure before turning toward it.", + "I am now beside the chain-link enclosure, but it lies off to my left while my heading points down the open parking aisle. I will turn left to begin squaring my facing onto the mesh wall.", + "The wire mesh wall now covers much of the left and center of my view, but its plane is still angled sharply away from me. One more left turn should put the fence squarely in front of me for a direct final approach.", + "The chain-link panel and its steel frame are now centered directly ahead of me, with a short stretch of bare floor still between us. I will step forward to close that last gap and stand right at the enclosure.", + "The chain-link mesh now fills my view at arm's length, its wire and rail clearly resolved directly ahead. The approach requirement is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000477_y001918_z-000203_t0_c/infos.json b/dataset/trajectory/UndergroundParking/task_x000477_y001918_z-000203_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d21603c3ef7e3e2d2f8d4af4a3ce391f0042421 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000477_y001918_z-000203_t0_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the thin bollard post on the floor.", + "Type": 0, + "Start_Pose": [ + 476.67, + 1917.611, + -202.751, + 0.0, + 5.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 476.67, + 1917.611, + -202.751, + 0.0, + 5.76, + -0.0 + ], + [ + 601.894, + 1930.242, + -202.751, + 0.0, + 5.76, + -0.0 + ], + [ + 727.117, + 1942.874, + -202.751, + 0.0, + 5.76, + -0.0 + ], + [ + 727.117, + 1942.874, + -202.751, + 0.0, + -19.24, + 0.0 + ], + [ + 845.946, + 1901.4, + -202.751, + 0.0, + -19.24, + 0.0 + ], + [ + 964.776, + 1859.926, + -202.751, + 0.0, + -19.24, + 0.0 + ], + [ + 1083.605, + 1818.452, + -202.751, + 0.0, + -19.24, + 0.0 + ], + [ + 1083.605, + 1818.452, + -202.751, + 0.0, + -19.24, + 0.0 + ] + ], + "Rationale": [ + "I can see a thin vertical bollard post standing on the garage floor slightly left of center, ahead of the covered car and the chain-link enclosure. The floor between us is open and clear, so I will move forward to begin closing that distance.", + "The bollard post has grown slightly larger and drifted a bit further left as I advanced, confirming I am closing on it. The lane ahead remains clear of obstacles, so I will continue forward to reduce the remaining gap.", + "The bollard now sits well off to my left side, so continuing straight would carry me past it rather than toward it. I will turn left to swing my heading onto the post and put it near the middle of my view.", + "After the turn the thin bollard is roughly centered ahead of me on the bare floor, with the covered car and cage off to the left. With my heading now on the target, I will move forward to close the distance.", + "The bollard is noticeably taller and closer, still held near the center-left of my view, so my heading is good. I will advance again to bring myself within a step or two of the post.", + "The bollard with its square base now stands large just ahead and slightly left, only a short gap of floor remaining. One more forward step should place me right beside the post.", + "The thin bollard post fills the near lower-left of my view, directly at my side. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000612_y001261_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000612_y001261_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7bb4aac74dc282d9b9b0a56c9cec98c4ee7fa3b4 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000612_y001261_z-000203_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the metal stepladder in the open area.", + "Type": 0, + "Start_Pose": [ + 612.422, + 1260.991, + -202.751, + 0.0, + -86.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 612.422, + 1260.991, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 620.325, + 1135.38, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 628.227, + 1009.77, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 636.13, + 884.159, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 644.033, + 758.548, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 651.936, + 632.938, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 651.936, + 632.938, + -202.751, + 0.0, + -111.4, + 0.0 + ], + [ + 606.013, + 515.756, + -202.751, + 0.0, + -111.4, + 0.0 + ], + [ + 560.09, + 398.574, + -202.751, + 0.0, + -111.4, + 0.0 + ], + [ + 560.09, + 398.574, + -202.751, + 0.0, + -111.4, + 0.0 + ] + ], + "Rationale": [ + "From this narrow passage I can already see a metal stepladder standing in the open work area ahead, slightly left of my center line. The route straight ahead is clear floor, so I will move forward to leave the corridor and start closing the gap.", + "The stepladder is larger now and remains close to my heading, confirming I am tracking the right target. I will keep moving forward since the open floor between the shelving on my left and the fenced enclosure on my right is unobstructed.", + "I have emerged into the open area and the stepladder stands clearly ahead of me on the left side of the space. Distance is still substantial, so another forward step should continue closing it without needing a turn yet.", + "The stepladder now shows its full frame and rungs, so I am within a few steps of it. I will advance again along this heading to keep reducing the distance before fine-tuning my orientation.", + "The ladder is close and drifting toward the left part of my view as I pass along its side. The floor ahead is still open, so one more forward step should bring me nearly alongside it.", + "The stepladder has slipped to the far left edge of my view, meaning my heading is no longer pointed at it. I will turn left to bring the ladder back toward the center of my view before advancing further.", + "The turn brought the stepladder back into the middle-left of my view with clear floor in front of it. I will move forward to close the remaining short distance to the ladder.", + "The stepladder now dominates my view and its legs are only a short step away. I will take one more forward step to end up directly beside it, close enough to count as reached.", + "The metal stepladder now fills my view at arm's length, its rails and blue top cap directly ahead. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000612_y001261_z-000203_t0_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000612_y001261_z-000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1521a3ea51a3d4b840291db8bec735dfcca4f7f --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000612_y001261_z-000203_t0_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Head toward the blue barrel on the floor.", + "Type": 0, + "Start_Pose": [ + 612.422, + 1260.991, + -202.751, + 0.0, + -86.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 612.422, + 1260.991, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 620.325, + 1135.38, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 628.227, + 1009.77, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 636.13, + 884.159, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 644.033, + 758.548, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 651.936, + 632.938, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 659.838, + 507.327, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 667.741, + 381.716, + -202.751, + 0.0, + -86.4, + 0.0 + ], + [ + 675.644, + 256.106, + -202.161, + 0.0, + -86.4, + 0.0 + ], + [ + 683.547, + 130.495, + -202.161, + 0.0, + -86.4, + 0.0 + ], + [ + 683.547, + 130.495, + -202.161, + 0.0, + -111.4, + 0.0 + ], + [ + 683.547, + 130.495, + -202.161, + 0.0, + -111.4, + 0.0 + ], + [ + 683.547, + 130.495, + -202.161, + 0.0, + -111.4, + 0.0 + ] + ], + "Rationale": [ + "From this narrow passage I can see the open basement area ahead, and a small blue drum sits on the floor near the middle of that space, slightly left of my heading. The corridor floor in front of me looks clear, so I will step forward to leave the passage and close distance on the barrel.", + "The passage has opened into the utility room, with shelving on my left and a chain-link enclosure on my right, and the blue drum is still visible ahead near the center of the floor. My heading is already pointed toward it, so another forward step should keep shrinking the gap without any turning.", + "The blue drum is now noticeably larger ahead of me, resting on the wet concrete beyond the ladder area. Nothing blocks the lane between me and it, so I will continue straight forward.", + "The barrel sits just left of my forward axis, past the stepladder on the left side of the room, and it is clearly closer than before. The offset is small enough that continued straight motion should still bring me near it, so I will move forward again.", + "I can now make out the drum lying on its side on the floor a moderate distance ahead, a bit left of center. The middle of the room is open, so I will take another forward step to keep closing in on it.", + "The blue barrel is distinctly visible on the floor ahead and to the left, with cardboard boxes and the fenced area off to the right. I will advance again to reduce the remaining distance before I need to adjust my heading.", + "The drum now fills a good part of the lower left of my view, only a few steps away on the open floor. Since I am still slightly short of it, I will keep moving forward rather than turning yet.", + "The blue barrel is close now, lying on its side at my lower left with its end facing me. One more forward step should bring me right alongside it, after which I can angle my view to confirm I am at it.", + "The blue barrel lying on its side now fills the lower left of my view, so I am nearly beside it but still a step short. The floor ahead between me and the fenced enclosure is clear, so I will advance once more to close the last of the gap.", + "After closing in, the barrel has slipped out of my forward view because it now sits very close on my left side. I will turn left so the barrel comes back into the center of my view for a clean final heading toward it.", + "Only the top curve of the blue barrel appears at the very bottom edge of my view, meaning it lies on the floor right in front of me. I will tilt my gaze down to bring the whole barrel into view and confirm I am at it.", + "The blue barrel lies on the floor directly in front of me, filling the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e81bc81f3cbbc669b22c82b87a95ae297c22a5f --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Scan the surroundings to locate the doorway bathed in warm orange light, then move to that location.", + "Type": 1, + "Start_Pose": [ + 620.97, + 2102.744, + -202.751, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -154.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -129.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -104.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -79.56, + 0.0 + ], + [ + 643.776, + 1978.968, + -202.751, + 0.0, + -79.56, + 0.0 + ], + [ + 666.583, + 1855.193, + -202.751, + 0.0, + -79.56, + 0.0 + ], + [ + 689.389, + 1731.418, + -202.751, + 0.0, + -79.56, + 0.0 + ], + [ + 689.389, + 1731.418, + -202.751, + 0.0, + -104.56, + 0.0 + ], + [ + 657.749, + 1609.601, + -202.751, + 0.0, + -104.56, + 0.0 + ], + [ + 657.749, + 1609.601, + -202.751, + 0.0, + -104.56, + 0.0 + ] + ], + "Rationale": [ + "From this parking level I see only cool grey concrete, pillars, and a parked car to the left, with no warm orange doorway anywhere in front of me. A faint warm tint spills along the right edge of my view, so I will turn right to scan that side of the garage.", + "Turning has brought a tall orange-brown door panel and a warm glow into the right portion of my view, which matches the warm light I am searching for. I will continue turning right to bring that lit opening fully into the center before committing to it.", + "The open doorway with warm orange light pouring across the floor is now clearly visible slightly right of center. One more turn to the right should line my heading up with that opening so I can walk straight toward it.", + "The warm orange doorway sits ahead of me now, with its glow washing across the floor between us. It is still some distance away, so I will walk forward to close the gap.", + "The lit opening has grown larger and the orange reflection on the floor now reaches my feet, confirming I am closing on it. I will keep walking forward toward the doorway.", + "The doorway is close enough that I can see the corridor and pipes beyond it, though the frame still sits a little left of my heading. Another step forward should bring me right up to the threshold.", + "I am now at the doorway, but it is framed on the left side of my view while bare concrete wall fills the right. I will turn left to square myself with the opening before stepping through.", + "The warm orange doorway is now centered directly ahead with its threshold just in front of me. I will step forward to reach that lit opening.", + "I am standing inside the warm orange lit doorway, its frame now behind me and the glowing passage surrounding me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f74482f4e17af53a9447485ccf56e7a41ef8ec17 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search nearby for the freestanding ladder in the parking garage, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + 620.97, + 2102.744, + -202.751, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -154.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -129.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -104.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -79.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -54.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -29.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -4.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + 20.44, + -0.0 + ], + [ + 738.905, + 2146.697, + -202.751, + 0.0, + 20.44, + -0.0 + ], + [ + 856.839, + 2190.65, + -202.751, + 0.0, + 20.44, + -0.0 + ], + [ + 974.774, + 2234.604, + -202.751, + 0.0, + 20.44, + -0.0 + ], + [ + 1082.353, + 2256.932, + -202.751, + 0.0, + 20.44, + -0.0 + ], + [ + 1082.353, + 2256.932, + -202.751, + 0.0, + 20.44, + -0.0 + ] + ], + "Rationale": [ + "From where I stand the garage opens mostly to the left behind a broad concrete column, with a parked car and a blank wall ahead, and no ladder anywhere in view. I will turn right to begin a steady scan of the surrounding bays instead of staring at this blocked stretch of wall.", + "The newly revealed sector shows a long concrete wall, a green exit sign and an orange door on the right, but still no freestanding ladder. I will keep rotating right in the same direction so my scan stays consistent and covers the next unseen slice of the level.", + "Ahead of me now is an open doorway into a bright side room, which is enclosed space rather than the open parking floor where a freestanding ladder would likely stand. I will continue turning right to keep uncovering the wider garage bays beyond this doorway.", + "A caged storage area and a parked car have come into view on the right, so the floor is starting to open up, but there is still no ladder in this sector. I will keep turning right to bring the wider, better lit parking bays into my field of view.", + "The view now spans a wide, brightly lit parking area with columns and marked bays, yet nothing ladder-like stands on the floor here. I will continue the same rightward rotation to check the remaining unscanned portion of this open level.", + "Further right the floor continues past the columns toward a wall with a fluorescent light, and that stretch is still outside my view. I will turn right once more to expose that last unseen section before deciding where to head.", + "A freestanding stepladder is now clearly standing on the open floor near the lit wall on my right side. I will turn right once more to bring it in front of me so I can walk straight toward it.", + "The stepladder is now centered ahead of me with clear, unobstructed floor between us. I will walk forward to close the distance toward it.", + "The freestanding stepladder stands clearly ahead of me in the open bay, slightly right of center, and the floor between us is flat and unobstructed. I will keep walking straight toward it, since it is still several parking bays away and closing the gap should bring me to its location.", + "The ladder now fills much more of my view and its legs and steps are clearly resolved, confirming my heading is taking me straight to it. Nothing blocks the smooth concrete floor ahead, so I will continue advancing to close the remaining distance.", + "The ladder now towers in front of me and its rungs and top platform are close enough to see in detail, so only a short gap remains. I will take one more step forward to finish arriving at its location without walking into it.", + "The freestanding ladder is directly beside me, filling the right of my view at arm's reach. The search and approach are complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_c/infos.json b/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b26e65d9ad307836b71a46d7c38f1d43b3042c04 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_c/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Explore the parking area until you identify the vending machine near the green trash bin, then approach it.", + "Type": 1, + "Start_Pose": [ + 620.97, + 2102.744, + -202.751, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -154.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -179.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + 155.44, + -0.0 + ], + [ + 506.498, + 2155.057, + -202.751, + 0.0, + 155.44, + -0.0 + ], + [ + 394.267, + 2181.914, + -202.751, + 0.0, + 155.44, + -0.0 + ], + [ + 358.056, + 2207.892, + -202.086, + 0.0, + 155.44, + -0.0 + ], + [ + 358.056, + 2207.892, + -202.086, + 0.0, + 155.44, + -0.0 + ], + [ + 358.056, + 2207.892, + -202.086, + 0.0, + 155.44, + -0.0 + ], + [ + 435.268, + 2162.577, + -202.751, + 0.0, + 155.44, + -0.0 + ], + [ + 435.268, + 2162.577, + -202.751, + 0.0, + -179.56, + 0.0 + ], + [ + 309.413, + 2161.611, + -202.751, + 0.0, + -179.56, + 0.0 + ], + [ + 183.558, + 2160.644, + -202.751, + 0.0, + -179.56, + 0.0 + ], + [ + 183.558, + 2160.644, + -202.751, + 0.0, + 155.44, + -0.0 + ], + [ + 183.558, + 2160.644, + -202.751, + 0.0, + 130.44, + -0.0 + ], + [ + 183.558, + 2160.644, + -202.751, + 0.0, + 105.44, + -0.0 + ], + [ + 150.511, + 2277.836, + -202.751, + 0.0, + 105.44, + -0.0 + ], + [ + 150.511, + 2277.836, + -202.751, + 0.0, + 105.44, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the parking level I can see a green trash bin standing against the far left wall beside a parked green car, but no vending machine is visible in the open bays ahead of me. Since that bin is the semantic cue the task ties the machine to, I will turn left to bring that side of the garage into view.", + "Turning has brought a wall-mounted pay machine and what looks like a vending unit into the left edge of my view, with the green trash bin further down the same wall. I will turn left again to place that bank of machines nearer the center of my view before committing to an approach.", + "The machine bank is now clearly framed to my left front, with the green trash bin standing just past it along the same wall, which matches the target description well enough to commit. I will walk forward along this open lane to close the distance toward that alcove.", + "The machines have grown noticeably larger and the green bin beside them is now easy to pick out down the wall, confirming I am heading the right way. The floor between me and that recess still looks clear, so I will keep walking forward to shorten the gap.", + "I am now close beside the vending units, with the green trash bin a short distance ahead on my right along the same wall. A few steps of remaining clearance are still visible in front of me, so I will advance again to reach a position right at the machines.", + "The vending machine fronts fill the left of my view and the green trash bin sits just ahead along the same wall, so I am clearly at the right area and only need to close the last bit of distance. I will step forward again to bring myself alongside the machines, though the wall and the machine corner ahead leave a narrow gap that may limit how far I can advance.", + "My last forward step changed nothing in the view, since the machine panels and the far bin still sit at exactly the same size and angle, which suggests I am pressed against the machines or the wall corner. I will try one more forward step to test whether a small amount of clearance still exists on this heading.", + "Two forward attempts in a row left my viewpoint completely unchanged, so this heading is clearly blocked by the vending machine bank and the wall in front of me. I will back up to open some space between myself and the machines, which should give me room to reorient toward a passable line to the bin area.", + "After backing away, I can see the machines and the wall corner still blocking my previous heading on the left, while the open parking floor with pillars and bollards extends to my right. I will turn right to leave that blocked line and face the clear aisle, which should give me a route I can actually walk.", + "From this heading the floor ahead is clear of the wall corner that stopped me before, and the green trash bin stands beside the machine bank on the left of the open aisle. I will walk forward along this unobstructed lane to close distance on that bin and the vending machine next to it.", + "The vending machine front is now edge-on at the far left of my view, with the green trash bin standing against the same wall just ahead of it, so this is the alcove the task points to. Walking straight ahead once more should carry me past the intervening pillar and out into the open bay where I have room to swing toward the machine face instead of scraping along the wall. I will step forward along the aisle.", + "Advancing along the aisle has carried me level with the alcove, and the vending machine has slipped out of my forward view while the green trash bin sits against the wall to my left. Turning left should bring that wall recess and the machine bank back into the center of my view so I can head toward them directly.", + "The turn brought the vending machine back into view, but it is still slanted along the far left edge while the green bin sits ahead of me. Another left turn should square my heading onto the machine face so the approach is straight rather than oblique.", + "The bottled-water vending machine now fills the left half of my view with the green trash bin just beyond it, confirming this is the target pairing named in the task. It is still not centered ahead of me, so one more left turn should place it straight in front before I close the remaining distance.", + "The vending machine is now centered in front of me with its selection panel and the adjacent pay unit clearly readable, so my heading is set. A single step forward should close the last bit of distance and put me right at the machine.", + "The vending machine's printed bottle panel fills my view at arm's length. The approach requirement is met, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_d/infos.json b/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5939d54fce71cf6b0c5298f97f20e86611f9a4b5 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000621_y002103_z-000203_t1_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search the surrounding area for the chain-link fenced enclosure, then move to that location.", + "Type": 1, + "Start_Pose": [ + 620.97, + 2102.744, + -202.751, + 0.0, + -154.56, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -154.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -129.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -104.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -79.56, + 0.0 + ], + [ + 620.97, + 2102.744, + -202.751, + 0.0, + -54.56, + 0.0 + ], + [ + 693.949, + 2000.204, + -202.751, + 0.0, + -54.56, + 0.0 + ], + [ + 766.929, + 1897.663, + -202.751, + 0.0, + -54.56, + 0.0 + ], + [ + 839.908, + 1795.123, + -202.751, + 0.0, + -54.56, + 0.0 + ], + [ + 912.887, + 1692.583, + -202.751, + 0.0, + -54.56, + 0.0 + ], + [ + 984.864, + 1594.539, + -202.751, + 0.0, + -54.56, + 0.0 + ], + [ + 984.864, + 1594.539, + -202.751, + 0.0, + -54.56, + 0.0 + ] + ], + "Rationale": [ + "I am standing in an open parking level with a concrete column directly ahead and bare walls on my right, and no chain-link enclosure anywhere in this view. I will turn right to begin a steady scan of the surrounding bays for any fenced-off area.", + "The new heading reveals a wide blank wall and an orange service door on the right, but still no fenced enclosure. I will continue turning right in the same direction to keep the scan consistent and expose the area beyond that doorway.", + "Now the open orange door and the lit corridor behind it dominate my view, and the parking bays to my right are still hidden. I will keep rotating right to bring that unseen stretch of the garage into view, where a fenced storage area is plausible.", + "On the right side of my view I can now make out a chain-link mesh panel under the yellow height-limit beam, with a car parked behind it. I will turn right once more to bring that fenced enclosure closer to the center of my heading before advancing.", + "The chain-link enclosure with its gate and the vehicle inside now sits ahead and slightly right, under the MAX HEIGHT beam. With a clear open floor between me and it, I will walk forward to close the distance.", + "The mesh panels and the enclosure gate are larger in my view and the MAX HEIGHT lettering is readable, so I am closing in correctly. I will continue walking forward along this clear heading toward the fenced area.", + "The fenced enclosure now fills much of the center of my view, with the wall on my left and open garage floor on my right. I will keep stepping forward to reach the fence line itself.", + "I am nearly at the chain-link barrier, with the gate latch and the vehicle inside clearly visible through the mesh. I will take one more step forward to arrive directly at the enclosure.", + "The chain-link enclosure with its gate and mesh panels now fills most of my forward view, but I am still a short distance from its face. I will take one more step toward it to close that remaining gap and stand directly at the fencing. This should place me at the enclosure rather than merely in front of it.", + "The chain-link mesh and its gate post fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000625_y001140_z-000203_t5_a_p/infos.json b/dataset/trajectory/UndergroundParking/task_x000625_y001140_z-000203_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c00b78ccb28121d26a2f77263ab55afe00f13157 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000625_y001140_z-000203_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the wicker basket from near the cage gate.", + "Type": 5, + "Start_Pose": [ + 624.842, + 1139.579, + -202.751, + 0, + -95.04, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 740.751, + 637.745, + -260.407, + 90, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 624.842, + 1139.579, + -202.751, + 0, + -95.04, + 0 + ], + [ + 613.785, + 1014.207, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 602.728, + 888.834, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 602.728, + 888.834, + -202.751, + 0.0, + -70.04, + 0.0 + ], + [ + 645.692, + 770.535, + -202.751, + 0.0, + -70.04, + 0.0 + ], + [ + 645.692, + 770.535, + -202.751, + 0.0, + -70.04, + 0.0 + ], + [ + 645.692, + 770.535, + -202.751, + 0.0, + -70.04, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 740.751, + 637.745, + -260.407, + 90.0, + 90.0, + 0.0 + ], + [ + 740.751, + 637.745, + -260.407, + 90.0, + 90.0, + 0.0 + ], + [ + 740.751, + 637.745, + -260.407, + 90.0, + 90.0, + 0.0 + ], + [ + 740.751, + 637.745, + -260.407, + 90.0, + 90.0, + 0.0 + ], + [ + 740.751, + 637.745, + -260.407, + 90.0, + 90.0, + 0.0 + ], + [ + 665.555, + 778.398, + -232.645, + -28.202, + -19.896, + 1.862 + ], + [ + 665.555, + 778.398, + -232.645, + -28.202, + -19.896, + 1.862 + ] + ], + "PD_Dist_2D": [ + 515.0, + 397.3, + 286.5, + 286.5, + 163.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The round wicker basket is visible ahead on the right, standing near the chain-link cage gate, but it is still far down this basement corridor. I will walk forward along the open floor to close that distance before worrying about fine alignment.", + "The basket by the cage gate has grown noticeably larger on my right, so my heading down this corridor is productive. The floor ahead remains clear of the shelving and hand truck on my left, so I will keep walking forward to get within reach of the gate area.", + "I am now roughly level with the cage, but the wicker basket sits far to the right edge of my view, near the mesh gate and the concrete column. Turning right should bring it toward the center of my heading so a straight step will carry me to it.", + "The basket now sits near the middle-right of my view, propped by the cage gate, and the path toward it is clear floor. It is still a few paces away, too far to grasp, so I will step forward to close the last gap.", + "The wicker basket is now directly in front of me at the base of the cage gate, filling the lower right of my view at arm's length. My hands are empty, so I will attempt the grasp from this position rather than step closer and risk bumping it.", + "The wicker basket is now held in my hands rather than resting by the gate. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000625_y001140_z-000203_t5_a_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x000625_y001140_z-000203_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..07a21cbfdec89bc2f47277407c0b5f6b72481f83 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000625_y001140_z-000203_t5_a_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the trash bag near the ladder, then leave it near the nearest wire cage gate.", + "Type": 5, + "Start_Pose": [ + 624.842, + 1139.579, + -202.751, + 0, + -95.04, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 543.74, + 357.116, + -296.17, + -3.229, + 4.45, + 71.059 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 624.842, + 1139.579, + -202.751, + 0, + -95.04, + 0 + ], + [ + 613.785, + 1014.207, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 602.728, + 888.834, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 591.671, + 763.462, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 580.615, + 638.089, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 569.558, + 512.717, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 569.558, + 512.717, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 569.558, + 512.717, + -202.751, + 0.0, + -70.04, + 0.0 + ], + [ + 569.558, + 512.717, + -202.751, + 0.0, + -45.04, + 0.0 + ], + [ + 569.558, + 512.717, + -202.751, + 0.0, + -20.04, + 0.0 + ], + [ + 569.558, + 512.717, + -202.751, + 0.0, + 4.96, + -0.0 + ], + [ + 569.558, + 512.717, + -202.751, + 0.0, + 29.96, + -0.0 + ], + [ + 569.558, + 512.717, + -202.751, + 0.0, + 54.96, + -0.0 + ], + [ + 641.819, + 615.765, + -202.751, + 0.0, + 54.96, + -0.0 + ], + [ + 714.08, + 718.812, + -202.751, + 0.0, + 54.96, + -0.0 + ], + [ + 672.742, + 659.862, + -202.751, + 0.0, + 54.96, + -0.0 + ], + [ + 672.742, + 659.862, + -202.751, + 0.0, + 54.96, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 543.74, + 357.116, + -296.17, + -3.229, + 4.45, + 71.059 + ], + [ + 543.74, + 357.116, + -296.17, + -3.229, + 4.45, + 71.059 + ], + [ + 543.74, + 357.116, + -296.17, + -3.229, + 4.45, + 71.059 + ], + [ + 543.74, + 357.116, + -296.17, + -3.229, + 4.45, + 71.059 + ], + [ + 543.74, + 357.116, + -296.17, + -3.229, + 4.45, + 71.059 + ], + [ + 543.74, + 357.116, + -296.17, + -3.229, + 4.45, + 71.059 + ], + [ + 590.883, + 511.449, + -232.645, + -28.202, + -44.895, + 1.862 + ], + [ + 590.319, + 520.914, + -232.372, + -28.189, + -19.883, + 1.872 + ], + [ + 585.604, + 528.524, + -233.039, + -28.215, + 5.088, + 1.849 + ], + [ + 583.789, + 535.78, + -232.985, + -14.092, + 22.304, + 6.87 + ], + [ + 567.266, + 534.065, + -232.969, + -28.208, + 55.103, + 1.851 + ], + [ + 557.861, + 531.956, + -232.301, + -28.198, + 80.107, + 1.867 + ], + [ + 550.883, + 526.015, + -232.654, + -28.195, + 105.106, + 1.865 + ], + [ + 623.814, + 627.283, + -232.244, + -28.195, + 105.11, + 1.87 + ], + [ + 696.001, + 730.223, + -232.017, + -28.197, + 105.104, + 1.87 + ], + [ + 712.932, + 717.175, + -242.751, + 0.0, + 54.96, + -0.0 + ], + [ + 712.932, + 717.175, + -242.751, + 0.0, + 54.96, + -0.0 + ] + ], + "PD_Dist_2D": [ + 786.7, + 660.8, + 535.0, + 409.2, + 283.4, + 157.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The stepladder stands far down this basement bay, and a dark trash bag sits on the floor beside its base. Nothing blocks the open aisle straight ahead, so I will walk forward to close that long gap before I can reach the bag.", + "The ladder and the bag beside it now sit noticeably larger ahead of me, confirming my heading is right. The shelving stays to my left and the caged area to my right, leaving the middle lane free, so I keep walking forward.", + "The trash bag is clearly distinguishable now at the foot of the ladder, slightly left of my path. It is still several strides away, too far to grasp, so I continue advancing along the clear floor toward it.", + "The bag by the ladder is much closer and sits just left of center in front of me. I am not yet within reach for a grasp, so another forward step should bring the bag close enough to attempt picking it up.", + "The bag now hangs large and low in front of me at the ladder's base, but it is still a stride short of comfortable reach. I will take one more step forward to stand right over it before attempting the pick.", + "The trash bag is directly at my feet beside the ladder, filling the near part of my view, and nothing stands between us. This is the target named in the task, so I will try to grasp it and lift it into my hands.", + "The grasp worked and the trash bag is now in my hands rather than resting on the floor by the ladder. The wire cage enclosures lie off to my right rather than along my current heading, so I will turn right to begin facing them.", + "Carrying the bag, I can see the chain-link cage panels running across the right side of this bay. I am not yet squared onto a gate opening, so I will keep rotating right to bring the nearest cage gate in front of me.", + "The trash bag is secured in my hands and travels with me, so I am free to search for a wire cage gate. From here I see mesh panels and a closed gate section ahead, but no clear approach lane yet. I will keep turning right to bring an accessible gate front into view.", + "The cage wall directly in front of me is solid mesh with no reachable gate opening at this angle. Continuing to rotate right should reveal the gate line further along the enclosure. I will turn right again.", + "A gate leaf is now visible in the mesh run, but a concrete column sits between me and a clean path toward it. Another right turn should swing my heading past the column toward the open floor beside the enclosure. I will turn right.", + "I can now see past the column to the cage doors and the corridor beyond, but my heading still points partly into the column face. One more right turn should line me up with the clear floor running alongside the gate. I will turn right.", + "My heading now runs down the open lane beside the wire cage enclosure, with the gate panels on my left and clear floor ahead. The bag is still in hand, so I only need to close the remaining distance to the nearest gate. I will step forward.", + "The gate leaf with its handle is now close on my left, but I am still slightly short of standing directly beside it. Another step forward should place me right at the gate so the bag can be set down next to it. I will move forward.", + "I am standing immediately beside the wire cage gate, with its frame and handle right at my left shoulder and the floor in front of me clear. This is the nearest gate, so releasing the bag here should satisfy the placement the task asks for. I will drop it.", + "The trash bag now rests on the floor right at the wire cage gate and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000625_y001140_z-000203_t5_b_p/infos.json b/dataset/trajectory/UndergroundParking/task_x000625_y001140_z-000203_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..06074cef4a29980af81890deb49110f858f33cf0 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000625_y001140_z-000203_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the ceramic pot from the floor by the concrete pillar.", + "Type": 5, + "Start_Pose": [ + 624.842, + 1139.579, + -202.751, + 0, + -95.04, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 719.571, + 559.811, + -285.751, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 624.842, + 1139.579, + -202.751, + 0, + -95.04, + 0 + ], + [ + 613.785, + 1014.207, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 602.728, + 888.834, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 602.728, + 888.834, + -202.751, + 0.0, + -70.04, + 0.0 + ], + [ + 645.692, + 770.535, + -202.751, + 0.0, + -70.04, + 0.0 + ], + [ + 688.656, + 652.237, + -202.751, + 0.0, + -70.04, + 0.0 + ], + [ + 688.656, + 652.237, + -202.751, + 0.0, + -70.04, + 0.0 + ], + [ + 688.656, + 652.237, + -202.751, + 0.0, + -70.04, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 719.571, + 559.811, + -285.751, + 0.0, + 0.0, + 0.0 + ], + [ + 719.571, + 559.811, + -285.751, + 0.0, + 0.0, + 0.0 + ], + [ + 719.571, + 559.811, + -285.751, + 0.0, + 0.0, + 0.0 + ], + [ + 719.571, + 559.811, + -285.751, + 0.0, + 0.0, + 0.0 + ], + [ + 719.571, + 559.811, + -285.751, + 0.0, + 0.0, + 0.0 + ], + [ + 719.571, + 559.811, + -285.751, + 0.0, + 0.0, + 0.0 + ], + [ + 708.519, + 660.1, + -232.645, + -28.202, + -19.895, + 1.862 + ], + [ + 708.519, + 660.1, + -232.645, + -28.202, + -19.895, + 1.862 + ] + ], + "PD_Dist_2D": [ + 587.5, + 466.5, + 349.2, + 349.2, + 223.3, + 97.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The dark ceramic pot sits on the basement floor ahead, near the concrete pillar beside the wire mesh enclosure. It is still far down the open bay, so I will walk straight forward along the clear floor to close that distance.", + "The pot has grown larger and clearer ahead on the right, confirming I am closing on it. The path over the open floor remains unobstructed, so I will keep walking forward before worrying about heading.", + "The pot now sits well off to my right, near the base of the concrete pillar by the mesh cage, while my heading points down the corridor past it. Turning right should bring the pot toward the center of my view so a straight approach lines up.", + "The pot is now centered ahead of me on the floor beside the concrete pillar, with nothing between us. I will step forward along this heading to bring it within reach.", + "The pot is close now, sitting low in front of me at the corner of the pillar and the mesh gate. One more step forward should place me directly over it so a grasp is possible.", + "I am standing right at the pillar corner with the mesh gate at my side, and the pot lies at my feet just under the edge of my view. Since I am within arm's reach of it, I will attempt to pick it up now.", + "The ceramic pot is now held in my hands, lifted off the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000651_y002505_z-000203_t3_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000651_y002505_z-000203_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10bd8aebe7d0ea6b0a75a7d1274ce8c46aced5e5 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000651_y002505_z-000203_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the stepladder, then head toward the car covered with a white cloth.", + "Type": 3, + "Start_Pose": [ + 650.631, + 2505.415, + -202.751, + 0.0, + -26.88, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 650.631, + 2505.415, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 762.892, + 2448.511, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 875.152, + 2391.607, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 987.413, + 2334.704, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 987.413, + 2334.704, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 987.413, + 2334.704, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1065.107, + 2235.688, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1142.801, + 2136.672, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1220.495, + 2037.656, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1220.495, + 2037.656, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1249.064, + 1915.083, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1277.633, + 1792.509, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1306.202, + 1669.935, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1334.771, + 1547.362, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1334.771, + 1547.362, + -202.751, + 0.0, + -76.88, + 0.0 + ] + ], + "Rationale": [ + "The stepladder stands well ahead of me in the middle of this parking level, and the cloth-covered car sits further off to the left near the wire fencing. The floor between me and the ladder is open, so I will walk straight forward to close on the ladder first.", + "The stepladder has grown larger and remains almost dead ahead, confirming my heading is good. Nothing blocks the bay in front of me, so I will keep walking toward it.", + "The stepladder now fills much of the view directly in front of me, but I am still a few paces short of standing at it. I will step forward again to finish closing that gap.", + "The stepladder towers right in front of me with its legs and tray at arm's reach. I have reached the stepladder. I mark reaching it and now set off for the car under the white cloth over on my left.", + "Standing at the stepladder, the sheeted car lies well off to my left while my body faces past it. I will turn left to bring that white-covered car into the middle of my view before walking on.", + "The turn has swung the white-sheeted car into view ahead and slightly left, clear of the ladder. The bay floor between us is open, so I will walk forward toward it.", + "The covered car is noticeably closer and still ahead on my left, so my heading is carrying me toward it. I will continue walking forward across this open bay.", + "The draped car keeps growing ahead on my left, though a pillar sits between us and I am still several paces away. I will step forward again to keep closing the distance.", + "The cloth-draped car sits well off to my left near the wire cage, while my heading still points across the open bay. I will turn left so the covered car moves toward the centre of my view and my next steps can carry me straight at it.", + "After the turn the covered car sits close to the middle of my view, framed by the mesh enclosure on the left and a column on the right. The floor between us is clear, so I will walk forward to cut the remaining distance.", + "The white-sheeted car is growing larger and stays squarely ahead of me, with its dark tyre now clearly visible under the cloth. Nothing blocks the lane, so I will keep walking straight toward it.", + "The draped car now fills much of my forward view and its front bumper and wheel are distinct beneath the cloth. I am still a couple of paces short, so I will advance again to close on it.", + "The covered car's nose is right in front of me, the fabric folds and dark tyre plainly readable at short range. One more step forward should bring me up against it.", + "The white cloth over the car fills my view from directly alongside its body. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000651_y002505_z-000203_t3_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000651_y002505_z-000203_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..269960cefe766e953121f619037a98154cf10ee3 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000651_y002505_z-000203_t3_b/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Approach the car covered with a white cloth, then proceed to the stepladder.", + "Type": 3, + "Start_Pose": [ + 650.631, + 2505.415, + -202.751, + 0.0, + -26.88, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 650.631, + 2505.415, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 762.892, + 2448.511, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 762.892, + 2448.511, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 840.586, + 2349.495, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 918.28, + 2250.48, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 995.974, + 2151.464, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1073.668, + 2052.448, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1151.362, + 1953.433, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1151.362, + 1953.433, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1179.931, + 1830.859, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1217.409, + 1720.29, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1245.978, + 1597.716, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1270.717, + 1487.1, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1270.717, + 1487.1, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1249.743, + 1577.088, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1249.743, + 1577.088, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1249.743, + 1577.088, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 1249.743, + 1577.088, + -202.751, + 0.0, + -1.88, + 0.0 + ], + [ + 1249.743, + 1577.088, + -202.751, + 0.0, + 23.12, + -0.0 + ], + [ + 1249.743, + 1577.088, + -202.751, + 0.0, + 48.12, + -0.0 + ], + [ + 1249.743, + 1577.088, + -202.751, + 0.0, + 73.12, + -0.0 + ], + [ + 1249.743, + 1577.088, + -202.751, + 0.0, + 98.12, + -0.0 + ], + [ + 1231.966, + 1701.685, + -202.751, + 0.0, + 98.12, + -0.0 + ], + [ + 1214.188, + 1826.282, + -202.751, + 0.0, + 98.12, + -0.0 + ], + [ + 1196.411, + 1950.88, + -202.751, + 0.0, + 98.12, + -0.0 + ], + [ + 1178.634, + 2075.477, + -202.751, + 0.0, + 98.12, + -0.0 + ], + [ + 1160.857, + 2200.074, + -202.751, + 0.0, + 98.12, + -0.0 + ], + [ + 1160.857, + 2200.074, + -202.751, + 0.0, + 98.12, + -0.0 + ] + ], + "Rationale": [ + "From this spot at the edge of the garage bay I can pick out the cloth-covered car far off to my left and the stepladder standing out on the open floor ahead. I will walk forward into the clear bay to cut the long distance before swinging toward the shrouded car.", + "The white-sheeted car sits well off to my left behind a row of columns, while my heading still points down the empty middle of the garage. Turning left should put the draped car nearer the center of my view so I can walk straight at it.", + "The shrouded car now sits ahead of me beyond the chain-link cage, roughly along my heading. The floor between us is clear, so I will step forward to close on it.", + "The white cover over the car is growing larger and its dark wheels are becoming distinct, so my heading is still good. Nothing blocks the lane between the columns, and I will keep walking to shorten the gap.", + "The covered car is still some bays away, sitting just past the mesh cage on my left. My path stays open, so another step forward should bring me meaningfully closer.", + "The draped vehicle now fills a good part of my view slightly left of center, with the wheel stop and open bays to my right. I am not yet close enough to call it reached, so I will keep advancing.", + "I can now read the folds of the cloth and the dark bumper beneath it, but a couple of bays still separate us. Walking forward again should carry me up to the car.", + "The cloth-covered car has drifted to the left side of my view while my heading runs past it into the empty bays. A turn to the left should square me on the car so the last steps go straight to it.", + "The white sheet draped over the car now sits squarely ahead of me, past the chain link cage on my left, with clear floor between us. My heading is good, so I will keep walking straight to close the remaining gap.", + "The covered car has grown noticeably and its dark wheels are now distinct beneath the cloth, so my line of travel is right. Nothing blocks the aisle between the fencing and the parking bay, so I will step forward again.", + "The sheeted car fills much of the view now, but I am still a few strides short of standing beside it. The floor in front of me is empty, so another step forward should bring me right up to it.", + "The cloth over the hood is close enough that I can read its folds and the dark bumper below it. One more step should put me directly at the covered car rather than short of it.", + "The white cloth over the car fills the space right in front of me, close enough to touch along its flank. I have reached the covered car. I mark reaching it, and now I set off for the stepladder standing out on the open floor.", + "Standing this tight against the covered car, the cloth blocks nearly everything beyond it, so I cannot pick out the stepladder from here. Backing up a step should open the space around me and give room to swing my heading toward the rest of the garage.", + "With a little clearance gained, the covered car still occupies the view ahead while the open bays lie off to my right. Turning right should swing my gaze away from the cloth and out across the floor where the stepladder stands.", + "The covered car has shifted to my left and empty bays with columns now open up on the right, but the stepladder is not yet in view. I will keep rotating right to sweep further across the garage.", + "The cloth-covered car now sits at the far left edge of my view, so I have clearly left it behind and need to find the stepladder. Nothing but bare pillars and empty bays lies ahead of me, so I will keep pivoting right to sweep more of the garage floor.", + "A broad concrete pillar splits the view and the bays beyond it are empty, with no stepladder anywhere in this direction. I will turn right again to bring the next stretch of the garage into view.", + "I can see a long yellow speed bump and rows of pillars, but no stepladder stands anywhere in the open floor before me. I will continue the rightward sweep so more of the far side comes into my view.", + "The area ahead of me shows ducting, a doorway and empty markings, still without the stepladder I need to reach. Another right pivot should carry my heading further around toward the unexamined part of the level.", + "The stepladder has come into view on my right, standing beside the bright vertical light fixture. One more right pivot should place it near the center of my heading so I can walk straight at it.", + "The stepladder now sits close to the middle of my view beside the tall light, with open floor and no obstruction between us. I will walk forward along this heading to close the distance to it.", + "The stepladder has grown larger and stays centered ahead of me, confirming my heading is good. I will keep stepping forward to shorten the remaining gap.", + "The stepladder stands only a couple of bays away now, its legs and rungs clearly resolved directly ahead of me. Another step forward should bring me right up beside it.", + "The stepladder now stands squarely ahead of me under the bright tube light, with clear open floor between us. I will keep walking straight toward it to cut down the remaining gap.", + "The stepladder now towers over most of my view, so only a short stretch of floor still separates us. One more step forward should bring me right up beside it.", + "The stepladder's rungs and side rails fill my view at arm's length directly in front of me. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000651_y002505_z-000203_t3_c/infos.json b/dataset/trajectory/UndergroundParking/task_x000651_y002505_z-000203_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..47441ec641c70a43bd7f4b7b11940309bec61180 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000651_y002505_z-000203_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Navigate to the metal mesh gate, then walk to the car covered with a white cloth.", + "Type": 3, + "Start_Pose": [ + 650.631, + 2505.415, + -202.751, + 0.0, + -26.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 650.631, + 2505.415, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 650.631, + 2505.415, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 728.325, + 2406.399, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 806.019, + 2307.384, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 883.713, + 2208.368, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 961.407, + 2109.352, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 961.407, + 2109.352, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 989.976, + 1986.778, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1018.545, + 1864.205, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1047.114, + 1741.631, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1075.683, + 1619.057, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1075.683, + 1619.057, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 1075.683, + 1619.057, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1075.683, + 1619.057, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 1187.162, + 1580.885, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 1187.162, + 1580.885, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1263.31, + 1484.609, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 1263.31, + 1484.609, + -202.751, + 0.0, + -51.88, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the parking level I can just make out a wire mesh fence at the far left edge of my view, with a cloth draped car beside it. My heading points too far right across the empty bays, so I will turn left to bring that fenced enclosure into the middle of my view before walking.", + "The mesh screen and the cloth covered car now sit ahead and slightly left instead of at the edge of my view. The concrete floor between me and them is open, so I will walk forward to close the long gap.", + "The wire mesh enclosure has grown larger ahead on my left and the covered car beside it is clearer, so my heading is good. Nothing blocks the bay in front of me, and I will keep walking to shorten the distance.", + "I can now see the diamond pattern of the mesh gate and its frame clearly to my left front, with the sheeted car parked just beyond it. Still some distance remains, so I will continue walking straight toward that enclosure.", + "The mesh gate stands out plainly ahead and left, its posts and panels now filling a good part of that side. The route across the bay is still clear, so I will step forward again to draw closer.", + "The mesh gate has drifted to the left edge of my view while my heading points out across the open bays. To keep walking straight at it I will turn left so the gate sits squarely in front of me.", + "The mesh gate now sits ahead of me slightly left, with the white sheeted car standing to its right. My path is clear apart from a slim column off to the side, so I will walk forward toward the gate.", + "The wire mesh gate and its frame are close enough now that I can pick out the latch bar and the space behind the fencing. I am not yet standing at it, so I will step forward again to reach the gate itself.", + "The chain-link gate now fills the left half of my view and its frame is only a few steps ahead. I will walk forward again to close the last of that gap and stand right at the mesh barrier.", + "The wire mesh is close enough that individual links are sharp, but the gate post still sits slightly ahead of me rather than beside me. One more step should bring me right up against the metal mesh gate.", + "The metal mesh gate fills my whole view, its diamond links and crossbar within arm's reach. I have arrived at the mesh gate. I mark reaching it before turning away toward the car draped in the white cloth.", + "Pressed against the mesh, I can only see wire, and the pale bulk of the cloth-covered car shows faintly through the links off to my right. I will turn right to swing my heading off the gate and bring that white shape into open view.", + "The turn has opened the bay to my right and the white-sheeted car now appears past the edge of the fence, still angled away from my center. Another turn right should put the covered car squarely in front of me.", + "The car under the white cloth is now clear of the fence and sits ahead on my left, with open floor between us. I will walk forward to cut that distance toward it.", + "Moving up has brought me alongside the covered car, but its bulk has slid to my left edge while my heading points into the empty bay. I will turn left to face the white-draped vehicle directly.", + "The car under the white cloth is centered in front of me now, its draped hood and dark grille clearly facing my way. I will step forward to close the remaining gap and stand at the covered car.", + "The white cloth draped over the car fills my view directly beside me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_a/infos.json b/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..168cce563b70abc3625992d6e9c412eb7b8c2769 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Walk to the car covered with a white cloth, then head toward the wooden ladder.", + "Type": 3, + "Start_Pose": [ + 662.049, + 1650.055, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 662.049, + 1650.055, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 662.049, + 1650.055, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 610.296, + 1764.781, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 558.544, + 1879.508, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 506.791, + 1994.234, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 506.791, + 1994.234, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 508.372, + 2120.083, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 508.372, + 2120.083, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 508.372, + 2120.083, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 508.372, + 2120.083, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 508.372, + 2120.083, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 630.343, + 2151.128, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 752.313, + 2182.172, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 874.283, + 2213.217, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 996.253, + 2244.261, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 996.253, + 2244.261, + -202.751, + 0.0, + 14.28, + -0.0 + ] + ], + "Rationale": [ + "The car under the white cloth sits across the bay ahead and a little to my right, with open floor between us. I will turn right to swing my heading onto it so I can walk a straight lane toward it.", + "The white-sheeted car now lies just left of center with nothing but bare concrete floor between us. I will walk forward to cut down that distance.", + "The draped car has grown noticeably larger, so my heading is carrying me toward it. The lane stays clear of pillars, so I will keep walking forward.", + "The cloth over the car now fills much of the left side and its dark wheels are clearly visible, so I am closing in. I will step forward again to come up beside it.", + "The covered car has drifted off to my left edge as I advanced, and straight ahead only shows the vending machines by the wall. I will turn left to bring the car back in front of me before moving again.", + "The white cloth and the car's dark rocker panels now sit squarely centered a short step ahead. I will walk forward to close that last gap and stand at it.", + "The white cloth draped over the car spreads across my whole view, close enough to touch. I have arrived at the car covered with the white cloth. I mark reaching it and now set off for the wooden ladder standing out in the far bay.", + "The cloth over the car blocks everything in front of me, so I cannot see where the wooden ladder stands from this heading. I will turn left to swing my view off the car and back across the open bay where the ladder should be.", + "The covered car now sits behind my right shoulder, and at the far left edge of my view I can just make out the legs of a wooden ladder standing in the open bay. I will turn left again to swing that ladder further into view so I can judge its bearing.", + "The wooden stepladder is now clearly visible in the open bay, but it sits well left of straight ahead. Another left turn should bring it close to the middle of my view so I can walk straight at it.", + "The wooden stepladder is centered in my view with unobstructed floor between us. I will walk straight ahead to begin closing the gap toward it.", + "The ladder has grown noticeably larger and stays on my heading, so my line is good. I will keep walking forward to cut the remaining distance.", + "The stepladder now stands tall in front of me, its rungs and tray clearly resolved, but I am still a couple of bays short of it. Another forward step should bring me close to its base.", + "The wooden ladder fills much of my view and its feet are only a step or two away on the open floor. I will move forward once more to stand right at it.", + "The wooden stepladder stands directly in front of me, within arm's reach. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_b/infos.json b/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe62a3f0708f2103f9bff47c0f0f2de1e383449d --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_b/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Approach the payment machine, then proceed to the ladder.", + "Type": 3, + "Start_Pose": [ + 662.049, + 1650.055, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 662.049, + 1650.055, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 662.049, + 1650.055, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 610.296, + 1764.781, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 558.544, + 1879.508, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 506.791, + 1994.234, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 506.791, + 1994.234, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 411.401, + 2076.34, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 316.012, + 2158.446, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 316.012, + 2158.446, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 257.004, + 2209.251, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 257.004, + 2209.251, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 257.004, + 2209.251, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 257.004, + 2209.251, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 257.004, + 2209.251, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 257.004, + 2209.251, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 257.004, + 2209.251, + -202.751, + 0.0, + -10.72, + 0.0 + ], + [ + 317.97, + 2166.132, + -202.751, + 0.0, + -10.72, + 0.0 + ], + [ + 441.633, + 2142.721, + -202.751, + 0.0, + -10.72, + 0.0 + ], + [ + 441.633, + 2142.721, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 563.991, + 2167.806, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 685.962, + 2198.851, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 807.932, + 2229.895, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 929.902, + 2260.94, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 1034.923, + 2279.742, + -202.751, + 0.0, + 14.28, + -0.0 + ], + [ + 1034.923, + 2279.742, + -202.751, + 0.0, + 14.28, + -0.0 + ] + ], + "Rationale": [ + "From here the lit alcove holding the payment kiosk sits well off to my right, past the sheeted car, while my heading points down the empty bay. I will turn right to bring that kiosk wall into the middle of my view before committing to a straight approach.", + "The kiosk with its small screen now sits ahead beside the pillar, still far across the parking deck. The floor between me and it is clear of obstacles, so I will walk forward to cut down that distance.", + "The kiosk panel is growing larger ahead and slightly right, so my heading is still usable. Nothing blocks the open bay in front of me, so I will keep walking to close more of the remaining gap.", + "I can now make out the kiosk's buttons and screen beside the taller vending cabinet, but I am still several bays short of it. The lane ahead stays open, so another step forward should bring me within reach of that wall.", + "The kiosk and the vending cabinet have drifted toward the right half of my view as I advanced, and my heading now points past them toward the far wall. I will turn right to put that kiosk squarely in front of me before continuing.", + "The kiosk now sits ahead and slightly left, its screen and slots clearly framed between the pillars. Only a short stretch of open floor separates us, so I will walk forward to close on it.", + "The kiosk face fills much of my left-forward view now, though a bollard and a few paces of floor still stand between us. I will step forward again to bring myself right up beside the machine.", + "I am close in now, but the kiosk has slid to the left edge of my view while my heading runs along the wall past it. I will turn left so the pay panel sits in front of me for the last short step in.", + "The payment kiosk with its screen and slot panel now stands directly ahead, just past the pillar edge on my left. Only a short gap of floor separates me from its front face, so I will step forward to close it and stand within reach.", + "The PAY HERE lettering, the lit screen, and the card and coin slots fill my view at arm's length. I have arrived at the payment machine. I mark reaching it and turn my attention to the stepladder standing out on the garage floor.", + "The kiosk face and the adjacent vending front block almost everything in front of me, so I cannot see the open bays where the stepladder stands. I will turn left to swing my view off the machine and start scanning the garage floor behind me.", + "The kiosk panel and the pillar beside it still fill most of my view, with only a sliver of the covered car showing at the far left. Another left turn should carry my heading further toward that open side of the garage.", + "The covered car and the long open bay beyond it are now opening up on my left, while the machine has slid to the right edge. I will keep turning left to bring that open floor, where a stepladder should stand, into the middle of my view.", + "Out beyond the covered car I can now pick out the stepladder standing on the open floor near the far wall, but it sits at the extreme left of my view. Turning left again should pull it toward the center of my heading.", + "The stepladder is clearly in sight now, left of center, while the covered car still crowds the right half of my path. One more left turn should line my heading up with the open lane leading toward the ladder.", + "The stepladder stands ahead near the bright wall lamp with clear, unobstructed floor between us, and the covered car is now safely off to my right. I will walk forward along this open lane to close the distance toward it.", + "The stepladder stands well ahead of me on the open bay floor, right of my heading and still far off. The lane between the pillars and the covered car is clear, so I will walk forward to cut down that distance before refining my heading.", + "The stepladder now reads clearly but sits off to the right of my forward direction, so walking straight would drift me past it. I will turn right to bring it nearer the middle of my view before continuing.", + "With the stepladder now sitting close to the center of my view, my heading down this bay looks right. The floor between me and it is empty, so I will step forward to close the gap.", + "The stepladder has grown larger and remains straight ahead beside the lit strip fixture, confirming my line is good. Nothing blocks the bay, so I will keep walking toward it.", + "The ladder's legs and rungs are clearly resolved now, still centered in front of me. I am not yet close enough to stand at it, so I will advance another stride.", + "The stepladder now dominates the middle of my view with its top platform at about my eye level. A little more ground remains between us, so I will step forward again.", + "The ladder fills most of my view and its front legs are only a short step away. One more forward move should bring me right up against it.", + "The stepladder stands directly in front of me, its rails and rungs within arm's reach. I have reached it, so the task is done and I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_c/infos.json b/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c876cac8af0fd568c7af990ffbc800450d70c1 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_c/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Head to the wooden ladder, then move to the payment machine.", + "Type": 3, + "Start_Pose": [ + 662.049, + 1650.055, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 662.049, + 1650.055, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 662.049, + 1650.055, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 716.668, + 1763.445, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 771.288, + 1876.834, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 825.907, + 1990.224, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 880.527, + 2103.613, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 880.527, + 2103.613, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 977.95, + 2183.296, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 1074.133, + 2260.607, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 1074.133, + 2260.607, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 1002.609, + 2202.107, + -202.751, + 0.0, + 39.28, + -0.0 + ], + [ + 1002.609, + 2202.107, + -202.751, + 0.0, + 64.28, + -0.0 + ], + [ + 1002.609, + 2202.107, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 1002.609, + 2202.107, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 1002.609, + 2202.107, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 1002.609, + 2202.107, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 1002.609, + 2202.107, + -202.751, + 0.0, + -170.72, + 0.0 + ], + [ + 1002.609, + 2202.107, + -202.751, + 0.0, + -145.72, + 0.0 + ], + [ + 898.613, + 2131.219, + -202.751, + 0.0, + -145.72, + 0.0 + ], + [ + 794.616, + 2060.33, + -202.751, + 0.0, + -145.72, + 0.0 + ], + [ + 794.616, + 2060.33, + -202.751, + 0.0, + -170.72, + 0.0 + ], + [ + 670.404, + 2040.034, + -202.751, + 0.0, + -170.72, + 0.0 + ], + [ + 670.404, + 2040.034, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 549.253, + 2074.134, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 428.101, + 2108.234, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 306.95, + 2142.334, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 306.95, + 2142.334, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 306.95, + 2142.334, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 244.869, + 2238.61, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 244.869, + 2238.61, + -202.751, + 0.0, + 114.28, + -0.0 + ] + ], + "Rationale": [ + "The wooden stepladder stands far off to the left of this parking level, while my body faces straight down the middle of the deck. I will turn left so the ladder sits ahead of me and I can walk a straight line toward it.", + "The wooden stepladder now lies roughly ahead of me, and the concrete floor between us is clear of parked cars and pillars. I will walk forward to cut down that distance.", + "The ladder has grown larger and its rungs are clearer, so my heading is carrying me toward it. Nothing blocks the bay markings in front of me, so I will keep walking forward.", + "The stepladder is closer still and sits slightly left of my heading, with clear floor between us. Another step forward should bring me near enough to judge my final alignment on it.", + "The ladder now towers close on my left with its legs plainly on the floor ahead of me. I will step forward again to draw level with it before fixing my heading.", + "The stepladder has drifted to the left edge of my view as I closed on it, so walking straight would take me past its side. I will turn left to put it back in front of me.", + "The wooden ladder is centered in front of me now, standing alone on the open bay floor. I will walk forward to close the last of the gap to it.", + "The ladder fills much of my view, its side rails and feet only a short stretch of floor away. One more step forward should put me right at it.", + "The wooden ladder's rails and rungs fill my whole view from arm's length, its spreader bar right in front of my face. I have reached the ladder. I mark that arrival and now set off for the payment machine standing against the far wall of the garage.", + "Pressed this close, the ladder's rails and rungs block nearly everything, so I have no usable view of the floor around me for choosing a heading toward the payment machine. Backing straight up is the quickest way to regain that clearance without pivoting blind against the frame. I will step back a short distance.", + "With a little space opened up, I can see the ladder standing ahead of me and blank concrete walls closing in this corner. The payment machine is not here; it stands across the garage by the covered car, well behind my current heading. I will swing right to start bringing that direction into view.", + "The ladder has slid to my left edge, but ahead of me there is only an empty wall and ceiling piping, nothing resembling the payment machine. My rotation is not yet far enough around. I will keep turning right through this blank stretch.", + "Now I face bare concrete and a squat pillar with the ladder barely clinging to the left edge, so there is still no landmark to steer by. Continuing the same rotation should bring the open part of the garage into view. I will turn right again.", + "The nose of the white sheeted car has just entered the right edge of my view, which tells me the occupied bays lie further around that way. The payment machine sits over on that side of the garage. I will keep rotating right to bring the car and the aisle beyond it in front of me.", + "The covered car now lies across the middle of my view, and past its tail I can glimpse a lit doorway and the wider garage opening up. That open ground is the way toward the payment machine, still further to my right. I will continue the turn.", + "Swinging further has revealed the long aisle of pillars and a green car parked out in the open bays to my right. I want that clear run ahead of me rather than the sheeted car off to my left. One more turn right should line my heading up with the aisle.", + "The covered car still crowds the left of my view while the open aisle with its row of pillars and lit ceiling opens away to my right. I will turn right once more to finish swinging my heading onto that clear span, since a payment machine is more likely along the served part of the garage than in this dead corner.", + "My heading now runs down the open floor, with pillars and parked bays stretching ahead and a lit doorway set into the wall on my right. Nothing blocks the path in front of me, so I will walk forward to bring more of this level into view and look for the payment machine.", + "The aisle continues to open up as I advance, with a green car visible far off to the left and the concrete divider wall still on my right. No payment machine has appeared yet from here, so I will keep walking forward to close on the far side of this bay.", + "Straight ahead of me is only the blank divider wall and the doorway hugging my right side, while the wider part of the garage extends off to my left. I will turn left to swing my view across that open side, where wall-mounted equipment is more likely to stand.", + "The turn has brought a wall-mounted console with a small screen into view on the left, beyond the covered car and a stanchion. It is still far off across the open floor, so I will walk forward to close the gap and confirm what that panel is.", + "The machine panel sits at the left edge of my view while my heading still points down the empty aisle past the pillar. I will turn left to place that equipment wall in front of me before continuing toward it.", + "Now the wall unit with its lit screen and front panel stands ahead on my left, next to a taller cabinet and a stanchion. The floor between us is clear, so I will step forward to close in on it.", + "The unit is clearly a machine with a display, buttons and a slotted front, and it grows larger as I come nearer along this wall. I am still a few paces short of it, so I will keep walking forward to stand at it.", + "The payment terminal with its lit screen sits against the wall close on my left, but my heading runs parallel to that wall rather than into it. I will step forward once more to come level with the machine bank before turning to face it squarely.", + "I am now abreast of the wall recess, with the drinks machine on my left and the payment terminal just beyond it, while my view still faces the empty parking bays ahead. Turning left should start swinging my heading onto that bank of machines.", + "The panel marked PAY HERE has come into the left edge of my view, still well off-center behind the drinks machine. A second turn to the left should bring the payment terminal squarely in front of me for a straight approach.", + "The payment terminal now stands centered ahead of me, its screen, card slots and ticket tray clearly readable a few paces away. I will walk forward to close that last gap and stand right at the machine.", + "The payment terminal's screen, card slot and ticket tray fill my view at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_d/infos.json b/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..08119645e722aaaedddd02fb786d34f92cf6d147 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000662_y001650_z-000203_t3_d/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Go to the car covered with a white cloth, then make your way to the payment machine.", + "Type": 3, + "Start_Pose": [ + 662.049, + 1650.055, + -202.751, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 662.049, + 1650.055, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 663.631, + 1775.904, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 663.631, + 1775.904, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 611.878, + 1890.631, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 560.125, + 2005.357, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 508.372, + 2120.083, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 508.372, + 2120.083, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 508.372, + 2120.083, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 508.372, + 2120.083, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 387.221, + 2154.183, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 266.926, + 2178.296, + -202.751, + 0.0, + 164.28, + -0.0 + ], + [ + 266.926, + 2178.296, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 266.926, + 2178.296, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 266.926, + 2178.296, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 260.351, + 2294.303, + -202.751, + 0.0, + 89.28, + -0.0 + ], + [ + 260.351, + 2294.303, + -202.751, + 0.0, + 89.28, + -0.0 + ] + ], + "Rationale": [ + "The car draped in a white cloth stands well ahead of me across the empty parking bays, slightly to the right of my heading. The floor between us is clear of pillars and parked vehicles, so I will walk forward to cut down that distance before refining my heading.", + "The covered car now sits noticeably right of the center of my view, so walking straight ahead would carry me past it toward the bare wall. I will turn right to swing my heading onto the car and the open lane beside it.", + "After the turn the cloth covered car lies comfortably within my forward view with clear floor leading to it. Nothing stands between me and its bay, so I will step forward to close in on it.", + "The draped car has grown larger ahead of me and I can now make out the machines with a lit screen against the far wall beyond it. I am still several paces short of the car, so I will keep walking forward.", + "The white sheet over the car now fills much of the left side of my view, but I am still short of standing level with it. One more step forward should bring me right alongside the covered vehicle.", + "The white sheet draped over the car is right beside me, close enough to touch its curved hood. I have reached the covered car. I mark reaching it and now turn my attention to the payment machine with the lit screen over on the right.", + "Standing beside the covered car, my heading still points along its body rather than toward the machines. The payment unit with its screen and slots sits off to my right, so I will turn right to bring that side of the garage in front of me.", + "The payment machine is now in view, but it faces into a narrow strip beside the pillar while the covered car still crowds the space directly in front of me. I will turn right again to take the open aisle, which should let me walk out and come around to the machine's face.", + "With the covered car behind me, my heading now runs down the open aisle, and the tall kiosk with its screen and slots stands against the wall on my left. I will walk forward to close the gap along this clear floor toward that bank of machines.", + "The payment kiosk and the drink machine beside it are noticeably larger on my left, so the previous step shortened the distance as intended. The floor ahead remains clear, so I will step forward again to draw level with the machines.", + "I am now beside the machines, with the bottle vending front filling my left edge and the payment kiosk just past it, out of my forward view. I will turn left to swing my heading onto that wall of machines.", + "The turn has brought the vending machine front into view and I can see a lit panel with lettering starting at the far left of my view. Another left turn should bring the payment kiosk itself into the center of my heading.", + "The PAY HERE panel with its screen, card slots and buttons is now clearly visible, but it sits left of center while the drink machine occupies the middle of my view. One more left turn should place that payment unit straight ahead of me.", + "The PAY HERE unit with its screen, buttons and slots is now squarely ahead of me, framed between the concrete column and the drink machine. Only a short gap of open floor remains, so I will walk forward to stand at it.", + "The payment machine's screen, card slot and buttons fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000678_y001488_z-000203_t5_a_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x000678_y001488_z-000203_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b94318f3399922c3bb1babc749f564c9fa8955b4 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000678_y001488_z-000203_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the trash bag, then drop it near the stepladder.", + "Type": 5, + "Start_Pose": [ + 678.268, + 1488.323, + -202.751, + 0, + -95.04, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 619.571, + 1079.811, + -290.751, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 678.268, + 1488.323, + -202.751, + 0, + -95.04, + 0 + ], + [ + 667.211, + 1362.951, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 667.211, + 1362.951, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 656.154, + 1237.578, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 656.154, + 1237.578, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 645.097, + 1112.206, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 634.04, + 986.834, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 622.982, + 861.461, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 611.925, + 736.089, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 600.867, + 610.717, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 589.81, + 485.344, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 578.753, + 359.972, + -202.751, + 0.0, + -95.04, + 0.0 + ], + [ + 578.753, + 359.972, + -202.751, + 0.0, + -120.04, + 0.0 + ], + [ + 614.796, + 422.3, + -202.751, + 0.0, + -120.04, + 0.0 + ], + [ + 614.796, + 422.3, + -202.751, + 0.0, + -120.04, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 619.571, + 1079.811, + -290.751, + 0.0, + 0.0, + 0.0 + ], + [ + 619.571, + 1079.811, + -290.751, + 0.0, + 0.0, + 0.0 + ], + [ + 619.571, + 1079.811, + -290.751, + 0.0, + 0.0, + 0.0 + ], + [ + 619.571, + 1079.811, + -290.751, + 0.0, + 0.0, + 0.0 + ], + [ + 677.479, + 1236.31, + -232.645, + -28.202, + -44.896, + 1.862 + ], + [ + 666.404, + 1110.68, + -233.132, + -28.195, + -44.892, + 1.862 + ], + [ + 655.334, + 985.267, + -233.188, + -28.209, + -44.902, + 1.855 + ], + [ + 644.293, + 860.093, + -232.869, + -28.211, + -44.907, + 1.854 + ], + [ + 633.263, + 735.016, + -232.439, + -28.213, + -44.904, + 1.849 + ], + [ + 622.229, + 609.831, + -232.094, + -28.191, + -44.889, + 1.875 + ], + [ + 611.172, + 484.459, + -232.036, + -28.192, + -44.894, + 1.869 + ], + [ + 600.09, + 358.879, + -232.348, + -28.209, + -44.903, + 1.857 + ], + [ + 596.752, + 350.1, + -232.611, + -28.186, + -69.882, + 1.873 + ], + [ + 579.754, + 361.703, + -242.751, + 0.0, + -120.04, + 0.0 + ], + [ + 579.754, + 361.703, + -242.751, + 0.0, + -120.04, + 0.0 + ] + ], + "PD_Dist_2D": [ + 412.7, + 287.1, + 287.1, + 162.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.5, + 70.0, + 70.0 + ], + "Rationale": [ + "The trash bag is lying on the corridor floor well ahead of me, with the open basement and the stepladder visible beyond it. The corridor runs straight to it with nothing in the way, so I will walk forward to close that distance before reaching for it.", + "The trash bag is now larger and centered in front of me on the corridor floor, so it may already be inside my grasping range. I will attempt to pick it up now rather than spend another step walking. If my hands close on nothing, the bag is still too far and I can step nearer.", + "My hands are empty, so that grab did not take hold. The bag was simply out of reach from where I stood. I will walk forward to stand right over it before trying again.", + "The trash bag now fills the lower part of my view directly at my feet, much nearer than when my earlier grab closed on nothing. At this range it should be within reach, so I will try to pick it up again.", + "The trash bag is now held in my hands, filling my view, so that grab succeeded. The stepladder stands out in the open basement area beyond the end of this corridor, so I will start walking forward to carry the bag toward it.", + "The trash bag is secured in my hands and travels with me, so the carry is under way. Ahead the open basement widens out and the stepladder still stands far off near the shelving racks. I will step forward again to cut down that remaining distance.", + "I am still carrying the bag, and the stepladder ahead has grown noticeably larger than before, confirming my heading is good. The floor between the shelving on my left and the wire cage on my right is unobstructed. Another forward step should keep shortening the approach.", + "The stepladder now reads clearly just left of center, propped against the pipework, and the bag remains in my grip. Nothing blocks the wet floor between me and it. I will continue walking forward since I am still too far away to place the bag beside it.", + "The stepladder is now a large object filling the left portion of my view, so I am closing in with the bag still held. The gap is nevertheless wider than a drop distance. I will advance once more to bring myself alongside it.", + "The stepladder now dominates the left foreground and the blue drum sits just past it, so I am nearly beside my drop target while still holding the bag. The floor immediately ahead stays clear. I will take another step forward to draw level with the ladder before releasing the bag.", + "I am still holding the trash bag, and the stepladder now stands close along my left as I cross the open basement floor. The way ahead past the blue drum is clear, so I take another step forward to settle myself beside the ladder area before releasing the bag.", + "The stepladder has dropped out of my forward view entirely, with only the fenced storage, pipes and the blue drum ahead, so my last step carried me past it. I turn left to swing my heading back toward the side of the room where the ladder stands, so I can place the bag near it.", + "The stepladder's rails and legs are now right at my left edge, within a step of me, and I still carry the trash bag. This spot counts as near the stepladder, so I release the bag here and expect it to settle on the floor beside the ladder.", + "The trash bag now rests on the floor right at the foot of the stepladder, and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000997_y001595_z-000203_t5_a_p/infos.json b/dataset/trajectory/UndergroundParking/task_x000997_y001595_z-000203_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d1ddc2bb6fcbb3b2e7b06ca7001c07c36215e9d0 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000997_y001595_z-000203_t5_a_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the metal bucket near the vending machine.", + "Type": 5, + "Start_Pose": [ + 996.668, + 1594.509, + -202.751, + 0, + 113.28, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 269.567, + 2242.536, + -284.771, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 996.668, + 1594.509, + -202.751, + 0, + 113.28, + 0 + ], + [ + 996.668, + 1594.509, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 902.726, + 1678.267, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 808.784, + 1762.025, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 714.842, + 1845.783, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 620.9, + 1929.541, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 526.958, + 2013.299, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 433.017, + 2097.057, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 340.378, + 2179.102, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 340.378, + 2179.102, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 340.378, + 2179.102, + -202.751, + 0.0, + 138.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 269.567, + 2242.536, + -284.771, + 0.0, + 0.0, + 0.0 + ], + [ + 269.567, + 2242.536, + -284.771, + 0.0, + 0.0, + 0.0 + ], + [ + 269.567, + 2242.536, + -284.771, + 0.0, + 0.0, + 0.0 + ], + [ + 269.567, + 2242.536, + -284.771, + 0.0, + 0.0, + 0.0 + ], + [ + 269.567, + 2242.536, + -284.771, + 0.0, + 0.0, + 0.0 + ], + [ + 269.567, + 2242.536, + -284.771, + 0.0, + 0.0, + 0.0 + ], + [ + 269.567, + 2242.536, + -284.771, + 0.0, + 0.0, + 0.0 + ], + [ + 269.567, + 2242.536, + -284.771, + 0.0, + 0.0, + 0.0 + ], + [ + 269.567, + 2242.536, + -284.771, + 0.0, + 0.0, + 0.0 + ], + [ + 326.623, + 2162.757, + -232.645, + -28.202, + -171.576, + 1.862 + ], + [ + 326.623, + 2162.757, + -232.645, + -28.202, + -171.576, + 1.862 + ] + ], + "PD_Dist_2D": [ + 974.0, + 974.0, + 848.1, + 722.3, + 596.4, + 470.5, + 344.7, + 218.8, + 95.1, + 21.4, + 21.4 + ], + "Rationale": [ + "From here the far wall alcove that holds the vending machine sits well off to my right, past the sheeted car, so my current heading points into open floor instead of toward it. I will turn right to bring that alcove and the aisle leading to it into the center of my view before walking.", + "The lit alcove with the vending machine panel now lies ahead of me across the open parking deck, with clear floor between us. The distance is still large, so I will step forward along this aisle to close it.", + "The alcove and its dark trash-can shaped fixtures are growing larger ahead and slightly left, confirming my heading is good. Nothing blocks the aisle in front of me, so I continue walking forward to shorten the remaining gap.", + "I can now make out the vending machine face and a dark cylindrical container standing beside it against the far wall, which matches the bucket I need. It is still several strides off, so I keep advancing straight toward it.", + "The vending machine and the dark drum next to it are clearly resolved just left of the concrete column ahead of me. My path stays open, so another forward step should bring me nearer to the bucket.", + "The metal bucket beside the vending machine is now plainly in front of me, close to a white bollard. I am still too far to reach it, so I walk forward again to get within grasping range.", + "The bucket sits directly ahead at the foot of the vending machine, and the aisle between the columns is still clear for me to pass through. I continue stepping forward to close the last part of the gap.", + "The metal bucket now fills the lower part of my view right in front of the vending machine, but it is still a stride beyond comfortable reach. I take one more forward step so that I should be standing close enough to attempt the grasp.", + "The vending machine now fills the left of my view and the dark metal bucket sits directly below me at the bottom of my view, close enough to reach. No further stepping is needed, so I will attempt the grasp now and expect the bucket to come into my hands.", + "The metal bucket is now held in my hands rather than resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000997_y001595_z-000203_t5_a_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x000997_y001595_z-000203_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0de220733c0571d187486e77d6478766bc9e6e2d --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000997_y001595_z-000203_t5_a_pd/infos.json @@ -0,0 +1,449 @@ +{ + "Instruction": "Grab the jerry can near the concrete pillar on the right, then place it near the stepladder.", + "Type": 5, + "Start_Pose": [ + 996.668, + 1594.509, + -202.751, + 0, + 113.28, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 369.278, + 2065.765, + -290.503, + 0.041, + 30.078, + 1.273 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 996.668, + 1594.509, + -202.751, + 0, + 113.28, + 0 + ], + [ + 946.925, + 1710.121, + -202.751, + 0.0, + 113.28, + -0.0 + ], + [ + 946.925, + 1710.121, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 852.984, + 1793.879, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 759.042, + 1877.637, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 665.1, + 1961.395, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 665.1, + 1961.395, + -202.751, + 0.0, + 163.28, + -0.0 + ], + [ + 544.562, + 1997.604, + -202.751, + 0.0, + 163.28, + -0.0 + ], + [ + 544.562, + 1997.604, + -202.751, + 0.0, + 163.28, + -0.0 + ], + [ + 544.562, + 1997.604, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 544.562, + 1997.604, + -202.751, + 0.0, + 113.28, + -0.0 + ], + [ + 544.562, + 1997.604, + -202.751, + 0.0, + 88.28, + -0.0 + ], + [ + 544.562, + 1997.604, + -202.751, + 0.0, + 63.28, + -0.0 + ], + [ + 544.562, + 1997.604, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 643.36, + 2075.575, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 742.158, + 2153.545, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 840.956, + 2231.516, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 939.755, + 2309.486, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 939.755, + 2309.486, + -202.751, + 0.0, + 13.28, + -0.0 + ], + [ + 1037.621, + 2348.223, + -202.751, + 0.0, + 13.28, + -0.0 + ], + [ + 967.546, + 2331.684, + -202.751, + 0.0, + 13.28, + -0.0 + ], + [ + 967.546, + 2331.684, + -202.751, + 0.0, + 13.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 369.278, + 2065.765, + -290.503, + 0.041, + 30.078, + 1.273 + ], + [ + 369.278, + 2065.765, + -290.503, + 0.041, + 30.078, + 1.273 + ], + [ + 369.278, + 2065.765, + -290.503, + 0.041, + 30.078, + 1.273 + ], + [ + 369.278, + 2065.765, + -290.503, + 0.041, + 30.078, + 1.273 + ], + [ + 369.278, + 2065.765, + -290.503, + 0.041, + 30.078, + 1.273 + ], + [ + 369.278, + 2065.765, + -290.503, + 0.041, + 30.078, + 1.273 + ], + [ + 369.278, + 2065.765, + -290.503, + 0.041, + 30.078, + 1.273 + ], + [ + 369.278, + 2065.765, + -290.503, + 0.041, + 30.078, + 1.273 + ], + [ + 539.003, + 1976.978, + -232.645, + -28.202, + -146.575, + 1.862 + ], + [ + 531.444, + 1981.967, + -232.372, + -28.189, + -171.563, + 1.872 + ], + [ + 525.968, + 1989.775, + -233.039, + -28.215, + 163.408, + 1.849 + ], + [ + 517.766, + 2003.838, + -232.858, + -14.175, + 130.472, + 6.959 + ], + [ + 525.636, + 2006.689, + -232.969, + -28.208, + 113.423, + 1.851 + ], + [ + 531.992, + 2013.005, + -232.301, + -28.198, + 88.426, + 1.867 + ], + [ + 629.727, + 2092.022, + -232.831, + -28.198, + 88.426, + 1.862 + ], + [ + 728.686, + 2170.116, + -233.218, + -28.202, + 88.422, + 1.86 + ], + [ + 827.452, + 2248.064, + -233.104, + -28.201, + 88.425, + 1.857 + ], + [ + 926.058, + 2325.876, + -232.726, + -28.206, + 88.419, + 1.858 + ], + [ + 934.612, + 2329.341, + -232.609, + -28.199, + 63.425, + 1.863 + ], + [ + 1032.438, + 2368.946, + -233.201, + -28.192, + 63.43, + 1.867 + ], + [ + 1035.674, + 2347.764, + -252.751, + 0.0, + 13.28, + -0.0 + ], + [ + 1035.674, + 2347.764, + -252.751, + 0.0, + 13.28, + -0.0 + ] + ], + "PD_Dist_2D": [ + 784.7, + 678.3, + 678.3, + 554.9, + 432.8, + 313.7, + 313.7, + 188.1, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 21.4, + 21.4, + 20.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the initial view I can see the red jerry can far ahead on the right side of the covered car, standing near the concrete columns by the wall. It is much too distant to reach, so I will walk straight ahead to close the open floor between us.", + "After advancing, the jerry can and the pillars beside it still sit to the right of my heading, while my current course would carry me toward the covered car instead. I will turn right to put the can closer to the center of my view before continuing.", + "The turn has brought the red jerry can and the pillar beside it into a clear line ahead on my right. The floor between us is open and unobstructed, so I will step forward to shorten the gap.", + "The jerry can is noticeably larger now and sits just right of my path near the columns, but still several strides away. Nothing blocks the lane, so I will keep walking toward it.", + "The red can is clearly resolved beside the concrete pillar ahead on my right, yet it is still beyond arm's reach. I will advance another step to get within grasping distance.", + "I am now close to the jerry can, but it sits off to the right of my facing and the covered car dominates my forward view. I will turn right so the can is squarely in front of me for the final approach.", + "The jerry can is now near the middle of my view, standing on the floor just in front of the concrete pillar. It remains a stride away, so I will step forward to bring it within reach for a grasp.", + "The red jerry can is directly in front of me at the base of the concrete pillar, filling the lower center of my view at arm's length. This is the target named in the task, so I will attempt to pick it up before carrying it toward the stepladder.", + "The grab worked, the red jerry can is now held in my hands rather than standing on the floor by the pillar. My heading still faces the pillar bay, while the stepladder stands off in the opposite corner of the garage. I turn left to start swinging my heading back toward it.", + "The can is secure in my hands as I rotate. Ahead I only see the covered car, the vending machines and the near pillar, with no stepladder anywhere in view. I keep turning left to continue sweeping toward the far side where it should be.", + "Carrying the can, my view has swung so the sheeted car now fills the centre and the machines sit to the right. The stepladder is still outside my field of view, further round to the left. Another left turn should bring more of that far bay into sight.", + "The covered car has slid to the right of my view and open parking bays stretch away on the left, but the stepladder is still not showing. With the can in hand I have no reason to stop here. I turn left again to keep uncovering that darker left-hand section.", + "The stepladder has finally appeared, standing near the far wall at the left edge of my view, with the covered car now behind on my right. It is too far off to my side to walk straight at. One more left turn should put it roughly ahead of me.", + "The stepladder now sits close to the centre of my view with clear, empty floor between us. My heading finally lines up with the delivery spot while the jerry can stays in my hands. I walk forward to close that distance.", + "The stepladder has grown larger and stays just left of centre, so my heading is still good. There is plenty of clear bay floor before I reach it, and the can remains in my hands. I keep walking forward.", + "The stepladder is clearly nearer now, its legs and tray filling much of the left-centre view, but I am still several paces short of setting the can down beside it. Nothing blocks the floor ahead. I advance again to get within placing range.", + "The jerry can is still in my hands and the stepladder now stands close on my left side, meaning I am nearly level with the intended drop area. I will step forward once more to reach the open floor beside it rather than stopping short of it.", + "My forward heading has carried me alongside the stepladder, which now sits at the far left edge of my view while I face the empty wall and lamp. I will turn left to bring the ladder back in front of me so the can can be set down beside it.", + "The stepladder is now centered directly ahead with clear floor between us, so my heading is right for placement. I am still slightly too far back for the can to end up close beside it, so I will take one step forward to close that gap.", + "I am now right beside the stepladder, with its legs and rails filling the near left of my view and open floor at my feet. This is close enough for the can to count as placed near it, so I will release the jerry can here.", + "The red jerry can now rests on the floor directly beside the stepladder, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x000997_y001595_z-000203_t5_b_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x000997_y001595_z-000203_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c118bbafa2f1b07011d8cc30c45ab6d70a0eb12 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x000997_y001595_z-000203_t5_b_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the trash bag, then put it down near the stepladder.", + "Type": 5, + "Start_Pose": [ + 996.668, + 1594.509, + -202.751, + 0, + 113.28, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 636.764, + 2152.094, + -288.032, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 996.668, + 1594.509, + -202.751, + 0, + 113.28, + 0 + ], + [ + 946.925, + 1710.121, + -202.751, + 0.0, + 113.28, + -0.0 + ], + [ + 897.183, + 1825.733, + -202.751, + 0.0, + 113.28, + -0.0 + ], + [ + 897.183, + 1825.733, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 803.241, + 1909.491, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 709.299, + 1993.249, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 709.299, + 1993.249, + -202.751, + 0.0, + 138.28, + -0.0 + ], + [ + 709.299, + 1993.249, + -202.751, + 0.0, + 113.28, + -0.0 + ], + [ + 709.299, + 1993.249, + -202.751, + 0.0, + 88.28, + -0.0 + ], + [ + 709.299, + 1993.249, + -202.751, + 0.0, + 63.28, + -0.0 + ], + [ + 709.299, + 1993.249, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 808.097, + 2071.22, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 906.895, + 2149.191, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 1005.693, + 2227.161, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 949.174, + 2182.557, + -202.751, + 0.0, + 38.28, + -0.0 + ], + [ + 949.174, + 2182.557, + -202.751, + 0.0, + 38.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 636.764, + 2152.094, + -288.032, + 0.0, + 0.0, + 0.0 + ], + [ + 636.764, + 2152.094, + -288.032, + 0.0, + 0.0, + 0.0 + ], + [ + 636.764, + 2152.094, + -288.032, + 0.0, + 0.0, + 0.0 + ], + [ + 636.764, + 2152.094, + -288.032, + 0.0, + 0.0, + 0.0 + ], + [ + 636.764, + 2152.094, + -288.032, + 0.0, + 0.0, + 0.0 + ], + [ + 636.764, + 2152.094, + -288.032, + 0.0, + 0.0, + 0.0 + ], + [ + 695.544, + 1976.904, + -232.645, + -28.202, + -171.575, + 1.862 + ], + [ + 690.802, + 1984.621, + -232.372, + -28.189, + 163.437, + 1.872 + ], + [ + 689.139, + 1994.011, + -233.039, + -28.215, + 138.408, + 1.849 + ], + [ + 687.648, + 2010.224, + -232.858, + -14.175, + 105.473, + 6.959 + ], + [ + 695.986, + 2009.481, + -232.969, + -28.208, + 88.423, + 1.851 + ], + [ + 794.316, + 2087.555, + -232.548, + -28.189, + 88.438, + 1.869 + ], + [ + 892.904, + 2165.347, + -232.165, + -28.205, + 88.415, + 1.859 + ], + [ + 991.661, + 2243.296, + -232.012, + -28.191, + 88.43, + 1.872 + ], + [ + 1004.123, + 2225.922, + -242.751, + 0.0, + 38.28, + -0.0 + ], + [ + 1004.123, + 2225.922, + -242.751, + 0.0, + 38.28, + -0.0 + ] + ], + "PD_Dist_2D": [ + 663.7, + 539.9, + 417.5, + 417.5, + 294.2, + 174.6, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The black trash bag sits on the floor beside the covered car, far across the parking level, and the stepladder stands off to my left near the wall. Nothing blocks the open bay ahead, so I will walk forward to close that distance toward the bag.", + "The bag beside the covered car now appears larger, confirming I am closing on it, but it is still several bays away. I will keep walking forward along this clear lane to shorten the remaining gap.", + "The trash bag has drifted toward the right of my heading as I advanced, so walking straight would carry me past it. I will turn right to bring the bag closer to the center of my path before continuing.", + "The turn has lined the trash bag up ahead of me, just in front of the covered car's nose. The floor between us is empty, so I will step forward to get within reach.", + "The bag is now close and low in my view, but still slightly too far to grasp comfortably. One more step forward should place it directly at my feet for a reliable pick.", + "The trash bag fills the bottom of my view right in front of me, well within reach and unobstructed. I will attempt to pick it up so I can carry it toward the stepladder.", + "The bag is no longer resting on the floor and is now held with me, so the grasp took hold. The stepladder lies well behind my current facing, so I will turn left to begin swinging my heading around toward it.", + "I am still holding the trash bag while facing the covered car and the machines along the far wall, with no stepladder in sight this way. I will continue turning left to keep rotating toward the side of the level where the ladder stood.", + "The bag is held and no longer sits on the floor, so I only need a heading toward the stepladder. My view still shows the covered car and bare parking bays, with the ladder not yet in front of me. I will keep rotating left to bring that corner of the garage into view.", + "The stepladder has now come into view ahead on the left, standing against the wall beside the lit strip. My heading is still slightly off from it, so one more left rotation should center it. I will turn left again before walking over.", + "The stepladder is now roughly centered ahead across an open stretch of floor. I am still carrying the bag and the path shows no obstruction between me and the ladder. I will walk forward to close that distance.", + "The stepladder has grown noticeably larger and stays centered in my view, confirming I am on the right line. I am still too far away for a placement that counts as near it. I will step forward again with the bag.", + "The ladder now fills much of my view but I am still a stride short of standing right beside it. One more forward step should put the bag well within the ladder's immediate surroundings. I will advance again.", + "I am now directly at the stepladder, with its legs and rails filling my view at arm's length. This is the spot the task asks for, so releasing the bag here should leave it right next to the ladder. I will drop it now.", + "The trash bag now rests on the floor at the foot of the stepladder and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001660_y002565_z-000203_t2_a/infos.json b/dataset/trajectory/UndergroundParking/task_x001660_y002565_z-000203_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8253880604e2f24a40d6b87ba20feeefb5cf3cfb --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001660_y002565_z-000203_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Head toward the second bollard from the right.", + "Type": 2, + "Start_Pose": [ + 1660.006, + 2564.515, + -202.751, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1660.006, + 2564.515, + -202.751, + 0.0, + -0.0, + 0.0 + ], + [ + 1660.006, + 2564.515, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + 1774.073, + 2511.325, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + 1888.14, + 2458.134, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + 2002.207, + 2404.944, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + 2116.274, + 2351.754, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + 2116.274, + 2351.754, + -202.751, + 0.0, + -25.0, + 0.0 + ] + ], + "Rationale": [ + "Scanning the bollards on this garage floor, the rightmost stands alone near the central pillar, and the next one leftward, my target, rises at the near corner of the hatched floor markings; they all look alike, so I hold it by that painted corner. It sits left of my heading, so I will turn left to bring it toward center.", + "The bollard I chose, the one at the near corner of the hatched markings, now sits close to the center of my view with clear open floor between us. Nothing blocks the lane, so I will walk straight ahead to close the distance.", + "More bollards have appeared on the right side of the bay, so counting from the right here would no longer land on the one I picked. I keep following the same bollard standing at the hatched markings just left of center and will step forward again.", + "My bollard is noticeably larger and nearer now, still ahead of me beside the painted hatching. The floor stays clear, so I will continue walking straight toward it.", + "The bollard I am following now stands only a short distance ahead, just right of my center line, with the painted markings running past its base. One more step forward should bring me right up beside it.", + "The bollard I chose now stands directly in front of me, filling the near foreground within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001660_y002565_z-000203_t2_b/infos.json b/dataset/trajectory/UndergroundParking/task_x001660_y002565_z-000203_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67e3c3f65b07e9c6d4f1db6a42a439730316645c --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001660_y002565_z-000203_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the rightmost white bollard in the row beside the parking payment machine.", + "Type": 2, + "Start_Pose": [ + 1660.006, + 2564.515, + -202.751, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1660.006, + 2564.515, + -202.751, + 0.0, + -0.0, + 0.0 + ], + [ + 1785.865, + 2564.515, + -202.751, + 0.0, + 0.0, + 0.0 + ], + [ + 1911.724, + 2564.515, + -202.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2037.583, + 2564.515, + -202.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2163.442, + 2564.515, + -202.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2163.442, + 2564.515, + -202.751, + 0.0, + -25.0, + 0.0 + ], + [ + 2163.442, + 2564.515, + -202.751, + 0.0, + -50.0, + 0.0 + ], + [ + 2163.442, + 2564.515, + -202.751, + 0.0, + -50.0, + 0.0 + ] + ], + "Rationale": [ + "Counting the white bollards from this doorway view, the row ends on the right with the one standing closest to the dark payment kiosk, so that near-kiosk bollard is what I am going to. It is far off across the empty bays, so I will walk forward toward it.", + "The bollard beside the payment kiosk is noticeably nearer now and the kiosk itself has grown on my right, so my heading is good. The floor ahead is clear of parked cars, so I will keep walking forward.", + "The bollard I am after now stands close in the lower part of my view, just left of the lit payment kiosk. I am still several paces short of it, so I will continue forward.", + "The bollard has drifted to my left edge as I close on the kiosk, meaning I am nearly abreast of it rather than at it. One more step forward should bring me level with its position beside the machine.", + "I am now right alongside the payment kiosk, and the bollard I am heading for has passed out of my view beyond the left edge, so nothing in front of me can be counted anymore. I will turn left to bring it back into sight.", + "The near bollard is back in view but sits right at my left margin, well off my heading. Another left turn should swing it squarely in front of me so I am facing it head on.", + "The white bollard I am heading for stands directly ahead in the near foreground, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001660_y002565_z-000203_t2_c/infos.json b/dataset/trajectory/UndergroundParking/task_x001660_y002565_z-000203_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9282e580ca8467f2ce4999b519921ead389dc1d5 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001660_y002565_z-000203_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Proceed to the first bollard on the left.", + "Type": 2, + "Start_Pose": [ + 1660.006, + 2564.515, + -202.751, + 0.0, + -29.76, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1660.006, + 2564.515, + -202.751, + 0.0, + -29.76, + 0.0 + ], + [ + 1769.266, + 2502.043, + -202.751, + 0.0, + -29.76, + 0.0 + ], + [ + 1878.525, + 2439.57, + -202.751, + 0.0, + -29.76, + 0.0 + ], + [ + 1987.785, + 2377.098, + -202.751, + 0.0, + -29.76, + 0.0 + ], + [ + 1987.785, + 2377.098, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 2060.406, + 2274.303, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 2133.027, + 2171.509, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 2133.027, + 2171.509, + -202.751, + 0.0, + -54.76, + 0.0 + ] + ], + "Rationale": [ + "Ahead in this parking level I can pick out a line of white bollards, and the nearest one on the left side of that run stands just past the painted parking bay near the concrete column. They all look alike, so I hold my target as the one closest to me on the left, beside that column. I will walk forward to close the gap.", + "The bollards have grown larger and are spreading apart across my view, so I am gaining ground. The one I am heading for still sits to the left of the bay markings, well short of the doorway at the far wall. I will keep walking straight toward it.", + "The bollards now read as separate posts rather than a tidy row, and the one I chose lies off to my left front near the column. There is clear open floor between me and it. I will step forward again to draw level with that area.", + "My heading is carrying me toward the doorway on the right rather than toward the post I want, which sits off my left shoulder near the column. Turning left should place it in front of me so I can walk straight at it.", + "After the turn the bollard I am after is set in my forward path, with the column just beside it. The floor between us is clear. I will walk forward to bring myself up to it.", + "The post I am heading for is close now, low in my view just left of centre. One more step should put me right beside it rather than short of it. I will move forward again.", + "The bollard I chose stands directly before me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001688_y001404_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x001688_y001404_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96a9779fdb5c41c7d71842ad4cde774fbc04eb3a --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001688_y001404_z-000203_t0_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Approach the metal stepladder near the wall.", + "Type": 0, + "Start_Pose": [ + 1688.014, + 1404.114, + -202.611, + 0.0, + 89.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1688.014, + 1404.114, + -202.611, + 0.0, + 89.28, + -0.0 + ], + [ + 1688.014, + 1404.114, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 1636.261, + 1518.84, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 1584.509, + 1633.567, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 1532.756, + 1748.293, + -195.478, + 0.0, + 114.28, + -0.0 + ], + [ + 1532.756, + 1748.293, + -195.478, + 0.0, + 139.28, + -0.0 + ], + [ + 1437.366, + 1830.399, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 1341.977, + 1912.505, + -202.751, + 0.0, + 139.28, + -0.0 + ], + [ + 1341.977, + 1912.505, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 1290.224, + 2027.231, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 1238.472, + 2141.957, + -202.751, + 0.0, + 114.28, + -0.0 + ], + [ + 1238.472, + 2141.957, + -202.751, + 0.0, + 114.28, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the open garage level I can see the metal stepladder far off to my right, standing against the wall beside the vertical strip light. My current heading points down the empty bay instead of at it, so I will turn right to bring the ladder closer to the middle of my view before advancing.", + "The stepladder is now roughly ahead of me, past the near column and beyond the yellow speed bump, though still a long way off. The floor between us looks clear, so I will move forward to start closing that distance.", + "The ladder has grown noticeably larger and stays near the center of my view, which tells me my heading is carrying me toward it. I will continue forward across the open bay to keep reducing the gap.", + "The stepladder and the covered car beside it are clearly resolved now, but I am still several bay lengths short of the wall. Nothing blocks the lane in front of me, so another forward step should bring me meaningfully closer.", + "The ladder has drifted a little right of my heading as I advanced, sitting just past the column on that side. I will turn right to put it squarely in front of me so the remaining approach runs straight at it.", + "With the stepladder now well inside my forward view against the lit wall, the path across the marked bays looks open. I will move forward to close the remaining distance toward it.", + "The ladder is clearly nearer, its rungs and top platform now distinct, but I am not yet within a close standing distance of it. I will step forward again to keep shortening the gap to the wall.", + "At this closer range the stepladder has slipped to the left side of my view while I am aimed more toward the covered car and the far ramp. I will turn left to bring the ladder back in front of me before taking the last steps in.", + "The metal stepladder now sits near the center of my view, standing against the concrete wall beside the vertical light tube. My heading is lined up with it, but there is still open floor between us, so I will move forward to close that gap.", + "The ladder is larger and still centered ahead, so my heading remains good and only distance is left to reduce. I will advance one more step to bring myself right up beside it near the wall.", + "The metal stepladder stands directly in front of me at arm's reach against the wall. The approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_a/infos.json b/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..374c7e7fc1dec5fe2a9d2a96572291c4d1c927ca --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the stepladder, then head toward the orange-lit doorway.", + "Type": 3, + "Start_Pose": [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1589.543, + 2397.885, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1463.724, + 2394.722, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1463.724, + 2394.722, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1351.029, + 2338.682, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1238.335, + 2282.642, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1238.335, + 2282.642, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1154.679, + 2211.936, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1041.985, + 2155.896, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1041.985, + 2155.896, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 963.532, + 2057.48, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 885.08, + 1959.063, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 806.628, + 1860.647, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 728.176, + 1762.231, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 728.176, + 1762.231, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 698.667, + 1639.88, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 698.667, + 1639.88, + -202.751, + 0.0, + -103.56, + 0.0 + ] + ], + "Rationale": [ + "The stepladder stands out in the open bay ahead of me, beside the covered car and the bright strip light. It is still a long way off across the empty parking deck, so I will walk straight forward to begin closing that gap.", + "The stepladder has grown noticeably and its blue top cap is now clear, so my heading is good. Nothing blocks the concrete floor between us, so I will keep walking forward toward it.", + "The stepladder is close now and sits slightly left of my heading, so walking straight would take me into its legs rather than up beside it. I will turn right to pass along its near side, which should also bring the warm orange doorway on the far wall into view.", + "After the turn the ladder sits just off my left shoulder and the orange doorway glows across the bay to the right. A few more paces should bring me level with the ladder, so I will step forward.", + "The ladder now towers at the left of my view, its frame nearly at arm's length. One more step forward should put me right alongside it.", + "The stepladder's rails and rungs stand right beside me at the left edge of my view, close enough to touch. I have reached the stepladder. I mark arriving here before setting off across the bay for the orange-lit doorway glowing in the far wall.", + "With the ladder behind my shoulder, the warm orange doorway glows across the open deck ahead and to the right. The floor between us is clear, so I will walk forward to start closing on it.", + "The lit opening is larger now, its bright frame and the red alarm box on the wall beside it clearly visible. It still lies well ahead, so I will keep walking toward it.", + "The warm orange glow of the open doorway sits well off to my right, past the concrete wall with the fire alarm, while my heading still points down the open parking bays ahead. I will turn right to bring that lit opening toward the center of my view so I can walk straight at it.", + "The lit doorway now sits near the middle of my view with clear, unobstructed floor between me and it. I will walk forward to close the remaining distance toward that opening.", + "The bright opening has grown larger and I can now make out the pipe and wall inside the lit space beyond it. Nothing blocks the path, so I keep walking forward to shorten the gap.", + "The doorway frame is clearly resolved ahead with warm light spilling onto the floor at my feet. I will continue walking toward it to reach the threshold.", + "I am close enough now to see the propped door leaf and the corridor interior through the opening. One more step forward should bring me right up to the threshold.", + "Standing near the threshold, the opening lies slightly to my right and I am angled across it rather than facing squarely through. I will turn right to square my heading with the passage so I can step cleanly into the lit corridor.", + "The lit passage is now centered directly ahead, with the corridor and its overhead lamp running straight away from me. I will step forward to move through the threshold into that orange-lit space.", + "I am standing inside the orange-lit doorway with its corridor walls on either side of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_b/infos.json b/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a44072fd4cd9d0207624ce2a3214bda20c2b07 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_b/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Approach the white covered object near the ladder, then proceed to the orange-lit doorway.", + "Type": 3, + "Start_Pose": [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1602.668, + 2345.008, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1489.973, + 2288.968, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1377.279, + 2232.928, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1264.585, + 2176.888, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1264.585, + 2176.888, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1138.766, + 2173.725, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1012.946, + 2170.562, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 887.127, + 2167.399, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 887.127, + 2167.399, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 771.759, + 2217.706, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 656.392, + 2268.013, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 656.392, + 2268.013, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 741.09, + 2231.08, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 741.09, + 2231.08, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 741.09, + 2231.08, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 741.09, + 2231.08, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 741.09, + 2231.08, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 711.58, + 2108.73, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 682.071, + 1986.379, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 652.562, + 1864.028, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 652.562, + 1864.028, + -202.751, + 0.0, + -78.56, + 0.0 + ], + [ + 677.525, + 1740.67, + -202.751, + 0.0, + -78.56, + 0.0 + ], + [ + 702.488, + 1617.311, + -202.751, + 0.0, + -78.56, + 0.0 + ], + [ + 702.488, + 1617.311, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 655.659, + 1547.429, + -202.765, + 0.0, + -103.56, + 0.0 + ], + [ + 655.659, + 1547.429, + -202.765, + 0.0, + -103.56, + 0.0 + ] + ], + "Rationale": [ + "The white sheeted car with the stepladder beside it sits ahead on my left, but a concrete pillar and the low beam block a straight run at it. I turn right to swing my heading onto the open parking aisle, which should give me a clear lane to travel before I close in on the covered shape.", + "The aisle in front of me is now clear of pillars, with the sheeted car and ladder standing off to my left and the orange-lit doorway glowing further down on the right. I step forward along this open lane to cut the distance to the covered shape.", + "The ladder and the draped car have grown larger on my left, so my line of travel is bringing me alongside them. Nothing blocks the floor ahead, so I keep walking forward to gain more ground.", + "The stepladder is close on my left and the sheeted car sits just past it, but I am still short of drawing level with them. I continue forward along the open aisle to keep closing that gap.", + "The ladder has slipped to my left shoulder and the covered car stretches along the left wall, meaning I am nearly level with it. One more step forward should put me beside the covered shape before I turn to face it.", + "The draped car now lies well off to my left while my heading points down the far aisle toward the lit doorway. I turn left so the covered shape comes into the middle of my view and I can walk straight at it.", + "The turn brought the sheeted car into clear view ahead on my left, with the ladder just at my shoulder and nothing between us. I walk forward to bring myself up close to the covered shape.", + "The white sheet over the car now fills much of my left foreground, so I am close but not yet drawn up beside it. I step forward again to finish closing on the covered object.", + "The sheeted car on my left is much larger now, its nose almost level with me, but I am still offset from it along the aisle. I will keep walking forward to close the remaining gap before swinging in toward it.", + "The draped car sits off to my left while my heading still runs down the empty aisle past it. Turning left should bring the covered vehicle into the center of my view so I can walk straight at it.", + "The white sheeted car now sits squarely in front of me under the ceiling light, with clear floor between us. I will step forward to shorten that gap.", + "The sheet now spreads across most of my view, though I am still a stride or two short of standing right beside it. One more step forward should put me directly at the covered car.", + "The white sheet fills my view at arm's length, its folds close enough to touch beside the wall. I am standing at the covered car. I mark reaching it and turn my attention to the orange-lit doorway across the garage.", + "Pressed this close, the sheet blocks nearly everything and I cannot see the open bay I need to cross. Backing up a step should give me the clearance and the wider view I need before reorienting toward the lit doorway.", + "With room regained, I can see the covered car ahead of me and open garage floor stretching away to my right. The warm doorway lies well around to that side, so I will begin turning right to bring it back into view.", + "My heading now looks across rows of pillars, but no orange glow has come into the frame yet. I will keep rotating right to sweep further around toward the lit doorway.", + "Having marked the covered car behind me, I am sweeping my heading around toward the far side of the garage, but this view still shows only open bays, columns and the green car to the left. The warm glow of the doorway is not in sight yet, so I will keep turning right to bring that side of the level into view.", + "The orange-lit doorway has come into view on the right side of my field, its light spilling across the floor. It is still off to the side rather than in front of me, so I will turn right once more to place it near the center of my heading.", + "The lit doorway now sits roughly ahead of me with clear, unobstructed floor between us. I will walk forward to close that distance.", + "The opening is noticeably larger and the corridor beyond it is visible through the frame, so my heading is good. Nothing blocks the stretch of floor in front of me, and I will keep walking toward it.", + "The doorway fills much more of my view now, with the swung door panel on its left and the alarm box on the wall to the right. I am close but not yet at the threshold, so I will step forward again.", + "From here the bright opening sits slightly right of my heading, so walking straight would carry me into the wall beside it. I will turn right to line my body up with the passage before continuing.", + "The lit passage is now squarely reachable ahead with the open door swung back on my left. I will walk forward to reach the threshold.", + "I am right at the doorway now, with its frame and the glowing corridor filling the left half of my view. One more step forward should carry me onto the threshold itself.", + "The warmly lit passage now sits at the far left edge of my view while a bare concrete wall with a red alarm box fills the right half, so my heading has drifted off the opening. I will turn left to bring the glowing corridor back to the center of my view before advancing.", + "The orange-lit corridor is now squarely ahead, its walls framing a clear straight run toward the open space beyond. Nothing blocks the floor between me and the threshold, so I will step forward into the passage.", + "I am standing inside the orange-lit doorway, its glowing walls on both sides of me and the far room open ahead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_c/infos.json b/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c753df535817c0cdcf4b422753c4c572f52fb760 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head to the fluorescent tube light, then move to the orange-lit doorway.", + "Type": 3, + "Start_Pose": [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1589.543, + 2397.885, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1463.724, + 2394.722, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1337.904, + 2391.56, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1337.904, + 2391.56, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1212.085, + 2388.397, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1099.111, + 2402.135, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1099.111, + 2402.135, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 987.699, + 2357.889, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 987.699, + 2357.889, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 909.247, + 2259.473, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 830.795, + 2161.057, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 752.343, + 2062.641, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 752.343, + 2062.641, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 722.833, + 1940.29, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 693.324, + 1817.939, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 663.815, + 1695.589, + -202.751, + 0.0, + -103.56, + 0.0 + ], + [ + 663.815, + 1695.589, + -202.751, + 0.0, + -103.56, + 0.0 + ] + ], + "Rationale": [ + "The long fluorescent tube hangs vertically in the middle distance beside the stepladder, and the warm orange doorway glows far off on the right of this parking level. I will walk forward across the open bay to close on that tube first, since it is the nearer of my two destinations.", + "The glowing tube and the stepladder beside it now sit noticeably larger and lower in my view, so my heading is carrying me straight at them. I will keep walking forward over the clear painted floor to shorten the remaining gap.", + "The fluorescent tube now stretches nearly the full height of my view and the ladder stands close on my right, so only a short stretch of floor remains. I will step forward again to reach the tube itself.", + "The fluorescent tube burns right beside me at arm's length, running floor to ceiling with the stepladder beside it. I have reached the tube light. I mark reaching it and now set off toward the orange-lit doorway glowing off to my right across the garage.", + "With the tube light reached, my attention shifts to the warm orange doorway on the far side of this level. I will walk forward past the ladder into the open bay to gain ground and a clearer line toward that glow.", + "The ladder is behind me now and the covered car sits along the wall to my left, leaving the bay ahead open. I will keep walking forward to draw level with the columns before angling toward the orange-lit doorway.", + "Straight ahead I face only the covered car and the far concrete columns, while the warm orange light I want lies off beyond my right shoulder. I will turn right to swing my heading toward that side of the garage and bring the doorway back into view.", + "The turn has brought the orange-lit doorway into view on the right, its warm glow spilling onto the concrete floor. I will walk forward across the open bay to close the distance toward it.", + "The warm orange glow of the doorway sits at the far right edge of my view, almost out of sight past the concrete wall. Walking straight would carry me past it along the parking bays, so I will turn right to bring that lit opening into the middle of my path.", + "The orange doorway now stands clearly ahead of me, slightly right of center, with open floor between us. I will walk forward to close that distance.", + "The lit opening has grown larger and its frame is now distinct against the wall, so my heading is still good. Nothing blocks the bay floor in front of me, so I will keep walking toward it.", + "The open door and the warm corridor behind it are clearly visible ahead and to my right, close enough now to see the jamb and the wall fittings. I will advance again to keep shrinking the remaining gap.", + "I am close to the wall now, but the glowing opening sits off to my right rather than straight ahead, so a straight step would take me past its frame. I will turn right to square myself onto the doorway before continuing.", + "The turn has put the orange doorway squarely in front of me, its light spilling across the floor in a straight strip toward my feet. I will walk forward along that lit path toward the opening.", + "The doorway is centered and noticeably nearer, with the open leaf on the left and the corridor beyond it clearly lit. I will step forward again to reach the threshold.", + "The frame of the orange-lit doorway now fills much of my view and the passage beyond is directly in line with my heading. One more step forward should bring me right into the opening.", + "I am standing in the orange-lit doorway, its open door and frame right at my shoulders. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_d/infos.json b/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3c9b8036491d1e9e111f8d1e2e1285a59fa39b7c --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001715_y002401_z-000203_t3_d/infos.json @@ -0,0 +1,396 @@ +{ + "Instruction": "Go to the orange-lit doorway, then make your way to the fluorescent tube light.", + "Type": 3, + "Start_Pose": [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1715.362, + 2401.048, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1602.668, + 2345.008, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1489.973, + 2288.968, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1377.279, + 2232.928, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1377.279, + 2232.928, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 1298.827, + 2134.512, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 1220.375, + 2036.096, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 1141.923, + 1937.679, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 1063.47, + 1839.263, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 1063.47, + 1839.263, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 950.776, + 1783.223, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 838.082, + 1727.183, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 838.082, + 1727.183, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 759.63, + 1628.767, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 684.54, + 1590.449, + -202.796, + 0.0, + -128.56, + 0.0 + ], + [ + 684.54, + 1590.449, + -202.796, + 0.0, + -128.56, + 0.0 + ], + [ + 742.136, + 1662.701, + -202.796, + 0.0, + -128.56, + 0.0 + ], + [ + 742.136, + 1662.701, + -202.796, + 0.0, + -153.56, + 0.0 + ], + [ + 742.136, + 1662.701, + -202.796, + 0.0, + -178.56, + 0.0 + ], + [ + 742.136, + 1662.701, + -202.796, + 0.0, + 156.44, + -0.0 + ], + [ + 742.136, + 1662.701, + -202.796, + 0.0, + 131.44, + -0.0 + ], + [ + 742.136, + 1662.701, + -202.796, + 0.0, + 106.44, + -0.0 + ], + [ + 742.136, + 1662.701, + -202.796, + 0.0, + 81.44, + -0.0 + ], + [ + 742.136, + 1662.701, + -202.796, + 0.0, + 56.44, + -0.0 + ], + [ + 811.712, + 1767.581, + -202.796, + 0.0, + 56.44, + -0.0 + ], + [ + 881.288, + 1872.46, + -202.796, + 0.0, + 56.44, + -0.0 + ], + [ + 950.864, + 1977.339, + -202.796, + 0.0, + 56.44, + -0.0 + ], + [ + 1020.44, + 2082.218, + -202.796, + 0.0, + 56.44, + -0.0 + ], + [ + 1020.44, + 2082.218, + -202.796, + 0.0, + 81.44, + -0.0 + ], + [ + 1020.44, + 2082.218, + -202.796, + 0.0, + 106.44, + -0.0 + ], + [ + 984.821, + 2202.932, + -202.796, + 0.0, + 106.44, + -0.0 + ], + [ + 984.821, + 2202.932, + -202.796, + 0.0, + 81.44, + -0.0 + ], + [ + 1003.554, + 2327.389, + -202.796, + 0.0, + 81.44, + -0.0 + ], + [ + 1003.554, + 2327.389, + -202.796, + 0.0, + 56.44, + -0.0 + ], + [ + 1003.554, + 2327.389, + -202.796, + 0.0, + 31.44, + -0.0 + ], + [ + 1082.35, + 2407.154, + -202.796, + 0.0, + 31.44, + -0.0 + ], + [ + 1082.35, + 2407.154, + -202.796, + 0.0, + 31.44, + -0.0 + ] + ], + "Rationale": [ + "From this parking level I can see the warm orange glow of a doorway far off to my right, past the covered car and the ladder. My body is aimed at the blank wall ahead, so I will turn right to bring that lit opening into a workable heading before walking.", + "The orange doorway now sits ahead of me across the garage floor with clear, unobstructed concrete between us. I will walk forward to cut down that distance.", + "The glowing doorway has grown a little and the ladder and covered car have slid off to my left, confirming I am tracking toward it. The lane ahead stays clear, so I will keep walking forward.", + "The orange opening is clearly closer now, with the caged storage on my right and open floor between me and it. Another step forward should keep closing that gap without needing any turn yet.", + "As I have advanced, the lit doorway has drifted off to the right of where I am facing, and my current line would carry me past it toward the far bays. I will turn right to square up on the opening before continuing.", + "The orange doorway is now set squarely in front of me with the chain link enclosure to my right and clear floor in between. I will walk forward to close on it.", + "The doorway and the warm light spilling from it onto the floor are noticeably larger, so my heading is good. Nothing blocks the lane, and I will keep advancing toward that opening.", + "I can now make out the door frame and the fire alarm on the wall beside it, so I am only a short distance from the lit opening. I will step forward again to reach it.", + "The warm orange glow spilling from the recessed doorway is now clearly ahead on my left, past the concrete pier and the wire mesh enclosure on my right. The floor between us is open and clear, so I will keep walking forward to cut the remaining distance to that lit opening.", + "The glowing doorway has drifted toward the left edge of my view as I closed in, while the mesh cage now fills the right side. A small turn to the left should bring that lit opening back toward the middle of my heading before I advance again.", + "The orange-lit doorway now sits comfortably ahead of me with its light pooling across the floor toward my feet. Nothing blocks the stretch of concrete in between, so I will walk forward to close on it.", + "The lit opening has grown noticeably larger and its frame is now distinct against the stained concrete wall on my right. I am still several strides short of the threshold, so another step forward is the direct way to keep closing.", + "At this range the open door and its bright interior have shifted to the right half of my view, with the empty garage bay stretching away to my left. Turning right should square my heading onto the threshold so I can walk straight in.", + "The open doorway is now centered in front of me, the warm light from inside falling across the floor at my feet. With the panel swung clear and the path unobstructed, I will step forward toward the threshold.", + "The door frame and its jamb now fill most of my view, with the alarm bell hanging close on the wall to my right and the lit interior visible through the gap. One more step forward should carry me into the orange-lit opening itself.", + "I am standing inside the warm orange passage, the open door leaf beside me and the amber wall and standpipe close at hand. I have reached the orange-lit doorway, so I mark arriving here before setting off toward the fluorescent tube light.", + "Having just marked reaching the warm orange doorway, my next destination is the long fluorescent tube out in the open bay behind me. Here the passage is pinched between the stained wall and the standpipe, with little room to swing around. Stepping back through the opening should give me space to reorient.", + "I am back in the door opening with the leaf and frame filling my view, so nothing of the bright tube fixture is visible from this heading. The open parking bay lies off to my left, past the pipework. Turning left should start bringing that space into view.", + "The open bay with its exit sign and lit ceiling strips is now showing on the left half, while the door still blocks the right. No tall glowing tube is in sight yet, so I keep rotating the same way.", + "The bay is opening up in front of me, though the door edge still cuts into the right side and the fixture I want is not in view. Continuing to swing left should clear the doorway entirely and sweep more of the deck into sight.", + "I am clear of the doorway now and looking down the open deck, but only flat ceiling strips are overhead, not the tall bright tube I need to reach. Another left turn should carry my view further around this floor.", + "The sheeted car and the wall panel appear on my left as the sweep continues, and the glowing vertical fixture is still outside my view. I keep turning left to bring the far side of the deck around.", + "The covered car has swung to the middle of my view and the space beyond it is still only ordinary ceiling lighting. The bright standing tube must lie further round, so I continue the same rotation.", + "A narrow, intensely bright vertical tube now glows beside the stepladder toward the left of my view, which is the light I am heading for. One more left turn should center it so I can walk straight at it.", + "Having marked the warm orange doorway, I now face back across the open parking deck, where a bright vertical fluorescent tube glows beside a stepladder some distance ahead. The floor between me and it is clear, so I walk forward to close that gap.", + "The lit tube and the ladder beside it have grown noticeably larger and sit just right of my heading, confirming I am on a good line. Nothing blocks the bay ahead, so I keep walking toward the glow.", + "The tube light is close enough now that its glare spills across the concrete and the ladder legs are clearly separated. Still too far to call it reached, so I take another step forward.", + "The glowing tube now dominates the middle of my view with the stepladder straddling it. One more step should bring me right up beside the fixture.", + "I am nearly at the fixture, but the open stepladder stands directly across my line to it, so pressing straight ahead is not the way in. I turn right to swing my heading toward the clear bay alongside it.", + "The ladder is still squarely in my path with the tube glowing between its rails. A second turn to the right should point me fully into the open lane beside it so I can step around rather than into it.", + "My heading is now into the open bay, with the ladder and the tube's glow at my left edge and a covered car parked to the right. Walking forward should carry me past the ladder and level with the light.", + "I have advanced past the ladder, and the fluorescent tube is no longer in front of me, leaving only wall, pillar and the covered car in view. I turn left to bring the light back into sight and face it again.", + "The slim glowing tube hanging near the ceiling is now at the far left of my view, with open floor between me and the bay it lights. I will walk forward to close the remaining distance along this wall before squaring up on it.", + "My forward step has carried me past the tube light, so I now face only bare concrete wall and a column with no glow in sight. The light lies off to my left, so I will turn that way to bring it back into view.", + "The fluorescent tube is back in sight, burning bright against the wall, but it sits left of my heading rather than in front of me. Another turn to the left should bring it near the middle of my view for a straight approach.", + "The glowing tube now hangs squarely ahead of me, close enough that its light spills across the floor at my feet. I will step forward to stand right at it.", + "The lit fluorescent tube stands directly in front of me, filling my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001721_y002529_z-000203_t2_a/infos.json b/dataset/trajectory/UndergroundParking/task_x001721_y002529_z-000203_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d9a96f0c9ab41535c5c869bf15a097b454de60a5 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001721_y002529_z-000203_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the leftmost concrete pillar in the parking area.", + "Type": 2, + "Start_Pose": [ + 1721.272, + 2529.484, + -202.751, + 0.0, + -29.76, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1721.272, + 2529.484, + -202.751, + 0.0, + -29.76, + 0.0 + ], + [ + 1721.272, + 2529.484, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 1793.893, + 2426.69, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 1866.514, + 2323.895, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 1939.135, + 2221.101, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 1939.135, + 2221.101, + -202.751, + 0.0, + -79.76, + 0.0 + ], + [ + 1961.509, + 2097.246, + -202.751, + 0.0, + -79.76, + 0.0 + ], + [ + 1983.883, + 1973.392, + -202.751, + 0.0, + -79.76, + 0.0 + ], + [ + 2006.257, + 1849.538, + -202.751, + 0.0, + -79.76, + 0.0 + ], + [ + 2006.257, + 1849.538, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 2078.878, + 1746.744, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 2151.499, + 1643.949, + -202.751, + 0.0, + -54.76, + 0.0 + ], + [ + 2151.499, + 1643.949, + -202.751, + 0.0, + -79.76, + 0.0 + ], + [ + 2151.499, + 1643.949, + -202.751, + 0.0, + -79.76, + 0.0 + ] + ], + "Rationale": [ + "The concrete pillars run in a line across this garage floor, and the end of that line lies well off to my left, deep in the dim bay; the pillars are identical, so I hold my target by that far end beside the left wall rather than by any marking of its own. My current heading points across the row instead of along it. I turn left to put that far corner of the bay in front of me.", + "Now the open floor of the left bay lies straight ahead, with pillars stepping away from me toward the far wall on that side. Nothing blocks the aisle in front of me. I walk forward to close the distance toward the pillar at the far end beside that wall.", + "A nearer pillar has grown at the center of my view, but the aisle to its left is still open and the bay continues past it. I am not yet near the wall end of the run. I keep walking forward.", + "The pillar ahead now fills much of my view, and the bay I want still stretches beyond it toward the left wall. The floor between us is clear parking surface. I step forward again to keep closing.", + "The near pillar sits squarely in my path and my heading has drifted toward the right-hand part of the bay, away from the wall end I am aiming for. Continuing straight would carry me past that end. I turn left to swing my heading back onto the deep left side of the garage.", + "The turn has opened the far bay ahead, with a covered car parked against the wall on my left marking that side of the floor. The pillar I am heading for stands out there along that wall. I walk forward across the open bay.", + "The covered car on my left has slid nearer, so I am gaining ground across this bay, and the pillars ahead are still separated from me by empty painted floor. There is no obstruction in the aisle. I continue forward.", + "From this close the pillars no longer read as a countable line; they simply stand around me, so I keep following the one out by the far left wall past the covered car. The way to it remains clear floor. I step forward again.", + "The wall that closes this end of the garage is now ahead, and the last pillar before that corner sits off to my right rather than in front of me. Squaring onto it matters more than holding my current line across the empty bays. I turn right to bring it onto my heading.", + "The pillar I am after now sits ahead with the end wall close behind it, and only bare marked floor lies between us. Nothing crosses this bay. I walk forward to shorten that gap.", + "The concrete shaft has swelled across the left of my view as I close on it, and the end wall stands just beyond. I am still a stride or two from being beside it. I step forward again.", + "I am right up on the pillar now, its edge crowding my left with the red valve wheel at its foot, and the corner wall sits just past it. My heading runs off into the empty bay instead of at the concrete beside me. I turn left to put it squarely in front of me.", + "The pillar at the far end of the run stands directly beside me against the corner wall. I have reached it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001721_y002529_z-000203_t2_b/infos.json b/dataset/trajectory/UndergroundParking/task_x001721_y002529_z-000203_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7b9082c73aca8f8a46d1ce800582d05400efbbfa --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001721_y002529_z-000203_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the payment machine on the right.", + "Type": 2, + "Start_Pose": [ + 1721.272, + 2529.484, + -202.751, + 0, + -29.76, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1721.272, + 2529.484, + -202.751, + 0, + -29.76, + 0 + ], + [ + 1721.272, + 2529.484, + -202.751, + 0.0, + -4.76, + 0.0 + ], + [ + 1846.697, + 2519.04, + -202.751, + 0.0, + -4.76, + 0.0 + ], + [ + 1972.122, + 2508.596, + -202.751, + 0.0, + -4.76, + 0.0 + ], + [ + 1972.122, + 2508.596, + -202.751, + 0.0, + 20.24, + -0.0 + ], + [ + 2090.209, + 2552.137, + -202.751, + 0.0, + 20.24, + -0.0 + ], + [ + 2208.297, + 2595.678, + -202.751, + 0.0, + 20.24, + -0.0 + ], + [ + 2208.297, + 2595.678, + -202.751, + 0.0, + 20.24, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the garage, the only payment kiosk is the lit white and black unit hugging the right-hand wall, currently clipped by the edge of my view. I will turn right so that machine sits in front of me instead of at the margin, giving me a clean line to walk.", + "The payment kiosk with its screen and dark base now shows plainly ahead on the right, beside the concrete column. The floor between us is clear parking bay, so I will walk forward to cut down that distance.", + "The kiosk has grown larger and its screen and keypad panel are becoming readable, so my heading is carrying me toward it. Still several bays short of reaching it, I will keep walking forward along the open floor.", + "I am now close enough that the machine's screen and coin slots are distinct, but it sits off to my right rather than straight ahead, so walking on would take me past its face. I will turn right to square up with it before closing the last stretch.", + "The payment machine now stands ahead of me against the concrete wall, its face angled toward my path with nothing in between. I will step forward to close the remaining gap.", + "The kiosk now fills much of my view and its screen, slots and drawer are clearly separated, but I am still a couple of paces off its front panel. I will walk forward once more to stand right at the machine.", + "The payment machine's panel fills my view at arm's length, with its \"PAY HERE\" label and slots directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001842_y002074_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x001842_y002074_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19fad24e215695a53a151fa261aebf6cf062d0d9 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001842_y002074_z-000203_t0_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Head toward the dark metal door in the corridor.", + "Type": 0, + "Start_Pose": [ + 1842.366, + 2073.918, + -202.751, + 0.0, + 32.64, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1842.366, + 2073.918, + -202.751, + 0.0, + 32.64, + -0.0 + ], + [ + 1948.349, + 2141.801, + -202.751, + 0.0, + 32.64, + -0.0 + ], + [ + 1948.349, + 2141.801, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2073.091, + 2158.534, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2197.832, + 2175.267, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2322.574, + 2191.999, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2447.316, + 2208.732, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2572.058, + 2225.465, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2572.058, + 2225.465, + -202.751, + 0.0, + -17.36, + 0.0 + ], + [ + 2692.184, + 2187.912, + -202.751, + 0.0, + -17.36, + 0.0 + ], + [ + 2811.137, + 2151.16, + -202.365, + 0.0, + -17.36, + 0.0 + ], + [ + 2811.137, + 2151.16, + -202.365, + 0.0, + 7.64, + -0.0 + ], + [ + 2918.834, + 2182.409, + -202.365, + 0.0, + 7.64, + -0.0 + ], + [ + 2918.834, + 2182.409, + -202.365, + 0.0, + 7.64, + -0.0 + ] + ], + "Rationale": [ + "From this open parking bay I can see a dark metal door set back in a recessed passage ahead and slightly to my left, under a green exit sign. The floor between me and that passage is clear apart from marked bollards well off to the side, so I will walk forward to start closing the distance.", + "The metal door and its recessed passage still sit clearly to the left of my straight-ahead heading, while the ticket machine and concrete wall occupy the space directly in front of me. Turning left should swing my heading toward the passage so further forward walking carries me at the door instead of past it.", + "My heading now points into the middle of the garage bay with the lit recess and its dark metal door roughly ahead, past the row of concrete pillars. The open floor gives me a clean line, so I will walk forward to reduce the remaining distance.", + "The doorway in the recess reads larger and brighter now, with the fire alarm and wall arrow on the concrete wall to its right growing in scale as well. Nothing obstructs my line, so another step forward should keep shrinking the gap to the door.", + "The passage mouth and the green exit sign above it are close to straight ahead, and the metal door stands at the end of the short interior stretch. I will continue forward to reach the entrance of that recess.", + "I am nearly at the opening of the recessed passage, with its concrete side wall on my left, the pipework rising beside the entrance, and the exit sign just overhead to the left. Walking forward should carry me into the passage where the dark metal door stands.", + "I have entered the narrow passage, with the pipe and control box along the left wall and the stained concrete wall with the red alarm on my right. The metal door is a short way ahead, so I will step forward again to close in on it.", + "Inside the corridor the metal door now sits to the left of my heading, while the broad concrete wall with the painted arrow and red alarm takes up the right side directly in front of me. Turning left should bring the door back onto my line of travel before I continue advancing.", + "The dark metal door now sits at the end of this narrow corridor, just right of my heading, with the concrete walls and the vertical pipe close on my left. The floor ahead is clear, so I will walk forward to close the remaining distance to the door.", + "The metal door and its light-colored surround are noticeably larger now, and its lever handle is clearly visible on the right side of the door. The passage between the left wall pipe and the right wall stays open, so another step forward should bring me within reach of the door.", + "I am now very close to the door, but it has slid to the right edge of my view while the blank concrete wall of the recessed passage fills the left side. I will turn right to bring the metal door back to the center of my heading before advancing further.", + "The dark metal door is now centered directly ahead with its lever handle on the right and the concrete walls flanking it on both sides. A final short step forward should place me right at the door as the task requires.", + "The dark metal door fills my view with its lever handle at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001842_y002074_z-000203_t0_b/infos.json b/dataset/trajectory/UndergroundParking/task_x001842_y002074_z-000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c0b6cff589ffe1caeb357cf1ba5002d1cb8c9678 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001842_y002074_z-000203_t0_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Navigate to the door under the green exit sign in the corridor.", + "Type": 0, + "Start_Pose": [ + 1842.366, + 2073.918, + -202.751, + 0.0, + 32.64, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1842.366, + 2073.918, + -202.751, + 0.0, + 32.64, + -0.0 + ], + [ + 1948.349, + 2141.801, + -202.751, + 0.0, + 32.64, + -0.0 + ], + [ + 1948.349, + 2141.801, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2073.091, + 2158.534, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2197.832, + 2175.267, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2322.574, + 2191.999, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2447.316, + 2208.732, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2447.316, + 2208.732, + -202.751, + 0.0, + -17.36, + 0.0 + ], + [ + 2567.442, + 2171.179, + -202.751, + 0.0, + -17.36, + 0.0 + ], + [ + 2567.442, + 2171.179, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2692.184, + 2187.912, + -202.751, + 0.0, + 7.64, + -0.0 + ], + [ + 2816.925, + 2204.644, + -202.352, + 0.0, + 7.64, + -0.0 + ], + [ + 2941.485, + 2208.814, + -202.116, + 0.0, + 7.64, + -0.0 + ], + [ + 2941.485, + 2208.814, + -202.116, + 0.0, + 7.64, + -0.0 + ] + ], + "Rationale": [ + "From this open parking level I can pick out a small green exit sign glowing across the bay to my left, marking a pale door set back in a recessed corridor. The floor ahead of me is clear of the concrete pillars and bollards, so I will step forward to close some of that distance and get a better read on the corridor mouth.", + "The lit exit sign and the door beneath it now sit well to the left of where I am facing, while my heading points at the blank concrete wall and the payment machine. I will turn left to bring that doorway and its sign toward the center of my view before continuing.", + "The recessed corridor with the green exit sign is now roughly in front of me, past a few slender bollards on open pavement. Nothing blocks the direct line, so I will move forward to shorten the gap to that doorway.", + "The door under the green sign is noticeably larger and the corridor walls around it are clearer than before, confirming I am on the right line. I will keep moving forward across the open bay toward that opening.", + "The exit sign is now clearly readable above the doorway and the corridor entrance stands directly ahead of me. I will continue forward to reach the mouth of that passage.", + "I am close to the recess now, with the pipe run on the left wall and the red alarm box on the right marking the corridor threshold. Another step forward should bring me right up to the opening under the green sign.", + "Standing at the corridor mouth, the lit EXIT sign and the gray door beneath it sit slightly left of my heading while the plain concrete wall with the alarm box fills the right side. I will turn left so the passage runs straight ahead of me before I enter it.", + "The narrow corridor now opens straight ahead with the gray door and its lamp at the far end under the green sign. I will step forward into the passage to close the remaining distance to that door.", + "I am now inside the narrow corridor that leads off from the parking level, and the pale metal door at its end sits a little to the right of my heading, with the standpipe and its red valve on the left wall. I will turn right to bring that door squarely ahead so the remaining corridor length can be walked straight.", + "The door is now centered at the end of the corridor with the wall light directly above it, so my heading is good. I will step forward along the corridor to close the remaining distance to it.", + "The door now fills much more of my view and its lever handle is clearly visible, so I am close but still a couple of steps short. I continue forward along the straight corridor to keep closing on it.", + "The door panel and its handle now dominate my view at close range, with the right-hand wall beside me. One more short step forward should place me directly at the door, within reach of the handle.", + "I am standing right at the corridor's exit door, its panel and handle directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001889_y002370_z-000203_t5_a_p/infos.json b/dataset/trajectory/UndergroundParking/task_x001889_y002370_z-000203_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05c41065ba94a14a19f1c9259c751826b0cf49b3 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001889_y002370_z-000203_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the tomato from near the root of the gate arm.", + "Type": 5, + "Start_Pose": [ + 1888.94, + 2369.938, + -202.751, + 0, + -5.76, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2479.624, + 2118.741, + -232.751, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1888.94, + 2369.938, + -202.751, + 0, + -5.76, + 0 + ], + [ + 2014.163, + 2357.307, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2139.387, + 2344.675, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2264.611, + 2332.044, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2264.611, + 2332.044, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 2372.763, + 2267.674, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 2372.763, + 2267.674, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 2372.763, + 2267.674, + -202.751, + 0.0, + -30.76, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2479.624, + 2118.741, + -232.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2479.624, + 2118.741, + -232.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2479.624, + 2118.741, + -232.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2479.624, + 2118.741, + -232.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2479.624, + 2118.741, + -232.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2479.624, + 2118.741, + -232.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2383.16, + 2286.336, + -232.645, + -28.202, + 19.384, + 1.862 + ], + [ + 2383.16, + 2286.336, + -232.645, + -28.202, + 19.384, + 1.862 + ] + ], + "PD_Dist_2D": [ + 641.9, + 523.0, + 408.4, + 302.9, + 302.9, + 183.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The red tomato sits far ahead on the left side of the parking level, resting on the floor beside the barrier gate's base. It is well beyond arm's reach, so I will walk forward along the open lane to close that gap.", + "The tomato and the striped gate arm behind it now appear larger toward my left, confirming I am heading the right way. Still too distant to grasp, so I continue walking straight to shorten the remaining distance.", + "The tomato is clearly closer at the left of my view, sitting on the floor near the gate mechanism's base. I am not yet within grabbing range, so another step forward should bring me alongside it.", + "The tomato has drifted to the far left edge of my view, nearly out of sight, while my heading points down the corridor past it. I will turn left to bring the tomato back in front of me before stepping closer.", + "After the turn, the tomato sits ahead and slightly left on the floor by the gate arm's base, well framed in my view. It remains a few paces away, so I will step forward to reach grasping range.", + "The tomato now fills the lower left of my view, close by the gate arm's base and within arm's reach. Nothing blocks my hands, so I will attempt to pick it up.", + "The tomato is held in my hands rather than lying on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001889_y002370_z-000203_t5_a_pd/infos.json b/dataset/trajectory/UndergroundParking/task_x001889_y002370_z-000203_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..df432283d230d82be8e3c74890a056b3ea5c9277 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001889_y002370_z-000203_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Grab the wicker basket, then leave it near the trash bin near the corridor on the right.", + "Type": 5, + "Start_Pose": [ + 1888.94, + 2369.938, + -202.751, + 0, + -5.76, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2590.279, + 2201.922, + -265.771, + 90.471, + 90.471, + 90 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1888.94, + 2369.938, + -202.751, + 0, + -5.76, + 0 + ], + [ + 2014.163, + 2357.307, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2139.387, + 2344.675, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2264.611, + 2332.044, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2389.834, + 2319.412, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2389.834, + 2319.412, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2389.834, + 2319.412, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 2497.987, + 2255.043, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 2497.987, + 2255.043, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 2497.987, + 2255.043, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2497.987, + 2255.043, + -202.751, + 0.0, + 19.24, + -0.0 + ], + [ + 2497.987, + 2255.043, + -202.751, + 0.0, + 44.24, + -0.0 + ], + [ + 2497.987, + 2255.043, + -202.751, + 0.0, + 69.24, + -0.0 + ], + [ + 2497.987, + 2255.043, + -202.751, + 0.0, + 94.24, + -0.0 + ], + [ + 2488.681, + 2380.557, + -202.751, + 0.0, + 94.24, + -0.0 + ], + [ + 2488.681, + 2380.557, + -202.751, + 0.0, + 119.24, + -0.0 + ], + [ + 2427.201, + 2490.379, + -202.751, + 0.0, + 119.24, + -0.0 + ], + [ + 2462.372, + 2427.553, + -202.751, + 0.0, + 119.24, + -0.0 + ], + [ + 2462.372, + 2427.553, + -202.751, + 0.0, + 119.24, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2590.279, + 2201.922, + -265.771, + 89.529, + -89.529, + -90.0 + ], + [ + 2590.279, + 2201.922, + -265.771, + 89.529, + -89.529, + -90.0 + ], + [ + 2590.279, + 2201.922, + -265.771, + 89.529, + -89.529, + -90.0 + ], + [ + 2590.279, + 2201.922, + -265.771, + 89.529, + -89.529, + -90.0 + ], + [ + 2590.279, + 2201.922, + -265.771, + 89.529, + -89.529, + -90.0 + ], + [ + 2590.279, + 2201.922, + -265.771, + 89.529, + -89.529, + -90.0 + ], + [ + 2590.279, + 2201.922, + -265.771, + 89.529, + -89.529, + -90.0 + ], + [ + 2590.279, + 2201.922, + -265.771, + 89.529, + -89.529, + -90.0 + ], + [ + 2508.384, + 2273.705, + -232.645, + -28.202, + 19.385, + 1.862 + ], + [ + 2499.612, + 2277.304, + -232.372, + -28.189, + 44.397, + 1.872 + ], + [ + 2490.71, + 2276.358, + -233.039, + -28.215, + 69.368, + 1.849 + ], + [ + 2483.385, + 2277.873, + -232.985, + -14.092, + 86.584, + 6.87 + ], + [ + 2477.76, + 2262.243, + -232.969, + -28.208, + 119.383, + 1.851 + ], + [ + 2475.578, + 2252.854, + -232.301, + -28.198, + 144.387, + 1.867 + ], + [ + 2467.42, + 2378.467, + -232.831, + -28.198, + 144.386, + 1.862 + ], + [ + 2469.498, + 2369.017, + -232.244, + -28.195, + 169.39, + 1.87 + ], + [ + 2409.075, + 2479.043, + -232.017, + -28.197, + 169.384, + 1.87 + ], + [ + 2428.179, + 2488.634, + -237.751, + 90.0, + 119.24, + 0.0 + ], + [ + 2428.179, + 2488.634, + -237.751, + 90.0, + 119.24, + 0.0 + ] + ], + "PD_Dist_2D": [ + 721.2, + 596.7, + 473.0, + 350.7, + 232.3, + 232.3, + 232.3, + 106.5, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 22.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From the parking level I can see the round wicker basket far ahead, resting near the lit doorway that opens onto the corridor. It is much too distant to grasp from here, so I will walk straight toward it along this clear aisle.", + "The basket has grown noticeably larger and stays near the middle of my view, so my heading is still good. Nothing blocks the floor between me and it, so I continue walking forward to close the remaining gap.", + "The basket now stands clearly against the corridor entrance with the exit sign above it, but it is still several paces away. I keep walking forward on the same line to reach grasping range.", + "The basket fills much more of my view and sits slightly left of center near the pipe wall, yet it remains a step or two out of reach. I advance once more so it should come close enough in front of me to handle.", + "The wicker basket is directly ahead of me at the corridor mouth, low and near enough that reaching for it seems worth trying. My hands are empty and the basket is the object the task asks me to carry, so I will attempt to pick it up now.", + "My hands are still empty, so that grasp attempt did not take hold. The basket lay off to the left of my heading and still some distance away, which likely explains the miss. I will turn left to bring it squarely in front of me before closing in again.", + "The wicker basket now stands centered ahead of me near the corridor doorway, but it is still several paces off, which is why my earlier reach came up empty. Closing that gap is the decisive requirement before another grasp. I will step forward to bring the basket within arm's reach.", + "The wicker basket now fills the lower part of my view directly in front of my feet, far closer than when my earlier reach came up empty. At this range nothing stands between me and its rim. I will attempt the grasp now, and it should latch this time.", + "The wicker basket is now held in my hands rather than resting on the floor, so the grasp took hold. Carrying it onward, I need the trash bin by the corridor on the right, which is not in front of me here. I will turn right to begin swinging my heading toward that side.", + "With the basket secured, my view still shows only the exit corridor, its doorway and the bare wall with the fire pull, and no trash bin anywhere in it. The drop target must lie further around to my right. I will continue turning right to keep sweeping for the bin.", + "The basket is in my hands, so the remaining job is to find the trash bin beside the corridor on the right. Straight ahead I only face a blank concrete wall with a fire pull and the arrow marking, and the passage opening lies behind me to the left. I will keep turning right to sweep more of this bay for the bin.", + "Rotating has only exposed more bare wall, a junction box and overhead piping, with no bin in sight yet. Since the corridor side of the garage continues around to my right, another right turn should swing my view further along that wall. I will turn right again to continue the sweep while carrying the basket.", + "A green trash bin is now visible at the right edge of my view, standing next to the pay machine along the far wall. It sits too far to the side for a straight approach from this heading. I will turn right once more to bring the bin toward the center of my view before walking to it.", + "The green trash bin beside the pay machine is now centered ahead of me across open floor, with nothing blocking the way. Carrying the basket, I still stand too far off to place it beside the bin. I will step forward to close that gap.", + "I am much closer now, but the bin and the pay machine have drifted to the right half of my view, so walking straight would carry me toward the pipes and bare wall instead. A small right turn should put the bin squarely in front of me for a clean final approach. I will turn right.", + "The green trash bin beside the pay machine is now centered ahead of me in this corridor-side bay, but still a few paces off. Still carrying the wicker basket, I will walk forward to close that gap so the release point sits right next to the bin.", + "I am now standing directly in front of the pay machine with the green trash bin immediately at my left, close enough to reach the floor beside it. This is the drop-off spot the task asks for, so I will release the wicker basket here next to the bin.", + "The wicker basket now rests on the floor beside the green trash bin, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001889_y002370_z-000203_t5_b_p/infos.json b/dataset/trajectory/UndergroundParking/task_x001889_y002370_z-000203_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0f4568b87386bdc7894637bf03e41f6d63a076e --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001889_y002370_z-000203_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the metal bucket from beside the gate arm root.", + "Type": 5, + "Start_Pose": [ + 1888.94, + 2369.938, + -202.751, + 0, + -5.76, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2457.667, + 2111.68, + -272.751, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1888.94, + 2369.938, + -202.751, + 0, + -5.76, + 0 + ], + [ + 1888.94, + 2369.938, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 1997.093, + 2305.568, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 2105.246, + 2241.199, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 2213.398, + 2176.829, + -202.751, + 0.0, + -30.76, + 0.0 + ], + [ + 2213.398, + 2176.829, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2338.622, + 2164.197, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2338.622, + 2164.197, + -202.751, + 0.0, + -5.76, + 0.0 + ], + [ + 2338.622, + 2164.197, + -202.751, + 0.0, + -5.76, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2457.667, + 2111.68, + -272.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.667, + 2111.68, + -272.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.667, + 2111.68, + -272.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.667, + 2111.68, + -272.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.667, + 2111.68, + -272.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.667, + 2111.68, + -272.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2457.667, + 2111.68, + -272.751, + 0.0, + 0.0, + 0.0 + ], + [ + 2340.158, + 2185.505, + -232.645, + -28.202, + 44.384, + 1.862 + ], + [ + 2340.158, + 2185.505, + -232.645, + -28.202, + 44.384, + 1.862 + ] + ], + "PD_Dist_2D": [ + 624.6, + 624.6, + 499.7, + 375.5, + 252.8, + 252.8, + 130.1, + 21.4, + 21.4 + ], + "Rationale": [ + "From here the gate arm and its root sit far off across the garage, with the metal bucket a small shape near the barrier well left of my heading. I will turn left to bring that barrier area and the bucket toward the center of my view before walking.", + "The gate arm and the metal bucket beside its root are now roughly ahead of me, but still a long way off across the open bay. I will walk forward to close that distance.", + "The bucket next to the gate arm root has grown noticeably larger and the barrier rail is clearer, so my heading is good. The floor between us is still open, so I will keep walking forward.", + "The metal bucket beside the gate arm root is clearly resolved now, sitting just right of the barrier post, but it is still beyond arm's reach. I will step forward again to get close enough to work with it.", + "At this range the bucket has drifted toward the lower right of my view and a support column crowds the space just past it. I will turn right so the bucket sits squarely ahead before I take a final step toward it.", + "The bucket now sits low and centered ahead of me beside the gate arm root, with clear floor between us. I will take one more step forward so it comes within reach for a grasp.", + "The metal bucket now fills the near foreground directly in front of me, close beside the gate arm root and well within reach. My hands are empty, so I will attempt to pick it up.", + "The metal bucket is held in my hands, lifted off the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001923_y002396_z-000203_t1_a/infos.json b/dataset/trajectory/UndergroundParking/task_x001923_y002396_z-000203_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b0ff7f5af1ef60f1587416d629a4be1dd81cecff --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001923_y002396_z-000203_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Look around for the stepladder in the parking garage, then approach the target area.", + "Type": 1, + "Start_Pose": [ + 1923.238, + 2396.482, + -202.751, + 0.0, + -24.0, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + -24.0, + 0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + 1.0, + -0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + 26.0, + -0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + 51.0, + -0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + 76.0, + -0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + 101.0, + -0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + 126.0, + -0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + 151.0, + -0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + 176.0, + -0.0 + ], + [ + 1797.686, + 2405.261, + -202.751, + 0.0, + 176.0, + -0.0 + ], + [ + 1672.133, + 2414.041, + -202.751, + 0.0, + 176.0, + -0.0 + ], + [ + 1546.581, + 2422.82, + -202.751, + 0.0, + 176.0, + -0.0 + ], + [ + 1421.028, + 2431.6, + -202.751, + 0.0, + 176.0, + -0.0 + ], + [ + 1421.028, + 2431.6, + -202.751, + 0.0, + -159.0, + 0.0 + ], + [ + 1303.529, + 2386.496, + -202.751, + 0.0, + -159.0, + 0.0 + ], + [ + 1193.127, + 2352.924, + -202.751, + 0.0, + -159.0, + 0.0 + ], + [ + 1193.127, + 2352.924, + -202.751, + 0.0, + -159.0, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the garage I can see columns, painted bays and a lit doorway ahead, but no stepladder anywhere in front of me. I will start a scan by turning right so I can sweep the surrounding bays in one consistent direction. The unseen space beside me may hold the ladder.", + "The rotation brought a payment kiosk and a barrier gate into view, along with a corridor toward the exit sign, but still no stepladder. Since this is a service and entry area rather than a work zone, I will keep turning right to continue the sweep. Holding one turn direction keeps the scan systematic.", + "Now the kiosk sits near the middle of my view and a thick concrete column blocks much of what lies beyond it on the right. Nothing resembling a stepladder stands in this stretch of floor. I will turn right again to see past the column into the next section.", + "The column now fills the near foreground and the bay behind it is empty concrete with only a few parking lines. This corner offers no sign of the stepladder. Continuing the same rightward turn should carry my view past this obstruction.", + "I am facing a blank concrete wall with a column against it, so this heading is a dead end with nothing to approach. There is no ladder or any object of interest along this face. I will keep rotating right to move my view off the wall.", + "The wall still dominates my view, though ductwork overhead suggests the space continues past its edge. Nothing here matches the stepladder I am looking for. Another right turn should bring the open floor beyond this wall into sight.", + "The wall is now falling away to my left and a wider, brighter run of parking bays is opening on the right side of my view. That open area is the most promising unscanned part of the garage. I will turn right again to bring it fully in front of me.", + "A metal stepladder is now standing in the open bay to the right of center, beside a covered vehicle and a hanging light tube. That is the target I was scanning for, so I can stop searching wider. I will make one more right turn to center it before walking toward it.", + "My scan of the garage has brought the stepladder into view, standing near the covered car in the open bay ahead of me. The floor between us is clear of obstacles, so I will walk forward to close the distance toward it.", + "The stepladder is now larger and slightly right of center, confirming I am heading in the right direction. The bay in front stays clear, so I will keep walking forward to reduce the remaining gap.", + "The stepladder keeps growing in my view, so my current heading is carrying me steadily toward it. I still have several strides of open floor, so I will step forward again.", + "The ladder now stands tall in the right half of my view, only a short distance away past the hanging light fixture. I will advance once more to get within close range of it.", + "I am close to the stepladder, but it sits off to my right while my heading points past it into the open bay. I will turn right to bring the ladder onto my forward axis before stepping in.", + "The turn has centered the stepladder in my view, so it is now directly along my heading. I will step forward to move into the target area right beside it.", + "The stepladder fills the middle of my view and its legs are only a step or two away. I will take one more short step forward to stand right at it.", + "The stepladder's rails and rungs fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001923_y002396_z-000203_t1_b/infos.json b/dataset/trajectory/UndergroundParking/task_x001923_y002396_z-000203_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3978c97bf4c4f6e254ca83eeee7a363231ae69ba --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001923_y002396_z-000203_t1_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Explore the nearby area until you find the illuminated orange doorway, then head to that location.", + "Type": 1, + "Start_Pose": [ + 1923.238, + 2396.482, + -202.751, + 0.0, + -24.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + -24.0, + 0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + -49.0, + 0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + -74.0, + 0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + -99.0, + 0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + -124.0, + 0.0 + ], + [ + 1923.238, + 2396.482, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 1815.356, + 2331.66, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 1707.474, + 2266.838, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 1599.591, + 2202.015, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 1491.709, + 2137.193, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 1383.827, + 2072.371, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 1275.945, + 2007.549, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 1168.062, + 1942.727, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 1060.18, + 1877.904, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 952.298, + 1813.082, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 844.416, + 1748.26, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 736.534, + 1683.438, + -202.751, + 0.0, + -149.0, + 0.0 + ], + [ + 736.534, + 1683.438, + -202.751, + 0.0, + -124.0, + 0.0 + ], + [ + 666.154, + 1579.096, + -202.751, + 0.0, + -124.0, + 0.0 + ], + [ + 666.154, + 1579.096, + -202.751, + 0.0, + -124.0, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the concrete parking level I can see a lit opening ahead, but its glow is pale white rather than the warm orange doorway I am looking for. I will turn left to begin a steady scan of the surrounding bays for that orange light.", + "The swing to the left has brought a green exit sign and another plain lit doorway on the far right of my view, still without any orange glow. I will keep turning left in the same direction so the scan stays consistent and covers new floor area.", + "Now I am facing a long, empty stretch of parking bays lit only by cool ceiling tubes, with no orange doorway in sight. I will continue the same leftward scan to open up the parts of the level still hidden behind these columns.", + "This heading shows covered cars, a speed hump and storage cages along the left wall, but still no warm orange opening. I will hold the same leftward rotation to bring the remaining unseen side of the level into view.", + "A warm orange patch of light has just appeared in the middle distance toward the left side of my view, which looks like the illuminated doorway described in the task. I will turn left once more to bring that glow closer to the center of my heading before committing to walk toward it.", + "The orange doorway now sits close to the center of my view, with clear open floor between me and it apart from a few columns. I will stop scanning and step forward to close the distance toward that glowing opening.", + "The orange doorway has grown slightly larger and stays just left of the column in front of me, confirming I am walking the right way. I will take another step forward along this heading to keep closing on it.", + "A pipe-clad column stands close on my right, but the orange doorway remains clearly visible past it and keeps growing as I advance. I will continue walking forward since the lane ahead is open and my heading still points at the glow.", + "A wide concrete column crowds the right half of my view, but past it I can still see the warm orange glow of the lit doorway ahead in the same aisle. The floor between me and it is open parking bay, so I will keep walking straight to close the gap and clear the column from my path.", + "The column no longer blocks my line of sight and the glowing orange doorway sits clearly ahead, slightly left of center, with the caged storage area on my right. Since my heading already points down this open aisle toward it, I will continue advancing without changing direction.", + "The illuminated orange doorway has grown larger and its light now spills onto the floor ahead of me, confirming I am closing in on it. Nothing obstructs the aisle between us, so another step forward is the direct way to reduce the remaining distance.", + "The lit orange doorway is now a well defined opening in the wall just ahead and slightly left, under the yellow height warning beam. My heading still lines up with it and the floor is clear, so I will keep stepping forward toward it.", + "The doorway's warm light is strong enough now to wash across the concrete in front of me, and the opening itself is close and roughly centered in my path. I will advance again to bring myself right up to the threshold.", + "I can now read the height warning sign overhead and see the doorway's recess with a fire alarm box on the wall beside it, so the target is only a short distance away. Continuing straight ahead should bring me nearly level with the opening.", + "The doorway is now open on my right front with its interior brightly lit, and I can see through it into a further lit space. A couple more steps along my current heading should place me level with the threshold rather than short of it.", + "The illuminated doorway with its open panel is right beside me on the right, and its frame is nearly abreast of my position. I will take one more step forward so I stand at the opening before turning into it.", + "The warmly lit orange doorway now fills the right side of my view, and I am standing right beside its frame rather than facing through it. I will turn right to square up with the opening so the passage lies straight ahead of me.", + "After turning, the illuminated orange doorway is centered ahead with the open door leaf to the left and clear floor through the frame. I will step forward to move into the lit doorway itself, which should place me at the target location.", + "I am standing inside the warmly illuminated orange doorway, its glowing walls right beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_a/infos.json b/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..44f857cb0c13d46604026f87321b8f35c7c1b120 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the concrete pillar on the left.", + "Type": 2, + "Start_Pose": [ + 1977.349, + 1771.609, + -202.751, + 0, + -178.56, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1977.349, + 1771.609, + -202.751, + 0, + -178.56, + 0 + ], + [ + 1977.349, + 1771.609, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 1861.981, + 1821.916, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 1746.614, + 1872.223, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 1631.246, + 1922.53, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 1631.246, + 1922.53, + -202.751, + 0.0, + 156.44, + -0.0 + ] + ], + "Rationale": [ + "Two concrete pillars frame this bay, and the one on the left, marked by a vertical pipe and red valve at its base, is the one I want. It sits well off to my left, outside a comfortable walking heading. I turn left so that pillar comes toward the middle of my view.", + "The pillar with the pipe and red valve at its foot now stands slightly left of center with open floor between us. Nothing blocks the lane apart from the low speed bump. I walk forward to close that distance.", + "The pipe-marked pillar has grown noticeably and still sits just left of my heading, so my line is good. The floor in front stays clear of clutter. I keep walking forward toward it.", + "The concrete pillar with the pipe running down it now dominates the left foreground, only a short gap remaining. One more stride should put me right beside its base. I step forward again.", + "The pipe-marked concrete pillar now fills the left edge of my view at arm's length. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_b/infos.json b/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0aeb626b2f1225951bc3bc9c3b0a34d9c8636e24 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the rightmost car covered with a white cloth.", + "Type": 2, + "Start_Pose": [ + 1977.349, + 1771.609, + -202.751, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1977.349, + 1771.609, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1977.349, + 1771.609, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1977.349, + 1771.609, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 1898.897, + 1673.193, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 1820.445, + 1574.777, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 1741.992, + 1476.36, + -202.751, + 0.0, + -128.56, + 0.0 + ], + [ + 1741.992, + 1476.36, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1629.298, + 1420.32, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1516.604, + 1364.28, + -202.751, + 0.0, + -153.56, + 0.0 + ], + [ + 1516.604, + 1364.28, + -202.751, + 0.0, + -153.56, + 0.0 + ] + ], + "Rationale": [ + "Two cloth-draped cars stand in this parking level, one further off to the left and one at the far right edge of my view, so the rightmost one, parked against the wire mesh storage cages, is my target. It sits well outside my forward heading, so I will turn right to bring it into view.", + "The covered car by the mesh cages is now in view but still off to my right, partly hidden behind a concrete column. Another quarter step of rotation to the right should clear the column and put the car squarely ahead before I start walking.", + "The cloth-covered car beside the cages now sits ahead of me in an open bay with clear floor between us. My heading is good, so I will walk straight forward to close the distance.", + "The draped car is noticeably larger now, its outline clear against the mesh cages behind it. The bay floor ahead remains empty, so I will keep walking forward toward it.", + "The covered car fills much of the left half of my view, with its hood and windshield contours plainly readable under the sheet. I am still a few strides short of it, so I will continue forward.", + "Advancing has pushed the sheeted car off to my left, and my heading now points at the bare wall and column past its tail. I will turn left to bring the car back to the middle of my view before closing the last stretch.", + "The draped car sits centered ahead of me again, its full length visible against the cage fencing. With the heading corrected and floor still open, I will step forward to close in.", + "The white cover now dominates my view, close enough that the folds and the roofline read individually, and no other vehicle remains in sight to confuse it with. One more step forward should bring me right up beside this car.", + "The white cover fills my view at arm's length. I have arrived at the target car, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_c/infos.json b/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..225588f95e8e94ce3b276bc1a823bdfe507d7632 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the first pillar on the left side.", + "Type": 2, + "Start_Pose": [ + 1977.349, + 1771.609, + -202.751, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1977.349, + 1771.609, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1977.349, + 1771.609, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 1861.981, + 1821.916, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 1746.614, + 1872.223, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 1631.246, + 1922.53, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 1631.246, + 1922.53, + -202.751, + 0.0, + 131.44, + -0.0 + ], + [ + 1564.336, + 1995.905, + -202.751, + 0.0, + 131.44, + -0.0 + ], + [ + 1564.336, + 1995.905, + -202.751, + 0.0, + 131.44, + -0.0 + ] + ], + "Rationale": [ + "The bay opens ahead with a row of concrete columns running down the left-hand side, and the nearest of them, the one with a standpipe and red valve at its base, is the one I want. It sits well off to my left, outside my forward path. I will turn left to bring that column into the middle of my view.", + "The column with the standpipe and red valve now sits ahead and slightly left, with clear open floor between me and it. Nothing blocks the lane apart from the speed hump on the ground. I will walk forward to close the distance.", + "The column with the red valve at its base has grown noticeably larger and drifted toward the left of my view, so my heading is still carrying me toward it. There is still a good stretch of empty floor before I reach it. I will keep walking forward.", + "The column with the standpipe and red valve now looms tall on my left, close enough that I can read the pipe fittings on it. A few more paces should bring me level with it. I will continue forward.", + "The column I am heading for has slid to the far left edge of my view, so walking straight on would carry me past it rather than up to it. I need my body squared onto it before the final steps. I will turn left to bring it back in front of me.", + "The column with the standpipe and red valve wheel now stands squarely in front of me, only a short gap of floor remaining. Advancing along this heading should put me right at its face. I will step forward to close that last distance.", + "The concrete column and its standpipe fill my view at arm's length. I have reached it, so the task is done and there is no reason to move further." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_d/infos.json b/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd388263e3028b942c24f7d1585985f631c53d5 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x001977_y001772_z-000203_t2_d/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Make your way to the leftmost car covered with a white cloth near the wall.", + "Type": 2, + "Start_Pose": [ + 1977.349, + 1771.609, + -202.751, + 0.0, + -178.56, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1977.349, + 1771.609, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1851.53, + 1768.446, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1725.71, + 1765.283, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1599.891, + 1762.12, + -202.751, + 0.0, + -178.56, + 0.0 + ], + [ + 1599.891, + 1762.12, + -202.751, + 0.0, + 156.44, + -0.0 + ], + [ + 1484.524, + 1812.427, + -202.777, + 0.0, + 156.44, + -0.0 + ], + [ + 1369.156, + 1862.734, + -202.777, + 0.0, + 156.44, + -0.0 + ], + [ + 1253.788, + 1913.041, + -202.777, + 0.0, + 156.44, + -0.0 + ], + [ + 1138.421, + 1963.348, + -202.777, + 0.0, + 156.44, + -0.0 + ], + [ + 1023.053, + 2013.655, + -202.777, + 0.0, + 156.44, + -0.0 + ], + [ + 907.685, + 2063.962, + -202.777, + 0.0, + 156.44, + -0.0 + ], + [ + 792.318, + 2114.269, + -202.777, + 0.0, + 156.44, + -0.0 + ], + [ + 676.95, + 2164.576, + -202.777, + 0.0, + 156.44, + -0.0 + ], + [ + 676.95, + 2164.576, + -202.777, + 0.0, + 156.44, + -0.0 + ] + ], + "Rationale": [ + "Two shrouded cars stand in this bay, one far off to my left tucked against the flat wall and one close on my right beside the mesh cages. The left one is my target, and I will hold onto it as the covered car parked against that plain wall. I step forward to close the gap.", + "The covered car against the wall sits ahead and to my left, still a good distance off across the open deck. Nothing blocks the floor between us, so I keep walking straight to shorten the approach before adjusting my heading.", + "The shrouded car by the wall has grown noticeably larger on my left, so my straight advance is paying off. The lane in front of me stays open past the pillar line, and I move forward again to draw level with it before turning.", + "The cloth-covered car against the wall now sits well off to my left while my heading still points down the empty central lane. A modest turn to the left should put it near the middle of my view so I can walk straight at it.", + "The turn brought the shrouded car into the left half of my view with the ladder and the wall behind it. The floor between us is clear apart from puddles, so I walk forward to close on it.", + "The covered car is clearly bigger and the ladder beside it has swung wider to my left, confirming I am gaining ground. I continue straight forward since nothing stands between me and it.", + "The shrouded car now fills a good part of my left view with its wheels and cloth folds distinct against the wall behind. I keep stepping forward to reach it.", + "The covered car sits just ahead on my left within its marked bay against the wall, close enough to make out the tyre under the cloth. I advance again to pull up alongside it.", + "The shrouded car by the wall is now a short walk off to my left, its cloth catching the strip light overhead. The bay floor ahead of me is bare, so I step forward again to come up beside it.", + "The cloth folds and the dark wheel below them are sharp now, and the car spreads across the left of my view against the plain wall. I keep moving forward to pull fully alongside it.", + "The covered car sits close on my left with the wall right behind its flank and the light fitting overhead. A couple more paces should bring me level with its body rather than its nose, so I advance.", + "The cloth now dominates the left of my view and I am nearly abreast of the car's rear. One more step forward should put me squarely beside it at the wall.", + "The white cloth over the car fills my left side at arm's reach against the wall. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002024_y002022_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x002024_y002022_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8957dee1c2150e1560fa6305db5e67a38cd3d0f4 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002024_y002022_z-000203_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk toward the metal ladder in the parking garage.", + "Type": 0, + "Start_Pose": [ + 2024.148, + 2021.802, + -202.751, + 0.0, + 157.44, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2024.148, + 2021.802, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 1907.92, + 2070.088, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 1791.692, + 2118.374, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 1675.464, + 2166.66, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 1675.464, + 2166.66, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1549.719, + 2161.301, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1423.974, + 2155.943, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1423.974, + 2155.943, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 1307.746, + 2204.229, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 1307.746, + 2204.229, + -202.751, + 0.0, + 157.44, + -0.0 + ] + ], + "Rationale": [ + "From this spot near the marked accessible bays I can pick out the metal step ladder standing well ahead beside the sheet covered car. The floor between me and it is open and level, so I will walk forward to begin closing that long gap.", + "The ladder now stands out more clearly against the far wall and the light strip behind it, confirming I am moving the right way. My path is still unobstructed, so another step forward should keep shrinking the distance.", + "The ladder's rungs and legs are clearly separated now, and it sits ahead of me slightly right of my heading. I will continue straight forward since the remaining distance is still considerable.", + "Straight ahead of me the ladder sits tight against the covered car and the wall with its pipes, while the open lane runs off to my right past the nearby column. I will turn slightly right to line my heading up with that clear lane, keeping the ladder in sight on my left as I keep advancing.", + "With my heading now down the open lane, the ladder sits comfortably on my forward left and nothing blocks the concrete in front of me. I will step forward to close distance along this clear line.", + "The ladder is noticeably taller in my view and only a short stretch of floor remains between us. I will take another step forward before turning to face it squarely.", + "The ladder has drifted well over to my left side as I advanced along the lane, so it is no longer straight in front of me. I will turn left to bring it back ahead of me and set a direct heading for the last step.", + "The metal ladder is now centered directly ahead of me with its legs on clear floor just a stride or two away. I will move forward once more to stand right at it.", + "The metal ladder now stands directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002024_y002022_z-000203_t0_b/infos.json b/dataset/trajectory/UndergroundParking/task_x002024_y002022_z-000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba0d8d4f56dfb24db1d6d65f41041a8f8db39ec5 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002024_y002022_z-000203_t0_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head to the orange-lit doorway at the far end.", + "Type": 0, + "Start_Pose": [ + 2024.148, + 2021.802, + -202.751, + 0.0, + 157.44, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2024.148, + 2021.802, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 2024.148, + 2021.802, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1898.403, + 2016.444, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1772.658, + 2011.086, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1772.658, + 2011.086, + -202.751, + 0.0, + -152.56, + 0.0 + ], + [ + 1660.959, + 1953.087, + -202.751, + 0.0, + -152.56, + 0.0 + ], + [ + 1549.26, + 1895.089, + -197.152, + 0.0, + -152.56, + 0.0 + ], + [ + 1437.561, + 1837.091, + -202.751, + 0.0, + -152.56, + 0.0 + ], + [ + 1437.561, + 1837.091, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1311.816, + 1831.732, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1186.071, + 1826.374, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1060.326, + 1821.016, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 934.581, + 1815.658, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 934.581, + 1815.658, + -202.751, + 0.0, + -152.56, + 0.0 + ], + [ + 822.882, + 1757.66, + -202.751, + 0.0, + -152.56, + 0.0 + ], + [ + 711.183, + 1699.661, + -202.751, + 0.0, + -152.56, + 0.0 + ], + [ + 711.183, + 1699.661, + -202.751, + 0.0, + -127.56, + 0.0 + ], + [ + 711.183, + 1699.661, + -202.751, + 0.0, + -102.56, + 0.0 + ], + [ + 679.068, + 1587.479, + -202.85, + 0.0, + -102.56, + 0.0 + ], + [ + 679.068, + 1587.479, + -202.85, + 0.0, + -102.56, + 0.0 + ] + ], + "Rationale": [ + "From this parking level I can pick out a warm orange glow spilling from an opening far off to my right, past the columns and the covered vehicle. My current heading points too far left across the empty bays, so I will turn right to bring that lit doorway closer to the center of my view before committing to any forward travel.", + "The orange-lit doorway now sits ahead of me in the middle-right of my view, down the open lane between the columns. The floor in front is clear apart from the speed bump, so I will move forward to start closing the long distance to that light.", + "My last advance brought the columns and the caged storage area noticeably nearer, and the orange doorway still glows straight down the lane ahead. Nothing blocks the floor between me and it, so I will continue forward to keep closing distance.", + "A broad concrete column now stands close in front of me and the orange doorway has drifted to the right side of my view. I will turn right to line my heading back up with that lit opening and put the column off to my side rather than in my path.", + "With the turn done, the orange doorway sits ahead of me across an open stretch of floor, with the chain-link storage cages off to my right. The lane ahead is clear, so I will move forward toward the light.", + "The lit doorway is growing larger and its glow now spills visibly onto the floor ahead of me. My heading still points down this open aisle beside the cages, so another forward step should keep shrinking the remaining gap.", + "The orange doorway is clearly resolved ahead now, with the yellow height-warning beam overhead and the fenced enclosure on my right. The floor between us is open, so I will keep advancing toward it.", + "As I closed in, the orange doorway has slipped to the left of my heading while the chain-link cage now dominates my right side. I will turn left to bring the lit opening back toward the center of my view so my remaining approach runs straight at it.", + "The warm orange doorway is glowing in the far wall slightly right of my heading, and the parking floor between me and it is open and unobstructed. I will move forward along this aisle to close the remaining distance toward that lit opening.", + "The orange doorway now reads larger and brighter on my right, with its light spilling onto the concrete floor in front of it. Distance is dropping as expected, so I will keep advancing straight rather than turning yet.", + "I can now make out the full frame of the lit doorway ahead on my right, under the yellow height-limit beam that leaves me plenty of clearance. Another step forward should bring me close enough to swing toward the opening.", + "The orange doorway has grown to fill much of the right side of my view, so I am nearly level with the recessed wall that holds it. I will take one more forward step to reach the position where I can face the opening directly.", + "The lit doorway has slid to the very right edge of my view, since my forward heading runs past it rather than into it. I will turn right to bring that orange opening back toward the center of my view and set up a straight approach.", + "The doorway and its bright interior now sit clearly ahead and slightly right, with the fire panel and alarm on the wall beside it. The floor to that recess is clear, so I will move forward to shrink the last gap.", + "I am close now, with the open orange door panel and the bright jamb dominating the right of my view. One more forward step should place me at the threshold of the opening.", + "I have arrived beside the doorway, and the propped door panel and lit jamb now lie off to my right while my heading still faces down the garage aisle. I will turn right to bring the opening in front of me so I can pass through it.", + "The warm orange-lit opening now sits just right of center, with the open door leaf and its frame still cutting across my left field of view. I will turn right once more so the passage lies straight ahead of me and I can pass cleanly through the frame.", + "The lit doorway is now squarely centered, with the warm corridor and its standpipe running straight beyond the threshold and clear floor between me and it. I will move forward to close the last bit of distance and step into the passage.", + "I am standing inside the orange-lit passage, its walls on both sides of me and the lamp overhead. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002024_y002022_z-000203_t0_c/infos.json b/dataset/trajectory/UndergroundParking/task_x002024_y002022_z-000203_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7210c629acb8dcb52cecf99c869e3221dfdce61d --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002024_y002022_z-000203_t0_c/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Move to the red valve wheel attached to the pipe at the base of the concrete pillar.", + "Type": 0, + "Start_Pose": [ + 2024.148, + 2021.802, + -202.751, + 0.0, + 157.44, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2024.148, + 2021.802, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 1907.92, + 2070.088, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 1791.692, + 2118.374, + -202.751, + 0.0, + 157.44, + -0.0 + ], + [ + 1791.692, + 2118.374, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1665.947, + 2113.016, + -202.751, + 0.0, + -177.56, + 0.0 + ], + [ + 1665.947, + 2113.016, + -202.751, + 0.0, + -177.56, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the parking level I can pick out a small red valve wheel on the standpipe where it meets the floor beside the concrete pillar ahead and slightly right of me. The open bay between the painted stalls gives me a clear lane, so I will move forward to start closing that gap.", + "The red valve wheel on the pipe at the pillar base is now noticeably larger and clearer on the right side of my view, confirming my heading is pointed into the right region. There is still open floor in front of me, so I will move forward again to keep reducing the distance.", + "The red valve wheel and its vertical pipe have drifted to the far right edge of my view as I closed in, which leaves the target poorly centered for a final approach. I will turn right a small amount to bring the pipe and its wheel toward the middle of my view.", + "The standpipe with the red wheel now sits near the center of my view against the concrete pillar, so my heading is aligned with the target. A short forward step should bring me close enough to stand directly at the valve.", + "The red valve wheel on the pipe at the concrete pillar's base is directly in front of me at close range. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_a/infos.json b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..74d60f41bfd91847ee01a1f4cb84179e93ae64a6 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the parking gate barrier, then head toward the payment machine.", + "Type": 3, + "Start_Pose": [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2358.005, + 1837.9, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2461.704, + 1909.223, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2461.704, + 1909.223, + -202.751, + 0.0, + 9.52, + -0.0 + ], + [ + 2585.829, + 1930.039, + -202.751, + 0.0, + 9.52, + -0.0 + ], + [ + 2585.829, + 1930.039, + -202.751, + 0.0, + 9.52, + -0.0 + ], + [ + 2585.829, + 1930.039, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2585.829, + 1930.039, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2585.829, + 1930.039, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2585.829, + 1930.039, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2543.775, + 2048.664, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2501.721, + 2167.29, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2459.667, + 2285.915, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2417.613, + 2404.54, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2375.559, + 2523.165, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2337.825, + 2589.809, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2337.825, + 2589.809, + -202.751, + 0.0, + 109.52, + -0.0 + ] + ], + "Rationale": [ + "From here the striped red and white gate arm is only just clipping the far left edge of my view, too far off-axis to walk toward. I will turn left to bring that barrier and its control post into the middle of my view before starting out.", + "The gate arm and its grey control post now sit clearly to the left of center with open floor between us. I will walk forward to close that gap.", + "The barrier and its post have grown larger and the ramp mouth beyond them is opening up, so my heading is still good. I will keep walking forward to shorten the remaining distance to the gate.", + "The concrete column ahead is starting to crowd the gate arm toward the left of my view, so walking straight would carry me past it. I will turn left to put the barrier and its post squarely in front of me.", + "The striped arm now stretches across the middle of my view with the post just beyond it, and the way is clear. I will step forward to come right up to the gate.", + "The striped arm fills the bottom of my view and its pale control post stands right beside me, close enough to touch. I have reached the parking gate barrier. I mark arriving here, then set off for the payment kiosk standing against the far wall inside the garage.", + "Standing at the gate, my view is taken up by the arm and the dark ramp, with the kiosk nowhere in front of me. I will turn right to swing my heading back into the garage interior where the machine stands.", + "The turn has brought the concrete column and the lit exit sign into view, but the payment kiosk is still hidden beyond the column. I will turn right again to keep sweeping toward the open bay where it should stand.", + "The concrete pillar still fills most of my view, and only the open bay with its wall pipes shows past its right edge. I will keep turning right to sweep that open floor and bring the payment kiosk into view.", + "The payment machine with its lit screen is now visible against the far wall, but it sits off to the right side of my view while the pillar still crowds my left. Another turn right should place it near the center of my heading before I walk over.", + "The payment machine now sits ahead of me with clear floor between us and no pillar in the way. I will walk forward to start closing that distance.", + "The kiosk and the green bin beside it have grown larger and stay centered in my path. Plenty of open floor remains, so I will keep walking straight toward it.", + "The screen and button panel of the payment machine are becoming readable, so my heading is still good. I will advance again to cut the remaining gap.", + "The machine now dominates the wall ahead with its bins and bollards clearly separated on either side. I am still a few strides short of standing at it, so I will step forward once more.", + "The payment machine's screen, slots and lit header are close and squarely in front of me. One more step forward should bring me right up against its face.", + "The PAY HERE header and the machine's buttons and slots now fill my view at arm's reach. A last short step forward should settle me directly at the payment machine.", + "The payment machine's card slot and buttons fill my view at arm's length. I am standing at it, so the task is complete and there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_b/infos.json b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ccd180a79241c37fc234bd0c7ce968de50de28ea --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Approach the green bin beside the parking payment machine, then move to the base of the gate arm.", + "Type": 3, + "Start_Pose": [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2318.146, + 1875.042, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2318.146, + 1875.042, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2330.166, + 2000.326, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2342.185, + 2125.61, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2354.204, + 2250.893, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2366.224, + 2376.177, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2378.243, + 2501.461, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2378.243, + 2501.461, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2378.243, + 2501.461, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2378.243, + 2501.461, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2378.243, + 2501.461, + -202.751, + 0.0, + 9.52, + -0.0 + ], + [ + 2378.243, + 2501.461, + -202.751, + 0.0, + -15.48, + 0.0 + ], + [ + 2378.243, + 2501.461, + -202.751, + 0.0, + -40.48, + 0.0 + ], + [ + 2378.243, + 2501.461, + -202.751, + 0.0, + -65.48, + 0.0 + ], + [ + 2430.476, + 2386.952, + -202.751, + 0.0, + -65.48, + 0.0 + ], + [ + 2482.709, + 2272.444, + -202.751, + 0.0, + -65.48, + 0.0 + ], + [ + 2534.941, + 2157.935, + -202.751, + 0.0, + -65.48, + 0.0 + ], + [ + 2587.174, + 2043.427, + -202.751, + 0.0, + -65.48, + 0.0 + ], + [ + 2605.63, + 1935.798, + -202.751, + 0.0, + -65.48, + 0.0 + ], + [ + 2605.63, + 1935.798, + -202.751, + 0.0, + -65.48, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the garage I can pick out the pay machine against the far wall with a small green bin beside it, well ahead of me. Nothing blocks the open bay floor between us, so I will walk forward to close some of that distance before refining my heading.", + "The pay machine and the green bin beside it now sit off to the right of my heading, while my body still points down the empty bay. I will turn right to bring that bin nearer the center of my view so my next steps carry me straight at it.", + "The pay machine with its screen and the green bin at its left side are now roughly ahead of me, framed between the columns. The floor in that direction is clear, so I will walk forward along this heading.", + "The machine and the green bin have grown larger and stay centered ahead, confirming my heading is good. I am still several strides short of them, so I will keep walking forward.", + "The green bin beside the pay machine is clearly resolved now, its lid and dark panel visible against the wall. There is still open floor between us, so another step forward should bring me close beside it.", + "I am closing on the wall where the pay machine stands, with the green bin just to its left and the standpipe further along. A short gap remains, so I will step forward again to stand right at the bin.", + "The pay machine now towers ahead and the green bin sits just left of it, close enough that the wall fills my view. One more step should place me directly at the bin's side rather than a stride short.", + "The green bin stands right in front of me, close enough to touch, with the PAY HERE machine and its lit screen filling the view beside it. I have reached the bin next to the parking payment machine. I mark reaching it and now set off for the base of the gate arm.", + "The green bin and the pay machine fill my view at arm's reach, so nothing more is needed here. The gate arm lies out in the open bay behind me, and the wall ahead offers no path, so I will begin swinging my heading to the left to sweep away from this corner.", + "The bin has slid to the right edge and I now face pipework and blank concrete, so I am still aimed at the wall rather than the open floor. I will keep rotating left to bring the parking bay and its barrier into view.", + "Only the standpipe, a small panel and plain wall are ahead, so my heading still points into the closed corner. Another left rotation should carry my view further toward the open driving lane.", + "I am looking at a flat wall with an alarm bell and no route through it. The open part of the garage must be further round to my left, so I will turn again.", + "A lit exit sign and a doorway have appeared at the left of my view, showing the space finally opening up that way. I will keep turning left so the wider bay comes in front of me instead of at the edge.", + "The wide parking bay is now spread across the left of my view, and I can make out a long striped barrier with a dark cabinet under it in the distance. One more left rotation should place that gate arm ahead of me so I can walk straight at it.", + "The gate arm and the dark post it sits on are now roughly ahead of me across clear floor, with only a bollard well off to the side. With the heading set, I will walk forward to close the distance to its base.", + "The striped arm and its dark pedestal have grown larger and sit slightly right of my heading, confirming I am closing on them. I will keep walking forward, since the remaining gap is still too large to count as standing at the base.", + "The red and white gate arm and its dark cabinet base are now clearly ahead of me, just left of the concrete pillar. The floor between us is open, so I will keep walking forward to shorten that gap.", + "The barrier housing and its striped arm now fill much of my view, so I am close but still a few steps short of standing at the post itself. I will advance again to bring the base within reach.", + "The gate housing is right in front of me with the arm sweeping across at chest height, meaning only a short step remains to be at its base. I will move forward once more to close that final distance.", + "I am standing right at the gate arm's base, with the striped bar directly beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_c/infos.json b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e4ea515399cd8f9b95dafb03c0e37f4a43229c09 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the doorway, then proceed to the payment machine.", + "Type": 3, + "Start_Pose": [ + 2254.306, + 1766.576, + -202.751, + 0, + 59.52, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2254.306, + 1766.576, + -202.751, + 0, + 59.52, + 0 + ], + [ + 2318.146, + 1875.042, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2318.146, + 1875.042, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2421.845, + 1946.366, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2525.544, + 2017.689, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2618.539, + 2087.753, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2705.176, + 2164.046, + -202.118, + 0.0, + 34.52, + -0.0 + ], + [ + 2705.176, + 2164.046, + -202.118, + 0.0, + 34.52, + -0.0 + ], + [ + 2629.045, + 2111.683, + -202.504, + 0.0, + 34.52, + -0.0 + ], + [ + 2629.045, + 2111.683, + -202.504, + 0.0, + 59.52, + -0.0 + ], + [ + 2629.045, + 2111.683, + -202.504, + 0.0, + 84.52, + -0.0 + ], + [ + 2629.045, + 2111.683, + -202.504, + 0.0, + 109.52, + -0.0 + ], + [ + 2586.991, + 2230.309, + -202.504, + 0.0, + 109.52, + -0.0 + ], + [ + 2544.937, + 2348.934, + -202.504, + 0.0, + 109.52, + -0.0 + ], + [ + 2544.937, + 2348.934, + -202.504, + 0.0, + 134.52, + -0.0 + ], + [ + 2456.69, + 2438.672, + -202.504, + 0.0, + 134.52, + -0.0 + ], + [ + 2368.443, + 2528.41, + -202.504, + 0.0, + 134.52, + -0.0 + ], + [ + 2368.443, + 2528.41, + -202.504, + 0.0, + 134.52, + -0.0 + ] + ], + "Rationale": [ + "From this corner of the parking deck I can see the lit exit sign over a recessed opening in the far left wall, and the payment machine standing against the wall to the right. The doorway is my first stop, so I will walk forward into the open bay to shorten the distance before angling toward it.", + "The opening with the exit sign now sits well off to my left while my heading points across the empty bay. Turning left should swing that doorway toward the center of my view so I can walk straight at it.", + "The lit exit sign and the recess beneath it now sit ahead of me between the concrete columns, with clear floor in between. I will walk forward to close on that opening.", + "The recess has widened and the exit sign hangs higher in my view, so my heading is still carrying me straight into the passage. I will keep walking forward toward it.", + "I am at the mouth of the passage now, with the exit sign directly overhead and concrete walls narrowing on both sides. Another step forward should bring me into the alcove itself.", + "Inside the alcove I can now see the actual door panel on the left wall under its ceiling light, still a couple of paces off. I will step forward to bring myself right up to it.", + "The closed door fills the left side of my view at arm's length, its handle plainly within reach in this narrow alcove. I am standing at the doorway, so I mark reaching it and turn my attention back out to the payment machine along the far wall of the parking bay.", + "This alcove is too cramped to pivot cleanly with the door beside me and concrete close on both sides. Backing up along my current heading should return me to the open bay, where I will have room to turn toward the payment machine.", + "The grey door in its narrow alcove sits close on my left and I have already reached it, so nothing more is needed here. Now I need the payment machine out in the open garage, which lies behind my current heading. I will turn right to begin swinging away from this recess toward the open bays.", + "The blank concrete wall still dominates my view and the payment machine is not yet in sight, so my heading is not usable for the approach. The garage opens further to my right, past the corner. I will keep turning right to bring that open area in front of me.", + "The tall payment machine with its screen and the green bin beside it has come into view, but it sits far over on my right, near the edge of my sight. Walking now would carry me diagonally past it. One more turn right should place it in front of me for a straight approach.", + "The payment machine now stands ahead of me, roughly centered against the far wall with the green bin at its side. The floor between us is clear apart from bollards well off to the sides. I will walk forward to close that distance.", + "The machine has grown noticeably larger and its screen and buttons are becoming legible, so my heading is carrying me toward it. There is still a good stretch of empty floor in front of me. I will step forward again to keep closing in.", + "The machine is close now, but it sits right of the direction I am facing, with the bare wall and standpipe taking up the middle of my view. Walking straight would drift me past its front. I will turn right so the machine lines up ahead of me.", + "The payment machine is now squarely in my path with its lit panel and the green bin at its base. Only a short span of open floor separates us. I will move forward to come up to it.", + "The machine now fills a large part of my view with its screen, coin slot and buttons clearly readable, so I am nearly at it. A last short step should bring me right up against its front face.", + "The payment machine's screen, coin slot and buttons fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_d/infos.json b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a09a506534f5c38b7ba5d1731c1dd792e99fd2a7 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_d/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Navigate to the gray box beside the barrier, then go to the green bin.", + "Type": 3, + "Start_Pose": [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2358.005, + 1837.9, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2461.704, + 1909.223, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2565.402, + 1980.547, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2565.402, + 1980.547, + -202.751, + 0.0, + 9.52, + -0.0 + ], + [ + 2565.402, + 1980.547, + -202.751, + 0.0, + 9.52, + -0.0 + ], + [ + 2565.402, + 1980.547, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2565.402, + 1980.547, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2565.402, + 1980.547, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2565.402, + 1980.547, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2523.348, + 2099.172, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2481.294, + 2217.797, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2439.24, + 2336.422, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2397.186, + 2455.048, + -202.751, + 0.0, + 109.52, + -0.0 + ], + [ + 2397.186, + 2455.048, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2409.206, + 2580.331, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2409.206, + 2580.331, + -202.751, + 0.0, + 84.52, + -0.0 + ] + ], + "Rationale": [ + "From here the red and white barrier arm and the pale gray box standing beside it sit far off at the left edge of my view, while most of my heading points at the empty bay ahead. I will turn left to bring that barrier and its box into the center of my path.", + "The striped barrier arm and the gray box beside it now sit ahead and slightly left, with clear open floor between us. I will walk forward to close that distance.", + "The barrier arm and the gray box beside it have grown larger and shifted toward my left, so I am gaining on them. The lane between me and the column is still clear, so I will keep walking forward.", + "The gray box is now close on my left, its edge nearly abreast of me beside the striped barrier arm. A few more steps forward should bring me level with it rather than stopping short.", + "The wide concrete column now fills the middle of my view and the gray box has slipped behind my left shoulder. I will turn left so the box beside the barrier comes back in front of me and I can confirm I am standing at it.", + "The gray box stands right at my feet with the red striped barrier arm resting across its top. I am at the box beside the barrier. I mark reaching it, and now I set off for the green bin over in the bay behind me.", + "The box beside the barrier is right here and the green bin is nowhere in this narrow view of the ramp and wall. I will turn right to swing my heading back toward the open parking bay where I can look for the bin.", + "After the first turn I face a broad concrete column with only the exit door and part of the wall showing past it, and still no green bin. I will turn right again to keep sweeping my view toward the open bay beyond the column.", + "Having marked the gray box by the barrier, I am swinging my heading around toward the open bay where the green bin should stand. The pillar and exit door still fill most of my view, though a dark green shape is just appearing at the far right edge. I will turn right again to bring that side of the garage properly in front of me.", + "The green bin is now visible beside the tall payment machine, but it sits well right of my heading with the exit wall still taking up the left half of my view. One more turn to the right should place the bin near the center of my path. I will rotate right again before walking.", + "The green bin beside the machine now sits close to the middle of my view, with clear open floor between me and it. Nothing blocks the lane, so walking straight should cut the distance. I will step forward.", + "The bin and the machine beside it have grown noticeably larger, confirming my heading is carrying me toward them. The floor ahead stays clear of posts and pipes. I will keep walking forward.", + "The green bin is clearly resolved now at the base of the machine, still a few strides off and slightly left of my line. There is nothing between me and it but open pavement. I will advance again to close that gap.", + "The bin now fills a good portion of my view beside the machine, so I am close but not yet standing at it. The bollards are off to my left and right and leave the lane open. I will take another step forward.", + "At this range the machine dominates the center of my view and the green bin has slipped to my left, so a straight step would carry me past it. Turning left should put the bin directly ahead of me. I will rotate left before the final approach.", + "The green bin now stands squarely ahead of me with only a short stretch of floor between us. One more step should bring me right up beside it. I will walk forward.", + "The green bin's rim fills the space right below me at arm's length. Both destinations are reached, so there is nothing left to do and I stop." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_e/infos.json b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1aaabcc54de581b8a9c7ca13dfe8735f216b21c9 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002254_y001767_z-000203_t3_e/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Make your way to the payment machine, then walk to the white-lit doorway.", + "Type": 3, + "Start_Pose": [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2254.306, + 1766.576, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2266.325, + 1891.86, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2278.345, + 2017.144, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2290.364, + 2142.427, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2302.383, + 2267.711, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2314.403, + 2392.995, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2326.422, + 2518.279, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2326.422, + 2518.279, + -202.751, + 0.0, + 84.52, + -0.0 + ], + [ + 2326.422, + 2518.279, + -202.751, + 0.0, + 59.52, + -0.0 + ], + [ + 2326.422, + 2518.279, + -202.751, + 0.0, + 34.52, + -0.0 + ], + [ + 2326.422, + 2518.279, + -202.751, + 0.0, + 9.52, + -0.0 + ], + [ + 2326.422, + 2518.279, + -202.751, + 0.0, + -15.48, + 0.0 + ], + [ + 2326.422, + 2518.279, + -202.751, + 0.0, + -40.48, + 0.0 + ], + [ + 2422.154, + 2436.573, + -202.751, + 0.0, + -40.48, + 0.0 + ], + [ + 2517.887, + 2354.868, + -202.751, + 0.0, + -40.48, + 0.0 + ], + [ + 2613.619, + 2273.162, + -202.751, + 0.0, + -40.48, + 0.0 + ], + [ + 2695.399, + 2189.758, + -202.369, + 0.0, + -40.48, + 0.0 + ], + [ + 2695.399, + 2189.758, + -202.369, + 0.0, + -40.48, + 0.0 + ] + ], + "Rationale": [ + "From this spot in the garage I can see a lit kiosk with a small screen set against the far wall, off to my right past the concrete columns. My heading currently points at empty bays, so I will turn right to bring that machine toward the middle of my view before walking to it.", + "The kiosk with the glowing screen now sits near the center of my view, framed between the columns and the row of white bollards. The floor between us is clear open pavement, so I will walk forward to close the distance.", + "The payment machine has grown larger straight ahead, with the green bin beside it now distinguishable against the wall. Nothing blocks the lane I am walking, so another step forward should keep shrinking the gap.", + "The kiosk stays centered in my view and its panel and screen are becoming easier to read as the wall behind it fills more of the frame. The bollards remain to either side of my line of travel, so I continue walking straight toward it.", + "The machine and the green bin beside it are clearly ahead of me now, with the pipework on the left wall passing by as I advance. I am still several paces short of it, so I keep walking forward on the same heading.", + "The payment machine now dominates the middle of my view, its screen and button panel plainly visible above the dark base. A short stretch of floor still separates me from it, so I step forward again.", + "The lettering above the screen is legible and the machine's cabinet fills much of my view, so I am nearly at it. One more step forward should put me directly in front of the panel.", + "The PAY HERE panel with its screen, card slots and coin tray fills my view at arm's length, with the green bin right beside it. I am standing at the payment machine. I mark reaching it, then set off for the doorway lit white.", + "The payment machine fills my view at arm's length, so there is nothing more to gain by facing it. The lit doorway I need is not in this narrow frame, so I will turn left to swing my view off the machine and back across the open garage floor.", + "The machine has slid to the right edge and I now see standpipes and bare concrete, but still no bright opening. I will keep turning left to bring more of the garage into view and find the white-lit doorway.", + "My view is now a plain concrete wall with the trash bin and pipe riser to the right, and no glow of an opening anywhere. Another left turn should carry my heading further around toward the side of the level where a lit doorway could be.", + "Still only a long stained wall with an alarm box and a valve wheel, so the doorway lies further around to my left. I will continue rotating left to keep sweeping toward the open part of the garage.", + "A pale glowing opening with a green exit sign has come into the left part of my view, which matches the white-lit doorway I want. One more left turn should bring that opening closer to the center of my heading before I walk.", + "The bright doorway under the exit sign now sits near the middle of my view with clear floor between me and it. I will walk forward to close that distance.", + "The glowing opening has grown larger and stays straight ahead, so my heading is good. I will keep walking forward toward it.", + "The lit doorway now fills a tall slot just ahead with its threshold and the pipe beyond clearly visible. Another step forward should carry me right up into that opening.", + "The white-lit doorway is now close on my right, its pale glow and the wall lamp above it filling this narrow passage. I am still a stride short of standing at its opening, so I will step forward once more to close that last gap.", + "I stand right at the white-lit doorway, its bright frame and glowing lamp directly beside me. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_a/infos.json b/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..88c31941c8388bc5c36657cc817407ab553754b9 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the parking payment machine beside the green trash bin.", + "Type": 0, + "Start_Pose": [ + 2317.749, + 1869.686, + -202.751, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2317.749, + 1869.686, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2370.381, + 1984.012, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2370.381, + 1984.012, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2369.766, + 2109.869, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2369.151, + 2235.727, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2368.536, + 2361.584, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2367.921, + 2487.442, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2367.921, + 2487.442, + -202.751, + 0.0, + 90.28, + -0.0 + ] + ], + "Rationale": [ + "From this parking level I can already pick out the pale payment machine mounted on the far wall to my right, with a small green trash bin standing beside it. The open bay ahead of me is clear of the short bollards, so I will step forward to shorten the distance before refining my heading.", + "The payment machine and the green bin sit well to the right of my current heading, so walking straight would carry me past them toward the exit door on my left. I will turn right to bring the machine closer to the center of my view and set up a direct approach line.", + "The payment machine now sits close to straight ahead with the green bin at its left side, so my heading points along a usable approach line. The floor between me and it is open apart from the low bollards to either side, so I will step forward to close distance.", + "The machine's screen and panels have grown larger and remain near the middle of my view, confirming my heading is still true. I will continue forward since there is still clear floor between me and the wall it is mounted on.", + "I can now read PAY HERE above the machine's screen and see the green trash bin standing right beside it, but I am still several paces short of an interaction distance. I will take another step forward to keep closing that gap.", + "The machine's card slots and buttons are now clearly distinguishable and the green bin fills a good part of my lower left, so I am nearly in front of the unit. One more forward step should bring me within comfortable reach of its panel.", + "The PAY HERE machine fills my view at arm's reach with the green trash bin directly beside it. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_b/infos.json b/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f7d029f677c3d94dace977511268e5d02be2699 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the green trash bin beside the parking payment machine.", + "Type": 0, + "Start_Pose": [ + 2317.749, + 1869.686, + -202.751, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2317.749, + 1869.686, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2370.381, + 1984.012, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2370.381, + 1984.012, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2369.766, + 2109.869, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2369.151, + 2235.727, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2368.536, + 2361.584, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2367.921, + 2487.442, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2367.921, + 2487.442, + -202.751, + 0.0, + 90.28, + -0.0 + ] + ], + "Rationale": [ + "From this parking level I can already spot the payment machine on the far wall to my right, with a small green bin standing at its left side. It is still far off across the open bay, so I will move forward to close some of that distance and get a clearer read on the target.", + "After advancing, the payment machine and the green bin beside it sit well right of my heading, while my view is filled by the exit wall on the left. I will turn right to bring the bin toward the center of my view before continuing forward.", + "The turn has put the payment machine and the green trash bin near the middle of my view with clear floor between us. I will move forward along this heading to shrink the remaining gap.", + "The kiosk and the green bin are larger now and still centered, so my heading needs no adjustment. I will keep moving forward, since I am still several vehicle lengths from the bin.", + "The PAY HERE machine and the green bin at its left are now clearly readable straight ahead, but the bin is still a few steps away. I will continue forward to arrive right beside it.", + "The machine and the green bin now fill much of my view, yet I am still slightly short of standing directly at the bin. One more forward step should place me immediately in front of the target.", + "The green trash bin stands directly in front of me beside the PAY HERE machine, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_c/infos.json b/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe6e5442bc8c02c96c8ede97c466a83e7c3398d8 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head to the red fire alarm box on the wall.", + "Type": 0, + "Start_Pose": [ + 2317.749, + 1869.686, + -202.751, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2317.749, + 1869.686, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2370.381, + 1984.012, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2399.297, + 2094.894, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2399.297, + 2094.894, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 2495.314, + 2176.265, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 2591.331, + 2257.636, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 2655.606, + 2323.945, + -202.751, + 0.0, + 40.28, + -0.0 + ], + [ + 2655.606, + 2323.945, + -202.751, + 0.0, + 15.28, + -0.0 + ], + [ + 2655.606, + 2323.945, + -202.751, + 0.0, + 15.28, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the concrete garage I can pick out red fixtures on the left-hand wall, including a small red pull station beside the painted arrow. The floor ahead is open between the short bollards, so I will step forward to close distance toward that wall.", + "The red pull station on the left wall and the alarm bell above it now read larger, confirming I am closing on the correct wall. Nothing blocks the open floor, so I will keep walking forward to shorten the remaining gap.", + "My heading is drifting toward the pay station and pipes on the right, while the red fire alarm pull box sits well to my left on the concrete wall. I will turn left to bring that box onto my forward heading before advancing again.", + "The red alarm box on the wall now lies ahead of me, roughly in line with my heading and just right of the lit exit passage. The floor between us is clear, so I will step forward to close the remaining distance.", + "The wall with the red pull station and the alarm bell above it fills more of my view, and the painted arrow beside it is now clearly legible. I will continue forward to get within close standing distance of the box.", + "I am close to the concrete wall now, with the red fire alarm pull station at about chest height just ahead of me. A short final step forward should place me directly at the box rather than a stride short of it.", + "Standing this close, the red pull box has slid to the far left edge of what I can see, with mostly blank concrete straight ahead. I will turn left so the alarm box sits squarely in front of me.", + "The red fire alarm pull box on the wall is directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_d/infos.json b/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..47029cae28a21290f6cdbda15cc27b8652c8a9e9 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002318_y001870_z-000203_t0_d/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Move to the square floor drain in the concrete ground.", + "Type": 0, + "Start_Pose": [ + 2317.749, + 1869.686, + -202.751, + 0.0, + 65.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2317.749, + 1869.686, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2370.381, + 1984.012, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2399.297, + 2094.894, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2451.929, + 2209.219, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2504.561, + 2323.545, + -202.751, + 0.0, + 65.28, + -0.0 + ], + [ + 2504.561, + 2323.545, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2504.561, + 2323.545, + -202.751, + 0.0, + 90.28, + -0.0 + ], + [ + 2504.561, + 2323.545, + -202.751, + 0.0, + 90.28, + -0.0 + ] + ], + "Rationale": [ + "From this spot in the concrete garage I can pick out a small square grate set into the floor ahead, past the white bollards and near the wall with the payment machine. It lies roughly along my current heading, so I will step forward to begin closing the distance.", + "The square drain grate is now clearly larger on the floor ahead of me, slightly right of straight forward and still several paces off. The concrete floor between us is clear, so I will keep walking forward toward it.", + "The drain grate sits ahead on the floor, closer now, with the trash can and payment machine along the wall just beyond it. I am not yet standing at it, so another forward step should bring me nearly on top of the grate.", + "The grated square is now large and near the bottom of my view, only a short step in front of my feet. I will move forward once more to stand right at the drain.", + "I am standing essentially over the drain, but with my gaze level and pointed at the corner wall the grate has dropped out of sight below my field of view. The drain lay slightly to my right as I came in, so I will turn a little to the right to bring that patch of floor back in front of me.", + "Facing the payment machine and trash can straight on, I see only bare floor at the bottom of my view and the drain must be just below my feet. I will tilt my gaze downward to bring the grate into sight and confirm I am standing at it.", + "The square grated floor drain lies directly in front of my feet in the concrete slab. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002458_y001105_z-000203_t1_a/infos.json b/dataset/trajectory/UndergroundParking/task_x002458_y001105_z-000203_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05bf122b98c8c874586a3d8dd0484e8b3b8dd5b8 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002458_y001105_z-000203_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Scan the surroundings to locate the red valve wheel on the concrete pillar, then move to that location.", + "Type": 1, + "Start_Pose": [ + 2458.13, + 1105.316, + -202.751, + 0.0, + -26.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2458.13, + 1105.316, + -202.751, + 0.0, + -26.88, + 0.0 + ], + [ + 2458.13, + 1105.316, + -202.751, + 0.0, + -51.88, + 0.0 + ], + [ + 2458.13, + 1105.316, + -202.751, + 0.0, + -76.88, + 0.0 + ], + [ + 2458.13, + 1105.316, + -202.751, + 0.0, + -101.88, + 0.0 + ], + [ + 2458.13, + 1105.316, + -202.751, + 0.0, + -126.88, + 0.0 + ], + [ + 2458.13, + 1105.316, + -202.751, + 0.0, + -151.88, + 0.0 + ], + [ + 2458.13, + 1105.316, + -202.751, + 0.0, + -176.88, + 0.0 + ], + [ + 2458.13, + 1105.316, + -202.751, + 0.0, + 158.12, + -0.0 + ], + [ + 2458.13, + 1105.316, + -202.751, + 0.0, + 133.12, + -0.0 + ], + [ + 2372.102, + 1197.184, + -202.751, + 0.0, + 133.12, + -0.0 + ], + [ + 2286.073, + 1289.051, + -202.751, + 0.0, + 133.12, + -0.0 + ], + [ + 2200.045, + 1380.918, + -202.751, + 0.0, + 133.12, + -0.0 + ], + [ + 2200.045, + 1380.918, + -202.751, + 0.0, + 133.12, + -0.0 + ] + ], + "Rationale": [ + "I am facing directly into a tight concrete corner, with a bare pillar edge in front of me and blank walls on both sides, so no red valve wheel is anywhere in view. There is nothing here to approach and no usable cue, so I will turn left to begin a consistent scan away from this dead corner.", + "The view has shifted only slightly and I still see the same enclosed corner with a plain concrete column and unmarked walls. No valve wheel or open space has appeared yet, so I will keep turning left in the same direction to sweep past this wall.", + "My view is now filled almost entirely by a flat concrete wall close in front of me, which tells me nothing about where the valve wheel might be. Continuing the same leftward sweep should carry the wall out of view and open up more of the space.", + "The wall still blocks most of my view, though ceiling pipes are now appearing at the top left, hinting that the space opens further in that direction. I will keep rotating left to bring that opening into view and look for a pillar carrying a red wheel.", + "The space has finally opened up on the left, showing marked parking bays, a row of square pillars, and service pipes running along the ceiling. None of these pillars shows a red valve wheel yet, so I will continue turning left to sweep deeper into this open bay area.", + "I can now see a wide underground parking area with covered cars, lit fixtures, and several concrete pillars, which is exactly the kind of place a service valve would be mounted. The pillars currently in view still show no red wheel, so I will keep turning left across this open hall.", + "More of the hall is exposed now, with additional pillars and covered cars, but the nearest pillar faces toward me are still plain concrete. Turning left again should bring the further row of pillars into the center of my view where I can check them for the red wheel.", + "A red circular marking is now visible low on the near pillar ahead, which looks like the valve fitting I am searching for, but it sits slightly left of my heading. I will turn left once more to center that pillar so I can walk straight toward it.", + "The scan has opened onto the wide parking level, and on the nearer concrete pillar ahead of me I can pick out a small red circular fitting at about waist height, which matches the red valve wheel I am looking for. Since the target is visible rather than merely guessed, I stop rotating and walk straight toward that pillar. The floor between me and it is flat and clear, so this step should close a good part of the distance.", + "The pillar with the red fitting has grown larger and stays close to the center of my view, confirming my heading is still on it. The red wheel is not yet near enough to be clearly resolved, so I keep walking forward along the same line rather than adjusting my facing. The lane ahead remains empty of parked vehicles and obstacles.", + "The red valve wheel is now plainly visible on the pipe running down the concrete pillar just ahead and slightly left of my path. I am close but still a couple of paces short of a comfortable standing position beside it, so I take one more step forward. That should bring me within reach of the valve without needing to reorient.", + "The red valve wheel on the concrete pillar is directly beside me, filling the near foreground at arm's length. The task location is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002762_y002156_z-000202_t1_a/infos.json b/dataset/trajectory/UndergroundParking/task_x002762_y002156_z-000202_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ab64160da7f0685bf79392f54726b6cd606dc85e --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002762_y002156_z-000202_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Search nearby for the parking gate arm tip, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + 2761.589, + 2155.576, + -202.296, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2761.589, + 2155.576, + -202.296, + 0.0, + -0.0, + 0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 25.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 50.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 75.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 100.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 125.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 150.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 175.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + -160.0, + 0.0 + ], + [ + 2649.656, + 2134.15, + -202.751, + 0.0, + -160.0, + 0.0 + ], + [ + 2649.656, + 2134.15, + -202.751, + 0.0, + -135.0, + 0.0 + ], + [ + 2649.656, + 2134.15, + -202.751, + 0.0, + -110.0, + 0.0 + ], + [ + 2596.779, + 2033.239, + -202.751, + 0.0, + -110.0, + 0.0 + ], + [ + 2553.733, + 1914.97, + -202.751, + 0.0, + -110.0, + 0.0 + ], + [ + 2553.733, + 1914.97, + -202.751, + 0.0, + -85.0, + 0.0 + ], + [ + 2564.702, + 1789.59, + -202.751, + 0.0, + -85.0, + 0.0 + ], + [ + 2575.671, + 1664.21, + -202.751, + 0.0, + -85.0, + 0.0 + ], + [ + 2575.671, + 1664.21, + -202.751, + 0.0, + -60.0, + 0.0 + ], + [ + 2575.671, + 1664.21, + -202.751, + 0.0, + -35.0, + 0.0 + ], + [ + 2575.671, + 1664.21, + -202.751, + 0.0, + -35.0, + 0.0 + ] + ], + "Rationale": [ + "I am standing in a narrow concrete alcove facing a closed frosted door, with a pipe and valve wheel hemming me in on the left, and nothing resembling a parking gate arm is in sight. Since the door blocks the way straight ahead, I will turn right to begin a steady scan of the surroundings for the barrier or for an opening that leads toward a parking area.", + "The door has swung to the left side of my view and the right half is plain concrete wall, so there is still no sign of a gate arm here. I will keep turning right in the same direction to sweep the remaining part of this cramped space.", + "Only the edge of the doorframe remains at the far left and the rest of my view is unbroken concrete wall, offering no target and no cue. I will continue the rightward scan rather than reverse direction, keeping the sweep consistent.", + "My view is now filled entirely by a blank, damp concrete surface at close range, which gives me nothing to work with. I will turn right again, expecting this wall to fall away and reveal whatever lies beyond the corner.", + "Past the edge of the near wall a sliver of a large open interior has appeared on the right, with ceiling pipes and what looks like a payment terminal, which is a strong cue for a parking area where a gate arm would be. I will keep turning right to bring that opening fully into view.", + "The parking level is now clearly opening up on the right, with a ticket machine, bollards and marked bays, though the barrier arm itself is not yet in sight. I will continue turning right to clear the pillar still blocking the left of my view and take in more of the floor.", + "I now have a broad view across the parking level with pillars, bollards and painted bays, but no gate arm is visible in this stretch. Turning right again should swing my view toward the far side of the level where the drive lane appears to continue.", + "Ahead on the right I can see yellow and black striped clearance marking and a cabinet near what looks like a through lane, which suggests the vehicle entry route lies that way. I will turn right once more to face down that lane before committing to walking forward.", + "My scan has brought the open underground parking deck into view, with bays, bollards and a yellow marked bay ahead, but no gate arm is visible yet from behind this near column. Since a gate arm would sit at a vehicle entry lane, I will walk forward into the open deck to clear the column edge and expose more of the far bays.", + "From this more open standpoint the deck spreads out ahead, and the parked car and yellow-striped beam sit toward the middle while the right side of the hall is still unexamined. I will turn right to sweep that unseen portion of the level where an entry lane and its gate arm would most plausibly be.", + "The new heading shows more empty bays and a plain rear wall, still with no barrier arm in sight. I will continue the same rightward sweep to keep uncovering the remaining portion of this level rather than stopping on a blank wall.", + "Turning further right has revealed a dark angled fixture at the base of the column on my right, close to the wall, which looks like the mounting of a barrier near a lane. I will walk forward along this side to close distance and get a clearer look at that fixture.", + "A red and white striped barrier arm is now clearly visible along the wall on my right, confirming the parking gate on this side. I will keep walking forward to bring myself alongside the arm and closer to its free tip.", + "The striped gate arm now runs close along my right side, but my heading still points down the open bays rather than at the barrier. I will turn right to face the arm directly so I can track its tip while closing the remaining distance.", + "With the barrier arm now in front of me along the right wall, its far end still lies beyond the column ahead. I will step forward to reduce that gap and get within close range of the arm tip.", + "The striped arm is noticeably nearer and lower in my view, so I am closing on it but am not yet beside its end. I will take another step forward to bring myself right up to the gate arm tip.", + "I have walked up close beside the wall where the striped barrier arm runs, but my heading now points along the empty bay and the arm has slipped out of view to my right. I will turn right to swing the barrier and its tip back into the center of my view.", + "The turn brought the end of the red and white barrier arm back into the right edge of my view, though a concrete pillar still blocks most of it. I will turn right once more to face the arm tip squarely from this close standing position.", + "The red and white gate arm tip is directly in front of me, close and clearly framed. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/UndergroundParking/task_x002762_y002156_z-000202_t1_b/infos.json b/dataset/trajectory/UndergroundParking/task_x002762_y002156_z-000202_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..948bfad573ecf398ab6aa9a338920507420e91e0 --- /dev/null +++ b/dataset/trajectory/UndergroundParking/task_x002762_y002156_z-000202_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Explore the area until you identify the kiosk machine in the parking area, then head toward that location.", + "Type": 1, + "Start_Pose": [ + 2761.589, + 2155.576, + -202.296, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2761.589, + 2155.576, + -202.296, + 0.0, + -0.0, + 0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 25.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 50.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 75.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 100.0, + -0.0 + ], + [ + 2761.589, + 2155.576, + -202.116, + 0.0, + 125.0, + -0.0 + ], + [ + 2700.975, + 2202.917, + -202.116, + 0.0, + 125.0, + -0.0 + ], + [ + 2627.306, + 2271.248, + -202.751, + 0.0, + 125.0, + -0.0 + ], + [ + 2555.116, + 2374.346, + -202.751, + 0.0, + 125.0, + -0.0 + ], + [ + 2482.926, + 2477.444, + -202.751, + 0.0, + 125.0, + -0.0 + ], + [ + 2410.736, + 2580.541, + -202.751, + 0.0, + 125.0, + -0.0 + ], + [ + 2410.736, + 2580.541, + -202.751, + 0.0, + 125.0, + -0.0 + ] + ], + "Rationale": [ + "I am in a narrow service passage facing a closed frosted door with pipework beside me, and there is no kiosk or parking area visible here. I will turn right to begin a consistent scan for an opening that leads out toward the parking level.", + "The door has swung to the left edge of my view and the rest of my field is bare concrete wall, so nothing here resembles a payment kiosk. I will keep rotating right in the same direction to bring the unseen part of this space into view.", + "Only a corner of the doorway remains at the far left and the rest of my view is blank wall, giving me no cue about the parking area. I will continue turning right to keep the scan consistent and uncover more of the surroundings.", + "My view is now filled entirely by a close concrete surface, so this heading gives me no usable information. I will turn right again to move past this blocking wall and look for an opening.", + "Past the edge of the concrete column on my left, an open garage bay is appearing on the right with a tall freestanding machine against a pillar. I will turn right once more to bring that machine and the open parking space fully into the center of my view.", + "The parking level is now open in front of me and I can clearly see the freestanding payment kiosk with a screen standing against the wall beyond the pillar. Since the target is identified, I will walk forward to close the distance toward it.", + "I have cleared the pillar and the kiosk with its screen and green bin stands ahead of me in the open garage. I will keep walking forward to shorten the remaining distance to it.", + "The kiosk is noticeably larger in view now, with its screen and card slots becoming legible against the wall. I will continue advancing to reach a position directly in front of it.", + "The payment kiosk with its \"PAY HERE\" header and card slots stands clearly ahead of me against the concrete wall of this parking level, slightly right of my heading. It is still several strides away, so I will keep walking straight toward it to close the remaining gap. The open floor between the bollards looks clear, so this step should bring me noticeably nearer.", + "The kiosk now fills a large part of my view, with its screen, card reader and coin slots readable, confirming this is the parking payment machine I was looking for. I am close but not yet standing directly at it, so I will take one more step forward to finish arriving at its front.", + "The parking kiosk's screen and payment slots fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_a_p/infos.json b/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..63120ef5dc6a55357fb3138efa7b56cd638a8a28 --- /dev/null +++ b/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the metal bucket.", + "Type": 5, + "Start_Pose": [ + -3413.024, + -2744.119, + 98.275, + 0, + -20, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2967.695, + -2687.118, + 26.811, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3413.024, + -2744.119, + 98.275, + 0, + -20, + 0 + ], + [ + -3413.024, + -2744.119, + 98.275, + 0.0, + 5.0, + -0.0 + ], + [ + -3287.644, + -2733.15, + 106.891, + 0.0, + 5.0, + -0.0 + ], + [ + -3162.264, + -2722.18, + 106.891, + 0.0, + 5.0, + -0.0 + ], + [ + -3162.264, + -2722.18, + 106.891, + 0.0, + 5.0, + -0.0 + ], + [ + -3162.264, + -2722.18, + 106.891, + 0.0, + 5.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2967.695, + -2687.118, + 26.811, + 0.0, + 0.0, + 0.0 + ], + [ + -2967.695, + -2687.118, + 26.811, + 0.0, + 0.0, + 0.0 + ], + [ + -2967.695, + -2687.118, + 26.811, + 0.0, + 0.0, + 0.0 + ], + [ + -2967.695, + -2687.118, + 26.811, + 0.0, + 0.0, + 0.0 + ], + [ + -3164.733, + -2700.961, + 77.025, + -28.202, + 55.145, + 1.862 + ], + [ + -3164.733, + -2700.961, + 77.025, + -28.202, + 55.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 449.0, + 449.0, + 323.2, + 197.7, + 21.4, + 21.4 + ], + "Rationale": [ + "The metal bucket sits well off to the right of my heading, near the base of the cargo container. I will turn right to bring it toward the center of my view so I can walk straight at it.", + "The bucket now stands roughly ahead of me, but it is still small and far across the open paving. The path between us looks clear, so I will step forward to close that distance.", + "The bucket has grown larger and stays near the middle of my view, so my heading is good. It is still too far to reach, so I will walk forward again to get within grasping range.", + "The metal bucket now fills the lower center of my view, close enough that its rim and handle bracket are clearly within reach. My hands are empty, so I will attempt to pick it up now.", + "The metal bucket is now held in my hands rather than resting on the pavement. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_a_pd/infos.json b/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6408160af8aa2e0794a09df37d623bb99ac7c13e --- /dev/null +++ b/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the green bell pepper, then place it near the brick-paved area in front of the metal railing.", + "Type": 5, + "Start_Pose": [ + -3413.024, + -2744.119, + 98.275, + 0, + -20, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2805.295, + -2815.673, + 27.52, + 0.682, + 72.228, + -70.656 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3413.024, + -2744.119, + 98.275, + 0, + -20, + 0 + ], + [ + -3294.755, + -2787.165, + 106.798, + 0.0, + -20.0, + 0.0 + ], + [ + -3176.486, + -2830.212, + 106.798, + 0.0, + -20.0, + 0.0 + ], + [ + -3176.486, + -2830.212, + 106.798, + 0.0, + 5.0, + -0.0 + ], + [ + -3051.106, + -2819.242, + 106.798, + 0.0, + 5.0, + -0.0 + ], + [ + -2925.726, + -2808.273, + 98.275, + 0.0, + 5.0, + -0.0 + ], + [ + -2925.726, + -2808.273, + 98.275, + 0.0, + 5.0, + -0.0 + ], + [ + -2925.726, + -2808.273, + 98.275, + 0.0, + -20.0, + 0.0 + ], + [ + -2925.726, + -2808.273, + 98.275, + 0.0, + -45.0, + 0.0 + ], + [ + -2925.726, + -2808.273, + 98.275, + 0.0, + -70.0, + 0.0 + ], + [ + -2882.68, + -2926.542, + 98.275, + 0.0, + -70.0, + 0.0 + ], + [ + -2839.634, + -3044.811, + 98.275, + 0.0, + -70.0, + 0.0 + ], + [ + -2796.588, + -3163.08, + 98.275, + 0.0, + -70.0, + 0.0 + ], + [ + -2821.214, + -3095.422, + 98.275, + 0.0, + -70.0, + 0.0 + ], + [ + -2821.214, + -3095.422, + 98.275, + 0.0, + -70.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2805.295, + -2815.673, + 27.52, + 0.682, + 72.228, + -70.656 + ], + [ + -2805.295, + -2815.673, + 27.52, + 0.682, + 72.228, + -70.656 + ], + [ + -2805.295, + -2815.673, + 27.52, + 0.682, + 72.228, + -70.656 + ], + [ + -2805.295, + -2815.673, + 27.52, + 0.682, + 72.228, + -70.656 + ], + [ + -2805.295, + -2815.673, + 27.52, + 0.682, + 72.228, + -70.656 + ], + [ + -2805.295, + -2815.673, + 27.52, + 0.682, + 72.228, + -70.656 + ], + [ + -2928.195, + -2787.053, + 68.381, + -28.202, + 55.144, + 1.862 + ], + [ + -2919.327, + -2788.891, + 68.654, + -28.189, + 30.157, + 1.872 + ], + [ + -2911.35, + -2794.119, + 67.987, + -28.215, + 5.127, + 1.849 + ], + [ + -2898.525, + -2804.148, + 68.168, + -14.175, + -27.808, + 6.959 + ], + [ + -2862.862, + -2918.553, + 68.607, + -28.198, + -19.855, + 1.865 + ], + [ + -2819.713, + -3037.099, + 68.07, + -28.191, + -19.842, + 1.871 + ], + [ + -2776.633, + -3155.49, + 67.789, + -28.214, + -19.87, + 1.852 + ], + [ + -2797.273, + -3161.2, + 88.275, + 0.0, + -70.0, + 0.0 + ], + [ + -2797.273, + -3161.2, + 88.275, + 0.0, + -70.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 611.9, + 490.3, + 371.5, + 371.5, + 245.8, + 120.7, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.3, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper is sitting on the paving ahead of me at the base of the container, still far off. Nothing blocks the open stone yard between us, so I will walk straight forward to close that gap before attempting any grasp.", + "The pepper now appears noticeably larger and lower in my view, confirming my last step brought me closer. It is still well out of arm's reach, so I will keep walking forward along the open paving toward it.", + "The pepper has drifted toward the right edge of my view as I advanced, so continuing straight would carry me past it. I will turn right to bring the pepper back toward the center of my heading before closing the remaining distance.", + "After the turn the pepper sits near the middle of my view, directly on my heading. The paving in front of me is clear, so I will step forward to close the remaining distance toward it.", + "The pepper now fills a large part of the lower view, so I am close but likely still short of grasping range. I will take one more step forward so it comes within reach at my feet.", + "Only the green top of the pepper still shows at the very bottom edge of my view, meaning it is right at my feet against the container. My hands are empty and nothing stands between us, so I will attempt to pick it up now.", + "The grasp succeeded, since the pepper is now in my hands and no longer resting on the paving. The delivery spot is the brick paving by the metal railing out in the open yard, not this container wall in front of me, so I will turn left to swing my heading back toward that open area.", + "With the pepper secured, my view is still dominated by the container flank and only a strip of open yard shows at the left. I will turn left again to keep rotating away from this wall and bring the open paved area toward the center of my heading.", + "The pepper is secured in my hands, and the container wall still fills the right half of my view while the open yard lies to my left. One more left rotation should carry my heading fully off this wall and onto the open paved lane that leads toward the railing area.", + "My heading is now clear of the container wall and the open yard stretches ahead, with the metal railing and the brick-paved strip visible off to the left. Carrying the pepper, I will step forward to close the distance toward that railing frontage.", + "The railing line and the brick paving beside it are still ahead and to my left, and the ground between is open. I will keep walking forward with the pepper to reach the area in front of the railing.", + "The bollard beside the container stack has grown large in front of me, showing I am nearly at the frontage, and the brick-paved strip along the railing runs just to my left. One more step forward should bring me right to that drop area.", + "I am standing right at the bollard with the brick-paved strip and the metal railing immediately to my left, so this is the intended placement spot. I will release the pepper here so it comes to rest near the brick paving in front of the railing.", + "The green bell pepper is resting on the ground at the brick-paved frontage before the metal railing, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_b_p/infos.json b/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..255c8e8cad4b8d7c550eda459b81f742ff853efc --- /dev/null +++ b/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the ceramic vase near the brick-paved area in front of the metal railing.", + "Type": 5, + "Start_Pose": [ + -3413.024, + -2744.119, + 98.275, + 0, + -20, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -2766.751, + -3227.056, + 38.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3413.024, + -2744.119, + 98.275, + 0, + -20, + 0 + ], + [ + -3294.755, + -2787.165, + 106.798, + 0.0, + -20.0, + 0.0 + ], + [ + -3176.486, + -2830.212, + 106.798, + 0.0, + -20.0, + 0.0 + ], + [ + -3176.486, + -2830.212, + 106.798, + 0.0, + -45.0, + 0.0 + ], + [ + -3087.491, + -2919.207, + 106.798, + 0.0, + -45.0, + 0.0 + ], + [ + -2998.495, + -3008.203, + 106.798, + 0.0, + -45.0, + 0.0 + ], + [ + -2909.499, + -3097.199, + 98.275, + 0.0, + -45.0, + 0.0 + ], + [ + -2909.499, + -3097.199, + 98.275, + 0.0, + -45.0, + 0.0 + ], + [ + -2909.499, + -3097.199, + 98.275, + 0.0, + -45.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2766.751, + -3227.056, + 38.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2766.751, + -3227.056, + 38.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2766.751, + -3227.056, + 38.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2766.751, + -3227.056, + 38.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2766.751, + -3227.056, + 38.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2766.751, + -3227.056, + 38.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2766.751, + -3227.056, + 38.275, + 0.0, + 0.0, + 0.0 + ], + [ + -2894.831, + -3081.668, + 68.381, + -28.202, + 5.145, + 1.862 + ], + [ + -2894.831, + -3081.668, + 68.381, + -28.202, + 5.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 806.8, + 687.2, + 570.4, + 570.4, + 444.6, + 318.8, + 193.0, + 21.4, + 21.4 + ], + "Rationale": [ + "From the brick-paved strip I can see the open yard ahead with a stone post and a small pale vessel beside it near the container stacks. The target is far off, so I will walk straight forward across the paving to close that distance before refining my heading.", + "The stone post and the slim pale vase at its base are noticeably larger now, confirming I am heading the right way. The ground ahead is still clear, so I will take another step forward to keep closing in.", + "The vase and its post sit left of my current heading, with the large container wall crowding the right side of my view. A modest turn to the left should center the target so my next steps run straight at it.", + "After the turn the stone post and the pale vase beside it sit near the middle of my view with open pavement in between. I will walk forward along this heading to close the remaining gap.", + "The vase is clearly resolved now at the foot of the post, still several paces off and slightly right of center. Nothing blocks the paving between us, so I will keep advancing toward it.", + "The vase now fills a good part of the lower view but remains slightly beyond comfortable reach. One more step forward should bring it close enough in front of me to attempt a grasp.", + "The ceramic vase stands directly in front of me at the base of the stone post, close enough that it dominates the lower half of my view. My hands are empty, so I will attempt to pick it up now.", + "The ceramic vase is now held in my hands and no longer resting on the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_b_pd/infos.json b/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af26da65be957db25c3446b93a9356234318b4c4 --- /dev/null +++ b/dataset/trajectory/containeryard_day/task_x-003413_y-002744_z000098_t5_b_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the plate, then place it near the brick-paved area in front of the metal railing.", + "Type": 5, + "Start_Pose": [ + -3413.024, + -2744.119, + 98.275, + 0, + -20, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2903.192, + -2744.119, + 56.787, + -90, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3413.024, + -2744.119, + 98.275, + 0, + -20, + 0 + ], + [ + -3294.755, + -2787.165, + 106.798, + 0.0, + -20.0, + 0.0 + ], + [ + -3176.486, + -2830.212, + 106.798, + 0.0, + -20.0, + 0.0 + ], + [ + -3058.218, + -2873.258, + 106.798, + 0.0, + -20.0, + 0.0 + ], + [ + -3058.218, + -2873.258, + 106.798, + 0.0, + 5.0, + -0.0 + ], + [ + -3058.218, + -2873.258, + 106.798, + 0.0, + 30.0, + -0.0 + ], + [ + -3058.218, + -2873.258, + 106.798, + 0.0, + 30.0, + -0.0 + ], + [ + -3058.218, + -2873.258, + 106.798, + 0.0, + 5.0, + -0.0 + ], + [ + -3058.218, + -2873.258, + 106.798, + 0.0, + -20.0, + 0.0 + ], + [ + -3058.218, + -2873.258, + 106.798, + 0.0, + -45.0, + 0.0 + ], + [ + -2969.222, + -2962.254, + 106.798, + 0.0, + -45.0, + 0.0 + ], + [ + -2880.226, + -3051.249, + 98.275, + 0.0, + -45.0, + 0.0 + ], + [ + -2791.23, + -3140.245, + 98.275, + 0.0, + -45.0, + 0.0 + ], + [ + -2791.23, + -3140.245, + 98.275, + 0.0, + -70.0, + 0.0 + ], + [ + -2815.856, + -3072.587, + 98.275, + 0.0, + -70.0, + 0.0 + ], + [ + -2815.856, + -3072.587, + 98.275, + 0.0, + -70.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2903.192, + -2744.119, + 56.787, + -90.0, + 0.0, + 0.0 + ], + [ + -2903.192, + -2744.119, + 56.787, + -90.0, + 0.0, + 0.0 + ], + [ + -2903.192, + -2744.119, + 56.787, + -90.0, + 0.0, + 0.0 + ], + [ + -2903.192, + -2744.119, + 56.787, + -90.0, + 0.0, + 0.0 + ], + [ + -2903.192, + -2744.119, + 56.787, + -90.0, + 0.0, + 0.0 + ], + [ + -2903.192, + -2744.119, + 56.787, + -90.0, + 0.0, + 0.0 + ], + [ + -3069.59, + -2853.412, + 76.995, + -28.202, + 80.145, + 1.862 + ], + [ + -3060.777, + -2851.084, + 77.267, + -28.189, + 55.157, + 1.872 + ], + [ + -3051.317, + -2853.051, + 76.6, + -28.215, + 30.127, + 1.849 + ], + [ + -3044.445, + -2858.372, + 77.523, + -28.205, + 5.139, + 1.861 + ], + [ + -2954.838, + -2946.438, + 76.82, + -28.198, + 5.145, + 1.865 + ], + [ + -2865.691, + -3035.585, + 68.718, + -28.2, + 5.145, + 1.865 + ], + [ + -2776.483, + -3124.788, + 68.187, + -28.194, + 5.148, + 1.865 + ], + [ + -2772.364, + -3132.632, + 68.788, + -28.196, + -19.851, + 1.869 + ], + [ + -2791.915, + -3138.365, + 68.275, + 90.0, + -70.0, + 0.0 + ], + [ + -2791.915, + -3138.365, + 68.275, + 90.0, + -70.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 509.8, + 393.9, + 286.5, + 201.8, + 201.8, + 201.8, + 22.9, + 22.3, + 21.4, + 20.3, + 21.4, + 21.4, + 21.4, + 20.3, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate rests on the ground well ahead of me, near the base of the large container on my right. It is far too distant to grasp from here, so I will walk straight forward along the paved yard to close that gap.", + "The plate has grown larger and shifted further toward the right edge of my view, confirming my forward heading is closing on it. The open pavement between me and the container is still clear, so I will keep stepping forward.", + "The plate is now at the far right margin of my view, close to the container wall, meaning I am nearly beside it but not yet level with it. One more forward step should bring me alongside the plate before I reorient toward it.", + "My forward motion has carried me level with the container, and the plate has slipped out of view past my right shoulder. I will turn right to swing my heading back onto the plate's position beside the container wall.", + "The plate has reappeared at the lower right corner of my view, so my heading is close but still off to the left of it. Another turn to the right should place the plate near the center of my view for a clean grasp attempt.", + "The plate now sits centered and close in front of me on the ground beside the container, well within reach. My hands are empty, so I will attempt to pick it up before carrying it toward the brick-paved area by the metal railing.", + "The grasp worked: the plate is no longer lying on the pavement but held in my hands. The delivery area with the brick paving and metal railing lies back to my left, away from this container wall, so I will begin turning left to face that direction.", + "I am still holding the plate and now facing the flank of the container, with the open lane between the stacks opening away on my left. I will continue turning left to bring that route, and the railing area beyond it, into my forward path.", + "The plate is secure in my hands, so my remaining job is to carry it toward the brick paving by the metal railing. My heading still points along the container wall with the stacked blocks filling most of my view, so the open yard I need lies further to my left. I will turn left again to bring that route into view.", + "My heading now opens onto the wide yard, with brick paving showing at the lower left and the railed edge beyond the stacks. Carrying the plate, I have clear ground ahead past the stone bollard. I will step forward to close distance toward that paved edge.", + "The bollard and the container stacks have grown noticeably larger, confirming the last step carried me deeper into the yard while still holding the plate. The paved strip near the railing is still some way off on my left. I will keep walking forward to shorten that gap.", + "The bollard now stands close on my left and the blue containers fill the right side, so I am nearly level with the open edge of the yard. The plate is still in my hands and the drop zone lies just beyond this stretch. One more step forward should place me at the right depth before turning.", + "I have reached the far side of the yard, with the bollard now at the edge of my view and the flat open surface stretching off to my left. The railing and the brick-paved strip are on that left side, not straight ahead. I will turn left to face the placement area before setting the plate down.", + "Facing left, I can now see the low railing and the brick-paved ground opening away on my left, which matches the requested placement spot. The plate is still in my hands and I am standing right at that boundary. I will release it here so it comes to rest near the paving in front of the railing.", + "The plate now rests on the ground ahead beside the brick paving in front of the railing, no longer in my hands. The task is complete, so I stop." + ] +} diff --git a/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_a_p/infos.json b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16b433c91eb4bace44048de35cf6ac2721263ba5 --- /dev/null +++ b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the tomato near the large stone cube on the right side of the scene.", + "Type": 5, + "Start_Pose": [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3484.904, + -1269.738, + 134.216, + -46.413, + 67.255, + 88.899 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + [ + -3917.47, + -1742.846, + 210.339, + 0.0, + 31.835, + -0.0 + ], + [ + -3810.544, + -1676.458, + 199.139, + 0.0, + 31.835, + -0.0 + ], + [ + -3703.618, + -1610.071, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3703.618, + -1610.071, + 198.013, + 0.0, + 56.835, + -0.0 + ], + [ + -3634.766, + -1504.714, + 198.013, + 0.0, + 56.835, + -0.0 + ], + [ + -3565.915, + -1399.358, + 198.013, + 0.0, + 56.835, + -0.0 + ], + [ + -3565.915, + -1399.358, + 198.013, + 0.0, + 56.835, + -0.0 + ], + [ + -3565.915, + -1399.358, + 198.013, + 0.0, + 56.835, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3484.904, + -1269.738, + 134.216, + -46.413, + 67.255, + 88.899 + ], + [ + -3484.904, + -1269.738, + 134.216, + -46.413, + 67.255, + 88.899 + ], + [ + -3484.904, + -1269.738, + 134.216, + -46.413, + 67.255, + 88.899 + ], + [ + -3484.904, + -1269.738, + 134.216, + -46.413, + 67.255, + 88.899 + ], + [ + -3484.904, + -1269.738, + 134.216, + -46.413, + 67.255, + 88.899 + ], + [ + -3484.904, + -1269.738, + 134.216, + -46.413, + 67.255, + 88.899 + ], + [ + -3484.904, + -1269.738, + 134.216, + -46.413, + 67.255, + 88.899 + ], + [ + -3584.124, + -1388.187, + 168.247, + -28.202, + 106.98, + 1.862 + ], + [ + -3584.124, + -1388.187, + 168.247, + -28.202, + 106.98, + 1.862 + ] + ], + "PD_Dist_2D": [ + 763.0, + 641.0, + 521.0, + 404.6, + 404.6, + 278.7, + 152.9, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the red tomato resting against the base of the large pale stone cube on the right side of the ruins, but it is far off across the sand. Nothing blocks the open ground ahead of me, so I will walk forward to close that distance.", + "The tomato and its stone cube now sit noticeably larger in view, confirming my heading is carrying me toward the target. It is still well out of reach, so I will keep walking straight ahead.", + "The tomato is clearly resolved against the corner of the right-hand block, though still several strides away beyond the long dark slab on my left. The lane between the slab and the cube is open, so I will continue advancing.", + "The tomato has drifted toward the right half of my view as I approached, so walking straight would carry me past it along the left slab. I will turn right to bring the tomato closer to the center of my heading before continuing.", + "After the turn the tomato sits near the middle of my view against the stone cube's left face, so my heading is now usable. It remains too far for a grasp, so I will step forward along this line.", + "The tomato is now large and low in the foreground at the corner of the block, but still slightly beyond comfortable reach. One more step forward should place it directly in front of me for a grasp.", + "The tomato now fills the lower part of my view right at the base of the large stone cube, close enough that I am standing over it. My hands are empty, so I will attempt to pick it up now.", + "The tomato is now held in my hands rather than resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_b_p/infos.json b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..42e5e6539302dfb315e19ec2298c0d4d30057623 --- /dev/null +++ b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the wicker basket.", + "Type": 5, + "Start_Pose": [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -3364.88, + -1363.524, + 148.14, + 90, + 51.835, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + [ + -3917.47, + -1742.846, + 210.339, + 0.0, + 31.835, + -0.0 + ], + [ + -3810.544, + -1676.458, + 199.139, + 0.0, + 31.835, + -0.0 + ], + [ + -3703.618, + -1610.071, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3596.692, + -1543.683, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3489.765, + -1477.296, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3489.765, + -1477.296, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3489.765, + -1477.296, + 198.013, + 0.0, + 31.835, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3364.88, + -1363.524, + 148.14, + 90.0, + 51.835, + 0.0 + ], + [ + -3364.88, + -1363.524, + 148.14, + 90.0, + 51.835, + 0.0 + ], + [ + -3364.88, + -1363.524, + 148.14, + 90.0, + 51.835, + 0.0 + ], + [ + -3364.88, + -1363.524, + 148.14, + 90.0, + 51.835, + 0.0 + ], + [ + -3364.88, + -1363.524, + 148.14, + 90.0, + 51.835, + 0.0 + ], + [ + -3364.88, + -1363.524, + 148.14, + 90.0, + 51.835, + 0.0 + ], + [ + -3501.547, + -1459.476, + 168.247, + -28.202, + 81.979, + 1.862 + ], + [ + -3501.547, + -1459.476, + 168.247, + -28.202, + 81.979, + 1.862 + ] + ], + "PD_Dist_2D": [ + 796.0, + 670.3, + 544.6, + 419.0, + 293.6, + 168.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket lies far ahead in the ruins, resting on its side between the two large stone blocks. It is much too distant to reach from here, and my heading already points straight down the open sandy lane toward it. I will walk forward to close that gap.", + "The basket now sits slightly larger in view, so my straight heading is bringing me closer as intended. Nothing blocks the sand between me and it, and I am still well outside grasping range. I keep walking forward.", + "The two stone blocks have widened to either side and the basket stays centered in the gap between them, confirming my heading is good. It is still several strides away, out of reach. Another forward step should continue shrinking the distance.", + "The basket's woven rim is now clearly readable ahead of me, but it remains beyond arm's length near the base of the right-hand block. My path down the shaded lane is still clear. I advance again rather than reaching prematurely.", + "The basket fills a good part of the lower view and is just short of comfortable reach. One more step forward should place it directly in front of me at grasping range before I attempt to take it.", + "The wicker basket now sits immediately in front of me, large and centered, close enough that its rim is within arm's length. My hands are empty and nothing stands between us. I will attempt to pick it up.", + "The wicker basket is now held in my hands rather than lying on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_c_p/infos.json b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_c_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..18806638e83d5b0a14f67b92e45e4dc55d158c38 --- /dev/null +++ b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_c_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the jerry can by the large stone cube on the left.", + "Type": 5, + "Start_Pose": [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -3434.253, + -1685.569, + 114.097, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + [ + -3917.47, + -1742.846, + 210.339, + 0.0, + 31.835, + -0.0 + ], + [ + -3917.47, + -1742.846, + 210.339, + 0.0, + 6.835, + -0.0 + ], + [ + -3792.505, + -1727.867, + 200.964, + 0.0, + 6.835, + -0.0 + ], + [ + -3667.541, + -1712.888, + 198.347, + 0.0, + 6.835, + -0.0 + ], + [ + -3542.576, + -1697.91, + 198.127, + 0.0, + 6.835, + -0.0 + ], + [ + -3542.576, + -1697.91, + 198.127, + 0.0, + 6.835, + -0.0 + ], + [ + -3542.576, + -1697.91, + 198.127, + 0.0, + 6.835, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3434.253, + -1685.569, + 114.097, + 0.0, + 0.0, + 0.0 + ], + [ + -3434.253, + -1685.569, + 114.097, + 0.0, + 0.0, + 0.0 + ], + [ + -3434.253, + -1685.569, + 114.097, + 0.0, + 0.0, + 0.0 + ], + [ + -3434.253, + -1685.569, + 114.097, + 0.0, + 0.0, + 0.0 + ], + [ + -3434.253, + -1685.569, + 114.097, + 0.0, + 0.0, + 0.0 + ], + [ + -3434.253, + -1685.569, + 114.097, + 0.0, + 0.0, + 0.0 + ], + [ + -3545.724, + -1676.78, + 168.247, + -28.202, + 56.979, + 1.862 + ], + [ + -3545.724, + -1676.78, + 168.247, + -28.202, + 56.979, + 1.862 + ] + ], + "PD_Dist_2D": [ + 603.0, + 486.6, + 486.6, + 360.7, + 234.9, + 109.0, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the red jerry can standing against the near end of the long stone block on the left side of the ruins, still far off across the sand. Nothing blocks the open ground between me and it, so I will walk forward to close some of that distance before refining my heading.", + "From here the jerry can and its stone block sit noticeably left of where I am facing, with empty desert filling the right of my view. I will turn left so the can moves toward the center of my view and my walking line points straight at it.", + "After turning, the jerry can now sits near the middle of my view at the corner of the long stone block. The path across the flat sand is clear, so I will walk forward along this heading to shorten the remaining distance.", + "The jerry can is larger and clearly framed against the base of the big stone cube, but it is still several strides away and too far to reach. My heading remains good, so I will keep walking straight toward it.", + "I now see the jerry can standing close in front of me at the corner of the massive stone block, though it is still outside my grasp range. I will take one more step forward to bring it directly within reach before attempting to lift it.", + "The jerry can is right at my feet against the stone block, filling the lower part of my view, and my hands are empty. This is close enough to grasp it, so I will attempt to pick it up now.", + "The jerry can is now held in my hands rather than resting by the stone cube. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_d_p/infos.json b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_d_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa037c7b5558164d7e92521bd2d779f0769d44a8 --- /dev/null +++ b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_d_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the green bell pepper.", + "Type": 5, + "Start_Pose": [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3223.91, + -1339.651, + 142.44, + 1.618, + 164.986, + -103.779 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + [ + -3917.47, + -1742.846, + 210.339, + 0.0, + 31.835, + -0.0 + ], + [ + -3810.544, + -1676.458, + 199.139, + 0.0, + 31.835, + -0.0 + ], + [ + -3703.618, + -1610.071, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3596.692, + -1543.683, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3489.765, + -1477.296, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3382.839, + -1410.908, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3382.839, + -1410.908, + 198.013, + 0.0, + 31.835, + -0.0 + ], + [ + -3382.839, + -1410.908, + 198.013, + 0.0, + 31.835, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3223.91, + -1339.651, + 142.44, + 1.618, + 164.986, + -103.779 + ], + [ + -3223.91, + -1339.651, + 142.44, + 1.618, + 164.986, + -103.779 + ], + [ + -3223.91, + -1339.651, + 142.44, + 1.618, + 164.986, + -103.779 + ], + [ + -3223.91, + -1339.651, + 142.44, + 1.618, + 164.986, + -103.779 + ], + [ + -3223.91, + -1339.651, + 142.44, + 1.618, + 164.986, + -103.779 + ], + [ + -3223.91, + -1339.651, + 142.44, + 1.618, + 164.986, + -103.779 + ], + [ + -3223.91, + -1339.651, + 142.44, + 1.618, + 164.986, + -103.779 + ], + [ + -3394.621, + -1393.089, + 168.247, + -28.202, + 81.98, + 1.862 + ], + [ + -3394.621, + -1393.089, + 168.247, + -28.202, + 81.98, + 1.862 + ] + ], + "PD_Dist_2D": [ + 928.1, + 802.2, + 676.4, + 550.7, + 425.0, + 299.4, + 174.2, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the green bell pepper resting on the sand far ahead, between the large stone blocks near the center of my view. It is well beyond arm's reach, and my heading already points straight at it. I will walk forward to close that gap.", + "The green pepper is a little larger now and still sits centered in the gap between the two big stone blocks. Nothing blocks the sandy lane in front of me, so continuing straight is the direct route. I will step forward again.", + "The stone blocks now flank me on both sides and the green pepper stays framed in the corridor between them, still several strides off. My heading needs no correction because the target holds near the center of my view. I will keep walking forward.", + "The pepper is clearly rounder and closer now, sitting on the shaded ground just left of center in the passage. It is still too distant to grasp, and the lane between the blocks remains clear. I will advance again.", + "Only a short gap remains between me and the green pepper, which now shows its full round shape ahead on the shaded sand. I am still not close enough for a reliable grasp. One more step forward should bring it within reach.", + "The pepper fills a good part of the lower view and lies just ahead of my feet, slightly left of center. A final short step should place it directly under my hands for the grasp. I will move forward once more.", + "The green bell pepper is now immediately in front of me, close and centered enough that no further approach is needed. This is the moment to close my hands on it, so I will attempt the pick and expect to lift it from the ground.", + "The green bell pepper is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_e_p/infos.json b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_e_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..15b90f9d6b9cefc726ef3c8f1262fef4aae7f8f0 --- /dev/null +++ b/dataset/trajectory/desert_ruins/task_x-004024_y-001809_z000218_t5_e_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the ceramic pot.", + "Type": 5, + "Start_Pose": [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -3581.016, + -1447.431, + 112.929, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4024.396, + -1809.233, + 218.09, + 0, + 31.835, + 0 + ], + [ + -3917.47, + -1742.846, + 210.339, + 0.0, + 31.835, + -0.0 + ], + [ + -3810.544, + -1676.458, + 199.139, + 0.0, + 31.835, + -0.0 + ], + [ + -3810.544, + -1676.458, + 199.139, + 0.0, + 56.835, + -0.0 + ], + [ + -3741.692, + -1571.102, + 198.124, + 0.0, + 56.835, + -0.0 + ], + [ + -3741.692, + -1571.102, + 198.124, + 0.0, + 56.835, + -0.0 + ], + [ + -3741.692, + -1571.102, + 198.124, + 0.0, + 56.835, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3581.016, + -1447.431, + 112.929, + 0.0, + 0.0, + 0.0 + ], + [ + -3581.016, + -1447.431, + 112.929, + 0.0, + 0.0, + 0.0 + ], + [ + -3581.016, + -1447.431, + 112.929, + 0.0, + 0.0, + 0.0 + ], + [ + -3581.016, + -1447.431, + 112.929, + 0.0, + 0.0, + 0.0 + ], + [ + -3581.016, + -1447.431, + 112.929, + 0.0, + 0.0, + 0.0 + ], + [ + -3759.901, + -1559.931, + 168.247, + -28.202, + 106.979, + 1.862 + ], + [ + -3759.901, + -1559.931, + 168.247, + -28.202, + 106.979, + 1.862 + ] + ], + "PD_Dist_2D": [ + 572.3, + 447.7, + 324.2, + 324.2, + 202.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The ceramic pot sits far ahead on the sand, between the large stone blocks, too small and distant to reach from here. I will walk straight forward to close that gap while it stays clearly in view.", + "The pot has grown larger and remains slightly right of center with clear ground in front of me. Another step forward should keep shrinking the distance before I need any heading adjustment.", + "I am now close to the pot, but it sits right of my heading, with the long stone block filling the space ahead. Turning right should bring the pot toward the center of my view for a straight final approach.", + "The turn placed the pot near the lower center of my view with open sand leading to it. I will step forward to come within arm's reach before attempting the grasp.", + "The ceramic pot is now directly in front of me at the bottom of my view, large and close enough to reach. I will attempt to pick it up, which should place it in my hands.", + "The ceramic pot is now held in my hands rather than resting on the sand. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_a_p/infos.json b/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c45a7511f547418486585a8661758a439d758571 --- /dev/null +++ b/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the tomato.", + "Type": 5, + "Start_Pose": [ + 1000.384, + -29730.463, + -1116.208, + 0, + 80, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1080.919, + -28868.273, + -1103.124, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1000.384, + -29730.463, + -1116.208, + 0, + 80, + 0 + ], + [ + 1022.239, + -29606.516, + -1100.552, + 0.0, + 80.0, + -0.0 + ], + [ + 1044.094, + -29482.569, + -1089.414, + 0.0, + 80.0, + -0.0 + ], + [ + 1065.95, + -29358.622, + -1084.812, + 0.0, + 80.0, + -0.0 + ], + [ + 1087.805, + -29234.675, + -1082.615, + 0.0, + 80.0, + -0.0 + ], + [ + 1109.66, + -29110.728, + -1080.733, + 0.0, + 80.0, + -0.0 + ], + [ + 1131.515, + -28986.781, + -1078.094, + 0.0, + 80.0, + -0.0 + ], + [ + 1131.515, + -28986.781, + -1078.094, + 0.0, + 80.0, + -0.0 + ], + [ + 1131.515, + -28986.781, + -1078.094, + 0.0, + 80.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1080.919, + -28868.273, + -1103.124, + 0.0, + 0.0, + 0.0 + ], + [ + 1080.919, + -28868.273, + -1103.124, + 0.0, + 0.0, + 0.0 + ], + [ + 1080.919, + -28868.273, + -1103.124, + 0.0, + 0.0, + 0.0 + ], + [ + 1080.919, + -28868.273, + -1103.124, + 0.0, + 0.0, + 0.0 + ], + [ + 1080.919, + -28868.273, + -1103.124, + 0.0, + 0.0, + 0.0 + ], + [ + 1080.919, + -28868.273, + -1103.124, + 0.0, + 0.0, + 0.0 + ], + [ + 1080.919, + -28868.273, + -1103.124, + 0.0, + 0.0, + 0.0 + ], + [ + 1110.38, + -28983.674, + -1109.631, + -28.202, + 130.145, + 1.862 + ], + [ + 1110.38, + -28983.674, + -1109.631, + -28.202, + 130.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 865.9, + 740.6, + 615.4, + 490.6, + 366.5, + 244.2, + 128.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The red tomato sits on the pale walkway near the decorated arch, straight ahead but far across the stony ground. My heading already lines up with it, so no turn is needed. I will walk forward to close that distance.", + "The tomato has grown slightly larger and stays near the middle of my view, confirming my heading is good. Nothing blocks the rocky ground between me and the walkway. I will keep stepping forward.", + "The tomato and the arch keep growing in front of me, so my straight approach is working. I am still well beyond reach of the fruit on the walkway. Another forward step should shorten the gap.", + "The tomato now sits clearly on the white walkway just right of the arch and is much bigger in view. It remains too far to grasp from here. I will continue walking toward it.", + "The tomato is large and centered slightly right, with the lanterns and arch close on my left. I am nearly at the walkway but not yet within arm's reach. One more forward step should bring the fruit into grabbing range.", + "The tomato fills a good part of the lower view, showing I am close, yet it still sits ahead of my feet on the walkway. Stepping forward once more should place it directly in front of me for a grasp.", + "The tomato is now right at my feet in the lower part of my view, so close that only its top edge shows. My hands are empty and nothing stands between me and the fruit. I will attempt to pick it up.", + "The tomato is now held in my hands rather than resting free on the walkway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_a_pd/infos.json b/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..031623ffe43cf564944bf16e6800a6b27b43546d --- /dev/null +++ b/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Pick up the ceramic pot by the white metal gate, then set it down beside the row of metal chairs on the right.", + "Type": 5, + "Start_Pose": [ + 1000.384, + -29730.463, + -1116.208, + 0, + 80, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1138.29, + -28932.08, + -1153.094, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1000.384, + -29730.463, + -1116.208, + 0, + 80, + 0 + ], + [ + 1022.239, + -29606.516, + -1100.552, + 0.0, + 80.0, + -0.0 + ], + [ + 1044.094, + -29482.569, + -1089.414, + 0.0, + 80.0, + -0.0 + ], + [ + 1065.95, + -29358.622, + -1084.812, + 0.0, + 80.0, + -0.0 + ], + [ + 1087.805, + -29234.675, + -1082.615, + 0.0, + 80.0, + -0.0 + ], + [ + 1109.66, + -29110.728, + -1080.733, + 0.0, + 80.0, + -0.0 + ], + [ + 1109.66, + -29110.728, + -1080.733, + 0.0, + 80.0, + -0.0 + ], + [ + 1109.66, + -29110.728, + -1080.733, + 0.0, + 105.0, + -0.0 + ], + [ + 1109.66, + -29110.728, + -1080.733, + 0.0, + 130.0, + -0.0 + ], + [ + 1109.66, + -29110.728, + -1080.733, + 0.0, + 155.0, + -0.0 + ], + [ + 1109.66, + -29110.728, + -1080.733, + 0.0, + -180.0, + 0.0 + ], + [ + 1109.66, + -29110.728, + -1080.733, + 0.0, + -155.0, + 0.0 + ], + [ + 1069.928, + -29169.979, + -1079.53, + 0.0, + -155.0, + 0.0 + ], + [ + 984.881, + -29239.874, + -1078.694, + 0.0, + -155.0, + 0.0 + ], + [ + 984.881, + -29239.874, + -1078.694, + 0.0, + -180.0, + 0.0 + ], + [ + 984.881, + -29239.874, + -1078.694, + 0.0, + 155.0, + -0.0 + ], + [ + 889.002, + -29223.032, + -1078.734, + 0.0, + 155.0, + -0.0 + ], + [ + 793.417, + -29224.844, + -1080.922, + 0.0, + 155.0, + -0.0 + ], + [ + 793.417, + -29224.844, + -1080.922, + 0.0, + 130.0, + -0.0 + ], + [ + 839.698, + -29279.999, + -1082.023, + 0.0, + 130.0, + -0.0 + ], + [ + 839.698, + -29279.999, + -1082.023, + 0.0, + 130.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1138.29, + -28932.08, + -1153.094, + 0.0, + 0.0, + 0.0 + ], + [ + 1138.29, + -28932.08, + -1153.094, + 0.0, + 0.0, + 0.0 + ], + [ + 1138.29, + -28932.08, + -1153.094, + 0.0, + 0.0, + 0.0 + ], + [ + 1138.29, + -28932.08, + -1153.094, + 0.0, + 0.0, + 0.0 + ], + [ + 1138.29, + -28932.08, + -1153.094, + 0.0, + 0.0, + 0.0 + ], + [ + 1138.29, + -28932.08, + -1153.094, + 0.0, + 0.0, + 0.0 + ], + [ + 1088.524, + -29107.621, + -1112.098, + -28.202, + 130.145, + 1.862 + ], + [ + 1088.268, + -29117.099, + -1111.826, + -28.189, + 155.157, + 1.872 + ], + [ + 1092.307, + -29125.089, + -1112.493, + -28.215, + -179.872, + 1.849 + ], + [ + 1093.487, + -29132.474, + -1111.976, + -14.092, + -162.656, + 6.87 + ], + [ + 1110.097, + -29132.195, + -1111.987, + -28.208, + -129.857, + 1.851 + ], + [ + 1119.649, + -29130.906, + -1111.319, + -28.198, + -104.854, + 1.867 + ], + [ + 1079.273, + -29189.184, + -1111.319, + -28.203, + -104.857, + 1.856 + ], + [ + 994.612, + -29258.893, + -1109.316, + -28.214, + -104.865, + 1.851 + ], + [ + 985.169, + -29260.53, + -1109.764, + -28.19, + -129.84, + 1.871 + ], + [ + 976.802, + -29257.537, + -1109.028, + -28.203, + -154.862, + 1.862 + ], + [ + 880.688, + -29242.712, + -1109.039, + -28.209, + -154.862, + 1.857 + ], + [ + 784.68, + -29244.321, + -1112.312, + -28.22, + -154.876, + 1.849 + ], + [ + 778.441, + -29238.446, + -1111.087, + -28.193, + -179.853, + 1.871 + ], + [ + 794.703, + -29226.375, + -1102.023, + 0.0, + 130.0, + -0.0 + ], + [ + 794.703, + -29226.375, + -1102.023, + 0.0, + 130.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 810.2, + 684.3, + 558.5, + 432.6, + 306.8, + 180.9, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 21.4, + 21.4, + 20.7, + 19.4, + 21.4, + 21.3, + 20.2, + 70.0, + 70.0 + ], + "Rationale": [ + "The white metal gate stands ahead across the stony ground, with the small ceramic pot beside it and the row of metal chairs off to the right. It is still far too distant to reach, so I walk straight forward along my current heading. This should close the gap toward the pot.", + "The gate and the dark ceramic pot at its base now appear noticeably larger, confirming my heading is correct. Nothing blocks the open stony ground between us, so I keep walking forward. Another step should bring the pot within a workable range.", + "The ceramic pot beside the gate is clearly distinguishable now from the glowing lantern next to it, and it sits slightly left of my path. My heading still points at it, so I continue advancing rather than turning. The remaining distance is more than a grasp away.", + "The pot is now plainly visible in front of the gate with the chair rows filling the right side of my view. I am close but not yet within reach for a grasp. I take another step forward to keep tightening the approach.", + "The gate now towers ahead and the ceramic pot sits just short of my feet, slightly right of center on the stones. One more step should place it directly in front of me so a grasp is feasible. I walk forward.", + "The ceramic pot is now immediately in front of me at the foot of the white gate, large and unobstructed in my view. This is the closest usable position for a grasp, so I attempt to pick it up. If it lifts, I can then carry it toward the chairs on the right.", + "The grasp succeeded: the ceramic pot is now in my hands and no longer resting on the stones by the gate. The row of metal chairs lies off to my right, so I begin rotating rightward to face the drop-off side. This first turn should start bringing the chairs into view.", + "With the pot secured, the gate has swung to my left edge and the metal chairs now spread across the right of my view. I am not yet squared on the row, and their far end continues further right. I keep turning right to line up my heading with the chairs.", + "The pot is in my hands and the gate is no longer in front of me, so I am still swinging my heading around toward the seating area. The chair rows fill my view but I am facing along them rather than into the open lane on their far side. I will keep turning right to bring the open ground beside the chairs into view.", + "I hold the pot and the rows of chairs now stretch across my front with tents and bunting beyond them. My heading still points across the seating rather than toward the clear stony ground on the right side where I can walk. Another right turn should open that route.", + "With the pot secure, the chair rows have slid to my left and the open pebbly ground and tent are appearing on the right. My heading is nearly clear of the seating but the walkable lane is not centered yet. One more right turn should line me up with that open path.", + "My heading is now clear of the chairs, with open stony ground and the tent straight ahead and the seating row along my left. Carrying the pot, I can advance along this lane without pushing through the chairs. I will step forward to gain ground toward the far end of the row.", + "The tent has grown larger and the chair row is receding at my left, so this lane is passable and I am still holding the pot. I have not yet reached a point beside a suitable stretch of chairs to set it down. I will take another step forward along the open ground.", + "I am now level with the tent and the chair row lies off to my left, out of my forward heading. To place the pot beside the chairs I need my body turned back toward that seating instead of at the tent. I will turn left to bring the row into view.", + "The turn has brought the chairs partly into my left foreground with the tent now on my right, so I am swinging back toward the seating. The row still sits at the edge rather than ahead of me. Another left turn should center the chairs for an approach.", + "The chair rows now lie ahead and to my left with open stony ground between us, and the pot is still in my hands. I am not yet close enough alongside the row for a placement. I will walk forward to close that remaining gap.", + "I am still carrying the ceramic pot, and the seating area is now off to my left while open stony ground lies ahead. I will step forward once more to draw level with the outer chairs so I have a clear patch of ground next to them for setting the pot down.", + "Only the nearest chair backs are clipping the left edge of my view, so the row I need to place the pot beside is mostly out of sight. I will turn left to bring that line of metal chairs squarely in front of me before releasing the pot.", + "The row of metal chairs now runs directly across the space in front of me, with clear stony ground at their near edge and nothing blocking that spot. This matches the requested placement, so I will release the ceramic pot here beside the chairs and expect it to settle on the ground.", + "The ceramic pot now sits on the ground beside the row of metal chairs, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_b_p/infos.json b/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..afc10d57cef776f84d9d58dd0fc09feca82ff771 --- /dev/null +++ b/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the plate.", + "Type": 5, + "Start_Pose": [ + 1000.384, + -29730.463, + -1116.208, + 0, + 80, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 1356.917, + -28946.293, + -1117.96, + 90, + 30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1000.384, + -29730.463, + -1116.208, + 0, + 80, + 0 + ], + [ + 1022.239, + -29606.516, + -1100.552, + 0.0, + 80.0, + -0.0 + ], + [ + 1044.094, + -29482.569, + -1089.414, + 0.0, + 80.0, + -0.0 + ], + [ + 1065.95, + -29358.622, + -1084.812, + 0.0, + 80.0, + -0.0 + ], + [ + 1065.95, + -29358.622, + -1084.812, + 0.0, + 55.0, + -0.0 + ], + [ + 1138.139, + -29255.524, + -1086.273, + 0.0, + 55.0, + -0.0 + ], + [ + 1210.329, + -29152.427, + -1087.547, + 0.0, + 55.0, + -0.0 + ], + [ + 1282.519, + -29049.329, + -1088.196, + 0.0, + 55.0, + -0.0 + ], + [ + 1282.519, + -29049.329, + -1088.196, + 0.0, + 55.0, + -0.0 + ], + [ + 1282.519, + -29049.329, + -1088.196, + 0.0, + 55.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1356.917, + -28946.293, + -1117.96, + 90.0, + 30.0, + 0.0 + ], + [ + 1356.917, + -28946.293, + -1117.96, + 90.0, + 30.0, + 0.0 + ], + [ + 1356.917, + -28946.293, + -1117.96, + 90.0, + 30.0, + 0.0 + ], + [ + 1356.917, + -28946.293, + -1117.96, + 90.0, + 30.0, + 0.0 + ], + [ + 1356.917, + -28946.293, + -1117.96, + 90.0, + 30.0, + 0.0 + ], + [ + 1356.917, + -28946.293, + -1117.96, + 90.0, + 30.0, + 0.0 + ], + [ + 1356.917, + -28946.293, + -1117.96, + 90.0, + 30.0, + 0.0 + ], + [ + 1356.917, + -28946.293, + -1117.96, + 90.0, + 30.0, + 0.0 + ], + [ + 1264.677, + -29037.581, + -1118.118, + -28.202, + 105.145, + 1.862 + ], + [ + 1264.677, + -29037.581, + -1118.118, + -28.202, + 105.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 861.4, + 740.2, + 620.8, + 504.7, + 504.7, + 378.8, + 252.9, + 127.1, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the white plate standing on the stony ground far ahead, just left of the decorated white gate. It is much too distant to reach, so I will walk straight forward across the pebbles to close that gap.", + "The plate beside the gate now appears noticeably larger, confirming my heading is taking me toward it. Nothing blocks the open stony stretch in front of me, so I will continue walking forward.", + "The plate and the lanterns near the gate are clearly closer, but the plate is still several strides away and slightly to my left. I will keep advancing on this open ground before making any heading adjustment.", + "The plate now sits well to the left of my forward direction, so walking straight would carry me past it toward the rows of chairs. I will turn left to bring the plate closer to the center of my view before approaching further.", + "After the turn the plate sits near the middle of my view beside the gate, so my heading now leads straight to it. The rocky ground between us is clear, and I will step forward to shorten the remaining distance.", + "The plate is clearly larger and still centered ahead of me, but it remains beyond arm's reach. I will walk forward again to get close enough for a grasp.", + "The plate now fills a good part of my view, leaning on the stones just left of the gate, yet it is still a step short of reaching range. I will advance once more to stand directly beside it.", + "The plate is right in front of me, filling the lower part of my view and clearly within arm's reach next to the gate. I will reach out and attempt to pick it up now, since no closer approach is needed.", + "The plate is now in my grasp rather than resting on the stones. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_b_pd/infos.json b/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aae38edf3aade4eb708bbfd9048352ad7350388e --- /dev/null +++ b/dataset/trajectory/ef_gus/task_x001000_y-029730_z-001116_t5_b_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the jerry can by the row of metal folding chairs on the right, then leave it beside the white metal gate.", + "Type": 5, + "Start_Pose": [ + 1000.384, + -29730.463, + -1116.208, + 0, + 80, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 864.942, + -29202.832, + -1163.912, + 0, + -30, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1000.384, + -29730.463, + -1116.208, + 0, + 80, + 0 + ], + [ + 1022.239, + -29606.516, + -1100.552, + 0.0, + 80.0, + -0.0 + ], + [ + 1022.239, + -29606.516, + -1100.552, + 0.0, + 105.0, + -0.0 + ], + [ + 989.664, + -29484.946, + -1090.96, + 0.0, + 105.0, + -0.0 + ], + [ + 957.09, + -29363.375, + -1084.843, + 0.0, + 105.0, + -0.0 + ], + [ + 957.09, + -29363.375, + -1084.843, + 0.0, + 105.0, + -0.0 + ], + [ + 957.09, + -29363.375, + -1084.843, + 0.0, + 80.0, + -0.0 + ], + [ + 957.09, + -29363.375, + -1084.843, + 0.0, + 55.0, + -0.0 + ], + [ + 1029.28, + -29260.278, + -1080.693, + 0.0, + 55.0, + -0.0 + ], + [ + 1101.47, + -29157.18, + -1081.474, + 0.0, + 55.0, + -0.0 + ], + [ + 1173.66, + -29054.083, + -1083.689, + 0.0, + 55.0, + -0.0 + ], + [ + 1245.85, + -28950.985, + -1085.002, + 0.0, + 55.0, + -0.0 + ], + [ + 1245.85, + -28950.985, + -1085.002, + 0.0, + 80.0, + -0.0 + ], + [ + 1286.921, + -28887.44, + -1085.015, + 0.0, + 80.0, + -0.0 + ], + [ + 1274.419, + -28958.346, + -1087.22, + 0.0, + 80.0, + -0.0 + ], + [ + 1274.419, + -28958.346, + -1087.22, + 0.0, + 80.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 864.942, + -29202.832, + -1163.912, + 0.0, + -30.0, + 0.0 + ], + [ + 864.942, + -29202.832, + -1163.912, + 0.0, + -30.0, + 0.0 + ], + [ + 864.942, + -29202.832, + -1163.912, + 0.0, + -30.0, + 0.0 + ], + [ + 864.942, + -29202.832, + -1163.912, + 0.0, + -30.0, + 0.0 + ], + [ + 864.942, + -29202.832, + -1163.912, + 0.0, + -30.0, + 0.0 + ], + [ + 936.621, + -29369.491, + -1115.313, + -28.202, + 155.144, + 1.862 + ], + [ + 936.891, + -29360.438, + -1115.04, + -28.189, + 130.157, + 1.872 + ], + [ + 940.654, + -29351.675, + -1115.707, + -28.215, + 105.127, + 1.849 + ], + [ + 1011.62, + -29248.267, + -1112.054, + -28.202, + 105.141, + 1.858 + ], + [ + 1083.723, + -29145.296, + -1112.927, + -28.208, + 105.142, + 1.852 + ], + [ + 1155.758, + -29042.406, + -1114.719, + -28.189, + 105.158, + 1.867 + ], + [ + 1227.799, + -28939.541, + -1115.774, + -28.207, + 105.135, + 1.857 + ], + [ + 1224.222, + -28947.34, + -1116.833, + -28.202, + 130.141, + 1.859 + ], + [ + 1265.729, + -28884.676, + -1115.799, + -28.203, + 130.138, + 1.862 + ], + [ + 1286.574, + -28889.41, + -1137.22, + 0.0, + 80.0, + -0.0 + ], + [ + 1286.574, + -28889.41, + -1137.22, + 0.0, + 80.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 544.7, + 433.2, + 433.2, + 308.5, + 185.1, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 21.4, + 21.4, + 21.9, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The rusty jerry can sits ahead on the right, at the near end of the row of white metal folding chairs, and the white gate stands to its left. It is still far across the stony ground, so I will walk forward to close that gap before refining my heading.", + "After advancing, the jerry can now lies well to the right of my heading, close to the chair row, while my view is centered on the gate. I will turn right to bring the can into the middle of my view so my next steps lead straight to it.", + "The turn placed the jerry can near the center of my view, with the chair row extending behind it. The path over the pebbles looks clear, so I will step forward to shorten the distance toward the can.", + "The jerry can has grown noticeably larger and remains centered just in front of the chairs, but it is still beyond arm's reach. I will walk forward again to get close enough that a grasp becomes possible.", + "The jerry can now fills the lower center of my view, directly ahead of me at the near end of the folding chair row. This is close enough to reach it, so I will attempt to pick it up before carrying it toward the white gate.", + "The grasp worked, since the can is no longer resting on the stones and is now held with me. The white gate stands off to my left with the chair row on my right, so I will turn left to swing my heading toward the drop location.", + "The gate has moved toward the center left of my view but is not yet squarely ahead, and the chairs still crowd the right side. I will turn left once more so the gate sits directly in front of me for a straight walk over.", + "The white gate with its lanterns now stands roughly ahead of me, and the chair row has fallen back to the right edge. Carrying the can, I will walk forward across the stones to close the remaining distance to the gate.", + "I am still carrying the jerry can, and the white metal gate with its lanterns now sits clearly ahead of me across the stones. The distance is still too great to set the can down beside it, so I will keep walking straight toward the gate.", + "The gate and the pale walkway with its two lanterns have grown noticeably larger, so my heading is carrying the can straight toward the drop location. I am not yet close enough to place it beside the gate posts. I will step forward again.", + "The decorated gate now fills much of my view and the nearest lantern sits just off to my right, so only a short gap remains. Carrying the can that last stretch should put me within reach of the ground beside the gate. I will advance once more.", + "The gate frame is now directly in front of me and its slats block the space straight ahead, leaving no clear ground there for the can. The open stones and walkway beside the gate lie off to my right. I will turn right to face that free space next to the gate.", + "After the turn the gate stands to my left and clear stony ground with a lantern opens ahead, which is where the can belongs. A short step forward should bring me right up alongside the gate for placement. I will move forward.", + "I am pressed right up against the white gate, its pickets filling my view and the lantern on the walkway just to my right, so I am standing at the spot the task names. The jerry can is still in my hands. I will release it here so it comes to rest beside the gate.", + "The jerry can now rests on the ground right beside the white metal gate and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_p/infos.json b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..523b714d015ed726d7ea7d48dc1b6efc27c6a337 --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_p/infos.json @@ -0,0 +1,145 @@ +{ + "Instruction": "Pick up the wicker basket.", + "Type": 5, + "Start_Pose": [ + 7463.85, + -19035.096, + 136.323, + 0, + 40, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 7913.658, + -18669.754, + 79.171, + 90, + 20, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7463.85, + -19035.096, + 136.323, + 0, + 40, + 0 + ], + [ + 7560.264, + -18954.195, + 136.918, + 0.0, + 40.0, + -0.0 + ], + [ + 7656.677, + -18873.294, + 137.475, + 0.0, + 40.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 40.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 40.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 40.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 7913.658, + -18669.754, + 79.171, + 90.0, + 20.0, + 0.0 + ], + [ + 7913.658, + -18669.754, + 79.171, + 90.0, + 20.0, + 0.0 + ], + [ + 7913.658, + -18669.754, + 79.171, + 90.0, + 20.0, + 0.0 + ], + [ + 7913.658, + -18669.754, + 79.171, + 90.0, + 20.0, + 0.0 + ], + [ + 7738.897, + -18776.428, + 107.706, + -28.202, + 90.145, + 1.862 + ], + [ + 7738.897, + -18776.428, + 107.706, + -28.202, + 90.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 579.5, + 453.6, + 327.8, + 202.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket sits upright on the road ahead, roughly centered on my heading but still far down the lane. Nothing blocks the paved stretch between us, so I will walk straight forward to close that distance.", + "The basket now appears larger and remains near the center of my view, confirming my heading is good. It is still well out of arm's reach, so I will keep walking straight toward it.", + "The basket fills a noticeably bigger part of my view and sits just left of the lane marking directly in front of me. A grasp from here would still be short, so I will take another step forward to bring it within reach.", + "The wicker basket is now immediately in front of me, low and large in my view at the bottom of the frame. This is close enough for a grasp, so I will attempt to pick it up.", + "The wicker basket is held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_pd/infos.json b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2fd7412cb27eb90da7f62f38f879f257951a6f --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the trash bag, then place it next to the yellow kangaroo warning sign on the left side of the road.", + "Type": 5, + "Start_Pose": [ + 7463.85, + -19035.096, + 136.323, + 0, + 40, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 7908.581, + -18692.281, + 80.43, + 87.627, + -157.832, + -127.848 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7463.85, + -19035.096, + 136.323, + 0, + 40, + 0 + ], + [ + 7560.264, + -18954.195, + 136.918, + 0.0, + 40.0, + -0.0 + ], + [ + 7656.677, + -18873.294, + 137.475, + 0.0, + 40.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 40.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 40.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 15.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + -10.0, + 0.0 + ], + [ + 7877.038, + -18814.249, + 135.684, + 0.0, + -10.0, + 0.0 + ], + [ + 8000.985, + -18836.103, + 133.305, + 0.0, + -10.0, + 0.0 + ], + [ + 8124.932, + -18857.958, + 130.927, + 0.0, + -10.0, + 0.0 + ], + [ + 8248.879, + -18879.813, + 121.533, + 0.0, + -10.0, + 0.0 + ], + [ + 8177.973, + -18867.31, + 129.974, + 0.0, + -10.0, + 0.0 + ], + [ + 8177.973, + -18867.31, + 129.974, + 0.0, + -10.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 7908.581, + -18692.281, + 80.43, + 87.627, + -157.832, + -127.848 + ], + [ + 7908.581, + -18692.281, + 80.43, + 87.627, + -157.832, + -127.848 + ], + [ + 7908.581, + -18692.281, + 80.43, + 87.627, + -157.832, + -127.848 + ], + [ + 7908.581, + -18692.281, + 80.43, + 87.627, + -157.832, + -127.848 + ], + [ + 7738.897, + -18776.428, + 107.706, + -28.202, + 90.145, + 1.862 + ], + [ + 7747.216, + -18772.847, + 107.979, + -28.189, + 65.157, + 1.872 + ], + [ + 7756.748, + -18772.554, + 107.312, + -28.215, + 40.128, + 1.849 + ], + [ + 7880.459, + -18793.167, + 105.147, + -28.202, + 40.142, + 1.858 + ], + [ + 8004.255, + -18814.997, + 103.03, + -28.208, + 40.142, + 1.852 + ], + [ + 8127.948, + -18836.799, + 101.074, + -28.189, + 40.159, + 1.867 + ], + [ + 8251.622, + -18858.617, + 92.222, + -28.207, + 40.135, + 1.857 + ], + [ + 8246.909, + -18879.465, + 89.974, + 0.0, + -10.0, + 0.0 + ], + [ + 8246.909, + -18879.465, + 89.974, + 0.0, + -10.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 561.5, + 435.8, + 310.2, + 184.9, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The dark trash bag lies on the road well ahead of me, near the centre line, and the yellow kangaroo sign stands off to the left further up. Nothing blocks the pavement between us, so I will walk straight forward to close that distance before any grasp is possible.", + "The bag has grown noticeably larger and sits just left of the centre line, confirming my heading is good. It is still several strides away and out of reach, so I will keep walking forward along the road.", + "The bag now fills a good part of the lower view but its base is still ahead of my feet rather than beside them. One more step forward should bring it close enough for a reliable grasp.", + "The trash bag now sits directly in front of me at the bottom of my view, close enough that no further stepping is needed. I will attempt to pick it up so I can carry it toward the kangaroo sign on the left side of the road.", + "The grasp worked: the bag is in my hands and no longer resting on the pavement. The yellow kangaroo warning sign stands on the left side of the road, so I will turn left to bring it into view and face my delivery target.", + "The kangaroo warning sign with its NEXT 100 KM plate is now visible, but it sits well to the left of my heading rather than in front of me. Another left turn should bring the sign near the centre of my view so I can walk straight at it.", + "The kangaroo sign is now centred ahead of me with open, walkable ground and low scrub between us. Carrying the bag, I will step forward to close the gap toward the sign's base.", + "The sign and its NEXT 100 KM plate have grown larger and stay centred, so my line of travel is right. The post is still some distance off, so I will keep walking toward it before setting the bag down.", + "The trash bag is still in my hands, so I only need to close the remaining gap to the drop spot. The yellow kangaroo sign with its NEXT 100 KM plate now stands just ahead on the left verge, but I am still short of its base. I will step forward to carry the bag nearer.", + "The kangaroo sign now dominates my view and its post rises directly in front of me, yet I am still on the sandy shoulder slightly short of it. Another step should bring me right beside the post so the bag can be set down next to it.", + "I am now right at the foot of the kangaroo sign, with the NEXT 100 KM plate and the post filling the view directly before me on the left side of the road. This is the placement spot the task calls for, so I will release the trash bag here and expect it to settle beside the post.", + "The trash bag now rests on the ground at the base of the yellow kangaroo sign. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_b_p/infos.json b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6ddfffdab20cc2c4c15f9e174849cf495f3f49b --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_b_p/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Pick up the ceramic vase.", + "Type": 5, + "Start_Pose": [ + 7463.85, + -19035.096, + 136.323, + 0, + 40, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 7907.222, + -18267.166, + 52.505, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7463.85, + -19035.096, + 136.323, + 0, + 40, + 0 + ], + [ + 7463.85, + -19035.096, + 136.36, + 0.0, + 65.0, + -0.0 + ], + [ + 7517.04, + -18921.029, + 138.353, + 0.0, + 65.0, + -0.0 + ], + [ + 7570.231, + -18806.962, + 135.742, + 0.0, + 65.0, + -0.0 + ], + [ + 7623.421, + -18692.895, + 134.138, + 0.0, + 65.0, + -0.0 + ], + [ + 7676.611, + -18578.828, + 132.606, + 0.0, + 65.0, + -0.0 + ], + [ + 7729.802, + -18464.761, + 131.752, + 0.0, + 65.0, + -0.0 + ], + [ + 7729.802, + -18464.761, + 131.752, + 0.0, + 40.0, + -0.0 + ], + [ + 7826.215, + -18383.86, + 132.465, + 0.0, + 40.0, + -0.0 + ], + [ + 7826.215, + -18383.86, + 132.465, + 0.0, + 40.0, + -0.0 + ], + [ + 7826.215, + -18383.86, + 132.465, + 0.0, + 40.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 7907.222, + -18267.166, + 52.505, + 0.0, + 0.0, + 0.0 + ], + [ + 7907.222, + -18267.166, + 52.505, + 0.0, + 0.0, + 0.0 + ], + [ + 7907.222, + -18267.166, + 52.505, + 0.0, + 0.0, + 0.0 + ], + [ + 7907.222, + -18267.166, + 52.505, + 0.0, + 0.0, + 0.0 + ], + [ + 7907.222, + -18267.166, + 52.505, + 0.0, + 0.0, + 0.0 + ], + [ + 7907.222, + -18267.166, + 52.505, + 0.0, + 0.0, + 0.0 + ], + [ + 7907.222, + -18267.166, + 52.505, + 0.0, + 0.0, + 0.0 + ], + [ + 7907.222, + -18267.166, + 52.505, + 0.0, + 0.0, + 0.0 + ], + [ + 7907.222, + -18267.166, + 52.505, + 0.0, + 0.0, + 0.0 + ], + [ + 7812.022, + -18367.894, + 102.115, + -28.202, + 90.145, + 1.862 + ], + [ + 7812.022, + -18367.894, + 102.115, + -28.202, + 90.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 886.7, + 886.7, + 761.4, + 636.4, + 511.7, + 387.7, + 265.6, + 265.6, + 142.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The ceramic vase I need is the small pale shape standing at the right edge of the road, well ahead of me and off my current heading. I will turn right to bring it nearer the center of my view so my approach runs straight at it.", + "The vase now sits ahead of me on the roadside, still far too distant to reach. The pavement in front is open and clear, so I will walk forward to cut down the gap.", + "The vase has grown slightly larger and stays just left of the roadside sign, confirming my heading is good. Nothing blocks the pavement, so I will keep walking forward to close more of the remaining distance.", + "The vase is clearly resolvable now beside the red dirt verge, but it is still several strides away. My heading still points at it, so another forward step should bring me meaningfully closer.", + "The patterned ceramic vase is now plainly visible with its floral markings, yet it remains beyond arm's reach. The road edge ahead is unobstructed, so I will continue walking toward it.", + "The vase fills a good part of my view but is still standing a couple of paces off, too far to take hold of. I will step forward again to get within reaching range.", + "At this short range the vase has drifted to the left side of my view rather than sitting straight ahead. I will turn left to square up with it so my next step should land me directly in front of the vase.", + "The vase is now centered in front of me on the pavement edge, but a short gap still separates us. I will take one step forward to bring it within reach for grasping.", + "The ceramic vase now stands directly in front of me at the road edge, close enough that its rim fills the lower view within arm's reach. Nothing blocks my hands and no further approach is needed, so I will attempt the grasp now and expect to lift it.", + "The ceramic vase is held in my hands and no longer resting on the roadside. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_b_pd/infos.json b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..876004ade1ba5039299b3178376e164b8a63cdb1 --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_01/task_x007464_y-019035_z000136_t5_b_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the ceramic pot, then place it at the base of the diamond-shaped road sign on the right side of the road.", + "Type": 5, + "Start_Pose": [ + 7463.85, + -19035.096, + 136.323, + 0, + 40, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 7892.958, + -18681.131, + 52.959, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 7463.85, + -19035.096, + 136.323, + 0, + 40, + 0 + ], + [ + 7560.264, + -18954.195, + 136.918, + 0.0, + 40.0, + -0.0 + ], + [ + 7656.677, + -18873.294, + 137.475, + 0.0, + 40.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 40.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 40.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 65.0, + -0.0 + ], + [ + 7753.091, + -18792.394, + 138.033, + 0.0, + 90.0, + -0.0 + ], + [ + 7753.09, + -18666.535, + 135.914, + 0.0, + 90.0, + -0.0 + ], + [ + 7753.09, + -18540.676, + 133.653, + 0.0, + 90.0, + -0.0 + ], + [ + 7753.089, + -18414.817, + 131.392, + 0.0, + 90.0, + -0.0 + ], + [ + 7753.089, + -18288.958, + 129.131, + 0.0, + 90.0, + -0.0 + ], + [ + 7753.089, + -18360.958, + 130.425, + 0.0, + 90.0, + -0.0 + ], + [ + 7753.089, + -18360.958, + 130.425, + 0.0, + 90.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 7892.958, + -18681.131, + 52.959, + 0.0, + 0.0, + 0.0 + ], + [ + 7892.958, + -18681.131, + 52.959, + 0.0, + 0.0, + 0.0 + ], + [ + 7892.958, + -18681.131, + 52.959, + 0.0, + 0.0, + 0.0 + ], + [ + 7892.958, + -18681.131, + 52.959, + 0.0, + 0.0, + 0.0 + ], + [ + 7738.897, + -18776.428, + 107.706, + -28.202, + 90.145, + 1.862 + ], + [ + 7732.608, + -18783.524, + 107.979, + -28.189, + 115.157, + 1.872 + ], + [ + 7730.567, + -18792.241, + 107.312, + -28.215, + 140.128, + 1.849 + ], + [ + 7731.735, + -18666.826, + 105.216, + -28.202, + 140.142, + 1.858 + ], + [ + 7731.736, + -18541.12, + 103.196, + -28.208, + 140.142, + 1.852 + ], + [ + 7731.728, + -18415.52, + 101.357, + -28.189, + 140.159, + 1.867 + ], + [ + 7731.739, + -18289.937, + 94.337, + -28.207, + 140.135, + 1.857 + ], + [ + 7753.089, + -18290.957, + 110.425, + 0.0, + 90.0, + -0.0 + ], + [ + 7753.089, + -18290.957, + 110.425, + 0.0, + 90.0, + -0.0 + ] + ], + "PD_Dist_2D": [ + 556.3, + 430.4, + 304.6, + 178.7, + 21.4, + 22.3, + 22.5, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits on the road ahead of me, still far off near the center line, and the diamond-shaped sign stands on the right verge beyond it. It is much too distant to grasp from here, so I will walk straight ahead along the open pavement to close the gap.", + "The pot has grown noticeably larger and remains centered in my path, confirming my heading is good. It is still several strides away and out of reach, so I will keep walking forward without changing direction.", + "The pot now fills a good part of the lower view, but it still sits a stride or two ahead of my feet rather than directly in front of me. I will advance once more to bring it within grasping range before attempting to lift it.", + "The ceramic pot is now immediately in front of me at the bottom of my view, close enough that nothing separates us on the pavement. This is the right moment to reach out and attempt to grasp it so I can carry it toward the sign.", + "The grasp worked, since the pot is in my hands and no longer resting on the road. The diamond-shaped sign stands off to my right beyond the shoulder, so I will turn right to bring it into the middle of my view before walking to it.", + "The diamond sign is now visible on the right side of my view, but my heading still runs down the road rather than toward it. Another turn to the right should place the sign closer to the center of my path so I can walk straight at its base.", + "The diamond-shaped sign now stands near the middle of my view across the red dirt shoulder, so my heading is right. Carrying the pot, I will step forward over the open ground to close the distance to the sign post.", + "The sign post is larger and still centered ahead, confirming I am moving straight toward it, but its base is not yet at my feet. I will keep advancing across the shoulder so the pot can be set down right beside the post.", + "The ceramic pot is still in my hands, and the diamond-shaped sign on the roadside ahead is growing larger but its post still sits some distance off. I will step forward again to close that gap and carry the pot toward the sign's base.", + "The diamond sign now dominates the right of my view, yet its pole and the sandy ground around it are still a step or two beyond comfortable placing range. Carrying the pot, I will advance once more to stand right at the post's base.", + "I am now directly beside the sign's pole, with its foot in the sandy soil immediately in front of me and the pot still in my hands. This is the placement spot the task calls for, so I will release the pot here at the sign's base.", + "The ceramic pot now rests on the ground at the foot of the diamond-shaped roadside sign. The task condition is satisfied, so I stop here." + ] +}