Add files using upload-large-folder tool

dataset/trajectory/EnglishCollege/task_x-002607_y012010_z006662_t1_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Search for the black door set into the brick building; after locating it, proceed toward that entrance.",
+    "Type": 1,
+    "Start_Pose": [
+        -2607.378,
+        12010.376,
+        6662.089,
+        0.0,
+        65.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -2607.378,
+            12010.376,
+            6662.089,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
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+        [
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+            -0.0
+        ],
+        [
+            -2607.378,
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+            -0.0
+        ],
+        [
+            -2704.186,
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+        ],
+        [
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+            0.0,
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+        ],
+        [
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+        [
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+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
+            -3213.145,
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+            -0.0
+        ],
+        [
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+            0.0,
+            165.28,
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+        ],
+        [
+            -3334.873,
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            140.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open paved area I can see a brick building on my right, but only windows are showing on the wall facing me and no black door is in view. Since the brick facade continues off to my right, I will turn right to sweep my view along that wall and look for the entrance.",
+        "The brick building now fills much of my view, yet the wall in front of me still shows only windows and a corner, with no black door. I will keep turning right in the same direction to bring more of the building's frontage into view where an entrance is likely to be.",
+        "I can now see a dark door set into the brick facade with a small step in front of it, sitting to the right of my current heading. I will turn right once more to line my heading up with that entrance and the open paved ground leading to it.",
+        "The black door in the brick wall is now roughly ahead of me, with the long frontage running away to my right and open pavement in between. I will walk forward to begin closing the distance toward that entrance.",
+        "The dark door and its notice board have grown slightly larger, so my heading is carrying me toward the right part of the building. I will step forward again to continue shortening the gap to the entrance.",
+        "The black door with its pale step is clearly ahead and noticeably nearer, and nothing blocks the open pavement in front of me. I will keep walking forward to close more of the remaining distance.",
+        "I am now close enough to make out the door's frame, handle area and the concrete steps rising to it. Since I am still a few paces short of the entrance, I will advance again along the clear pavement.",
+        "The black door and its two concrete steps are close ahead, with the brick wall running past on my left. I will step forward once more to bring myself up to the front of that entrance.",
+        "The black door with its concrete steps now sits close on my left, but my heading runs almost parallel along the brick wall so the facade fills most of my view. I will turn right to swing my body back toward the open paved area ahead, keeping the doorway and its steps within a controllable part of my view as I continue along the building. This should give me a clearer forward path rather than pressing straight into the wall.",
+        "With the path along the building clear ahead, the black door and its steps stay visible at the left edge of my view. I will walk forward to close the remaining distance to that entrance while staying on the open pavement.",
+        "The black door and its concrete steps are noticeably larger and nearer on my left, confirming I am closing in on the target entrance. I will step forward again to bring myself level with the steps in front of the doorway.",
+        "I am now essentially beside the black door, which is pushed to the far left edge of my view while my heading points down the pavement past it. I will turn left to face the entrance squarely so the door and its steps sit ahead of me instead of off to the side.",
+        "The black door set into the brick wall is now centered slightly left in front of me with its concrete steps directly ahead. I will take one more step forward to stand right at the foot of those steps, which should place me at the entrance.",
+        "The black door in the brick wall fills my view directly ahead, with its step at my feet. The task is complete, so I stop here at the entrance."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-003906_y-001422_z007050_t3_a/infos.json

@@ -0,0 +1,356 @@
+{
+    "Instruction": "Head toward the building entrance door, then proceed to the large tree trunk.",
+    "Type": 3,
+    "Start_Pose": [
+        -3906.033,
+        -1422.093,
+        7049.804,
+        0.0,
+        -106.4,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
+            -4742.228,
+            -2786.404,
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+            0.0,
+            43.6,
+            -0.0
+        ],
+        [
+            -4651.084,
+            -2699.609,
+            7060.245,
+            0.0,
+            43.6,
+            -0.0
+        ],
+        [
+            -4559.941,
+            -2612.814,
+            7060.125,
+            0.0,
+            43.6,
+            -0.0
+        ],
+        [
+            -4559.941,
+            -2612.814,
+            7060.125,
+            0.0,
+            18.6,
+            -0.0
+        ],
+        [
+            -4440.656,
+            -2572.67,
+            7060.664,
+            0.0,
+            18.6,
+            -0.0
+        ],
+        [
+            -4369.004,
+            -2575.856,
+            7063.506,
+            0.0,
+            18.6,
+            -0.0
+        ],
+        [
+            -4369.004,
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+        ],
+        [
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+            7063.506,
+            0.0,
+            43.6,
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+        ]
+    ],
+    "Rationale": [
+        "From the lawn I can see the brick building ahead, with its recessed glass entrance under a canopy toward the left and a broad tree trunk rising to its right. Both places I need are in that direction, so I will walk forward across the grass to close the distance.",
+        "The facade and its canopied doorway have grown noticeably larger, confirming my heading is carrying me toward the entrance. The lawn ahead is still clear, so I will keep walking straight to shorten the gap.",
+        "The entrance doors and their canopy now sit off to the left of my heading, while the tree trunk stands nearer the middle of my view. To aim straight at the doorway I will turn left so the entrance sits ahead of me before continuing.",
+        "The turn has put the glass entrance and its canopy squarely ahead, framed between the trees at either side of my view. With the lawn open in front of me, I will step forward along this line toward the doorway.",
+        "The doors stay centered and the paved walkway in front of the building is now visible below them, so my line is good. I will continue walking forward to reach that paving.",
+        "The canopy over the entrance now spreads wide across my view and its supporting columns are clearly separated, showing how much ground I have closed. Nothing blocks the grass ahead, so I will keep advancing toward the doors.",
+        "The entrance canopy now overhangs much of the upper view and the glass doors sit close ahead of me, just short of the paved apron. I will step forward again to bring myself onto that paving in front of the doorway.",
+        "The doorway is close now, with its handles and the columns of the porch clearly resolved and the paved forecourt beginning right at my feet. I will advance once more to draw up in front of the entrance.",
+        "The glass entrance doors now sit under the canopy directly ahead of me and the grass has given way to paving at my feet. Nothing blocks the open apron between me and them, so I will keep walking forward to close the remaining distance to the doorway.",
+        "I am now close under the canopy, but my heading is angled across the paved apron rather than along it, with a support column standing near my line of travel. A small turn to the right should square me with the open paving so I can walk in under the shelter toward the doors.",
+        "From this heading the paved apron under the canopy runs clear ahead of me, with the glass doors set back to my left. Walking forward should carry me in under the shelter and bring me level with the doorway.",
+        "The canopy soffit now spans overhead and the columns are passing beside me, so I am moving into the sheltered entrance area. The doors are still off to my left, so another step forward should bring me alongside them before I face them squarely.",
+        "I am well inside the covered forecourt with clear paving in front of me and the glazed doors along the wall to my left. One more step forward should put me in front of the doorway rather than short of it.",
+        "The entrance doors and their handrail are now to my left while I face along the paving past them. Turning left should swing the doorway into the middle of my view so I can walk straight at it.",
+        "The doors are now centered between the two columns straight ahead of me, with open paving in between. I will step forward to close on the entrance.",
+        "The glazed double doors fill the view ahead and their handles are clearly legible, so I am only a short distance from the threshold. Another step forward should bring me right up to the entrance.",
+        "The frosted glass double doors sit squarely centered between the two canopy columns, only a short stretch of paving still separating me from them. My heading is already straight at the handles, so one more step forward should bring me right up to the entrance.",
+        "The frosted glass double doors now fill my whole view, handles at arm's reach and the threshold strip just beyond my toes. I am standing at the building entrance door. I mark reaching it, and the large tree trunk out on the open ground is where I head now.",
+        "Pressed flat against the entrance doors, my view holds nothing but glass and framing, so I cannot see any open ground from this heading. The large tree stands out away from the facade, and swinging right is how I begin sweeping my gaze off the doorway toward the open side of the porch.",
+        "The doors have slid to my left and a canopy column with brick wall now edges into the right of my view, but there is still no open ground ahead of me. I continue rotating right to keep bringing the porch opening around.",
+        "Brickwork, a column and the wooden railing dominate my view, with only a sliver of grass and sky past the far end of the building. That is not enough open ground to aim at a tree, so I keep swinging right.",
+        "More of the outside is opening up on my right, with the railing, a lamp post and green ground beyond the porch columns, yet the wall still blocks a large part of my view. Another turn right should carry my heading further out into the open.",
+        "The wide grass field is now clearly visible past the porch edge on my right, though a column and the bench still cut across the middle of my view and no large trunk is in sight. I turn right again to bring the open field fully in front of me.",
+        "The lawn stretches broadly ahead of me now, and leafy branches are just entering the upper right of my view where a tree must stand. I keep turning right to bring that trunk into the middle of my view before walking out to it.",
+        "Swinging away from the glass doors has brought the open lawn into view, and the big pale trunk now stands off to my right beyond the shelter columns. One more step of rotation to the right should bring that trunk close to straight ahead before I set out across the grass.",
+        "The thick trunk now sits centered between the shelter columns with clear lawn stretching to it. Nothing blocks the paving in front of me, so I walk forward to begin closing that distance.",
+        "I have come out from under the roof edge and the tree's canopy and trunk fill more of my view straight ahead. The strip of roadway and grass between us is clear, so I keep walking toward it.",
+        "The trunk is noticeably nearer, its base plainly visible on the grass just beyond the paved strip. I continue forward to cut down the remaining open ground.",
+        "The trunk now rises close in front of me, slightly left of my heading, so walking straight on would put me directly into it. Turning left shifts it toward my right side, which should let me walk up alongside its base rather than into the bark.",
+        "The heavy trunk now stands off my right shoulder with clear grass along my heading. I step forward to draw level with its base.",
+        "The bark fills the right of my view and the flared roots are only a pace or two away. A short further step forward should bring me right up beside the trunk.",
+        "I am now standing right beside the trunk, but it is pushed against the right edge of my view. Turning right should bring the tree squarely in front of me so I am facing it at arm's reach.",
+        "The broad tree trunk fills the center of my view within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-004203_y-001845_z007073_t2_a/infos.json

@@ -0,0 +1,76 @@
+{
+    "Instruction": "Walk to the nearest tree trunk on the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -4203.079,
+        -1845.217,
+        7072.658,
+        0.0,
+        166.24,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4203.079,
+            -1845.217,
+            7072.658,
+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
+            -4447.573,
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+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
+            -4569.82,
+            -1755.408,
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Of the trunks lining the grass beside the brick building, the closest one on my right is the thick pale trunk standing just short of the paved path, ahead of the slimmer trunks further along. It lies almost straight ahead of my heading, so I will walk forward to close the gap.",
+        "The thick trunk beside the path has grown noticeably wider in my view and still sits just right of my heading, so my line of travel is good. I will keep walking forward to shorten the remaining distance.",
+        "The trunk I am heading for now rises through most of my view on the right, with the building's windows behind it, yet there is still open lawn between us. I will step forward again to draw close to its base.",
+        "The base of the trunk is now clearly visible on the grass just ahead and to my right, only a short stretch away. I will take one more forward step so that I stand right at it.",
+        "The broad trunk fills the right of my view at arm's reach, its bark and base directly beside me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-004203_y-001845_z007073_t2_b/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Head toward the second tree trunk from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -4203.079,
+        -1845.217,
+        7072.658,
+        0.0,
+        166.24,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4203.079,
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+            -0.0
+        ],
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+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
+            -5232.707,
+            -1154.983,
+            7034.282,
+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
+            -5337.326,
+            -1123.136,
+            7028.95,
+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
+            -5343.001,
+            -1084.786,
+            7028.946,
+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
+            -5343.001,
+            -1084.786,
+            7028.946,
+            0.0,
+            166.24,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The trunks beside the walkway run away from me to the right, and counting from the left, my target is the second one in that run, standing further up the verge beyond the big tree crowding my right shoulder. They all look alike, so I hold it by that place in the row and step forward to close the gap.",
+        "The big trunk now sits almost square ahead of me and the paved strip is pinched between it and the brick wall, while the lawn opens to my left. I turn left to put my heading onto the open grass so I can run parallel to the row and reach the tree I picked.",
+        "With the turn done, the lawn stretches clear ahead and the line of trunks lies off to my right, exactly the corridor I wanted. I walk forward along the grass to advance up that row toward my tree.",
+        "Slim saplings in front of the far building have come into view on my left, so counting from the left edge here would no longer land on the same tree; I keep following the one I fixed in the row beside the walkway. It still lies ahead on my right, so I keep walking.",
+        "My line up the lawn stays clear and the big tree beside the path is holding off my right as I gain ground. The tree I am heading for is still further along, so I take another stride forward.",
+        "The far building keeps growing in front of me, which tells me I am covering ground along the lawn. My tree is not yet abreast of me on the right, so I continue forward rather than turning in too early.",
+        "The trunk by the walkway is easing back along my right side as I pass up the lawn, but I have not yet drawn level with the tree I am aiming for. Another step forward should bring me alongside it.",
+        "The row now reads as scattered trunks rather than a countable line from here, so I simply keep to the tree I chose, the pale one still standing off my right by the path. I walk on to bring myself level with it before angling in.",
+        "The pale trunk I settled on is still set ahead and to the right of me, with the path and brick frontage behind it. Nothing blocks the grass in front, so I keep walking to close the remaining stretch before I swing toward it.",
+        "The trunk on my right has thickened noticeably in view, which tells me I am nearly abreast of it rather than past it. One more stride across the grass should put me at the point where turning in leads straight to its base.",
+        "I have drawn level with the tree I chose; it now rises off my right shoulder near the paved strip while my heading still runs past it up the lawn. Turning right should put its trunk squarely in front of me so I can walk straight in.",
+        "The turn has brought the trunk I want into the middle of my view, standing on the grass verge just short of the walkway. With the line to it clear, I step forward to cut the last of the distance.",
+        "The mottled bark is filling more of my view and its base is plainly on the grass ahead of me, so my heading is true. I keep walking to arrive right at the foot of it.",
+        "The trunk now dominates the right of my view and its roots are only a pace or two off. I take one short step so I finish standing beside it rather than stopping short on the open grass.",
+        "The trunk I picked out fills the near view, its base on the grass within arm's reach. I have reached it, so there is nothing further to walk toward."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-004203_y-001845_z007073_t5_a_p/infos.json

@@ -0,0 +1,145 @@
+{
+    "Instruction": "Grab the jerry can near the closest tree trunk on the right.",
+    "Type": 5,
+    "Start_Pose": [
+        -4203.079,
+        -1845.217,
+        7072.658,
+        0,
+        166.24,
+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -4714.719,
+        -1718.403,
+        6991.464,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4203.079,
+            -1845.217,
+            7072.658,
+            0,
+            166.24,
+            0
+        ],
+        [
+            -4325.326,
+            -1815.281,
+            7071.982,
+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
+            -4447.573,
+            -1785.345,
+            7072.0,
+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
+            -4569.82,
+            -1755.408,
+            7072.089,
+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
+            -4569.82,
+            -1755.408,
+            7072.089,
+            0.0,
+            166.24,
+            -0.0
+        ],
+        [
+            -4569.82,
+            -1755.408,
+            7072.089,
+            0.0,
+            166.24,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -4714.719,
+            -1718.403,
+            6991.464,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4714.719,
+            -1718.403,
+            6991.464,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4714.719,
+            -1718.403,
+            6991.464,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4714.719,
+            -1718.403,
+            6991.464,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -4574.306,
+            -1776.295,
+            7041.624,
+            -28.202,
+            -143.616,
+            1.862
+        ],
+        [
+            -4574.306,
+            -1776.295,
+            7041.624,
+            -28.202,
+            -143.616,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        527.1,
+        401.3,
+        275.4,
+        149.5,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The red jerry can sits on the grass at the base of the nearest tree trunk on the right side of the lawn, well ahead of me and already centred in my heading. Nothing blocks the open grass between us, so I will walk straight forward to close that distance.",
+        "The jerry can has grown noticeably larger and stays near the middle of my view beside the tree trunk, so my heading remains correct. It is still too far to reach, so I continue walking straight ahead over the clear lawn.",
+        "The can now fills a good part of the lower view with the tree trunk right behind it, but it is still a couple of paces off, beyond comfortable grasping range. I will step forward once more to bring it directly in front of me before attempting to take it.",
+        "The jerry can is now immediately in front of me at the base of the closest right-hand tree trunk, filling the lower part of my view within arm's reach. My hands are empty and nothing stands between me and its handle, so I will attempt to grasp and lift it.",
+        "The jerry can is now held in my hands rather than resting on the grass. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_a/infos.json

@@ -0,0 +1,276 @@
+{
+    "Instruction": "Walk to the leftmost door on the building.",
+    "Type": 2,
+    "Start_Pose": [
+        -4417.574,
+        10291.881,
+        6697.69,
+        0.0,
+        -144.8,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4417.574,
+            10291.881,
+            6697.69,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4520.419,
+            10219.332,
+            6697.838,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4520.419,
+            10219.332,
+            6697.838,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -4644.289,
+            10197.044,
+            6697.838,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -4768.159,
+            10174.756,
+            6698.095,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -4892.029,
+            10152.469,
+            6698.095,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -5015.899,
+            10130.181,
+            6698.348,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -5139.769,
+            10107.893,
+            6698.604,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -5139.769,
+            10107.893,
+            6698.604,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -5261.452,
+            10140.043,
+            6698.604,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -5383.136,
+            10172.193,
+            6698.604,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -5504.819,
+            10204.344,
+            6698.604,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -5626.502,
+            10236.494,
+            6698.604,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -5748.186,
+            10268.644,
+            6699.106,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -5869.869,
+            10300.794,
+            6699.365,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -5991.553,
+            10332.944,
+            6699.89,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -6113.236,
+            10365.094,
+            6700.953,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -6234.92,
+            10397.245,
+            6702.057,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -6356.603,
+            10429.395,
+            6703.103,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -6478.286,
+            10461.545,
+            6705.074,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -6599.97,
+            10493.695,
+            6705.074,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -6721.653,
+            10525.845,
+            6705.074,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -6843.337,
+            10557.995,
+            6713.542,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -6965.02,
+            10590.145,
+            6765.078,
+            0.0,
+            165.2,
+            -0.0
+        ],
+        [
+            -6965.02,
+            10590.145,
+            6765.078,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -6965.02,
+            10590.145,
+            6765.078,
+            0.0,
+            -169.8,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Three doorways break the long brick facade ahead, and the leftmost of them is the plain dark door with no carved arch over it, set beside the projecting corner wing. I will walk forward across the open lot to begin closing the distance toward that end of the building.",
+        "The plain unarched door lies well off to the left of my current heading, so walking straight would carry me past it toward the arched entrances instead. I will turn left to swing my heading onto it and open up the far end of the wall.",
+        "The turn has brought the flat dark door near the middle of my view, with the arched entrances trailing off to its right. With a clear stretch of empty parking surface in front of me, I will step forward to close on it.",
+        "My heading still runs onto the plain dark door, and the wall is noticeably larger than a moment ago, so the approach is working. I will keep walking forward rather than adjusting the angle yet.",
+        "A separate stone chapel with tall traceried windows now fills the left of my view, and its own recessed opening is not part of the brick facade I am working along. My target remains the unarched dark door on that brick wall, so I will keep advancing toward it.",
+        "The plain dark door and its small wall sign are clearly resolved ahead of me now, low on the brick wall. The paved court between us is still empty, so I will continue forward.",
+        "I am close enough that the red paved apron along the base of the wall is visible, and the unarched dark door stands just left of my heading. Another stride forward should bring me onto that apron near the building's left end.",
+        "As I close in, the plain dark door has drifted left of my heading while the arched entrance with the bracket dominates the right of my view. I will turn left to re-center the door I am after and face the corner where the brick wall meets the chapel.",
+        "With the corner opened up, I can see the wall does not end at the grey door with its small wall sign; a further doorway sits deeper in the recess, at the head of pale steps. That recessed one is the last along this building, so I will walk forward toward it.",
+        "The recessed doorway and its steps lie just left of my heading, with the signed grey door standing nearer on my right. Open asphalt covers the whole stretch between me and that corner, so a further stride should shorten the gap.",
+        "Both openings have grown against the brickwork since a moment ago, which tells me my angle onto the corner is good. I will step forward again instead of correcting, staying fixed on the doorway set above the steps.",
+        "The red paved apron at the base of the wall now spans most of my view, and the flight into the recess sits plainly ahead of me. Nothing stands in that line, so I continue walking.",
+        "The signed door is sliding toward the right side of my view as I close on the corner, which is what I expect while aiming past it at the doorway beyond. Another step forward keeps me on that line.",
+        "The short flight rising to the recessed door is clearly resolved now, framed between the chapel's stonework and the brick pier. I will walk on toward the foot of those steps.",
+        "Only distance separates me from that doorway, and the paving underfoot runs evenly up to the steps. I press forward, holding the steps near the middle of my view rather than swinging my heading.",
+        "The chapel's buttressed wall now fills the left side while the recessed door and its steps hold the middle, so my line into the corner is still true. I will take another stride to bring me close to the bottom step.",
+        "The steps into the recess sit dead ahead with the brick pier rising close on my right, so my line into the corner is holding. I will walk on to shorten the remaining stretch of paving.",
+        "The dark door above the steps is now large enough that I can read its arched head, and nothing stands between me and the bottom tread. Another stride forward should bring me nearly onto the step landing.",
+        "The chapel's masonry has slid to the far left as the recess opens, leaving the stepped doorway squarely in front of me. I keep walking rather than adjusting, since the gap is still a few strides.",
+        "The bottom tread now reads clearly at the base of my view, so I am nearly onto the landing of that recessed door. I will advance again to close the last of the paving.",
+        "The flight of steps fills the lower half of my view and the dark door stands directly above them, framed by brick on either side. One more stride should set me at the doorway itself.",
+        "I am at the foot of the steps now, with the tall dark leaf rising just beyond them and the stone jamb close on my right. I will step up and in to reach the door face.",
+        "The dark leaf and its stone surround now occupy most of my view at arm's length, with only the top tread separating us. A final short step should place me right against it.",
+        "Standing this close, the door has crowded to my right and I am looking mostly at the brick reveal beside it. I will turn right to square up on the leaf itself.",
+        "The dark leaf fills my view at arm's length, its keypad and handle within reach. I have arrived at that door, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_b/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Walk to the second door on the building from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -4417.574,
+        10291.881,
+        6697.69,
+        0.0,
+        -144.8,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4417.574,
+            10291.881,
+            6697.69,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4520.419,
+            10219.332,
+            6697.838,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4623.264,
+            10146.782,
+            6698.345,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4726.109,
+            10074.233,
+            6698.602,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4828.954,
+            10001.684,
+            6699.107,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4931.799,
+            9929.135,
+            6699.36,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5034.645,
+            9856.586,
+            6700.124,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5137.49,
+            9784.037,
+            6700.636,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5240.335,
+            9711.487,
+            6701.16,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5343.18,
+            9638.938,
+            6701.685,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5343.18,
+            9638.938,
+            6701.685,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -5467.05,
+            9616.65,
+            6705.011,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -5590.919,
+            9594.363,
+            6705.275,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -5714.789,
+            9572.075,
+            6705.275,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -5838.659,
+            9549.787,
+            6705.025,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -5962.529,
+            9527.5,
+            6705.275,
+            0.0,
+            -169.8,
+            0.0
+        ],
+        [
+            -5962.529,
+            9527.5,
+            6705.275,
+            0.0,
+            -169.8,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Reading the facade from its right end, the last entrance is the arched door with blue glass panes, and the arched, lamp-topped doorway immediately left of it is my second-from-right target. It lies well ahead across the open parking lot, so I walk forward to close that distance.",
+        "The wall has grown taller in my view and both arched entrances remain ahead, mine being the one just left of the blue-glazed door. The asphalt between us is clear of any obstruction, so I keep walking straight forward.",
+        "The archway I chose, the neighbour left of the blue-glazed entrance, is now clearly framed in pale stone slightly left of my heading. I am still a long way out on the lot, so another step forward continues the approach.",
+        "My archway is beginning to show depth in its recess, and the paved strip at the base of the wall is still some way off. I continue straight forward, holding the doorway a little left of my line of travel.",
+        "The lamp above my archway and its stone surround are now distinct, with the doorway sitting slightly left of straight ahead. The reddish walkway along the wall is still in front of me, so I keep advancing.",
+        "Dark brick is now visible inside the recess of my archway, confirming it as the entrance standing beside the blue-glazed one. I am closing on the paved strip fronting the wall, so I keep moving forward.",
+        "The far end of the facade has slipped out of my view, so I stay fixed on the archway itself rather than any position in a row. It sits ahead and a little left, still several strides away, and I keep walking forward.",
+        "My archway now stands ahead and to the left, with the blue-glazed entrance well off to my right, and the reddish apron along the wall lies directly in my path. A few more strides should bring me up to the doorway, so I step forward again.",
+        "My archway with its lamp bracket now stands large on the left side of my view, the blue-glazed entrance beside it to the right, and the brick apron at the base of the wall is almost underfoot. I walk forward to step onto that paving beside the doorway.",
+        "Now that I am on the paved strip, my archway has drifted out toward the left edge of my view while its blue-glazed neighbour sits squarely ahead. I turn left so the doorway I want comes back onto my line of travel for the last stretch.",
+        "The turn has set the arched, lamp-topped doorway ahead and only slightly right of my heading, with open brick paving running toward it along the wall. I walk forward to close that remaining gap.",
+        "The stone arch is widening in front of me and the hanging lamp above it is nearly level with my line of sight. Nothing stands between me and the entry, so I keep walking toward it.",
+        "The opening now rises well above my view and only a short run of brick paving remains before its sill. I continue straight ahead toward the threshold.",
+        "I am at the mouth of the arch, and the recess is deeper than it looked from the lot, with a dark door edge showing on its inner right side. I step forward into the opening to reach that door.",
+        "Inside the recess the black door with its blue glazed panes is plainly visible just ahead on my right, set back from the brick side wall. One more step should place me squarely at it.",
+        "The black door with blue glass panes stands directly before me at arm's reach inside its arched entry. I have arrived at it, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_c/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Head toward the rightmost door on the brick building.",
+    "Type": 2,
+    "Start_Pose": [
+        -4417.574,
+        10291.881,
+        6697.69,
+        0.0,
+        -144.8,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4417.574,
+            10291.881,
+            6697.69,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4520.419,
+            10219.332,
+            6697.838,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4623.264,
+            10146.782,
+            6698.345,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4726.109,
+            10074.233,
+            6698.602,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4828.954,
+            10001.684,
+            6699.107,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -4931.799,
+            9929.135,
+            6699.36,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5034.645,
+            9856.586,
+            6700.124,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5137.49,
+            9784.037,
+            6700.636,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5240.335,
+            9711.487,
+            6701.16,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5343.18,
+            9638.938,
+            6701.685,
+            0.0,
+            -144.8,
+            0.0
+        ],
+        [
+            -5343.18,
+            9638.938,
+            6701.685,
+            0.0,
+            -119.8,
+            0.0
+        ],
+        [
+            -5405.728,
+            9529.722,
+            6705.137,
+            0.0,
+            -119.8,
+            0.0
+        ],
+        [
+            -5468.277,
+            9420.506,
+            6705.137,
+            0.0,
+            -119.8,
+            0.0
+        ],
+        [
+            -5530.826,
+            9311.29,
+            6705.137,
+            0.0,
+            -119.8,
+            0.0
+        ],
+        [
+            -5530.826,
+            9311.29,
+            6705.137,
+            0.0,
+            -119.8,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Three doors break this brick facade: a flat grey door on the left, a plain arched wooden one in the middle, and furthest right an arched recess with a blue-glazed door under a small lantern, which is my target. It lies far across the open parking area, slightly right of my heading. I will walk forward to close that distance.",
+        "The facade now fills more of my view and the arched doorway with the blue-glazed door still sits a little right of center, with clear paving in between. Nothing blocks the straight line toward it. I will keep walking forward.",
+        "The arched opening with the blue-glazed door reads more distinctly now, its stone surround and lamp above clearly separate from the plainer wooden arch to its left. I am still well out on the open lot. Another step forward should keep shrinking the gap.",
+        "The reddish paved strip running along the base of the building is now visible ahead, and the blue-glazed arched door stands just right of my heading. There is still a good stretch of asphalt to cross. I will continue straight forward.",
+        "I can now see into the target's arch, where the recess opens onto a floor before the blue-glazed door itself. That confirms I am tracking the right entrance rather than the plain wooden arch beside it. I will keep advancing.",
+        "The red paving in front of the building is close ahead and the arched entrance with the blue-glazed door remains slightly right of my line. Nothing stands between me and it. Another forward step should bring me onto that paving.",
+        "The grey door at the far left is sliding out of my view as I close in, so I am no longer counting the row and simply holding onto the arch with the blue-glazed door and the lantern above it. It sits right of center, still a few paces off. I will walk forward.",
+        "I am on the paving now, with the arched entrance and its blue-glazed door clearly to my right and the plain wooden arch to my left. The gap is small but I am not yet in front of the opening. I will step forward again before fine-tuning my heading.",
+        "The arched recess with the blue-glazed door and its lantern now sits well over on the right of my view, while the plain wooden arch has drifted left, so my heading runs past the entrance rather than into it. The paving ahead is clear, so I will take another step to draw level with it.",
+        "I am close enough that the recess with the blue-glazed door is clearly off to my right, and walking straight on would carry me along the wall instead of into the opening. A turn to the right should swing that archway around to sit squarely in front of me.",
+        "The turn worked: the arch with the lantern above it and the blue-glazed door inside now sits near the middle of my view, with the tiled floor of the recess visible through the opening. A few paces of paving still separate me from it, so I will walk straight in.",
+        "The stone surround of the archway is growing tall in front of me and the blue-glazed panes of the door read clearly through the recess. My line into the opening is still clean, so another step should bring me to the threshold.",
+        "The archway now frames my whole view, with the brick passage and its tiled floor running straight to the blue-glazed door. One more step forward should place me inside the recess, right at the entrance.",
+        "I stand inside the brick recess with the blue-glazed arched door directly ahead, within arm's reach. The task is complete, so there is no reason to keep moving."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-004446_y008605_z006705_t1_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Search for the door with a green light above it situated beside the brick staircase, then navigate to that entrance.",
+    "Type": 1,
+    "Start_Pose": [
+        -4446.179,
+        8605.429,
+        6705.276,
+        0.0,
+        5.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4446.179,
+            8605.429,
+            6705.276,
+            0.0,
+            5.28,
+            -0.0
+        ],
+        [
+            -4446.179,
+            8605.429,
+            6705.276,
+            0.0,
+            -19.72,
+            0.0
+        ],
+        [
+            -4446.179,
+            8605.429,
+            6705.276,
+            0.0,
+            -44.72,
+            0.0
+        ],
+        [
+            -4446.179,
+            8605.429,
+            6705.276,
+            0.0,
+            -69.72,
+            0.0
+        ],
+        [
+            -4402.555,
+            8487.372,
+            6705.276,
+            0.0,
+            -69.72,
+            0.0
+        ],
+        [
+            -4358.932,
+            8369.315,
+            6705.276,
+            0.0,
+            -69.72,
+            0.0
+        ],
+        [
+            -4315.308,
+            8251.258,
+            6705.017,
+            0.0,
+            -69.72,
+            0.0
+        ],
+        [
+            -4271.684,
+            8133.201,
+            6705.017,
+            0.0,
+            -69.72,
+            0.0
+        ],
+        [
+            -4228.06,
+            8015.144,
+            6705.017,
+            0.0,
+            -69.72,
+            0.0
+        ],
+        [
+            -4161.558,
+            7925.233,
+            6705.017,
+            0.0,
+            -69.72,
+            0.0
+        ],
+        [
+            -4161.558,
+            7925.233,
+            6705.017,
+            0.0,
+            -69.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see a long brick boundary wall, potted trees and open parking pavement, with no doorway or green lamp anywhere in view. The paved walkway at the lower left edge suggests the built-up side of the property lies off to my left, so I will turn left to begin a consistent scan in that direction.",
+        "The scan has already brought a short flight of brick steps with a handrail into the left part of my view, which matches the staircase mentioned in the task, but I still cannot see any entrance or green light. I will keep turning left in the same direction to bring the building face beside those steps into view.",
+        "The building facade is now in view and I can pick out a recessed doorway at the far left with a small green lamp mounted just above it, with the brick staircase sitting to its right across the courtyard. Since the entrance is still at the edge of my view, I will turn left once more to bring it toward the center before walking up to it.",
+        "The doorway with the green lamp above it now sits ahead of me along the building wall, with the brick staircase to the right, so my heading is good enough to close distance. The paved courtyard between me and the entrance is clear, so I will step forward toward it.",
+        "The entrance and its green lamp have grown larger and stayed on my line of travel, confirming the previous step moved me toward it. The paving ahead is still clear, so I will continue walking forward to shorten the remaining distance.",
+        "I am now close enough to see the door's glazed panels and stone surround clearly, with the green lamp bracket directly above it. Nothing blocks the courtyard between us, so I keep advancing toward the entrance.",
+        "The doorway now fills a large part of my view and the green lamp sits just above it at the top of the frame, so I am nearly at the entrance. I will take another step forward to finish closing the short remaining gap.",
+        "The arched door and its stone surround are directly in front of me with only a step or two of paving left, and the brick wall of the staircase area is close on my right. I will move forward again to bring myself right up against the entrance.",
+        "The glazed door with its pale stone surround now fills the center of my view, with the green lamp fixture above it and the brick staircase enclosure just to the right. I am close but still a short step off the threshold, so I will walk forward once more to bring myself directly in front of the entrance.",
+        "I am standing right at the glazed door beside the brick staircase, its frame within arm's reach. The target entrance is reached, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-004446_y008605_z006705_t1_b/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Search the area at the top of the brick steps for the wooden bench placed alongside the low brick wall, then approach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -4446.179,
+        8605.429,
+        6705.276,
+        0.0,
+        5.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4446.179,
+            8605.429,
+            6705.276,
+            0.0,
+            5.28,
+            -0.0
+        ],
+        [
+            -4446.179,
+            8605.429,
+            6705.276,
+            0.0,
+            -19.72,
+            0.0
+        ],
+        [
+            -4446.179,
+            8605.429,
+            6705.276,
+            0.0,
+            -44.72,
+            0.0
+        ],
+        [
+            -4356.75,
+            8516.869,
+            6705.276,
+            0.0,
+            -44.72,
+            0.0
+        ],
+        [
+            -4267.32,
+            8428.309,
+            6705.276,
+            0.0,
+            -44.72,
+            0.0
+        ],
+        [
+            -4177.89,
+            8339.749,
+            6705.276,
+            0.0,
+            -44.72,
+            0.0
+        ],
+        [
+            -4088.461,
+            8251.19,
+            6705.276,
+            0.0,
+            -44.72,
+            0.0
+        ],
+        [
+            -3999.031,
+            8162.63,
+            6728.677,
+            0.0,
+            -44.72,
+            0.0
+        ],
+        [
+            -3999.031,
+            8162.63,
+            6728.677,
+            0.0,
+            -19.72,
+            0.0
+        ],
+        [
+            -3999.031,
+            8162.63,
+            6728.677,
+            0.0,
+            5.28,
+            -0.0
+        ],
+        [
+            -3873.706,
+            8174.212,
+            6751.134,
+            0.0,
+            5.28,
+            -0.0
+        ],
+        [
+            -3873.706,
+            8174.212,
+            6751.134,
+            0.0,
+            30.28,
+            -0.0
+        ],
+        [
+            -3873.706,
+            8174.212,
+            6751.134,
+            0.0,
+            55.28,
+            -0.0
+        ],
+        [
+            -3802.021,
+            8277.661,
+            6824.09,
+            0.0,
+            55.28,
+            -0.0
+        ],
+        [
+            -3724.074,
+            8375.374,
+            6827.403,
+            0.0,
+            55.28,
+            -0.0
+        ],
+        [
+            -3641.563,
+            8468.926,
+            6817.288,
+            0.0,
+            55.28,
+            -0.0
+        ],
+        [
+            -3641.563,
+            8468.926,
+            6817.288,
+            0.0,
+            55.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I see only a long brick boundary wall with potted trees and parking lot asphalt on my right, with no steps or bench anywhere in view. A paved brick walkway runs off to my left along the wall, which is the most promising direction for finding the flight of brick steps mentioned in the task. I will turn left to bring that walkway and the wall corner into view.",
+        "Turning has revealed a paved courtyard with a short brick stair and handrail set against the wall toward the left of my view. That matches the brick steps I need to climb, so I should keep scanning the same direction rather than reversing. I will turn left again to place the steps and the courtyard more centrally ahead of me.",
+        "The brick steps with their handrail now sit ahead of me in the courtyard between the building facade on my left and the boundary wall on my right. The paved surface between me and them is clear and level. I will walk forward to close the distance to the foot of the steps.",
+        "The steps and their handrail have grown larger and the low brick pier beside them is now clearly resolved, confirming I am on the right line. Nothing blocks the paving between me and the stair base. I will continue walking forward toward the bottom of the steps.",
+        "I can now make out the individual brick treads and the landing at the base of the stair a short distance ahead. The task target should be on the upper terrace beyond this rise, so closing in further is the right move. I will step forward again along the paving.",
+        "The lower landing of the brick stair now fills much of the lower part of my view and the upper flight is visible rising to the right of the brick pier. I still need to be squarely on that landing before I can climb. I will keep walking forward onto the stair base.",
+        "I am right at the low landing, with the paved tread immediately in front of me and the ascending flight visible along the right side of the wall. A short further step should put me on the landing itself where I can turn toward the rising stair. I will move forward onto it.",
+        "Standing on the landing, the brick wall now fills the view straight ahead so there is no way forward on this heading. The flight that climbs to the upper terrace is off to my right, with its handrail just at the edge of my view. I will turn right to bring that ascending stair in front of me.",
+        "The brick steps have come into view on my right, rising toward the open area above where the bench should sit alongside the low wall. My heading is still angled into the corner wall, so I will turn right again to place the stair run directly ahead of me.",
+        "The stair flight is now centered ahead with the handrail on the left and open sky and distant grounds beyond the top. Since the task points me to the area at the top of these steps, I will walk forward to begin climbing toward that upper level.",
+        "Moving up has brought the left brick wall and its handrail across most of my view, with the steps pushed to the right side. I will turn right to bring the ascending treads back into the center of my path.",
+        "The steps are more visible now but still sit right of center, with the wall shoulder cutting into the left of my view. Another turn right should square me to the stair run and the open paved area at its top.",
+        "I am now squarely facing the stairs, with the treads centered and the paved upper area and open lawn visible straight ahead. I will step forward to climb toward the top where the bench alongside the low wall should be.",
+        "I have reached the top of the steps, and a wooden bench is now clearly visible ahead on the paved walkway, set right against the low brick wall on my right. I will keep walking forward to close the remaining distance to it.",
+        "The bench is noticeably larger and closer now, still seated against the low brick wall just left of my path. One more step forward should bring me right alongside it.",
+        "The wooden bench is directly beside me against the low brick wall, within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-004471_y010234_z006698_t1_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Search the open plaza for a tall potted plant standing alone, distinct from any grouped planters; once you locate it, navigate to its position.",
+    "Type": 1,
+    "Start_Pose": [
+        -4470.827,
+        10234.38,
+        6698.208,
+        0.0,
+        -34.72,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -4470.827,
+            10234.38,
+            6698.208,
+            0.0,
+            -34.72,
+            0.0
+        ],
+        [
+            -4470.827,
+            10234.38,
+            6698.126,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -4470.827,
+            10234.38,
+            6698.126,
+            0.0,
+            15.28,
+            -0.0
+        ],
+        [
+            -4470.827,
+            10234.38,
+            6698.126,
+            0.0,
+            40.28,
+            -0.0
+        ],
+        [
+            -4470.827,
+            10234.38,
+            6698.126,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -4418.195,
+            10348.705,
+            6697.592,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -4365.563,
+            10463.031,
+            6696.825,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -4312.93,
+            10577.357,
+            6696.044,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -4260.298,
+            10691.682,
+            6695.273,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -4207.666,
+            10806.008,
+            6694.219,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -4207.666,
+            10806.008,
+            6694.219,
+            0.0,
+            40.28,
+            -0.0
+        ],
+        [
+            -4111.649,
+            10887.379,
+            6693.966,
+            0.0,
+            40.28,
+            -0.0
+        ],
+        [
+            -4015.632,
+            10968.749,
+            6693.712,
+            0.0,
+            40.28,
+            -0.0
+        ],
+        [
+            -3919.615,
+            11050.12,
+            6693.462,
+            0.0,
+            40.28,
+            -0.0
+        ],
+        [
+            -3823.598,
+            11131.491,
+            6689.624,
+            0.0,
+            40.28,
+            -0.0
+        ],
+        [
+            -3727.58,
+            11212.862,
+            6684.849,
+            0.0,
+            40.28,
+            -0.0
+        ],
+        [
+            -3727.58,
+            11212.862,
+            6684.849,
+            0.0,
+            40.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this parking area I can see several potted plants lined up in a row along the brick wall ahead of me, which matches the grouped planters the task tells me to rule out rather than the lone tall one. I will turn right to begin a steady scan of the rest of the plaza for an isolated tall potted plant.",
+        "This heading shows mostly open lawn, a large tree rooted in the ground, and only the same wall planters trailing off at my left edge, so no standalone potted plant stands out here. I will keep rotating right in the same direction to bring more of the plaza into view.",
+        "A building edge and a small planter are just appearing at the far right of my view, which suggests the developed side of the plaza continues in that direction. I will continue the rightward scan to bring that area fully in front of me.",
+        "The long building is now on my right and I can see a single potted plant sitting on its own near the walkway in front of it, well away from any grouped planters. I will turn right once more to center that isolated pot in my view before heading toward it.",
+        "The lone potted plant is now roughly ahead and slightly left of me, standing by itself on the grass strip in front of the building with no companion planters nearby. The paved lot between us looks clear, so I will walk forward to close the distance.",
+        "The solitary pot and its slender tree are growing larger in my view, confirming I am closing on the right object rather than the grouped planters. I will keep stepping forward across the open pavement.",
+        "The isolated potted tree remains slightly left of my heading and is clearly closer now, sitting alone on the lawn edge beside the walkway. I will continue walking forward since nothing blocks the lane between us.",
+        "I am now near the edge of the parking bays with the lone pot standing just ahead on my left, distinctly separate from anything else. I will advance again to bring myself alongside it before making any heading adjustment.",
+        "A single tall potted tree stands by itself on the grass strip to my left front, clearly apart from any grouped planters near the building. It is still some distance across the lot, so I will keep walking straight ahead to close the gap before adjusting my heading.",
+        "The isolated potted tree now sits noticeably left of my heading, while my current facing points along the building frontage. I will turn left to bring that lone planter closer to the center of my view so my next steps head straight toward it.",
+        "The solitary potted tree is now near the middle of my view, standing alone on the grass well away from the building. With a clear paved and grass path in front, I will step forward to shorten the distance to it.",
+        "The lone planter has grown larger and remains directly ahead, confirming my heading is good. I will continue walking forward to keep closing on it.",
+        "The terracotta pot and its slender tree now dominate the center of my view, clearly the only standalone planter in this area. I will keep advancing to reach a position right beside it.",
+        "I am close enough now that the pot's rim and the trunk fill much of my lower view, with the building set well off to the right. A couple more steps should bring me right up to the planter, so I will move forward again.",
+        "The potted tree is directly in front of me and nearly at arm's reach, its rim occupying the bottom of my view. I will take one more step forward to stand right at its base.",
+        "The lone tall potted tree stands directly at my feet, its rim filling my lower view with no other planters nearby. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-005715_y010753_z006697_t1_a/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Look for the doorway that is accessed by white stone steps leading up to it, then navigate to that entrance.",
+    "Type": 1,
+    "Start_Pose": [
+        -5715.454,
+        10753.291,
+        6696.758,
+        0.0,
+        125.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5715.454,
+            10753.291,
+            6696.758,
+            0.0,
+            125.28,
+            -0.0
+        ],
+        [
+            -5715.454,
+            10753.291,
+            6696.915,
+            0.0,
+            150.28,
+            -0.0
+        ],
+        [
+            -5715.454,
+            10753.291,
+            6696.915,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -5840.886,
+            10763.648,
+            6697.985,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -5966.318,
+            10774.004,
+            6699.337,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -6091.751,
+            10784.36,
+            6700.398,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -6217.183,
+            10794.717,
+            6701.712,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -6342.615,
+            10805.073,
+            6702.772,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -6342.615,
+            10805.073,
+            6702.772,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6460.672,
+            10761.45,
+            6703.822,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6578.729,
+            10717.826,
+            6704.35,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6696.786,
+            10674.202,
+            6705.273,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6814.843,
+            10630.578,
+            6705.273,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6932.9,
+            10586.955,
+            6756.555,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6932.9,
+            10586.955,
+            6756.555,
+            0.0,
+            -159.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this parking area I can see the brick church facade on my right with low steps at its base, but no clearly white stone stair leading up to a doorway is in view yet. I will turn right to sweep my view along the building frontage, since the entrances most likely sit further around that side.",
+        "Turning has brought more of the facade into view, showing a dark recessed door with a set of pale steps in front of it toward the right side of my view. I will continue turning right to bring that stepped entrance closer to the center of my view before committing to an approach.",
+        "Now the facade spreads across my view and I can see a doorway set behind pale stone steps roughly ahead and slightly right, matching the white stone stair described in the task. The paved lot in front of me is open, so I will walk forward to close distance on that stepped entrance.",
+        "The pale stone steps and the door above them are growing larger ahead of me, confirming this is the stepped entrance I am looking for. The ground remains clear, so I will keep walking forward to shorten the gap.",
+        "I am closer now, and the light stone steps below the dark doorway stand out clearly against the surrounding brickwork on the right of my view. Continuing forward should bring me near the base of those steps.",
+        "The stepped entrance stays ahead and a little to the right, with the paving in front of it now clearly visible. I will advance again to reach the paved apron directly before the steps.",
+        "I am close to the building frontage, with the pale stone steps and their doorway just ahead on the right and a lower brick terrace on the left. One more step forward should place me at the edge of the paved area in front of those steps.",
+        "At this range the doorway with its white stone steps sits toward the right of my view while I am still heading past it. I will turn right to square up with that entrance so my remaining approach leads straight to the foot of the steps.",
+        "The dark arched doorway with its flight of pale stone steps now sits close to the center of my view, so the target entrance is clearly identified. I will walk forward along the paved apron to close the remaining distance toward the base of those steps.",
+        "The stone steps and the door above them have grown larger and remain squarely ahead, confirming my heading is good. I will keep walking forward since there is still clear paving between me and the foot of the steps.",
+        "The pale stone treads now fill the lower middle of my view with the doorway directly above them, so I am nearly at the entrance. Another step forward should bring me right up to the bottom of the stair.",
+        "I am standing at the foot of the white stone steps with the dark double door filling the frame above them. Moving forward should carry me up onto the steps and closer to the doorway itself.",
+        "Only the top couple of treads remain between me and the door, which now dominates my view. I will advance once more to stand directly at the entrance.",
+        "The dark door and its handle fill my view at arm's length. The target entrance is reached, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-005715_y010753_z006697_t1_b/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Seek out the door that stands between the door with a green light above it and the door with no light; after locating it, move toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -5715.454,
+        10753.291,
+        6696.758,
+        0.0,
+        125.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5715.454,
+            10753.291,
+            6696.758,
+            0.0,
+            125.28,
+            -0.0
+        ],
+        [
+            -5715.454,
+            10753.291,
+            6696.915,
+            0.0,
+            150.28,
+            -0.0
+        ],
+        [
+            -5715.454,
+            10753.291,
+            6696.915,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -5840.886,
+            10763.648,
+            6697.985,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -5966.318,
+            10774.004,
+            6699.337,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -5966.318,
+            10774.004,
+            6699.337,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6084.375,
+            10730.38,
+            6700.434,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6202.432,
+            10686.756,
+            6701.556,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6320.489,
+            10643.133,
+            6702.686,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6438.546,
+            10599.509,
+            6703.493,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6556.603,
+            10555.885,
+            6705.042,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6556.603,
+            10555.885,
+            6705.042,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -6682.036,
+            10566.242,
+            6705.042,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -6807.468,
+            10576.598,
+            6705.042,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -6932.9,
+            10586.955,
+            6756.555,
+            0.0,
+            175.28,
+            -0.0
+        ],
+        [
+            -6932.9,
+            10586.955,
+            6756.555,
+            0.0,
+            -159.72,
+            0.0
+        ],
+        [
+            -6932.9,
+            10586.955,
+            6756.555,
+            0.0,
+            -159.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this open paved area I can only see the blank flank of the brick building and its steps, with no doorway or indicator light in view. I need to find three doors and identify which one sits between the green-lit door and the unlit one, so I will turn right to sweep my view along the facade.",
+        "Turning has brought part of the facade into view, including a small gabled porch with a dark door and another dark opening further right, but I cannot yet see whether any of them has a light above it. Continuing the same rightward sweep should reveal the rest of the frontage and the indicator lights I need for the ordering.",
+        "Now I can see the full run of doors: the porch door on the left with no light over it, a recessed dark door with steps in the middle, and a grey door on the right with a small lamp above it. That makes the middle door with the steps my target, so I will walk forward to close the wide gap of pavement between me and the facade.",
+        "The recessed middle door and its steps are noticeably larger now, confirming I am closing on the right part of the building. The pavement ahead is clear, so I will keep walking forward toward that doorway.",
+        "My current heading is drifting toward the left-hand porch door rather than the middle doorway, and the green-lit door has slipped out of view past the right edge. I will turn right to bring the lit reference door back into sight and point myself down the paved strip that runs in front of the target door.",
+        "The ordering is clear again from here: the unlit porch door on the far left, my target dark door with its steps ahead and slightly left, and the grey door with the lamp above it on the right. With that identification settled I will walk forward to commit to the approach.",
+        "The target doorway and its short flight of steps are drawing closer at center-left, and both reference doors are still where I expect them on either side. The paving in front of me is open, so I will continue walking straight toward the door.",
+        "I am now close enough to see the recessed middle door's arched surround and the individual treads of its steps just ahead and to my left. Nothing blocks the reddish paving between me and it, so I will keep advancing toward that doorway.",
+        "The recessed dark door above the stone steps sits just left of my heading, with the lamp-topped door still visible at the right edge of the facade, which matches the middle door I was told to find. Since the paved forecourt ahead is clear, I will keep walking forward to close the remaining distance.",
+        "The stepped doorway has grown noticeably larger and now dominates the left half of my view, confirming I am closing on the correct middle entrance. Nothing blocks the brick paving in front of me, so I will take another step forward toward it.",
+        "From this close range the target door and its steps have drifted to the left side of my view while my heading points at the blank brick wall and downpipe ahead. I will turn left to bring the doorway back toward the center of my view before continuing.",
+        "The turn worked, and the stepped door now sits centered in my view with its flanking brickwork on both sides. With the approach clear, I will step forward to keep closing on it.",
+        "The stone steps and the tall dark door now fill much of my view, so I am only a short distance from the entrance. I will continue walking forward to reach the foot of the steps.",
+        "I am right at the steps with the dark door panel towering ahead of me and its stone surround visible on both sides. One more step forward should bring me directly up against the target door.",
+        "I am now standing at the door, but my heading is skewed so the brick wall and stone jamb take the left half of my view while the door surface runs off to the right. I will turn right to square up with the door face.",
+        "The middle door's panel and handle fill my view directly in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_b/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Search around the brick building for the bench near its outdoor staircase, then approach the bench.",
+    "Type": 1,
+    "Start_Pose": [
+        -5953.386,
+        7170.723,
+        6949.869,
+        0.0,
+        65.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5953.386,
+            7170.723,
+            6949.869,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -5953.386,
+            7170.723,
+            6949.869,
+            0.0,
+            40.28,
+            -0.0
+        ],
+        [
+            -5953.386,
+            7170.723,
+            6949.869,
+            0.0,
+            15.28,
+            -0.0
+        ],
+        [
+            -5953.386,
+            7170.723,
+            6949.869,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5829.334,
+            7149.474,
+            6949.869,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5705.282,
+            7128.225,
+            6949.869,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5581.229,
+            7106.976,
+            6949.869,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5457.177,
+            7085.726,
+            6949.869,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5333.125,
+            7064.477,
+            6949.869,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5209.073,
+            7043.228,
+            6949.869,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5085.02,
+            7021.979,
+            6964.263,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5085.02,
+            7021.979,
+            6964.263,
+            0.0,
+            -9.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing a long flat stretch of the brick building's facade, with only windows, a downpipe and a plain doorway at ground level, and no bench or outdoor staircase anywhere in view. To find the staircase I need to scan along the wall, so I will turn left and begin a consistent sweep toward the unseen part of the building.",
+        "At the left edge of my view a raised entrance with a handrail and a few steps has just come into sight, which is a promising cue for the outdoor staircase I am looking for. The bench is not yet visible, so I will continue turning left to bring that entrance area fully into the center of my view.",
+        "The building corner is now in view with a doorway raised on stone steps and a low dark object sitting beside them on the paving, which likely is the bench near the outdoor staircase. I will turn left once more to line the staircase and that object up ahead of me before walking toward them.",
+        "The outdoor staircase with its handrail is now roughly ahead of me, and a low seat-shaped object stands on the paving at its base. With the target area centered, I will walk forward across the grass to close the distance and confirm it is the bench.",
+        "The staircase and the small seat beside it have grown larger and stayed in the same part of my view, so my heading is still good. I will keep walking forward since I am clearly still too far away to count as being at the bench.",
+        "The object beside the staircase now reads clearly as a bench with a back and legs, set against the low brick wall at the foot of the steps. It remains slightly left of my path and still some way off, so I will continue moving forward toward it.",
+        "The bench beside the outdoor staircase is clearly identified and my heading keeps it in view, with open paving between us. I will step forward again to shorten the remaining distance.",
+        "I am now close to the corner where the bench sits against the brick parapet next to the stone steps, and it fills a good part of the lower left of my view. A few more paces should bring me right up beside it, so I will keep advancing.",
+        "The wooden bench beside the outdoor staircase is clearly visible ahead on the left, tucked against the low brick wall at the foot of the steps. I am still a few paces short of it on the paved terrace, so I will keep walking forward to close the remaining gap.",
+        "The bench now fills the left side of my view beside the staircase, but a short stretch of paving still separates me from it. One more step forward should bring me right up beside the bench.",
+        "The bench beside the outdoor staircase is directly at my left, within arm's reach against the brick wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_c/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Search around the exterior of the tall red brick building for the dark wooden door directly beneath the elevated outdoor staircase landing, with a wooden bench outside it, then approach the door.",
+    "Type": 1,
+    "Start_Pose": [
+        -5953.386,
+        7170.723,
+        6949.869,
+        0.0,
+        65.28,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -5953.386,
+            7170.723,
+            6949.869,
+            0.0,
+            65.28,
+            -0.0
+        ],
+        [
+            -5953.386,
+            7170.723,
+            6949.869,
+            0.0,
+            40.28,
+            -0.0
+        ],
+        [
+            -5953.386,
+            7170.723,
+            6949.869,
+            0.0,
+            15.28,
+            -0.0
+        ],
+        [
+            -5831.976,
+            7203.892,
+            6949.869,
+            0.0,
+            15.28,
+            -0.0
+        ],
+        [
+            -5710.567,
+            7237.06,
+            6949.869,
+            0.0,
+            15.28,
+            -0.0
+        ],
+        [
+            -5589.157,
+            7270.228,
+            6949.869,
+            0.0,
+            15.28,
+            -0.0
+        ],
+        [
+            -5467.747,
+            7303.397,
+            6949.869,
+            0.0,
+            15.28,
+            -0.0
+        ],
+        [
+            -5467.747,
+            7303.397,
+            6949.869,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5343.695,
+            7282.148,
+            6963.954,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5219.642,
+            7260.898,
+            6964.458,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -5095.59,
+            7239.649,
+            6965.219,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -4971.538,
+            7218.4,
+            6965.275,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -4853.869,
+            7190.261,
+            6964.9,
+            0.0,
+            -9.72,
+            0.0
+        ],
+        [
+            -4853.869,
+            7190.261,
+            6964.9,
+            0.0,
+            -34.72,
+            0.0
+        ],
+        [
+            -4853.869,
+            7190.261,
+            6964.9,
+            0.0,
+            -34.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing a flat stretch of the red brick facade with tall windows and a plain recessed doorway, but no elevated staircase landing or bench is visible here. I will turn left to scan further along the building for the raised outdoor stair and the dark wooden door tucked beneath it.",
+        "Swinging left has brought a pale stone step and a handrail into the left edge of the view, which hints that the raised stair structure lies further in that direction. I will continue the same leftward scan to bring that stair area properly into view.",
+        "The building corner is now in view and beyond it I can see an outdoor staircase climbing to a landing, with a dark wooden door set into the wall below it. That matches the target description, so I will walk forward along the grass and paving toward it.",
+        "The dark wooden door under the staircase landing is clearer now, and a small bench sits on the paving just to its left, confirming this is the doorway I am looking for. I will keep walking forward to close the remaining distance.",
+        "The door, its short flight of entry steps, and the bench beside them are growing steadily larger ahead and slightly left. I will continue forward across the paved apron to keep closing on the doorway.",
+        "I am now on the paving with the wall running away to my right and the recessed dark door under the staircase off to my left. Another forward step should bring me nearer to the door before I adjust my heading.",
+        "Walking straight ahead is carrying me past the doorway, since the door and its steps now sit well to my left while the brick wall dominates the center. I will turn left to point myself at the dark wooden door beneath the staircase landing.",
+        "The turn has placed the dark wooden door, its stone steps, and the bench beside them near the center of my view. I will walk forward along the paving to close in on the doorway.",
+        "The dark wooden door sits directly ahead beneath the stone staircase landing, with the flight of steps rising to its left and a wooden bench on the paving beside them, matching the target described in the task. I am still several paces out on the open paving, so I will keep walking straight toward the recessed doorway to close the remaining distance.",
+        "The arched doorway and its flanking stone pilasters now fill more of my view, confirming I am tracking the correct door under the raised staircase. There is still clear paving in front of me before the bottom step, so I will continue advancing straight toward it.",
+        "The stair treads and the door's stone jambs now dominate the near field, so I am close to the base of the steps leading up to the target door. I will step forward again to bring myself right up against the doorway rather than stopping short on the open paving.",
+        "I am now at the foot of the steps with the dark plank door and its pale stone posts directly in front of me at close range. One more short step forward should place me immediately at the doorway, close enough to count as reaching it.",
+        "I have come up so close that the stone post and the brick corner now block most of my view, and the wooden door has slipped to the left edge. I will turn left to bring the door back squarely into view and face it properly.",
+        "The dark wooden door and its threshold are directly in front of me at arm's length beneath the stair landing. The approach task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-007797_y006244_z006950_t0_a/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Walk to the black lamp post on the grass.",
+    "Type": 0,
+    "Start_Pose": [
+        -7797.088,
+        6244.411,
+        6950.061,
+        0.0,
+        101.92,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7797.088,
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+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
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+            -0.0
+        ],
+        [
+            -8453.907,
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+            0.0,
+            126.92,
+            -0.0
+        ],
+        [
+            -8529.51,
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+            0.0,
+            126.92,
+            -0.0
+        ],
+        [
+            -8605.113,
+            7496.913,
+            6943.019,
+            0.0,
+            126.92,
+            -0.0
+        ],
+        [
+            -8680.717,
+            7597.534,
+            6950.517,
+            0.0,
+            126.92,
+            -0.0
+        ],
+        [
+            -8680.717,
+            7597.534,
+            6950.517,
+            0.0,
+            101.92,
+            -0.0
+        ],
+        [
+            -8706.712,
+            7720.679,
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+            0.0,
+            101.92,
+            -0.0
+        ],
+        [
+            -8706.712,
+            7720.679,
+            6949.659,
+            0.0,
+            101.92,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see a slender black lamp post standing at the edge of the lawn ahead of me, just right of center in front of the tall chapel windows. It is still far off across the open paved court, so I will move forward along my current heading to begin closing that distance.",
+        "The lamp post is slightly larger now and still clearly ahead near the lawn edge, so my heading remains usable. I will continue straight forward to keep shrinking the gap before making any fine heading adjustment.",
+        "The lamp post sits noticeably right of my forward direction, so continuing straight would carry me past it along the courtyard. I will turn right a small amount to bring the post closer to the center of my view before advancing again.",
+        "After the small right turn the black lamp post now sits near the middle of my view, standing on the grass strip in front of the chapel. With my heading pointed at it, I will move forward to close the remaining distance.",
+        "The lamp post stays centered and its base on the lawn edge is more distinct, which tells me my line of travel is good. I will keep moving forward since the paved court between us is clear.",
+        "The post continues to grow in my view while remaining roughly straight ahead, so no correction seems needed yet. I will advance another step across the open pavement toward it.",
+        "I am closer now, with the lamp post's dark shaft and the grass beside it clearly resolved just ahead of me. Since it is still several strides away, I will continue forward on this heading.",
+        "The lamp post keeps growing taller in my view and remains a little left of straight ahead, but well within my path. I will take another step forward to reduce the remaining distance before any final alignment.",
+        "The black lamp post stands on the grass strip ahead and slightly left of my heading, still some distance off along the chapel wall. My path over the open pavement toward it is clear, so I will step forward to close that gap.",
+        "The lamp post now appears taller and closer against the brick wall, confirming that my current heading is carrying me toward it. I will continue forward since nothing blocks the pavement between me and the grass verge.",
+        "I can see the lamp post ahead of me, its base planted on the grass just beyond the kerb on my left. It is still several strides away, so I will keep advancing along this heading to reduce the remaining distance.",
+        "The post's fluted shaft and lantern are clearly resolved now and its base sits on the lawn a short way ahead of me. I will move forward again to bring myself alongside it.",
+        "The lamp post fills more of my view and its base on the grass is only a couple of steps beyond the kerb. I will step forward once more to keep closing on it.",
+        "The post now rises past the top of my view with its base clearly on the lawn slightly left of centre, so I am nearly beside it. I will advance again to reach a position right at the lamp post.",
+        "The lamp post has drifted to the left side of my view as I closed in, and its base on the grass is no longer in front of me. I will turn left to bring the post back to the centre of my heading before the final step.",
+        "The lamp post is now centred straight ahead with its base on the grass a short step in front of me. I will take one more step forward to stand right at the post on the lawn.",
+        "The black lamp post stands directly in front of me at arm's length, its base on the grass edge. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-007797_y006244_z006950_t0_b/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Navigate to the base of the brick archway entrance.",
+    "Type": 0,
+    "Start_Pose": [
+        -7797.088,
+        6244.411,
+        6950.061,
+        0.0,
+        101.92,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7797.088,
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+            0.0,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        ],
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+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
+            -8992.578,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
+            -9401.314,
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+            6939.883,
+            0.0,
+            126.92,
+            -0.0
+        ],
+        [
+            -9476.917,
+            7683.182,
+            6939.883,
+            0.0,
+            126.92,
+            -0.0
+        ],
+        [
+            -9552.521,
+            7783.803,
+            6939.883,
+            0.0,
+            126.92,
+            -0.0
+        ],
+        [
+            -9552.521,
+            7783.803,
+            6939.883,
+            0.0,
+            151.92,
+            -0.0
+        ],
+        [
+            -9663.565,
+            7843.046,
+            6939.883,
+            0.0,
+            151.92,
+            -0.0
+        ],
+        [
+            -9774.609,
+            7902.288,
+            6939.883,
+            0.0,
+            151.92,
+            -0.0
+        ],
+        [
+            -9885.654,
+            7961.53,
+            6939.883,
+            0.0,
+            151.92,
+            -0.0
+        ],
+        [
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+            7961.53,
+            6939.883,
+            0.0,
+            151.92,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The pointed brick archway entrance sits far over at the right edge of my view, tucked under the tall gabled wing, so my current heading points across the courtyard rather than at it. I will turn right to bring that arch closer to the center of my view before starting to walk. That should give me a straight open line over the paved surface toward its base.",
+        "The archway entrance is now clearly visible right of center, with the paved courtyard running unobstructed toward it. I will step forward to begin closing the considerable distance to its base.",
+        "The facade and its arched opening have grown slightly larger, confirming my last step carried me toward the building rather than along it. The heading still points near the arch, so I will continue forward.",
+        "The chapel windows on my left are widening and the archway's inner passage is becoming visible as a bright gap, so I am steadily gaining ground. Another forward step should keep shrinking the remaining distance.",
+        "The archway with its oriel window above sits just right of my heading and is noticeably nearer than before. I still have a good stretch of open courtyard to cover, so I will keep advancing.",
+        "The stone arch and the blue sign beside it are now easy to make out, indicating I am well into the courtyard crossing. I will take another step forward to continue closing on the entrance.",
+        "The brick wall on my left is looming and the archway opening is drifting a little toward the right side of my view as I get nearer. Since there is still open paving between me and the entrance, I will move forward again and address the heading afterward.",
+        "The lamp post and window bays on the left are close now, and the arched entrance stands clearly ahead and to my right. One more forward step should bring me nearer before I adjust my heading toward the opening.",
+        "The recessed brick archway with its oriel window above sits noticeably to the right of my heading, while the long window wall fills the left of my view. Turning right by a small step should swing that arched opening toward the middle of my view so I can walk straight at it. I will turn right now before continuing forward.",
+        "The archway entrance now sits near the middle of my view with its dark passage visible through it, so my heading is workable. The paved court between me and the building is open and level, so a forward step should close distance toward the arch base.",
+        "The arch and the oriel window above it have grown slightly larger, confirming I am closing on the entrance. Nothing blocks the pavement in front of me, so I will keep walking forward on this heading.",
+        "I can now make out the stone moulding around the pointed opening and the bright far end of the passage beyond it. The distance is still substantial, so another forward step is the direct way to reach the arch base.",
+        "The entrance is drifting a little toward my left as I close in, which tells me I am slightly right of its centerline, but it remains well within my view. I will continue forward and keep watching that offset rather than correct my heading yet.",
+        "The archway is now clearly larger, with the paved threshold in front of it coming into view. The route stays clear, so another forward step should bring me appreciably nearer the base of the arch.",
+        "The stone arch now rises high in my view and I can see the inner arch and the daylight beyond the passage. Continuing forward is still the most direct way to shorten the remaining gap to the entrance.",
+        "The archway is close enough that its stone jambs and the brick pier beside it dominate the left of my view, yet I am still short of the threshold. I will step forward again to keep closing on the base of the entrance.",
+        "The pointed brick archway is clearly visible slightly left of center and its opening has grown noticeably in my view, so I am still closing on it. The paved forecourt in front of me is open and level, so I will step forward again to reduce the remaining distance.",
+        "The archway now fills a large part of my view and I can see through its passage to the bright courtyard beyond, confirming it is the entrance I want. The ground ahead remains clear paving, so another step forward should bring me nearer its base.",
+        "I am close to the facade but standing off to the right of the archway centerline, with its opening sitting left of my current heading and the projecting brick base filling my left side. Turning left swings my heading toward the opening so I can approach it from the front instead of sliding past along the wall.",
+        "After the turn the archway and its stone surround are in view on my right, and the paving between me and the facade is clear. I will move forward to cut the remaining distance toward the entrance while keeping clear of the brick base on my left.",
+        "The arch is close enough now that its moulded stone jambs and the paved passage floor inside are distinct. The route ahead is still open pavement, so another forward step should bring me almost level with the entrance.",
+        "The archway now towers over the right portion of my view and I can see the interior passage and the far opening straight through it. I will advance once more to draw level with the threshold before squaring up to it.",
+        "I am now beside the entrance, but the archway opening has slid to the right of my heading while the brick plinth dominates my left. Turning right should bring the passage back to the center of my view so I can step straight into it.",
+        "The archway is now centered ahead with its brick paved floor and inner opening lined up with my heading. I will move forward to step onto that paving at the base of the entrance.",
+        "The brick archway now spans nearly my whole view, with its stone piers on either side and the paved passage opening straight ahead of me. I am still standing on the asphalt just short of the threshold, so I will step forward to close the last of the gap to the archway base.",
+        "I have crossed onto the brick paving with the stone piers of the arch now to either side of me, so I am at the entrance itself rather than in front of it. One more short step forward should place me squarely at the base of the archway, clear of the roadway edge behind me.",
+        "I stand on the brick paving between the archway's stone piers, at its base. The task is complete, so no further movement is needed."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Walk to the second pillar from the left along the brick wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -7833.729,
+        8001.302,
+        6949.869,
+        0.0,
+        129.6,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7833.729,
+            8001.302,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
+            -8538.984,
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+            0.0,
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+            -0.0
+        ],
+        [
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+        ],
+        [
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+            6951.181,
+            0.0,
+            104.6,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The brick wall ahead carries a row of near identical buttresses, so I fix my target now: counting from the wall's left end, it is the second one, standing one bay to the right of the buttress beside the low wing with the small arched door. A wide lawn still separates me from the terrace. I walk forward to close that gap.",
+        "The buttress bases and the raised terrace edge sit noticeably larger in front of me, so the straight walk is closing distance as intended. My chosen buttress is still well beyond reach across the grass. I step forward again.",
+        "The paved terrace now fills a broad band ahead of me and the window tracery is rising out of the top of my view, confirming steady approach to the wall. Nothing blocks the lawn between me and the pavement. I continue forward.",
+        "The terrace lip is close and only a narrow strip of grass remains beneath me, while the buttress plinths now stand at eye height. Advancing straight should carry me up onto the pavement in front of the wall. I keep walking forward.",
+        "I am on the pavement now, and the wall's left end with the low wing has slipped out of my view, so I stop counting and simply hold onto the buttress I picked, which lies off to my left. Straight ahead the pavement is open. I move forward to keep closing on the wall.",
+        "Three buttress bases loom across my view and the stonework string course is dropping toward eye level, so I am still several strides short of the wall face. My target buttress remains toward my left. I advance again on the open paving.",
+        "Only two buttresses still fit in my view and their brick faces are close, which means a little more forward travel puts me at working distance from the wall. From there I can swing left toward the buttress I am tracking. I step forward once more.",
+        "The wall now fills my view and the nearest plinth corner sits just left of centre, so I am almost against the masonry. One more stride should bring me level with the wall line, from which a leftward turn may put my target buttress in front of me. I walk forward.",
+        "I am now level with the masonry, and the plinth I have been tracking sits off at the edge of my view rather than in front of me, with only blank brick straight ahead. A modest swing to the left should put that buttress squarely on my heading before I close the last distance.",
+        "The wall's left end has come back into my view, the low wing with its dark arched door showing beyond, and the buttress standing ahead of me is the one bay to the right of that end, which is the one I settled on. Clear paving lies between us, so I walk toward it.",
+        "The buttress I am heading for has grown across the centre of my view and its stone cap now sits near eye level, so only a short distance remains. I step forward again to bring myself up to its foot.",
+        "The chamfered corner of the plinth now dominates my view and the neighbouring bays are sliding out to the sides, which means I am within one short stride of the stonework. I advance that last bit to stand right against it.",
+        "The capped plinth of my chosen buttress fills my view at arm's length. I have arrived at it, so there is nothing further to walk toward and I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_b/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Approach the third pillar from the left on the building facade.",
+    "Type": 2,
+    "Start_Pose": [
+        -7833.729,
+        8001.302,
+        6949.869,
+        0.0,
+        129.6,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7833.729,
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+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
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+        ],
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+        ],
+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+            0.0,
+            154.6,
+            -0.0
+        ],
+        [
+            -8448.952,
+            8411.195,
+            6950.134,
+            0.0,
+            154.6,
+            -0.0
+        ],
+        [
+            -8562.645,
+            8465.18,
+            6950.134,
+            0.0,
+            154.6,
+            -0.0
+        ],
+        [
+            -8562.645,
+            8465.18,
+            6950.134,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -8642.87,
+            8562.157,
+            6950.134,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -8723.096,
+            8659.133,
+            6950.134,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -8803.321,
+            8756.109,
+            6950.134,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -8803.321,
+            8756.109,
+            6950.134,
+            0.0,
+            129.6,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the whole facade is visible, so I settle the count now: starting at the left corner where the lower wing joins, my target is the third stepped buttress along the run. The piers look nearly identical, so I hold it by its place in the row rather than any marking. I walk forward across the lawn to begin closing that distance.",
+        "The buttress bases have grown and the paved terrace edge is nearer, but I am still out on the grass. My target buttress sits ahead and somewhat to my right along the wall. Another step forward should keep shrinking the gap before I adjust heading.",
+        "My chosen buttress lies clearly right of where I am pointed, so walking straight would carry me past it toward the left end of the wall. I turn right to swing my heading onto that pier. This should put it near the middle of my view for a direct approach.",
+        "The turn has brought my buttress close to the center of my view, with the terrace pavement open in front of me. Nothing blocks the line between me and its stepped base. I step forward along that heading.",
+        "I am on the paved terrace now and the target buttress reads larger just left of center. The grass has dropped out of the lower part of my view, confirming I am past the lawn edge. I keep walking straight at that pier.",
+        "The left end of the facade has slid out of my view, so I can no longer count piers from that corner and simply keep following the buttress I picked, the one just left of center. Its base and the step at its foot are clearly resolved. I advance again.",
+        "Only two piers remain in view, and my buttress is the nearer one at left of center with its brick step projecting onto the pavement. The windows above are already cropped, which tells me I am getting close to the wall. I take another step toward it.",
+        "My buttress now fills a good part of the view, its stone capping and step plainly in front of me, though a few strides of pavement still separate us. The heading is still on it. I walk forward to close that remaining gap.",
+        "This close the wall no longer reads as a countable row, just two masses of brick, and the buttress I have been following has slid toward the left edge with its stepped base low in my view. A single left turn should bring that base back to center for the final strides.",
+        "The turn has set the buttress and its projecting brick step squarely in the middle of my view. Clear pavement runs between me and its foot, so I walk straight ahead.",
+        "The stone capping and the brick step below it now take up the lower middle of my view, though a couple of strides of paving still lie between us. Heading is good and nothing is in the way, so I keep walking in.",
+        "The capped plinth and its lower step now dominate the frame, with the windows and upper wall cropped away entirely. Only a short gap of paving remains, so one more stride should bring me right against the foot of this buttress.",
+        "The stepped buttress base fills my view at arm's length, its stone cap right in front of me. I have reached it, so there is nothing further to do."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_c/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Head toward the first pillar to the right of the door.",
+    "Type": 2,
+    "Start_Pose": [
+        -7833.729,
+        8001.302,
+        6949.869,
+        0.0,
+        129.6,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7833.729,
+            8001.302,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -7913.955,
+            8098.278,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -7994.18,
+            8195.254,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -8074.406,
+            8292.23,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -8074.406,
+            8292.23,
+            6949.869,
+            0.0,
+            104.6,
+            -0.0
+        ],
+        [
+            -8106.131,
+            8414.025,
+            6949.869,
+            0.0,
+            104.6,
+            -0.0
+        ],
+        [
+            -8137.856,
+            8535.82,
+            6949.869,
+            0.0,
+            104.6,
+            -0.0
+        ],
+        [
+            -8169.581,
+            8657.615,
+            6951.043,
+            0.0,
+            104.6,
+            -0.0
+        ],
+        [
+            -8201.307,
+            8779.409,
+            6951.043,
+            0.0,
+            104.6,
+            -0.0
+        ],
+        [
+            -8233.032,
+            8901.204,
+            6951.299,
+            0.0,
+            104.6,
+            -0.0
+        ],
+        [
+            -8264.757,
+            9022.999,
+            6951.554,
+            0.0,
+            104.6,
+            -0.0
+        ],
+        [
+            -8296.482,
+            9144.794,
+            6951.554,
+            0.0,
+            104.6,
+            -0.0
+        ],
+        [
+            -8328.207,
+            9266.589,
+            6951.804,
+            0.0,
+            104.6,
+            -0.0
+        ],
+        [
+            -8328.207,
+            9266.589,
+            6951.804,
+            0.0,
+            79.6,
+            -0.0
+        ],
+        [
+            -8305.487,
+            9390.38,
+            6952.061,
+            0.0,
+            79.6,
+            -0.0
+        ],
+        [
+            -8305.487,
+            9390.38,
+            6952.061,
+            0.0,
+            79.6,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I can see the whole brick facade at once: the small arched wooden door sits at the far left, and a row of look-alike buttress piers runs off to the right along the wall. Since they are hard to tell apart, I fix my target as the pier standing immediately beside that door on its right. I walk forward across the lawn to close on the raised terrace in front of it.",
+        "The facade has grown and the terrace edge is nearer, but I am still out on the grass with plenty of open ground ahead. The buttress next to the door remains off toward my left, so nothing needs correcting yet. I keep walking straight to shorten the distance.",
+        "The wall now fills most of my view and the paved terrace lip is just a short walk away. My heading still carries me toward the section of wall that holds the door and the pier beside it. I continue straight ahead.",
+        "Closing in has pushed the left end of the facade out of my view, so the door and the buttress beside it are no longer in front of me. I turn left to swing my heading back onto that end of the wall. That should put my target pier back where I can walk straight at it.",
+        "The turn worked: the arched door is back in view at the left, with the buttress I chose rising just to its right. The paved terrace ahead is clear of obstacles. I walk forward along this heading to close on that pier.",
+        "I am now on the paving, and the pier beside the door is noticeably larger with its stone plinth clearly outlined. The route stays open. I keep stepping forward toward it.",
+        "The pier beside the door keeps growing in front of me and its base is now well below the horizon, so I still have ground to cover. Nothing blocks the paving between us. I advance again.",
+        "Up close the wall no longer reads as a neat row, but the door on my left keeps my target unmistakable as the pier hard beside it. Its plinth is still a few paces off. I step forward once more to draw alongside it.",
+        "The arched door with its pale stone surround now sits close on my left, and the buttress immediately to its right rises just ahead of me with its chamfered plinth clearly separated from the wall. A couple of paces of open paving still lie between us. I step forward again.",
+        "A second, nearer buttress now crowds the right side of my view, but the door beside my chosen one keeps the two from being confused. That target plinth still reads smaller than the near mass, so I have not drawn level yet. I keep walking.",
+        "The buttress next to the door has swelled to fill the middle of my view, its capping stone now near eye height. Nothing stands on the paving between me and its base. Another stride closes more of that gap.",
+        "At this range the wall has stopped reading as a row of piers at all; only the brick corner, the downpipe and the plinth beside the door remain in view, and that plinth is my mark. Its stone cap is a short stride off. I advance.",
+        "The plinth I am heading for now sits off to the left of my view while the blank return wall takes up the centre, so walking straight would carry me past its face. I turn left to bring the buttress squarely in front of me before the last step.",
+        "The turn brought the door back into view at my left with its neighbouring buttress now centred right in front of me. Only a pace of paving separates me from that stone plinth. I step forward to close it.",
+        "The buttress standing immediately right of the arched door now fills my view at arm's length. I have arrived at it, so there is nothing further to walk toward."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_d/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Navigate to the rightmost pillar of the wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -7833.729,
+        8001.302,
+        6949.869,
+        0.0,
+        129.6,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -7833.729,
+            8001.302,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -7833.729,
+            8001.302,
+            6949.869,
+            0.0,
+            154.6,
+            -0.0
+        ],
+        [
+            -7833.729,
+            8001.302,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -7913.955,
+            8098.278,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -7994.18,
+            8195.254,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -8074.406,
+            8292.23,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -8154.631,
+            8389.206,
+            6949.869,
+            0.0,
+            129.6,
+            -0.0
+        ],
+        [
+            -8154.631,
+            8389.206,
+            6949.869,
+            0.0,
+            154.6,
+            -0.0
+        ],
+        [
+            -8268.324,
+            8443.191,
+            6947.895,
+            0.0,
+            154.6,
+            -0.0
+        ],
+        [
+            -8382.017,
+            8497.177,
+            6950.442,
+            0.0,
+            154.6,
+            -0.0
+        ],
+        [
+            -8495.71,
+            8551.162,
+            6950.442,
+            0.0,
+            154.6,
+            -0.0
+        ],
+        [
+            -8495.71,
+            8551.162,
+            6950.442,
+            0.0,
+            179.6,
+            -0.0
+        ],
+        [
+            -8621.566,
+            8552.041,
+            6950.187,
+            0.0,
+            179.6,
+            -0.0
+        ],
+        [
+            -8747.422,
+            8552.919,
+            6949.929,
+            0.0,
+            179.6,
+            -0.0
+        ],
+        [
+            -8873.278,
+            8553.798,
+            6949.929,
+            0.0,
+            179.6,
+            -0.0
+        ],
+        [
+            -8999.134,
+            8554.676,
+            6949.679,
+            0.0,
+            179.6,
+            -0.0
+        ],
+        [
+            -9124.99,
+            8555.555,
+            6949.427,
+            0.0,
+            179.6,
+            -0.0
+        ],
+        [
+            -9124.99,
+            8555.555,
+            6949.427,
+            0.0,
+            179.6,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The brick wall in front of me carries a row of buttressed pillars, but the row runs past the right edge of my view, so I cannot yet tell which one is the last. I will turn right to bring the far end of this wall into view and settle which pillar is the rightmost.",
+        "Now I can see where this wall ends and a lower wing with a lamp post begins, so my target is the last pillar standing at that corner. This heading points across open ground toward the far wing rather than along my approach to the wall, so I will turn left back to face the wall squarely.",
+        "I am facing the pillared wall again across a wide stretch of lawn, with the raised paved terrace between me and the pillar bases. The end pillar at the corner where this wall meets the adjoining wing is still far off to my right, so I will walk forward to close that distance.",
+        "The wall now fills most of my view and its far end has slid out of sight beyond the right edge, so I keep holding to the pillar that stands at the corner where the wall meets the neighbouring wing. The terrace edge is closer but still ahead of me, so I will step forward again.",
+        "The pillar plinths are noticeably larger and the terrace edge sits just a short way in front of my feet. I am still well short of the corner pillar I chose, so I will keep walking forward toward the paved strip along the wall.",
+        "The grass ends right at my toes and the paving of the terrace begins, with the buttress plinths rising close above it. Another stride should put me onto that hard strip, where I can travel along the frontage toward the corner pillar.",
+        "I am standing on the paving now, and the brickwork is near enough that walking straight ahead would only press me into the wall between two buttresses. The pillar at the corner with the adjoining wing lies further along the frontage to my right, so I will turn that way to open a path down the terrace.",
+        "This heading now runs along the paved strip instead of straight into the brick, with the buttresses ranged off to my left and more of the building showing beyond them. Walking forward along the terrace should carry me toward the corner pillar I chose.",
+        "The plinths beside me are passing closer and larger, and the wall still continues ahead rather than breaking off. Since the corner where the frontage ends is not yet beside me, I will keep walking along the paving.",
+        "A buttress stands square in front of me and just past it the brickwork steps back where the wall meets the neighbouring range, marking the corner I have been holding to. I will step forward again to bring myself up to that last pillar.",
+        "The buttress I came up to now sits at my left shoulder, and past it the brickwork folds back at the corner where the drainpipe runs down the angle. That end pillar lies off to my right rather than straight ahead, so I will turn right to put it in front of me.",
+        "The pillar at the end of the frontage, marked by the drainpipe down its edge, now stands squarely ahead with clear paving running to its base and the adjoining range opening away to the right. Nothing stands between me and it, so I will walk straight toward it.",
+        "The corner pillar has grown noticeably and its chamfered plinth is easier to read, yet several strides of open pavement still separate me from it. I will continue walking straight at it.",
+        "Brick face and stone banding now take up most of what I can see, with the pillar's base sitting a little below and ahead of me. I am not yet standing at it, so another step forward is warranted.",
+        "The angled plinth of the end pillar is close in front of me and the drainpipe on its corner is within arm's reach of my path. One more stride should set me right at the pillar itself.",
+        "The two brick faces of the end pillar now meet in front of me with the drainpipe running down their shared angle, yet a short gap of paving still lies under my feet before its base. I will take one more step to bring myself right against it.",
+        "The end pillar's angled corner and its drainpipe are directly against me, filling my view. I am standing at the target, so there is nothing further to do."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_c/infos.json

@@ -0,0 +1,246 @@
+{
+    "Instruction": "Navigate to the second ground-floor window on the left building.",
+    "Type": 2,
+    "Start_Pose": [
+        -8074.198,
+        7132.925,
+        6948.042,
+        0.0,
+        99.84,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8074.198,
+            7132.925,
+            6948.042,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8095.707,
+            7256.932,
+            6949.909,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8117.216,
+            7380.94,
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+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8138.725,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -8160.234,
+            7628.955,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -8160.234,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -8127.32,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -8094.406,
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+            0.0,
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+            -0.0
+        ],
+        [
+            -8061.492,
+            7993.392,
+            6949.762,
+            0.0,
+            74.84,
+            -0.0
+        ],
+        [
+            -8028.578,
+            8114.871,
+            6949.762,
+            0.0,
+            74.84,
+            -0.0
+        ],
+        [
+            -7995.664,
+            8236.35,
+            6949.762,
+            0.0,
+            74.84,
+            -0.0
+        ],
+        [
+            -7962.75,
+            8357.829,
+            6949.762,
+            0.0,
+            74.84,
+            -0.0
+        ],
+        [
+            -7929.836,
+            8479.308,
+            6949.762,
+            0.0,
+            74.84,
+            -0.0
+        ],
+        [
+            -7896.922,
+            8600.787,
+            6949.762,
+            0.0,
+            74.84,
+            -0.0
+        ],
+        [
+            -7864.007,
+            8722.266,
+            6949.762,
+            0.0,
+            74.84,
+            -0.0
+        ],
+        [
+            -7831.093,
+            8843.745,
+            6949.762,
+            0.0,
+            74.84,
+            -0.0
+        ],
+        [
+            -7831.093,
+            8843.745,
+            6949.762,
+            0.0,
+            49.84,
+            -0.0
+        ],
+        [
+            -7749.924,
+            8939.932,
+            6949.762,
+            0.0,
+            49.84,
+            -0.0
+        ],
+        [
+            -7668.754,
+            9036.12,
+            6949.762,
+            0.0,
+            49.84,
+            -0.0
+        ],
+        [
+            -7587.585,
+            9132.307,
+            6949.762,
+            0.0,
+            49.84,
+            -0.0
+        ],
+        [
+            -7506.415,
+            9228.494,
+            6953.371,
+            0.0,
+            49.84,
+            -0.0
+        ],
+        [
+            -7425.246,
+            9324.681,
+            6953.371,
+            0.0,
+            49.84,
+            -0.0
+        ],
+        [
+            -7425.246,
+            9324.681,
+            6953.371,
+            0.0,
+            49.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The plainer brick building on my left carries the ground-floor windows I need, and they look alike, so I settle the count now: the second from that building's left end, holding its place against the small recessed door at the inner corner. I walk forward to close the distance.",
+        "The facade is still well across the lawn, and its ground-floor openings read small and oblique from here. Another step forward should keep shrinking that gap before I need to swing my heading onto the target window.",
+        "The brick facade grows steadily in my view, yet I am still out on the grass and short of the paved strip running along its base. I continue straight ahead to keep closing on the target window.",
+        "The ground-floor windows of the left building are now clearly separated, and the corner door sits ahead and to my left rather than in front of me. One more forward step should bring me close enough that a turn can point me squarely at my window.",
+        "Walking straight is carrying me toward the tall arched chapel wall on my right, while the window I am after lies off to my left. I turn left to bring the left building's face onto my heading so I can advance directly at it.",
+        "The turn has put the left building's front squarely ahead of me, its ground-floor windows spread across my view. I step forward over the grass to close on the target window.",
+        "The wall is still a fair distance off and I remain on the lawn, but my window is now large enough to keep track of directly. I walk forward again to shorten the remaining gap.",
+        "The brickwork and the paved apron at the building's base are noticeably nearer, but I am still too far out to be standing at the window. I keep advancing toward it.",
+        "The paved strip at the foot of the wall now reads as a clear band ahead, but I am still standing on grass. My window lies ahead and to the left of the recessed corner door, close enough to keep in view without effort. I walk on.",
+        "Sills, the low stone course beneath them, and the separate treads beside the corner door are all resolving clearly now. Several paces of lawn still lie between me and the paving, so I press on toward my window.",
+        "The line where the grass meets the paving sits just ahead, and the brick front now fills most of what I can see. I am nowhere near standing at my window yet, so I advance again.",
+        "The far left end of this building has slid out of my view, so from here I hold my window by its offset from the recessed corner door instead of by counting along a row. It remains ahead and to my left. I keep walking in.",
+        "The lawn gives out just in front of me and the paved strip runs on unbroken to the wall. My window is still set left of my line and a few strides distant, so I continue ahead.",
+        "At this range individual brick courses and the stone band at the base come apart clearly, with the corner door and its steps off to my right. My window sits well left of my current line, so I use another step to shorten the last of the gap before changing heading.",
+        "My slanted approach is starting to skew the wall across my view, with the target window riding high in the left half. A further step should bring me level with the paved apron in front of it.",
+        "My present line runs toward the corner door and the chapel plinth on the right, while my window stands off to the left. I turn left to set the flat brick front square before me so I can walk straight in at it.",
+        "The brick front now stands flat and level before me, its ground-floor openings evenly spaced, with the recessed door pushed off to the far right edge. My window sits almost dead ahead in that arrangement, still a good stretch of paving away. I walk straight in at it.",
+        "My window has grown noticeably and its stone surround is now distinct from the brick around it, but a broad band of paving still lies between me and the wall. Nothing stands in the way along this line, so I keep advancing.",
+        "The downpipes flanking my window and the mossy stone course at the base are sharp now, and the grass has fallen away behind my line. I am still several paces short of the wall itself, so I press on.",
+        "Individual panes and the mullion of my window are readable, and it rides high and slightly left as I close under it. A short run of paving remains before I would be standing at its wall, so I take another step.",
+        "The wall now fills nearly everything I can see, with my window's sill and its stone jamb up in the left of my view and the base course just below. One last step should put me right at it.",
+        "My window's leaded lights, mullion, and stone sill are right in front of me at arm's reach. I have arrived at it, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_d/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Proceed to the second column from the right along the church wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -8074.198,
+        7132.925,
+        6948.042,
+        0.0,
+        99.84,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8074.198,
+            7132.925,
+            6948.042,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8095.707,
+            7256.932,
+            6949.909,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8117.216,
+            7380.94,
+            6949.909,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8138.725,
+            7504.947,
+            6949.909,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8160.234,
+            7628.955,
+            6947.876,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8181.743,
+            7752.962,
+            6941.874,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8203.252,
+            7876.97,
+            6947.801,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8224.761,
+            8000.977,
+            6949.869,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8246.27,
+            8124.985,
+            6949.869,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8267.779,
+            8248.992,
+            6949.869,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8267.779,
+            8248.992,
+            6949.869,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8339.681,
+            8352.291,
+            6949.869,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8411.582,
+            8455.59,
+            6950.179,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8411.582,
+            8455.59,
+            6950.179,
+            0.0,
+            149.84,
+            -0.0
+        ],
+        [
+            -8520.403,
+            8518.823,
+            6950.179,
+            0.0,
+            149.84,
+            -0.0
+        ],
+        [
+            -8629.224,
+            8582.057,
+            6950.179,
+            0.0,
+            149.84,
+            -0.0
+        ],
+        [
+            -8738.045,
+            8645.291,
+            6950.179,
+            0.0,
+            149.84,
+            -0.0
+        ],
+        [
+            -8846.866,
+            8708.524,
+            6950.179,
+            0.0,
+            149.84,
+            -0.0
+        ],
+        [
+            -8846.866,
+            8708.524,
+            6950.179,
+            0.0,
+            149.84,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The church wall runs away to my right and its brick columns all look alike, so I fix my choice now: the second one in from the right end of the run, standing just inside the lamp post. Open lawn lies between me and the paving at the wall's foot, so I walk forward.",
+        "The wall has grown taller in front of me, but I am still out on the lawn and well left of the column I picked near the lamp post. The grass ahead is clear, so I keep walking toward the paved strip running along the wall's base.",
+        "The paved walkway at the foot of the wall is nearer and the stone-capped column bases are starting to separate from one another. I continue forward to close the remaining lawn, since I need to be on that paving before working rightwards to my column.",
+        "More of the wall's lower courses and plinths are in view, yet I remain on grass and short of the paving. Nothing stands in the way, so another step forward should bring me closer to the walkway that leads along the wall.",
+        "The paving now spreads broadly in front of the wall, and the column bases stand out clearly along it to my right. I keep walking across the last stretch of lawn toward that hard surface.",
+        "The lamp post that sat near the right end of the run has slipped out of my view, so I hold to the column I already chose instead of recounting from an end I can no longer see. The grass edge is close, so I walk on toward the paving.",
+        "I am almost at the edge of the paving, with the wall filling most of my view and its plinths lined up to my right. I step forward again to get fully onto the apron where I can move along the wall.",
+        "The paved apron opens directly in front of me and the strip of lawn on my left has narrowed, while the column bases run off to my right. I keep advancing so I can travel along the wall toward the column I settled on.",
+        "I am on the brick apron now, with the buttress plinths stepping away to my right along the base of the wall. Before swinging that way I want a little more depth in front of the wall, so I take another stride forward.",
+        "Walking straight on would only carry me past the wall face, since the run of buttresses lies off to my right. I turn right to put that line of plinths ahead of me rather than beside me, so I can travel down the wall toward the column I settled on.",
+        "The wall now runs squarely across my view with several plinths spread along it and open paving between me and them. This heading takes me down the wall toward my column, so I walk on.",
+        "The nearer buttresses have grown and their spacing is opening up, which tells me I am closing on this stretch of wall rather than sliding along it. Nothing blocks the paving, so I keep advancing toward the column standing to the right of these.",
+        "This close the wall no longer reads as a countable row, but the tall buttress on the right of my view is the one I have been holding to, and it sits off my current heading. I turn right to bring it in front of me before closing the last of the distance.",
+        "The buttress and its stepped stone plinth now sit near the middle of my view with clear paving leading to it. I walk forward to close on it.",
+        "The plinth's capstone and lower step are large in front of me and the wall's banding runs level with my eye, so only a short gap remains. I step forward again to stand at the column itself.",
+        "I am nearly against the column, with its brick shaft rising directly ahead and the stepped base filling the ground before me. One more stride should bring me right up to it.",
+        "The stepped base of my column now fills the lower left of my view with only a stride of paving left in front of it. I advance once more so I am standing right at the buttress rather than a pace short of it.",
+        "The column's stone capping and brick base fill my view at arm's length. I have arrived, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t5_a_p/infos.json

@@ -0,0 +1,221 @@
+{
+    "Instruction": "Grab the candelabra near the dark lamp post on the right side.",
+    "Type": 5,
+    "Start_Pose": [
+        -8074.198,
+        7132.925,
+        6948.042,
+        0,
+        99.84,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -8597.626,
+        7873.482,
+        6864.8,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8074.198,
+            7132.925,
+            6948.042,
+            0,
+            99.84,
+            0
+        ],
+        [
+            -8095.707,
+            7256.932,
+            6949.909,
+            0.0,
+            99.84,
+            -0.0
+        ],
+        [
+            -8095.707,
+            7256.932,
+            6949.909,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8167.609,
+            7360.231,
+            6949.909,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8239.51,
+            7463.53,
+            6949.909,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8311.412,
+            7566.829,
+            6949.909,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8383.313,
+            7670.128,
+            6949.909,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8455.215,
+            7773.427,
+            6949.909,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8455.215,
+            7773.427,
+            6949.909,
+            0.0,
+            124.84,
+            -0.0
+        ],
+        [
+            -8455.215,
+            7773.427,
+            6949.909,
+            0.0,
+            124.84,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -8597.626,
+            7873.482,
+            6864.8,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8597.626,
+            7873.482,
+            6864.8,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8597.626,
+            7873.482,
+            6864.8,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8597.626,
+            7873.482,
+            6864.8,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8597.626,
+            7873.482,
+            6864.8,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8597.626,
+            7873.482,
+            6864.8,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8597.626,
+            7873.482,
+            6864.8,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8597.626,
+            7873.482,
+            6864.8,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8472.393,
+            7760.727,
+            6919.949,
+            -28.202,
+            174.984,
+            1.862
+        ],
+        [
+            -8472.393,
+            7760.727,
+            6919.949,
+            -28.202,
+            174.984,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        906.9,
+        795.0,
+        795.0,
+        669.6,
+        544.3,
+        419.5,
+        295.4,
+        174.0,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The dark lamp post stands on the right side of the paved strip along the brick chapel, and a small pale object sits on the grass beside its base. That is far off across the lawn, so I will walk forward to close the distance before judging my heading.",
+        "The lamp post and the small object at its foot sit well right of my current heading, near the edge of my view. Walking straight would carry me past them along the lawn, so I will turn right to bring that lamp post and its base toward the center of my path.",
+        "The lamp post now sits near the middle of my view with the small pale object on the grass just left of its base. My heading points straight at them, so I will walk forward across the open lawn to shorten the gap.",
+        "The lamp post has grown larger and the object beside it is starting to resolve into an upright branched shape. Nothing blocks the grass between us, so I keep walking forward on this heading.",
+        "I can now clearly see the candelabra with its pale candles standing on the grass just left of the dark lamp post. It is still several strides away, too far to reach, so I continue walking straight toward it.",
+        "The candelabra sits slightly left of the lamp post and is centered low in my view, but remains beyond arm's reach. I will step forward again to bring it close enough for a grasp.",
+        "The candelabra is now large in the lower part of my view, its candles clearly separated, with the lamp post right beside it. One more step forward should place it directly within reach.",
+        "The candelabra stands directly in front of me at the foot of the dark lamp post, filling the near foreground of my view. I am close enough to reach its stem, so I will attempt to pick it up now.",
+        "The candelabra is now held in my hands, no longer standing on the grass by the lamp post. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008233_y003795_z006950_t3_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Walk to the wooden bench, then head toward the dark arched doorway.",
+    "Type": 3,
+    "Start_Pose": [
+        -8233.256,
+        3794.871,
+        6949.842,
+        0.0,
+        -128.48,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8233.256,
+            3794.871,
+            6949.842,
+            0.0,
+            -128.48,
+            0.0
+        ],
+        [
+            -8311.571,
+            3696.345,
+            6949.842,
+            0.0,
+            -128.48,
+            0.0
+        ],
+        [
+            -8389.885,
+            3597.82,
+            6949.842,
+            0.0,
+            -128.48,
+            0.0
+        ],
+        [
+            -8468.2,
+            3499.294,
+            6949.842,
+            0.0,
+            -128.48,
+            0.0
+        ],
+        [
+            -8546.515,
+            3400.769,
+            6965.064,
+            0.0,
+            -128.48,
+            0.0
+        ],
+        [
+            -8546.515,
+            3400.769,
+            6965.064,
+            0.0,
+            -153.48,
+            0.0
+        ],
+        [
+            -8659.131,
+            3344.571,
+            6965.064,
+            0.0,
+            -153.48,
+            0.0
+        ],
+        [
+            -8659.131,
+            3344.571,
+            6965.064,
+            0.0,
+            -153.48,
+            0.0
+        ],
+        [
+            -8659.131,
+            3344.571,
+            6965.064,
+            0.0,
+            -128.48,
+            0.0
+        ],
+        [
+            -8659.131,
+            3344.571,
+            6965.064,
+            0.0,
+            -103.48,
+            0.0
+        ],
+        [
+            -8659.131,
+            3344.571,
+            6965.064,
+            0.0,
+            -78.48,
+            0.0
+        ],
+        [
+            -8633.995,
+            3221.248,
+            6965.322,
+            0.0,
+            -78.48,
+            0.0
+        ],
+        [
+            -8599.046,
+            3109.985,
+            6965.592,
+            0.0,
+            -78.48,
+            0.0
+        ],
+        [
+            -8599.046,
+            3109.985,
+            6965.592,
+            0.0,
+            -78.48,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the grass I can see the wooden bench set against the brick wall to the left and the dark arched doorway further right along the same facade. The bench comes first, and it is still well across the lawn. I will walk forward to close that distance.",
+        "The bench and the wall behind it have grown noticeably larger, so my heading is carrying me straight at the building. There is open lawn and paving between me and the bench with nothing in the way. I will keep walking forward.",
+        "I am now on the paved terrace with the bench clearly ahead and slightly left, its slats and armrests distinct. The dark arched doors sit to the right along the same wall. Another step forward should bring me close to the bench.",
+        "The brick wall now fills most of my view and the bench has drifted to the left edge, meaning I am nearly at the facade but offset from the bench. Advancing a little more brings me level with it before I turn. I will step forward again.",
+        "The wooden bench has slid to the far left of my view while the wall dominates straight ahead, so walking on would carry me past it. Turning left should put the bench squarely in front of me. I will rotate left to face it.",
+        "The bench is now centered in front of me along the brick wall, with clear paving between us. A short walk should bring me right up beside it. I will step forward to close the last of the gap.",
+        "The weathered wooden bench fills the near left of my view, its armrest and slats within arm's reach against the brick wall. I have reached the bench. I mark reaching it and now set off along this wall for the dark arched doorway.",
+        "Standing at the bench I am facing the blank brick wall, and the dark arched doors lie back along the facade to my right. I need to swing my heading that way before I can walk to them. I will turn right.",
+        "My view is still filled with plain brickwork and the drainpipe, with the bench edge slipping out at the lower left and no doorway in sight yet. The dark arched entrance lies further around to my right along this wall, so I will keep turning right to bring it into view.",
+        "The dark arched double door has come into view, but it sits off to the right of my heading and I am facing the brick wall at a sharp angle. One more turn to the right should square me up with the doorway before I walk toward it.",
+        "The dark arched doorway now sits ahead of me on the open paving, with clear ground between me and it. I will walk forward along the wall to close the remaining distance.",
+        "The dark arched door now fills much of my view and its stone surround is close on my left, so only a short stretch of paving remains. I will step forward again to bring myself right up to the entrance.",
+        "The dark arched door's glazed panels fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008233_y003795_z006950_t5_a_pd/infos.json

@@ -0,0 +1,392 @@
+{
+    "Instruction": "Lift the candelabra at the wooden bench, then leave it near the dark arched doorway.",
+    "Type": 5,
+    "Start_Pose": [
+        -8233.256,
+        3794.871,
+        6949.842,
+        0,
+        -128.48,
+        0
+    ],
+    "PD_ID": 17,
+    "PD_Size": 1.7,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -8831.309,
+        3410.928,
+        6879.007,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8233.256,
+            3794.871,
+            6949.842,
+            0,
+            -128.48,
+            0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -8615.117,
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+            0.0,
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+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+        [
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+        [
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+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
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+        [
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+        ],
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
+            0.0
+        ],
+        [
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8717.652,
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+            1.862
+        ],
+        [
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+            -78.324,
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+        ],
+        [
+            -8705.866,
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+            -28.215,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            1.86
+        ],
+        [
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+            3222.616,
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            3112.41,
+            6935.541,
+            0.0,
+            -173.48,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        710.7,
+        593.0,
+        479.4,
+        479.4,
+        353.8,
+        228.7,
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+        20.8,
+        19.3,
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+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The candelabra stands on the paving in front of the wooden bench against the brick wall, still far across the lawn ahead of me. I will walk forward to close that distance before worrying about fine alignment.",
+        "The bench and the small candelabra beside it are noticeably larger now, so my heading is carrying me toward them. I will keep walking forward to reach the paved strip in front of the bench.",
+        "I have reached the paving, but the bench with the candelabra sits off to my left while my heading points at the dark arched doorway. I will turn left to place the candelabra more centrally ahead before advancing further.",
+        "The turn brought the bench and the candelabra standing in front of it into the middle of my view. With the path across the paving clear, I will walk forward to close in on the candelabra.",
+        "The candelabra with its three candles is now clearly resolved just in front of the bench and slightly left of center. I am still several paces short of grabbing range, so I will step forward again.",
+        "The candelabra fills the lower center of my view at the bench's front edge, but it is still just beyond comfortable reach. One more step forward should bring it close enough to attempt a grasp.",
+        "I am standing right at the bench with the candelabra's candles just below me at the near edge of the seat. This is close enough to reach it, so I will attempt to pick it up.",
+        "The grasp worked and the candelabra is now in my hands rather than resting at the bench. The dark arched doorway lies back along the wall to my right, so I will turn right to begin swinging my heading toward it.",
+        "The candelabra is in my hands and my view is still filled by the bench and the plain brick wall behind it. The dark arched doorway lies further around to my right, so I will keep rotating right to bring it into view before travelling.",
+        "The dark arched double door has now come into the right side of my view beyond the drainpipe, with the bench edge still crowding my left. Another right turn should swing that doorway toward the middle of my view and clear the bench from my heading.",
+        "I am standing tight against the brick face with the arched door set into the wall at a sharp angle, and open paving stretches away to my right. Turning right once more should put my heading along that clear pavement rather than into the wall, giving me a straight walk toward the door frontage.",
+        "My heading is now down the open paving that runs past the arched doorway on my left, with nothing blocking the way. Still holding the candelabra, I will step forward to close the distance to the door frontage.",
+        "The arched door has grown much larger on my left, so I am nearly level with its recess but not yet abreast of it. I will take another step along the open paving to draw alongside the doorway.",
+        "I have come level with the doorway, and it is now slipping off the left edge of my view while my heading points across the open ground. Turning left should bring the dark arched door back in front of me so I can face the drop location.",
+        "The dark arched double door is back in view but sits over on my left with brickwork taking the centre. One more left turn should square me up with the doorway before I set the candelabra down near it.",
+        "The dark arched door now fills the middle of my view with its stone surround on both sides, so I am squarely facing it. I am still a stride short of its threshold, so I will step forward to stand close enough to place the candelabra beside it.",
+        "I am pressed right up against the dark arched double door, its glazed panes and frame filling my view, and the candelabra is still in my hands. This is the delivery spot the task named, so I will release it here at the doorway. The candelabra should come to rest beside the door.",
+        "The candelabra now stands on the ground against the dark arched doorway and my hands are empty. The task condition is met, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t0_a/infos.json

@@ -0,0 +1,96 @@
+{
+    "Instruction": "Walk to the wooden bench on the pathway.",
+    "Type": 0,
+    "Start_Pose": [
+        -8323.238,
+        4038.752,
+        6949.842,
+        0.0,
+        -74.72,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8323.238,
+            4038.752,
+            6949.842,
+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8290.07,
+            3917.342,
+            6949.842,
+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8256.901,
+            3795.932,
+            6949.842,
+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8256.901,
+            3795.932,
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+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
+            -8175.531,
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+            6949.842,
+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
+            -8094.16,
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+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -8044.246,
+            3536.153,
+            6963.778,
+            0.0,
+            -49.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the wooden bench sitting on the paved pathway ahead and slightly to my right, past the strip of lawn in front of me. The grass between us is open and clear, so I will move forward to begin closing that distance.",
+        "The bench has grown noticeably larger and its slats and legs are clearer, confirming my heading is carrying me toward it. There is still a stretch of lawn before the paving, so I will step forward again to keep closing in.",
+        "The bench has drifted toward the right side of my view and its far end runs off the edge, so my current heading would take me past it rather than up to it. I will turn right to bring the bench back into the middle of my view before advancing further.",
+        "The bench now sits squarely in the center of my view with its backrest facing me across the paving. With my heading lined up on it, I will move forward to shorten the remaining gap.",
+        "The bench fills much more of my lower view and its armrests and seat slats are distinct, showing I am only a short way off. Nothing blocks the paving between us, so I will advance once more.",
+        "The bench back now stretches across the bottom of my view at close range, so I am nearly beside it on the pathway. I will take one more short step forward to bring myself right up to it.",
+        "The wooden bench is directly at my feet on the pathway, just entering the bottom of my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t0_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Head toward the arched dark doorway on the brick building.",
+    "Type": 0,
+    "Start_Pose": [
+        -8323.238,
+        4038.752,
+        6949.842,
+        0.0,
+        -74.72,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8323.238,
+            4038.752,
+            6949.842,
+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8323.238,
+            4038.752,
+            6949.842,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8344.487,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8365.737,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8386.986,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8408.235,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8429.484,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8450.734,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8471.983,
+            3170.386,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8471.983,
+            3170.386,
+            6965.19,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8471.983,
+            3170.386,
+            6965.19,
+            0.0,
+            -149.72,
+            0.0
+        ],
+        [
+            -8580.671,
+            3106.925,
+            6965.19,
+            0.0,
+            -149.72,
+            0.0
+        ],
+        [
+            -8580.671,
+            3106.925,
+            6965.19,
+            0.0,
+            -149.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The arched dark doorway sits in the brick facade on my left, well off the edge of my current heading. I will turn left to bring that doorway toward the center of my view so I can walk straight at it.",
+        "After the turn the recessed dark doorway and its stone surround are now ahead of me on the brick facade, with open lawn and paving between us. I will move forward to start closing that distance along a clear route.",
+        "The doorway has grown noticeably larger and stays just left of my heading, so my alignment is still usable. I continue forward over the lawn toward the paved apron in front of the building.",
+        "The brick corner and the dark double door are clearly resolved now, and the paved terrace edge lies just ahead of me. Another forward step should carry me onto that paving and closer to the entrance.",
+        "I am on the brick paving in front of the facade, and the arched door is still ahead and slightly left with nothing blocking the way. I will keep moving forward to shorten the remaining gap.",
+        "The doorway now fills a large part of my view with its stone arch and glazed panels distinct, so I am within a few steps of the wall. I continue forward to close more of that remaining distance.",
+        "The brick facade dominates my view and the dark arched door has drifted to the left side, meaning my heading is running slightly wide of it. Moving forward again should bring me right up against the building face beside the entrance.",
+        "I am very close to the wall now, with the arched door at the left edge and plain brickwork straight ahead. One more forward step should place me level with the entrance recess before I reorient toward it.",
+        "I am now right up against the brick facade, and the arched dark doorway has slipped to the far left edge of my view with only wall filling the rest. I will turn left to swing my heading back onto the doorway so it sits in front of me instead of beside me.",
+        "The arched dark doors are in view now, but my heading still meets the facade at a slant, with brick running off to the right. Another left turn should square me up to the door face so a step forward closes the gap head-on.",
+        "The arched dark doorway is now squarely ahead of me with its stone surround framing both leaves. Only a short stretch of paving remains, so I will step forward to close the last of the distance to the entrance.",
+        "The arched dark door's glazed panels and frame fill my view at arm's length. The task is complete, so I stop here at the doorway."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t3_a/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Walk to the wooden bench, then head toward the arched dark door.",
+    "Type": 3,
+    "Start_Pose": [
+        -8323.238,
+        4038.752,
+        6949.842,
+        0.0,
+        -74.72,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8323.238,
+            4038.752,
+            6949.842,
+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8290.07,
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+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8256.901,
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+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8223.733,
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+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8223.733,
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+            0.0,
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+            0.0
+        ],
+        [
+            -8142.362,
+            3578.505,
+            6949.842,
+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
+            -8077.513,
+            3496.732,
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+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
+            -8077.513,
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+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
+            -8077.513,
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+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8077.513,
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+            6963.902,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8077.513,
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+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8152.472,
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+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8152.472,
+            3396.134,
+            6963.624,
+            0.0,
+            -149.72,
+            0.0
+        ],
+        [
+            -8261.161,
+            3332.672,
+            6949.842,
+            0.0,
+            -149.72,
+            0.0
+        ],
+        [
+            -8369.849,
+            3269.211,
+            6964.926,
+            0.0,
+            -149.72,
+            0.0
+        ],
+        [
+            -8478.537,
+            3205.749,
+            6965.18,
+            0.0,
+            -149.72,
+            0.0
+        ],
+        [
+            -8478.537,
+            3205.749,
+            6965.18,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8550.222,
+            3102.3,
+            6965.18,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8550.222,
+            3102.3,
+            6965.18,
+            0.0,
+            -124.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The wooden bench sits ahead on the paved terrace, slightly right of my heading and still some distance across the grass. I will walk straight ahead to close that gap before worrying about fine alignment.",
+        "The bench has grown larger and drifted a little further right as I advance, so I am clearly gaining on it. Another step forward should bring me onto the paving beside it.",
+        "The bench now fills much of the right foreground and its backrest slats are distinct, meaning I am close but still short of it. I will keep walking forward to reach the paving in front of it.",
+        "The bench has slid to the right margin of my view while my heading points past it along the building. I will turn right to put the bench squarely in front of me before stepping the last distance.",
+        "The wooden bench is now centered directly ahead of me across a short stretch of paving. I will step forward to close on it.",
+        "The bench now looms across the lower half of my view, its slats and armrest close enough to make out the grain. One more step forward should place me right at it.",
+        "The bench's wooden edge is right at the bottom of my view with the paving running out from under it, so nothing but my own feet separates me from it. I have reached the wooden bench. I mark reaching it and now set off for the arched dark door in the brick wall behind me.",
+        "Facing outward across the open paving toward the far buildings and lawn, I see nothing of the arched dark door, which stands in the brick facade behind my left shoulder. I will turn left to swing that facade back into view and begin heading for the door.",
+        "Only the corner of the tall brick building shows at the far left edge, so its entrance is still outside my view. I will turn left again to swing that facade further into the middle of my view and find the dark arched door.",
+        "The dark arched double door has come into view, but it sits far over on my left side against the brick wall. Another left turn should bring it closer to straight ahead before I start walking toward it.",
+        "The arched dark door now stands ahead of me on the brick facade, with clear paving and the raised brick terrace between us. I will walk forward to close some of that distance.",
+        "After closing in, the arched door has drifted to the left of my heading while the blank brick wall fills the middle of my view. A short left turn should put the doorway back in front of me for a straight approach.",
+        "The dark arched door is now near the middle of my view, with the wooden bench and the paved terrace off to its left. Walking forward should carry me across the open paving toward that entrance.",
+        "The doorway has grown noticeably and its stone surround is clearly framed ahead of me on the brick wall. Nothing blocks the paving between us, so I will keep walking straight in.",
+        "The arched dark door now dominates my view, its glazed panels and stone arch plainly visible just a short walk away. I will step forward again to bring myself right up to the entrance.",
+        "Standing this close, the arched door has slid over to the right side of my view while bare brick and a drainpipe occupy the center. Turning right should square me up with the doorway itself.",
+        "The dark arched double door now fills the center of my view, squarely ahead within its stone surround. A short stretch of paving still separates me from its threshold, so I will step forward to close that last gap.",
+        "The dark arched door's glazed panels fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t3_b/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Approach the arched door on the brick building, then move to the bench.",
+    "Type": 3,
+    "Start_Pose": [
+        -8323.238,
+        4038.752,
+        6949.842,
+        0.0,
+        -74.72,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8323.238,
+            4038.752,
+            6949.842,
+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8323.238,
+            4038.752,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8344.487,
+            3914.7,
+            6949.842,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8365.737,
+            3790.647,
+            6949.842,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8386.986,
+            3666.595,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8408.235,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8429.484,
+            3418.491,
+            6961.801,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8450.734,
+            3294.438,
+            6965.695,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8450.734,
+            3294.438,
+            6965.695,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8522.419,
+            3190.989,
+            6965.695,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8585.401,
+            3097.711,
+            6965.443,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8585.401,
+            3097.711,
+            6965.443,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8532.773,
+            3173.658,
+            6965.443,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -8532.773,
+            3173.658,
+            6965.443,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8532.773,
+            3173.658,
+            6965.443,
+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
+            -8532.773,
+            3173.658,
+            6965.443,
+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
+            -8532.773,
+            3173.658,
+            6965.443,
+            0.0,
+            -24.72,
+            0.0
+        ],
+        [
+            -8532.773,
+            3173.658,
+            6965.443,
+            0.0,
+            0.28,
+            -0.0
+        ],
+        [
+            -8532.773,
+            3173.658,
+            6965.443,
+            0.0,
+            25.28,
+            -0.0
+        ],
+        [
+            -8418.967,
+            3227.405,
+            6965.189,
+            0.0,
+            25.28,
+            -0.0
+        ],
+        [
+            -8305.161,
+            3281.152,
+            6964.937,
+            0.0,
+            25.28,
+            -0.0
+        ],
+        [
+            -8191.356,
+            3334.9,
+            6949.842,
+            0.0,
+            25.28,
+            -0.0
+        ],
+        [
+            -8077.55,
+            3388.647,
+            6963.61,
+            0.0,
+            25.28,
+            -0.0
+        ],
+        [
+            -8077.55,
+            3388.647,
+            6963.61,
+            0.0,
+            25.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The arched double door sits in the brick wall well off to my left, while my heading points across the lawn toward the open paving. I will turn left so the doorway comes toward the middle of my view before I start walking.",
+        "The arched door in the brick wall now sits ahead of me with open lawn in between and nothing blocking the way. I will walk forward to close the distance toward it.",
+        "The doorway and its stone surround are noticeably larger than a moment ago, so my heading is carrying me toward it. I will keep walking forward across the grass.",
+        "The brick facade fills more of my view and the paved apron in front of the entrance is coming closer. Another step forward should bring me nearer to the arched door.",
+        "I am now on the paving beside the building with the arched door clearly ahead of me. I will continue walking forward to shorten the remaining gap.",
+        "The door and its stone arch now dominate my view, though I am still a few paces short of standing at it. I will step forward again to get closer.",
+        "The arched entrance is close, with its glazed panels filling much of my view. I will take another step forward to bring myself right up to it.",
+        "The arched door has drifted to my left as I closed in, and I am now angled along the brick wall rather than facing the entrance. I will turn left to square up with the doorway before advancing the last stretch.",
+        "The arched doorway in the brick facade now sits squarely ahead of me, filling the middle of my view with its stone surround. Nothing blocks the paved apron between me and it, so I will keep walking straight in to close the remaining gap.",
+        "The dark glazed leaves of the arched door now spread across nearly my whole view, with only narrow brick reveals at either side. I am close but not yet right at it, so one more short step forward should bring me up to the threshold.",
+        "The weathered timber and glass of the arched door are directly in front of me at arm's length, with its frame and the dark interior beyond filling my view. I have reached the arched door on the brick building. I mark reaching it, then set off for the bench out on the paving.",
+        "I am pressed right up against the arched door, with its panes and frame blocking almost everything from view. Backing off a step should put the wall at a workable distance and give me room to swing around toward the open paving where the bench stands.",
+        "With a little clearance regained, the door and its brick surround still occupy my entire forward view, and the bench lies out on the open paving away to my right. I will turn right to begin swinging my heading off the wall toward that open ground.",
+        "The door has slid to my left and the long brick wall now runs across the middle of my view, with a sliver of open pavement appearing at the right edge. I will keep turning right to bring that open ground fully in front of me.",
+        "The brick wall still takes up the left half of my view while grass, road and distant buildings open out on the right. The bench is not yet in sight, so another turn right should carry my heading further off the facade and across the open area.",
+        "Only a narrow strip of brickwork remains at my left edge now, with the paved forecourt and lawn spread ahead. The bench still has not come into view, so I will continue turning right to sweep further around the corner of the building.",
+        "Having marked the arched doorway behind me, I am now sweeping my heading around toward the open paving, but the brick corner still fills the left of my view and no bench is in sight yet. I will keep turning right to bring more of the open ground and its seating into view.",
+        "A wooden bench has come into view near the right edge, under the tree beside the fence. Turning right again should bring it nearer the center of my heading so I can walk straight at it.",
+        "The bench now sits ahead of me on its paved patch beside the fence, roughly in line with my heading. With clear paving and grass between us, I will walk forward to close the distance.",
+        "The bench has grown larger and stays comfortably ahead, so my heading needs no correction. I will keep walking toward it.",
+        "The bench is close enough now that its slats and armrests are distinct, still a few paces off to my front right. Another step forward should bring me right alongside it.",
+        "The bench now fills the lower right of my view, only a short step away at the edge of its paved patch. I will advance once more to stand directly beside it.",
+        "The bench is directly beside me at arm's length, its seat filling the lower right of my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t5_a_p/infos.json

@@ -0,0 +1,202 @@
+{
+    "Instruction": "Lift the green bell pepper at the wooden bench on the pathway.",
+    "Type": 5,
+    "Start_Pose": [
+        -8323.238,
+        4038.752,
+        6949.842,
+        0,
+        -74.72,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -7863.47,
+        3630.434,
+        6904.842,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8323.238,
+            4038.752,
+            6949.842,
+            0,
+            -74.72,
+            0
+        ],
+        [
+            -8323.238,
+            4038.752,
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+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
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+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
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+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
+            -7997.755,
+            3654.684,
+            6954.248,
+            0.0,
+            -49.72,
+            0.0
+        ],
+        [
+            -7997.755,
+            3654.684,
+            6954.248,
+            0.0,
+            -24.72,
+            0.0
+        ],
+        [
+            -7997.755,
+            3654.684,
+            6954.248,
+            0.0,
+            -24.72,
+            0.0
+        ],
+        [
+            -7997.755,
+            3654.684,
+            6954.248,
+            0.0,
+            -24.72,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -7863.47,
+            3630.434,
+            6904.842,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7863.47,
+            3630.434,
+            6904.842,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7863.47,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7863.47,
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+            0.0,
+            0.0,
+            0.0
+        ],
+        [
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+            0.0,
+            0.0
+        ],
+        [
+            -7863.47,
+            3630.434,
+            6904.842,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7863.47,
+            3630.434,
+            6904.842,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -7988.869,
+            3675.018,
+            6919.949,
+            -28.202,
+            25.425,
+            1.862
+        ],
+        [
+            -7988.869,
+            3675.018,
+            6919.949,
+            -28.202,
+            25.425,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        614.9,
+        614.9,
+        490.6,
+        367.4,
+        246.9,
+        136.5,
+        136.5,
+        22.2,
+        22.2
+    ],
+    "Rationale": [
+        "The green bell pepper sits beside the wooden bench on the paved pathway well to my right, while my heading points at the brick building ahead. I will turn right to bring the bench and pepper more centrally in front of me so a straight walk can close the distance.",
+        "The bench and the green pepper now lie ahead of me across the lawn with clear grass in between and no obstruction on the way. I will step forward to shorten the remaining distance toward the pepper.",
+        "The bench and pepper appear larger and still sit roughly straight ahead, so my heading remains good. I will keep walking forward since the pepper is still too far to reach.",
+        "The pepper beside the bench is clearly closer now and remains aligned with my path across the grass. Another forward step should bring me near the paved slab where it rests.",
+        "The bench and the green pepper are now close in front of me at the edge of the paving, but still a stride beyond comfortable reach. I will advance once more to stand right beside the pepper.",
+        "I am standing right at the bench, but the bench back dominates what lies straight ahead of me and only the green pepper's side edge shows off to my right. I will turn right so the pepper sits directly in front of me for a reach.",
+        "The green bell pepper now sits squarely in front of me at the grass and paving edge, close enough to reach without further stepping. I will attempt to pick it up, which should place it in my hands.",
+        "My hands are holding the green bell pepper, which is no longer resting by the bench. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t5_b_p/infos.json

@@ -0,0 +1,221 @@
+{
+    "Instruction": "Grab the metal bucket near the arched dark doorway on the brick building.",
+    "Type": 5,
+    "Start_Pose": [
+        -8323.238,
+        4038.752,
+        6949.842,
+        0,
+        -74.72,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -8468.899,
+        3171.102,
+        6890.315,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8323.238,
+            4038.752,
+            6949.842,
+            0,
+            -74.72,
+            0
+        ],
+        [
+            -8290.07,
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+            0.0,
+            -74.72,
+            0.0
+        ],
+        [
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+        ],
+        [
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+            0.0,
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+        ],
+        [
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8353.817,
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+            6949.842,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8375.067,
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+            6949.842,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8396.316,
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+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8396.316,
+            3297.081,
+            6965.552,
+            0.0,
+            -99.72,
+            0.0
+        ],
+        [
+            -8396.316,
+            3297.081,
+            6965.552,
+            0.0,
+            -99.72,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -8468.899,
+            3171.102,
+            6890.315,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8468.899,
+            3171.102,
+            6890.315,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8468.899,
+            3171.102,
+            6890.315,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8468.899,
+            3171.102,
+            6890.315,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8468.899,
+            3171.102,
+            6890.315,
+            0.0,
+            0.0,
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+        ],
+        [
+            -8468.899,
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+            0.0,
+            0.0
+        ],
+        [
+            -8468.899,
+            3171.102,
+            6890.315,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8468.899,
+            3171.102,
+            6890.315,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -8375.166,
+            3294.077,
+            6935.395,
+            -28.202,
+            -49.576,
+            1.862
+        ],
+        [
+            -8375.166,
+            3294.077,
+            6935.395,
+            -28.202,
+            -49.576,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        879.8,
+        767.4,
+        767.4,
+        641.8,
+        516.5,
+        391.4,
+        267.1,
+        145.4,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The metal bucket sits on the paved terrace beside the arched dark doorway of the brick building on my left, still far off. Nothing blocks the lawn ahead of me, so I will walk forward to cut down that distance before refining my heading.",
+        "The bucket and its arched doorway sit well to the left edge of my view while my heading points across the open courtyard. Turning left should swing the doorway and the bucket toward the center of my path so a straight walk leads to them.",
+        "The arched doorway and the metal bucket beside it now sit near the middle of my view, with clear grass between me and the paved terrace. I will keep walking forward along this heading to close in on the bucket.",
+        "The bucket by the dark arched door is growing larger and stays roughly ahead of me, so my line of travel is good. Another step forward should bring me nearer the terrace edge without any need to adjust heading.",
+        "The bucket stands clearly on the brick paving just right of the arched door and remains directly along my heading. I am still several paces short of reach, so I will continue walking forward.",
+        "I am now on the paved terrace with the metal bucket ahead and slightly left of center, its lid and handle clearly visible. It is still too far to grasp, so I will step forward again.",
+        "The bucket fills much of the lower view beside the arched double door, but it is not yet close enough under me to take hold of. One more forward step should place it within grasping distance.",
+        "The metal bucket is now directly in front of me at the foot of the arched dark doorway, its open rim within arm's reach. My hands are empty, so I will attempt to pick it up from here.",
+        "The metal bucket is now in my hands rather than resting on the pavement by the arched doorway. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_a/infos.json

@@ -0,0 +1,276 @@
+{
+    "Instruction": "Walk to the black lamp post, then head toward the arched gateway.",
+    "Type": 3,
+    "Start_Pose": [
+        -8854.887,
+        6818.473,
+        6943.041,
+        0.0,
+        114.4,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8854.887,
+            6818.473,
+            6943.041,
+            0.0,
+            114.4,
+            -0.0
+        ],
+        [
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+            0.0,
+            89.4,
+            -0.0
+        ],
+        [
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+            0.0,
+            89.4,
+            -0.0
+        ],
+        [
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+            0.0,
+            89.4,
+            -0.0
+        ],
+        [
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+            0.0,
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+            -0.0
+        ],
+        [
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+            0.0,
+            89.4,
+            -0.0
+        ],
+        [
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+            0.0,
+            89.4,
+            -0.0
+        ],
+        [
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+            0.0,
+            89.4,
+            -0.0
+        ],
+        [
+            -8845.661,
+            7699.438,
+            6941.369,
+            0.0,
+            89.4,
+            -0.0
+        ],
+        [
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+            7699.438,
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        ]
+    ],
+    "Rationale": [
+        "The slim black lamp post stands well to my left along the church wall, while my heading points at the archway further right. I will turn left to bring the lamp post nearer the center of my view so I can walk straight at it first.",
+        "The lamp post now sits close to the middle of my view with clear open paving between us. I will walk forward along this heading to cut down the distance to it.",
+        "The lamp post has grown slightly larger and stays near the center of my path, so my heading is still good. I will keep walking forward toward it.",
+        "The dark post and its lantern head are clearer now, standing at the edge of the grass and the paved strip ahead. Nothing blocks the way, so another step forward should bring me closer.",
+        "The lamp post fills more of my view and its base is plainly on the walkway just ahead of me. I will continue straight to close the remaining gap.",
+        "The lantern top now rises above my line of sight, showing I am only a short walk from the post. I will step forward again to reach it.",
+        "The post is very near, its fluted base sitting just left of my path where the grass meets the brick paving. One more step forward should put me right beside it.",
+        "The lamp post now towers at the left edge of my view, so I am nearly level with it. I will take one more step onto the paved strip to draw fully alongside it.",
+        "The tall black lamp post now stands directly beside me at the edge of the paving, its fluted base within arm's reach. I have reached it, so I mark arriving at the lamp post before turning back toward the arched gateway through the church range.",
+        "Standing at the lamp post, my view is filled by the long brick nave wall and the courtyard building, with no archway in sight ahead. The gateway lies back around to my right, so I will turn that way to begin swinging my heading toward it.",
+        "The sweep so far shows only buttresses and tall windows along the brick flank, with the paving running off to the right. The archway has not yet entered my view, so I will keep turning right to bring it into sight.",
+        "The stone arch with the projecting bay window above it has appeared at the right side of my view, past the last buttress. One more turn to the right should bring that gateway near the centre of my heading so I can walk straight at it.",
+        "The arched gateway now sits ahead of me, its deep stone opening framed under the bay window, with clear paving and tarmac between us. I will walk forward to close that distance.",
+        "The archway has grown larger ahead and I can now make out the doorways in the shaded passage beyond it. The route across the courtyard stays clear, so I will keep walking toward the opening.",
+        "The moulded arch is noticeably nearer, its curve now rising well above my line of sight and the buttress corner sliding past on my left. Another step forward should bring me close under the gateway.",
+        "The gateway's stone arch now looms just ahead with the shaded passage and its inner doors clearly open to view. I will step forward again to draw right up to the opening.",
+        "The arched gateway stands ahead of me, but a projecting brick buttress fills my left foreground and crowds the paving right in front of it. Turning right should swing me out onto the open court so I can come at the arch from clear ground instead of squeezing past that corner.",
+        "The open paved court now runs straight ahead of me, with the arched gateway set back at my left. Walking forward should carry me past the jutting buttress and bring me level with the arch's opening.",
+        "I am clear of the corner masonry, and the arched gateway now sits well off to my left with its dark passage showing through. Turning left should put that opening in front of me so I can walk straight at it.",
+        "The arched gateway is now roughly centered ahead, and I can see daylight through the passage beyond it. Stepping forward should close the distance to the archway.",
+        "The stone arch is filling more of my view and the vaulted passage under it reads as clear and walkable. Another step forward should bring me close to its threshold.",
+        "I am right at the mouth of the gateway, with the vault rising overhead and the paving running on beneath it. Moving forward should carry me in under the arch itself.",
+        "I am inside the gateway now, but the heavy pier occupies my right and the passage with its far opening lies toward my left. Turning left should square me with the run of the passage.",
+        "The gateway passage now runs straight ahead with the far arch centered and open. Stepping forward should settle me properly within the archway.",
+        "I stand inside the passage with the arched gateway directly ahead and open sky beyond it. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_b/infos.json

@@ -0,0 +1,366 @@
+{
+    "Instruction": "Approach the arched gateway, then proceed to the black lamp post.",
+    "Type": 3,
+    "Start_Pose": [
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+        6943.041,
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+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        ],
+        [
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+        ],
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+        [
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+        ],
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+    ],
+    "Rationale": [
+        "The arched gateway cut through the red brick range stands ahead and slightly to my right, still a long way across the open paving. Nothing blocks the flat courtyard between us, so I will walk straight forward to cut down that distance.",
+        "The archway has grown slightly larger and the facade is filling more of my view, so my forward walking is closing on it. It is still well beyond reach, so I will keep stepping forward across the clear paving.",
+        "The gateway opening sits noticeably right of the center of my view, so walking straight on would carry me past it along the wall. I will turn right to bring the arch onto my heading before advancing further.",
+        "After the turn, the arch and the bright opening beneath it sit near the middle of my view with open ground leading up to it. With my heading now pointed at the gateway, I will walk forward to close the remaining distance.",
+        "The stone arch and its moulded surround are noticeably nearer and remain centered on my line of travel. The paving in front of me is unobstructed, so I will keep walking straight toward the opening.",
+        "The gateway now dominates the middle of my view, with the passage floor and far opening clearly visible through it. My heading is still true, so another forward step should bring me closer to the arch.",
+        "The archway's stonework is close enough now that I can read the mouldings and the paving inside the passage. Nothing stands in the way, so I will continue walking straight at it.",
+        "The arch fills much of my view and the small blue sign on the brick beside it is now legible, confirming I am nearly at the gateway. I will step forward again to bring myself right up to the opening.",
+        "The pointed stone arch stands squarely ahead with the bright opening of the passage visible through it, and the paving in front of me is clear. I will keep walking straight to close the remaining gap to the archway.",
+        "The arch now fills much more of my view, so my heading along the gateway axis is good. I will step forward again to bring myself right up under the stone opening.",
+        "The archway's stone jambs are close on either side of my line of travel and the shaded passage beyond is clearly open. Another step forward should carry me nearer the gateway threshold.",
+        "I am nearly at the mouth of the gateway, with its arch spanning above my view and the tiled floor of the passage just ahead. I will continue walking to step under the arch itself.",
+        "I have crossed under the stone arch and the covered passage stretches ahead toward a second opening onto bright open ground. I will walk on to reach a solid position within the gateway.",
+        "I am inside the gateway passage with the far arch and daylight directly ahead, and nothing blocks the brick floor. One more step forward should settle me properly at the gateway before I judge my arrival.",
+        "I am standing inside the vaulted passage of the arched gateway, its stone arch framed close ahead and its brick walls to either side of me. This is the gateway, and I mark reaching it before setting off toward the black lamp post.",
+        "With the gateway reached, I now need the black lamp post, and the passage ahead only leads further away under the arch. Backing up a little should give me room in the open part of the passage before I swing my heading around to search for the lamp post.",
+        "I am standing inside the arched gateway I came for, with the vaulted passage and its far arch still filling my view. The black lamp post is nowhere in this narrow corridor, so I turn left to swing my heading off the archway and start sweeping the open ground beside it.",
+        "My view now shows the recessed doorway and stone piers along the passage side, with the arch pushed off to the right. Still no black lamp post in sight, so I keep rotating left to continue the sweep toward the open side of the building.",
+        "The brick flank of the building and a heavy stone buttress now take up most of what I can see, closing off any view ahead. I turn left again to keep rotating past this wall toward whatever open ground lies beyond it.",
+        "I am facing flat brickwork at close range, so nothing useful can be judged from this heading. Another left turn should carry my gaze past the corner of this wall and open up the ground on the far side.",
+        "The wall has finally cleared on the left and a courtyard with a long stone building has come into view, and I can pick out a slim black lamp post standing near its frontage at the far left edge. I turn left once more to bring that lamp post further into the middle of my view.",
+        "The black lamp post now stands clearly on the grass strip in front of the stone building, but it sits left of my heading with the brick corner still crowding the right of my view. One more left turn should place it closer to straight ahead before I start walking.",
+        "The open paved courtyard is now spread in front of me and the black lamp post stands ahead beside the lawn, with nothing between me and it. My heading is good enough to close distance, so I walk forward toward it.",
+        "The lamp post has grown larger and sits just right of my line of travel, so my heading is still serviceable. I keep walking forward across the open pavement to cut down the remaining distance to it.",
+        "The black lamp post stands on the grass strip in front of the long stone building, ahead and slightly to my right, still a fair distance across the open paving. Nothing blocks the flat ground between us, so I will keep walking straight to cut down that distance.",
+        "The lamp post now sits noticeably right of my heading, so continuing straight would carry me past it along the paving. A turn to the right should bring its dark column nearer the middle of my view before I advance further.",
+        "The turn has swung the lamp post into a workable part of my view, its black column rising clearly against the lit stone wall. With the wide paved apron open ahead of me, I will walk forward to close on it.",
+        "The lamp post has grown larger and its lantern head is now distinct above the grass verge, confirming I am gaining on it. The paving continues unbroken in that direction, so another stride forward should bring me closer still.",
+        "The post now fills a good part of the left half of my view, with its base planted on the lawn just beyond the kerb. It is still several paces off, so I will keep advancing along the paving toward it.",
+        "At this shorter range the lamp post has drifted to the left edge of my view while my heading points along the building front. Turning left should swing the column back toward the center so my next steps carry me straight at it.",
+        "The lamp post is squarely in front of me now, its full height from base to lantern in view against the sky and building. The remaining gap across the paving is short, so I will step forward to reduce it.",
+        "The dark shaft of the lamp post now towers directly ahead, its fluted base clear on the grass just past the kerb. I am close but not yet beside it, so one more step forward should bring me right up to the post.",
+        "The black lamp post now fills the right side of my view, its fluted base standing just ahead of me on the grass verge. One more step should bring me level with it rather than leaving it slightly forward of my position.",
+        "The black lamp post stands immediately beside me at arm's reach on my right. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_c/infos.json

@@ -0,0 +1,556 @@
+{
+    "Instruction": "Approach the small black door on the building, then move to the lamp post.",
+    "Type": 3,
+    "Start_Pose": [
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+        0.0,
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+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+    ],
+    "Rationale": [
+        "I am standing on the open paving in front of the tall brick church, with a lamp post to my left and a small doorway set into the wall further along that side. Nothing blocks the way ahead, so I will walk forward to close some of the distance before I sort out my heading.",
+        "Straight ahead leads toward the big arched passage, not toward the modest door I want. Swinging left should bring the lower stretch of wall, where the small dark door sits beside the lamp post, into the middle of my view.",
+        "The turn has opened up the side wing, and I can pick out the small dark door in the brick wall past the lamp post. The paving between us is clear, so I will walk forward along it.",
+        "The door and the lamp post have both grown slightly larger, confirming this heading takes me toward them. I will keep walking forward across the open paving.",
+        "My line still runs toward that small door tucked into the brick wing, with the lamp post standing off to my left as I close in. Another step forward keeps the approach steady.",
+        "The lamp post is now close on my left and the church buttresses rise on my right, so I am moving down the open space between them. The small door remains ahead, and walking forward continues to shorten the gap.",
+        "I am passing the lamp post on my left while the plain dark door in the far wall stays roughly in front of me. Nothing obstructs the paving, so I press on toward the door.",
+        "The lamp post has slipped to the edge of my view and the small door in the brick wing is clearly the thing ahead of me now. I will keep walking forward to bring myself up to it.",
+        "The small dark door set in the lower brick wing lies ahead and slightly left, still far across the open paving. Nothing blocks the flat plaza between us, so I will keep walking straight to cut the distance.",
+        "The door and its surrounding wall have grown noticeably, confirming my heading is carrying me toward it. The paving stays clear, so another stride forward is the simplest way to keep closing.",
+        "As I advance, the small black door has drifted off toward the left of my view while the church buttresses fill the center. A left turn should swing my heading back onto the door so my next strides go straight at it.",
+        "The turn has brought the small black door into a workable part of my view, with the long dormered wing spread ahead of me. With open paving in front, I will step forward along this heading.",
+        "The dark doorway with its pale stone surround is slightly larger than a moment ago, so this heading is working. I keep walking rather than adjusting my facing.",
+        "The small door and the sign plate beside it are becoming clearer as the wing fills more of my view. The ground stays flat and empty, so another forward stride continues the approach.",
+        "The doorway now shows its recessed panels and step, yet it is still several strides off. I will move forward again to bring myself right up to it.",
+        "The small black door remains almost straight ahead and keeps growing, so no heading change is needed. I continue walking to close the remaining gap to the wall.",
+        "The small black door sits in the pale stone surround just left of center, still a fair stretch of paving away. My heading already lines up with it and the open plaza ahead is clear, so I will keep walking straight toward it.",
+        "The dark door and the small white sign beside it have grown slightly larger, confirming my last step closed distance rather than drifting off line. Nothing blocks the pavement between me and that wall, so another step forward should bring me nearer.",
+        "The black door stays fixed slightly left of my centerline while its stone arch resolves more clearly, so my current heading is good enough to keep. The brick buttress on the right stands well clear of my path. I step forward again.",
+        "I can now make out the doorway's recessed panels and the small step at its base, which means I am appreciably closer than a few paces ago. There is still open ground between me and the wall, so I continue straight ahead.",
+        "The doorway with its pale stone surround now fills a noticeable part of my view and sits comfortably in front of me. I am not yet close enough to count as standing at it, so I take another step forward.",
+        "The dark planked door and the small placard on the brick to its left are clearly legible in shape now, and the corner buttress passes to my right without crowding my line. Continuing straight should carry me closer to the doorway.",
+        "The doorway's stone step and worn timber are close enough to see in detail, but I am still standing out on the open paving rather than at the threshold. My heading points at it, so I advance again.",
+        "The black door now dominates the wall ahead of me, its step and arched head plainly in reach of a few more paces. Nothing stands between me and it, so I keep stepping toward the doorway.",
+        "The small dark door with its stone surround and low step is now close ahead, just left of center, and nothing blocks the paving between us. I will keep walking straight toward it to close the last of that gap.",
+        "The black door and its pale threshold step have grown larger and sit almost straight ahead, so my heading still leads onto it. Another stride forward should bring me nearly to the step.",
+        "The weathered black door now dominates my view with its stone frame and the step sitting just a short distance in front of my feet. I will advance again to stand right at that doorway.",
+        "The planks of the black door and its stone jamb fill nearly the whole view, and the step edge is immediately before me. One more short step should place me directly at the door rather than a pace short of it.",
+        "The dark planks of the small black door are right against me, with its stone jamb and the brick wall pressed close on either side. I have arrived at that door on the building. I mark reaching it and now turn my attention to the lamp post out on the open paving.",
+        "Standing this close, the door and brickwork block everything, so I cannot see the open ground where the tall lamp post stands. I will rotate left to begin sweeping my view off this wall and back toward the courtyard.",
+        "The turn has only shifted me across the door face, which still fills the whole view, so the courtyard remains out of sight. I will turn left again to keep swinging my heading away from this recess.",
+        "Brickwork and a window edge are now appearing on the left while the door slides off to the right, so the rotation is opening my view along the building. I will continue turning left until the paved square and its lamp post come into sight.",
+        "The small black door is right at my shoulder and its brick facade still fills most of my view, with only a strip of open ground showing on the left. I turn left again to swing my heading off the wall and out toward the open courtyard, where a lamp post should be findable.",
+        "The paved walk beside the building and a strip of lawn are now in view, but no lamp post appears anywhere in this narrow band. I keep turning left so my gaze sweeps further across the open ground instead of running along the wall.",
+        "The courtyard is opening out with trees, lawn and a distant range of buildings, yet the near facade still crowds the right side of my view. I continue turning left to bring the wide open space, and anything standing in it, squarely in front of me.",
+        "The whole courtyard is in front of me now, and slender lamp posts stand on the paving near the long pale building across the square. My heading still points a little wide of the route I want to walk, so one more left turn should line it up before I set off.",
+        "My heading now runs straight down the open paving, with the church corner at my left and a lamp post standing ahead on the courtyard edge. The ground between us is clear, so I step forward to begin closing that distance.",
+        "The lamp post is holding steady near the middle of my view while the church corner slides back along my left, which tells me my heading is good. I keep walking forward over the open paving to close on it.",
+        "The lamp post has grown a little and still sits dead ahead across the empty square, with nothing in the way. I continue forward, since more straight walking should keep shrinking the gap.",
+        "Each step brings the lamp post nearer, and it stays outlined against the pale building beyond with open ground the whole way. I walk forward again rather than adjust a heading that is already good.",
+        "The dark lamp post stands ahead of me at the edge of the lawn, still small against the long facade across the open paving. My heading points straight at it and the courtyard between us is clear and flat. I will keep walking forward to close that distance.",
+        "The lamp post has grown slightly and sits just right of my heading, with its shaft now clearly separated from the building behind it. Nothing blocks the pavement between us. Another step forward should bring it closer without any turn.",
+        "The lamp post keeps enlarging near the centre of my view as the grass wedge on my right slides past. My current heading still lines up well enough that no correction is needed. I continue walking straight toward it.",
+        "I can now make out the lamp post's base where it meets the grass strip beside the paving, which means I am steadily gaining on it. The route ahead remains open flat ground. I take another step forward.",
+        "The lamp post is noticeably taller in my view and its lantern head is now distinct against the sky. It stays roughly on my line of travel, so no reorientation is warranted. Walking on should close more of the remaining gap.",
+        "The post now rises well above the roofline of the long building behind it, a clear sign the distance is shrinking. My path across the paving beside the lawn is still unobstructed. I keep moving forward toward it.",
+        "The lamp post dominates the centre of my view and its footing on the grass is plainly visible just a short stretch ahead. I am close but not yet standing beside it. Another forward step should bring me nearer to its base.",
+        "The post now fills much of the height of my view, its lantern near the top edge and its foot clearly on the turf just ahead of me. A little ground still separates us. I advance again to draw right up to it.",
+        "The black lamp post stands clearly ahead of me on the grass verge, its base still several paces away. My heading keeps it near the middle of my view, so another step forward should shrink that gap without any turn.",
+        "The lamp post now fills more of my view and its base sits just left of my path on the grass. Nothing blocks the pavement between us, so I keep walking to close the remaining distance.",
+        "The lamp column is close enough now that its lantern head rises above my view, but its base is still a couple of paces off. I step forward again to stand right beside the post.",
+        "The dark column dominates the center of my view and its fluted base is just in front of me, though I am not yet level with it. One more step should bring me right up against the post.",
+        "The lamp post stands directly before me, its base within arm's reach. Both destinations are reached, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_d/infos.json

@@ -0,0 +1,286 @@
+{
+    "Instruction": "Navigate to the archway entrance, then proceed to the triple windows on the ground-floor.",
+    "Type": 3,
+    "Start_Pose": [
+        -8854.887,
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+        6943.085,
+        0.0,
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+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        [
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+            7929.117,
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+            0.0,
+            -170.6,
+            0.0
+        ],
+        [
+            -9763.756,
+            7929.117,
+            6940.001,
+            0.0,
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+            0.0
+        ],
+        [
+            -9867.604,
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+        ],
+        [
+            -9971.452,
+            7786.904,
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+            -145.6,
+            0.0
+        ],
+        [
+            -10075.3,
+            7715.798,
+            6940.986,
+            0.0,
+            -145.6,
+            0.0
+        ],
+        [
+            -10075.3,
+            7715.798,
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+        [
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+    ],
+    "Rationale": [
+        "The pointed stone archway that opens through the red brick range stands well ahead of me on the right side of this open paved court. Nothing blocks the flat ground between us, so I will walk straight forward to cut down that distance.",
+        "The archway and its lit passage have grown slightly larger, confirming my heading is carrying me toward it. The paving stays open, so I will keep walking forward.",
+        "The bright opening beyond the arch is now clearly readable, and the tracery windows along the wall are sliding past on my left as I close in. I am still too far to enter, so I will advance again.",
+        "The arch now fills a good part of the right half of my view, with its moulded surround and the raised terrace beside it plainly detailed. Another step forward should bring me near enough to line up with the opening.",
+        "As I closed in, the archway drifted toward the right edge of my view while the buttressed wall took the center. I will turn right to bring the opening back in front of me before continuing.",
+        "The turn has set the archway squarely ahead, with its passage and the light at the far end lined up on my heading. The paving between me and the entrance is clear, so I will step forward toward it.",
+        "The arch keeps growing on my centerline and the vaulted ceiling inside is beginning to show, so my line is good. I will continue walking straight toward the entrance.",
+        "The entrance now towers ahead with the inner doorways and the second arch beyond it clearly visible through the opening. I am close but not yet under it, so I will keep advancing.",
+        "The tall pointed archway is centered ahead of me, its dark passage already showing daylight at the far end. Nothing blocks the open paving between me and its threshold, so I will keep walking straight toward it.",
+        "The arch has grown noticeably larger and its moulded stone surround now fills much of my view, confirming I am closing on it. The paving stays clear straight ahead, so another step forward should bring me nearer the entrance.",
+        "I can now see through the archway into the covered passage with a second arch and the bright open ground beyond it. My heading is still lined up on the opening, so I keep advancing.",
+        "The stone arch now spans nearly my whole view and the brick pier on my left marks the edge of the opening, so I am almost at the threshold. Walking forward again should carry me into the passage itself.",
+        "I am right at the mouth of the archway, with its vaulted ceiling overhead and the tiled passage floor running ahead of me. One more step should put me properly inside the entrance.",
+        "I have passed under the outer arch and the covered passage now opens around me, with doorways along the brick wall to my right. Advancing a little more should place me squarely within the archway entrance rather than on its lip.",
+        "I am standing inside the vaulted brick passage of the archway, with its stone-framed inner arch opening to daylight directly ahead. This is the archway entrance I was heading for. I mark reaching it and turn my attention to the triple windows on the ground floor.",
+        "Ahead of me the passage only leads out to empty open ground, so the ground-floor triple windows are not this way. Backing up along the passage should return me toward the open forecourt where I can look for them without spinning around in this narrow space.",
+        "Standing inside the covered archway passage, the far opening lies ahead but the courtyard I need for the ground-floor triple windows opens off to my right. I will turn right to swing my heading away from the passage axis and toward that side opening.",
+        "The tall arch pier now sits on my right with open paving beyond it, so I am still tucked too far under the passage vault to swing out that way. Stepping backward should pull me clear of the pier and give me room to keep rotating toward the courtyard side.",
+        "With more clearance from the pier, the opening to the sunlit courtyard is still off to my right rather than in front of me. I will turn right again to bring that outward route into the center of my view.",
+        "The brick facade and the neighbouring pale stone building are now appearing on the right side of my view, so my heading is close but not yet on the courtyard. One more right turn should place that open frontage squarely ahead of me.",
+        "I am now clear of the archway with the long brick flank on my left and the open paved courtyard running ahead. I will walk forward along this frontage to close on the ground-floor windows.",
+        "The paved court is clear ahead and the ground-floor window bays along the wall to my left are growing larger. I will keep walking forward to bring the low triple window into close reach.",
+        "The window bays on my left are now close alongside me, but I am still short of the run of three lights on the ground floor. Another forward step should carry me level with them.",
+        "I am now abreast of the ground-floor windows, but they sit off my left shoulder while my view points down the courtyard. Turning left should face me squarely at the triple window on the lower wall.",
+        "The set of three tall leaded windows now sits square in front of me along the brick wall, but their stone sill band is still a little ahead on my left. I will step forward once more to draw level with that group of windows at ground level.",
+        "I stand right beside the three tall ground-floor windows, their sills within arm's reach. The task is complete, so there is no reason to move further."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_e/infos.json

@@ -0,0 +1,576 @@
+{
+    "Instruction": "Head toward the ground-floor window near the archway, then reach the black door.",
+    "Type": 3,
+    "Start_Pose": [
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+        6818.473,
+        6943.085,
+        0.0,
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+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "LookUp",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+        ],
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+        ]
+    ],
+    "Rationale": [
+        "From this corner of the open forecourt the deep stone archway sits off to my right, with the neighbouring wing and its ground-floor windows beyond it. I will turn right so that arch and the windowed wall beside it come into the middle of my view before I set off across the paving.",
+        "The archway now sits near the centre of my view with its passage opening straight through the building. The paving ahead is broad and clear, so I will walk forward to close the distance toward the arch and the windowed wall beside it.",
+        "The arch and the tall lancet windows of the right-hand wing are growing larger, confirming my heading is good. Nothing blocks the open paving, so I will keep walking forward.",
+        "I am still some distance from the archway, though its moulded surround and the ground-floor windows to its right are clearer now. I will continue forward along the same line to bring those windows within easy reach.",
+        "The arch fills much more of my view and the raised paved apron before the wing is now visible at its base. I will step forward again to reach the frontage where those low windows sit.",
+        "The archway is close ahead and the windowed wall runs off to my right at the level I need. One more step forward should place me on the paving right in front of that wing.",
+        "I am now standing just before the archway, but the ground-floor windows I want run along the wall to my right rather than straight ahead. I will turn right to put that windowed frontage in front of me instead of the arch passage.",
+        "The long wing with its row of ground-floor windows now lies ahead of me, with the archway just at my left shoulder. I will walk forward along the paving to draw up close beside those windows.",
+        "The tall ground-floor windows run along the brick facade ahead on my right, with the archway passage now behind my left shoulder. My heading is parallel to that wall, so a straight step should carry me nearer the window bay I want.",
+        "The windows on the right have grown noticeably larger and the paved edge of the walkway is drawing closer, confirming this heading is closing on them. I will keep walking forward along the facade rather than adjust my aim yet.",
+        "I am now close enough that a blue sign beside the archway pier is legible and the ground-floor window group fills much of the view. Another step forward should bring me alongside the window bay near that arch.",
+        "The brickwork now fills most of my view and the nearest triple window sits just above the plinth to my left front. Walking forward again should place me directly in front of that ground-floor window.",
+        "The window and its stone sill are large and close on my left, so I am nearly level with the bay I want. I will step forward once more to reach the stretch of wall directly beneath it.",
+        "I am walking right beside the facade, with the window sill just off my left and a brick buttress coming up ahead. One more step should bring me square with the window rather than short of it.",
+        "The buttress pier now blocks the centre of my view and the ground-floor window I want sits off to my left. Turning left should bring that window squarely in front of me instead of grazing past it.",
+        "The triple ground-floor window is now centred ahead above its stone sill and brick base, so my heading is right. A short step forward should close the last of the gap and put me at the window itself.",
+        "I am now right up against the brick wall, but my gaze sits low on the sill and plinth so only the bottom edges of the leaded panes show. I will look up to bring the tall ground-floor window fully into view and confirm I am standing at it rather than at plain brickwork.",
+        "The three tall leaded panes of the ground-floor window beside the archway now fill my view, close enough to see the stone mullions and the sill below them. I have reached that window. I mark reaching it and now set off for the black door.",
+        "The window wall is directly in front of me and leaves no room to swing around without scraping the brick. I will step back to open clearance from the facade before changing heading toward the black door.",
+        "The sill and brick courses still dominate my view, so I am not yet clear of the wall. Another step back should put me on open paving with enough space to turn freely.",
+        "I now have paving under me and the window wall stands ahead, which is a dead end for travel. I will turn left to swing my heading off the facade toward the open ground by the archway, where a route onward should open up.",
+        "The archway with its blue sign has come into the left of my view, so my heading is swinging the right way. I will keep turning left to put the open passage and paving in front of me instead of the corner buttress.",
+        "The archway now sits near the middle of my view with clear paving spreading to the left. I will continue turning left to face the open courtyard, which offers room to walk rather than the wall I was pressed against.",
+        "Open courtyard and a long building have swung into view on the left while the arch pier drifts to my right. One more left turn should line me up along the clear paving so I can walk out and search for the black door.",
+        "Having come off the window wall and swung around, I now face open paving with the long pale range on my left and the brick corner on my right. No dark door is within reach here, so I walk forward along the courtyard to open up the far end of this frontage.",
+        "The paving continues clear in front of me and the brick corner on my right is drawing nearer without blocking my line. I keep walking so more of the pale facade's far end comes into view, where a door is most likely to sit.",
+        "More of the long range is unrolling to my left as I advance, with the lamp post and lawn edge marking the open side. Nothing yet reads as a dark doorway, so another step forward should carry me further along this frontage.",
+        "The pink paved apron runs straight ahead between the lawn and the stepped brick base on my right, giving me a clean walking line. I continue forward to close on the far corner where the two buildings meet.",
+        "Near the point where the pale facade meets the brick block, a small recessed opening is beginning to resolve at ground level. It is still too far to judge, so I walk on to bring that end of the wall closer.",
+        "That ground-level opening ahead now looks like a doorway set into the pale range just before the brick corner. My heading already points at it, so I keep stepping forward rather than turning.",
+        "The doorway ahead is darker and more distinct with each step, framed in stone against the brick. The route stays open, so I continue forward to shorten the remaining distance to it.",
+        "The dark door and its stone surround sit ahead of me near the corner, still a fair span of paving away. Nothing stands between us, so I press on toward it.",
+        "With the window near the archway behind me, my remaining destination is the dark door set into the base of the long stone-fronted wing ahead, just left of the brick tower corner. The paving between us is wide and clear, so I will keep walking straight to cut down that distance.",
+        "The recessed dark door beside the brick tower base is a little broader in my view than a step ago, confirming my heading is closing on it. Nothing blocks the paved courtyard between me and that facade, so another stride forward is the simplest gain.",
+        "The doorway still reads only as a small dark rectangle at the foot of the sandstone-faced wing, so I am well short of it. My current heading keeps it steady in the right half of my view, and walking on should continue shrinking the gap.",
+        "The stone surround of the dark door is beginning to separate from the brickwork around it, a sign I am genuinely nearing that wall. The courtyard remains flat and open on my line, so I will keep advancing rather than adjust my heading yet.",
+        "The door and its light stone frame are now clearly resolved against the brick, close to the corner of the projecting tower. It still sits some way off across the paving, so I press forward on the same line.",
+        "The dark timber leaf of the door is now distinct, framed by pale stone and set low in the wall ahead. My path across the open courtyard stays unobstructed, so continuing forward keeps closing on it.",
+        "The facade is filling more of my view and the dark door stands out plainly at ground level, though I am still several strides short of its threshold. Another forward step should bring me nearer without needing any turn yet.",
+        "The door has drifted toward the right of my view as I close in, sitting just before the tower's stone plinth. It is still ahead of me rather than beside me, so I will take another stride forward before worrying about my heading.",
+        "Ahead across the open pavement I can now pick out a dark door recessed in a pale stone surround, set in the stone range just left of the tall brick tower, and it sits right of my current heading. I will turn right so that doorway comes onto my line of travel before I close the remaining distance.",
+        "The dark door in its pale stone frame now sits ahead on my heading with clear paving between us. I will walk forward to cut down that distance.",
+        "The doorway and its stone step are growing larger and stay ahead of me, so my heading is still good. Nothing blocks the paving in front, so I keep walking toward it.",
+        "I am still some way off; the dark door remains small in front of me with the brick tower base bulking on my right. I will keep advancing along this open stretch of paving.",
+        "The stone surround and the low step at the door are becoming legible, which tells me I am closing properly. I continue forward rather than adjust, since the door has not drifted off my heading.",
+        "The dark boarded door is clearly resolved now, with its small sign on the brickwork beside it. Another step forward should bring me close enough to work out my final approach line.",
+        "The tower's projecting brick plinth now crowds the right side of my view and my heading is carrying me toward that corner rather than to the door's threshold. I will turn left to swing my path onto the open paving that fronts the doorway.",
+        "With the heading swung off the projecting corner, the dark door and its step stand ahead across clear paving. I will walk forward to close on the threshold.",
+        "The dark plank door in its pale stone surround stands ahead and slightly right along this brick wing, still a good distance off. I will keep walking forward across the open paving to cut that gap down.",
+        "The door and its low stone step are noticeably larger now, sitting to the right of my heading with the mullioned window and drainpipe passing on my left. Another stride forward should bring me close enough to square up on it.",
+        "From here the dark door sits well off to the right of my heading, near the edge of my view, while my path points past it along the wall. Turning right should bring the doorway and its step into the middle of my view for a straight final approach.",
+        "The turn worked: the black door with its arched stone head and single step now sits centered ahead of me. I will walk straight in toward it.",
+        "The weathered black planks and the stone step now fill much of my view, with the red arrow signs on the brick to my left. A further step forward should put me right at the threshold.",
+        "The dark timber door and its stone jambs now occupy nearly my whole view, so only a short gap remains. I will take one more step to close onto the doorway itself.",
+        "The black door's planks and stone jamb are directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_f/infos.json

@@ -0,0 +1,356 @@
+{
+    "Instruction": "Move to the lamp post, then approach the small black door on the building.",
+    "Type": 3,
+    "Start_Pose": [
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+        6943.085,
+        0.0,
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+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
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+    ],
+    "Rationale": [
+        "The tall black lamp post stands on the paved walkway ahead and to my left, against the church wall. It is still far off across the open forecourt, so I will walk forward to cut the distance before refining my heading.",
+        "After closing some distance, the lamp post sits well off to my left while my heading points at the archway instead. I will turn left to bring the post nearer the centre of my view so my next steps carry me straight toward it.",
+        "The turn has swung the lamp post into clearer view, standing on the walkway ahead with the long church wall to its right. The paving in front of me is open and level, so I will walk forward toward the post.",
+        "The lamp post has grown noticeably larger and its base on the walkway is now visible. Nothing blocks the pavement between us, so I will keep walking to close the remaining gap.",
+        "The lamp post continues to fill more of my view and the grass verge beside its walkway is coming closer. My heading still runs toward it, so another step forward is the simplest way to gain ground.",
+        "The lamp post now rises past the roofline of the building behind it, showing I am much nearer. I will advance again to bring myself right up beside it.",
+        "The post's fluted base and the kerb it stands behind are close in front of me now. One more step forward should put me almost alongside it.",
+        "I am nearly at the post, but its lamp head is drifting toward the upper left of my view rather than lying straight ahead. I will turn left to square up with it so my remaining steps land me right at its foot.",
+        "The lamp post now stands directly ahead of me, its dark shaft filling the middle of my view with the paved strip running up to its base. It is still a few paces off, so I will walk forward to close that remaining gap.",
+        "I am close enough now that the lamp post's fluted collar and column dominate my view, but its base still sits slightly ahead of me on the grass edge. One more step forward should bring me right up alongside it.",
+        "The lamp post's base and fluted collar are right in front of me, close enough to touch, with the grass edge at my feet. I have reached the lamp post. I mark reaching it before setting off toward the small black door on the building.",
+        "Standing at the lamp post, the pole blocks most of my forward view and the long brick range with its doorways lies off to my left. I will turn left to bring that facade into view and start looking for the small black door.",
+        "With the lamp post now off to my right edge, the long brick wing opens up ahead across the lawn, with a recessed doorway in its face. I will walk forward to clear the post and get a better line on that facade.",
+        "From here the lawn stretches across most of my view and the doorway I want sits over toward the right, near where the brick wing meets the church corner. I will turn right to face that corner and put the paving in front of me.",
+        "The turn has lined me up with the paved apron and the small dark door set in the brick wall ahead near the corner. The way across the paving is clear, so I will walk forward toward it.",
+        "The small dark door in the brick wall is holding steady near the center right of my view and is growing as I advance. Nothing blocks the paving between us, so I will keep walking toward it.",
+        "The narrow dark door sits in the brick wall ahead where the long range block meets the taller church corner, still small in my view. My heading runs straight along the open paving toward it with nothing in the way, so I will walk forward to cut the remaining distance.",
+        "The dark door has grown slightly and stays just right of centre in my view, confirming my heading is still good. The paving in front of me is unobstructed, so another step forward should keep closing the gap.",
+        "I can now make out the stone surround around the small dark door in the brick wall ahead, and it is still some way off. Since my line of travel points at it across clear pavement, I will keep walking forward.",
+        "The door and its pale frame sit centred ahead of me and the grass edge is falling away to my left, so I am tracking straight across the open paving. Nothing blocks the route, so I continue walking toward the doorway.",
+        "The brick facade fills more of my view and the small dark door is clearly resolved, but I am not yet close enough to stand at it. I will step forward again along the same clear line.",
+        "The doorway with its arched top and small step is now plainly visible slightly right of my centre, and the paving between us is empty. Another forward step should bring me appreciably nearer to it.",
+        "I am close enough now to see the door's timber panels and the pale stone threshold at its base, yet a stretch of courtyard still separates us. I will keep moving forward to reduce it.",
+        "The dark door and its stone step dominate the wall ahead and the buttress corner is drawing near on my right, so my approach line remains sound. I will advance again to bring myself right up to the doorway.",
+        "The small dark door sits in the brick wall just right of my heading, still several paces off across the open paving. Nothing blocks the ground between me and it, so I will walk straight ahead to cut down that distance.",
+        "The door and its stone step are noticeably larger than a moment ago, confirming my heading is carrying me toward it. I will keep walking forward while the path stays clear.",
+        "The pale stone doorstep is now clearly visible at the base of the dark planked door ahead of me. I am still too far to be standing at it, so another step forward is the obvious move.",
+        "The weathered planks and arched stone frame of the door read plainly now, and it sits a little right of my line of travel. I will advance again to close the remaining gap before fine tuning my heading.",
+        "At this range the door has drifted off to the right side of my view, tucked into the corner where the two brick walls meet. A turn to the right should bring it back to the middle of my heading so my next steps land squarely in front of it.",
+        "The dark door and its stone step now sit ahead in my line of travel after the turn. I will step forward to close the last of the distance to it.",
+        "The door fills a large part of my view and the stone step is only a short walk ahead. Another forward step should bring me right up against the threshold.",
+        "The planked door and its stone frame now tower directly in front of me with the step at my feet. One more short step forward should place me immediately at the door.",
+        "The dark plank door and its stone step fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t5_a_pd/infos.json

@@ -0,0 +1,506 @@
+{
+    "Instruction": "Grab the metal bucket beside the black lamp post, then set it down near the arched gateway.",
+    "Type": 5,
+    "Start_Pose": [
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+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "pd",
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+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
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+    "PD_Dist_2D": [
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+    ],
+    "Rationale": [
+        "The black lamp post stands ahead on the left side of the courtyard with a dark metal bucket resting on the paving beside its base. It is still far off across the open forecourt, so I will walk forward to close that gap before judging my heading.",
+        "Walking straight kept the lamp post and its bucket off to my left while my heading points at the arched gateway instead. I will turn left so the bucket sits nearer the center of my path and I can approach it directly.",
+        "The turn has brought the lamp post and the dark bucket at its foot roughly ahead of me. Nothing blocks the open paving between us, so I will walk forward to shorten the remaining distance to the bucket.",
+        "The bucket beside the lamp post is noticeably larger now but still well beyond arm's reach on the pavement edge. My heading remains lined up with it, so I will keep walking forward rather than adjust the turn.",
+        "The metal bucket at the foot of the black lamp post is clearly resolved just left of center and sits where the paving meets the walkway. It is still too far to grasp, so I will advance again to bring it within reach.",
+        "The metal bucket beside the black lamp post is clearly ahead and slightly left, but it still sits several paces away at the paving edge. I will step forward again to close that remaining gap so the bucket comes within reach for a grasp.",
+        "The metal bucket now stands large in front of me, right at the foot of the black lamp post. My hands are empty and it looks close enough to seize, so I will attempt to pick it up.",
+        "That grasp attempt did not take hold, since my hands are still empty. I was evidently a step short of the bucket. I will walk forward once more to stand directly over it.",
+        "The bucket's rim now looms directly in front of me, far nearer than during my earlier unsuccessful grasp, with the lamp post just behind it. My hands are still empty, so I will try the pick again from this closer stance.",
+        "The grasp worked this time, as the bucket is now carried with me instead of resting on the pavement. The arched gateway lies well behind my right shoulder from this heading, so I will turn right to begin swinging around toward it.",
+        "The bucket is in my hands and travels with me, so the grasp held. My view is still filled by the brick nave wall, with only the edge of the archway showing at the far right. I will turn right again to bring the arched gateway into the middle of my heading.",
+        "The arched gateway with its dark passage is now visible ahead but still sits right of my straight-ahead line, and the buttressed wall blocks the left of my path. Carrying the bucket, I will turn right once more so the opening lines up with my walking direction.",
+        "The arched gateway now lies close to my heading with open paving between me and it, and the bucket is still in my hands. Nothing obstructs the route across the courtyard. I will walk forward to carry the bucket toward the archway.",
+        "The arch has grown noticeably larger and its shaded interior is clearer, confirming my last step closed distance along a clear line. The bucket remains with me. I will keep walking forward toward the gateway.",
+        "The gateway opening is much nearer now, with daylight showing through to the far side, so my approach is working. I still carry the bucket and the paving ahead stays clear. I will advance again to reach the archway before setting it down.",
+        "The bucket is still with me, so the remaining job is to carry it to the arched gateway ahead. The stone arch now fills much of the view but I am still out on the open forecourt, short of its threshold. I will step forward to close that gap.",
+        "The archway opening is noticeably larger and the passage behind it is now visible, so my heading is carrying me toward the right target. I am still standing on the outer paving rather than at the gateway itself, with the bucket in hand. Another step forward should bring me nearer the arch.",
+        "The gateway's inner corridor and far arch are clearly framed ahead, confirming I am closing on the correct structure while still holding the bucket. My position remains just outside the threshold, too far out to set the bucket down near the gateway. I will advance again.",
+        "I am close to the threshold, but the arch opening sits left of my heading while the brick wall and signboard occupy the centre and right of my view. Walking straight now would take me past the entrance rather than through it. I will turn left to face the passage squarely.",
+        "The archway is now centred in front of me with the corridor running straight ahead, so my heading is corrected. I am still just outside the opening with the bucket in hand. I will walk forward to reach the gateway area where I can set it down.",
+        "The bucket is still secure in my hands, and I am now standing under the vaulted passage with its far arched opening framed straight ahead. The paving in front of me is wide and unobstructed, so I walk forward to close the remaining distance to the gateway before setting the bucket down.",
+        "I am inside the passage now and the arched gateway sits a short distance ahead, slightly left of my heading but still well within reach of a straight walk. Since I want the bucket placed near that arch rather than back at the entrance, I take another step forward.",
+        "The arched gateway is now only a few paces ahead of me and I am standing on the open paving directly in front of it, still holding the bucket. This position satisfies the requirement to place it near the gateway, so I release the bucket here and expect it to settle on the ground.",
+        "The metal bucket now stands on the paving directly before the arched gateway, out of my hands. The task condition is met, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-008950_y004396_z006950_t1_a/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Search for the dark arched door flanked by two square planters on a brick building; after locating it, navigate to that entrance.",
+    "Type": 1,
+    "Start_Pose": [
+        -8949.685,
+        4396.475,
+        6949.842,
+        0.0,
+        -174.72,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8949.685,
+            4396.475,
+            6949.842,
+            0.0,
+            -174.72,
+            0.0
+        ],
+        [
+            -8949.685,
+            4396.475,
+            6949.842,
+            0.0,
+            -149.72,
+            0.0
+        ],
+        [
+            -8949.685,
+            4396.475,
+            6949.842,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -9021.37,
+            4293.026,
+            6949.842,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -9093.055,
+            4189.577,
+            6949.842,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -9164.74,
+            4086.127,
+            6943.86,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -9236.425,
+            3982.678,
+            6960.439,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -9308.11,
+            3879.229,
+            6960.439,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -9368.833,
+            3788.663,
+            6960.747,
+            0.0,
+            -124.72,
+            0.0
+        ],
+        [
+            -9368.833,
+            3788.663,
+            6960.747,
+            0.0,
+            -124.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the lawn I can see a long brick facade with rows of arched windows, a bench and a paved walkway, but no dark arched doorway with square planters in this heading. The facade continues off to my right, so I will turn right to scan that unseen stretch of wall for the entrance.",
+        "Turning has brought a recessed dark door with an arched head into view on the right side, flanked by two square dark planters against the brick wall. It still sits well off my center, so I will continue turning right to bring that entrance in front of me before approaching.",
+        "The dark arched door with its two square planters is now roughly centered ahead of me across the grass and paving. With the target clearly identified, I will walk forward to close the distance toward that entrance.",
+        "The doorway and its two planters have grown larger and stay centered in my view, confirming my heading is good. I will keep walking forward toward the entrance since the paved area ahead looks clear.",
+        "I am now on the paving with the arched door directly ahead between the two square planters. Nothing blocks the path, so I will continue forward to reduce the remaining distance to the entrance.",
+        "The door now fills much of my view, with the flanking planters spread to either side of my path. I will step forward again to move into the gap between them and closer to the doorway.",
+        "I am between the two planters with the dark arched door immediately ahead and slightly left of center. I will advance once more to reach the threshold of the entrance.",
+        "The dark panelled door and its arched frame now fill nearly the whole view, with the right planter close beside me. I will take one more short step forward to settle directly at the entrance.",
+        "The dark arched door's paneling fills my view at arm's length. The entrance is reached, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009042_y006975_z006942_t2_a/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Walk to the third triple-arched window on the ground floor from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -9041.579,
+        6974.739,
+        6941.673,
+        0.0,
+        177.6,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -9041.579,
+            6974.739,
+            6941.673,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9167.328,
+            6980.009,
+            6941.165,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9293.076,
+            6985.28,
+            6940.391,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9418.825,
+            6990.55,
+            6939.862,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9544.574,
+            6995.82,
+            6939.097,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9670.322,
+            7001.091,
+            6948.242,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9796.071,
+            7006.361,
+            6948.492,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9921.819,
+            7011.632,
+            6948.743,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10047.568,
+            7016.902,
+            6948.999,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10173.317,
+            7022.173,
+            6948.999,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10299.065,
+            7027.443,
+            6949.252,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10424.814,
+            7032.713,
+            6949.002,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10550.562,
+            7037.984,
+            6948.471,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10550.562,
+            7037.984,
+            6948.471,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10666.757,
+            6989.617,
+            6948.218,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10782.951,
+            6941.25,
+            6947.837,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10899.145,
+            6892.883,
+            6947.416,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10899.145,
+            6892.883,
+            6947.416,
+            0.0,
+            -157.4,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The long brick wall ahead carries a run of triple-arched ground-floor windows, and counting from the left end beside the archway passage, the third one is my target. The bays look nearly identical, so I hold its place as the window two bays past that archway. It lies well ahead, so I walk forward.",
+        "The facade still stands obliquely to my left and the window I picked is far too distant to stand beside. The paved court in front of me is clear, with only the lamp post off to the right of my path. I keep stepping forward.",
+        "The arched windows have grown noticeably larger, which tells me I am closing on the wall but am still short of my window. Nothing blocks the paving between me and it. I continue walking forward.",
+        "The lamp post now sits at the right edge of my view, so my line along the courtyard stays clear. My window is still further along the wall than my current position. Another step forward should bring me closer.",
+        "The brick wall now fills most of my view and the paved court opens straight ahead, so I have room to keep going. I am not yet level with the window I chose. I walk forward again.",
+        "The nearest bays have begun sliding past my left shoulder as I advance along the wall. The window I am heading for is still further along, near where the brick meets the pale stone wing with the pointed doorway. I keep moving forward.",
+        "The left end of the wall where I first counted has now dropped out of my view, so I follow the window I already chose rather than counting the bays in front of me. It is still ahead along the brickwork. I walk on.",
+        "My window now reads clearly at the left of my view, its three arches large and close, but I am still slightly short of standing beside it. The paving beside the wall stays open. I take another step forward.",
+        "The three lancets of my bay now rise past the top of my view, so the distance is nearly gone, though my shoulder has not yet drawn even with them. The strip of paving along the brick plinth is empty. I take another stride.",
+        "The wall is sweeping leftward faster than it grows, which tells me I am coming abreast of the facade rather than meeting it head on. My bay still needs a little more ground before I stand at its arches. I walk on.",
+        "This close, the facade no longer reads as a countable row at all, just brick, one huge set of lancets beside me and another triple bay past the pier. So I follow the bay I fixed on earlier instead of any tally, and keep advancing.",
+        "Brickwork now occupies most of my view, yet the paving at the foot of the wall still runs open ahead of me. My bay lies just beyond the projecting pier on my left. One more step forward closes that gap.",
+        "Hugging the wall this tightly, the brick has swallowed almost my whole view and I can barely see where the paving continues. A small swing to the right should ease my heading off the masonry and reopen the courtyard for the last stretch alongside my bay.",
+        "The heading change has opened things up: clear paving runs ahead and the pale wing with the pointed doorway stands off to my right, while my bay's arches hold the left. A few paces remain before I am properly alongside it, so I move on.",
+        "The lancets are sliding back past my left shoulder as I close the last of the distance, and nothing interrupts the paving in front of me. Another pace or two should set me level with the bay. I keep walking.",
+        "The stone sill of my bay is right at my shoulder now and its glass rises almost overhead, so I am practically in place. A final short step should leave me squarely beside it.",
+        "The sill and glass of my triple-arched bay stand directly at my left shoulder, an arm's length away. I am at the target, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009042_y006975_z006942_t2_b/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Head toward the second ground-floor triple window on the ground floor from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -9041.579,
+        6974.739,
+        6941.673,
+        0.0,
+        177.6,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -9041.579,
+            6974.739,
+            6941.673,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9167.328,
+            6980.009,
+            6941.165,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9293.076,
+            6985.28,
+            6940.391,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9418.825,
+            6990.55,
+            6939.862,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9544.574,
+            6995.82,
+            6939.097,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9670.322,
+            7001.091,
+            6948.242,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9796.071,
+            7006.361,
+            6948.492,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9921.819,
+            7011.632,
+            6948.743,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10047.568,
+            7016.902,
+            6948.999,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10173.317,
+            7022.173,
+            6948.999,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10299.065,
+            7027.443,
+            6949.252,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10424.814,
+            7032.713,
+            6949.002,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -10424.814,
+            7032.713,
+            6949.002,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -10536.553,
+            7090.634,
+            6947.856,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -10648.293,
+            7148.554,
+            6945.188,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -10648.293,
+            7148.554,
+            6945.188,
+            0.0,
+            152.6,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Counting the ground-floor triple windows along this brick facade from the archway end on the left, my target is the second group, the one standing between two buttresses just right of the first. The groups look alike, so I hold its place against that archway and its own pair of buttresses. I step forward across the open paving to close the long gap.",
+        "The facade is noticeably larger and the window bay I picked still sits ahead and slightly left of my heading. The paved forecourt in front of me is clear, so I keep walking straight toward the wall.",
+        "The lamp post has drifted well over to my right, confirming my line is carrying me along the brick wall rather than into the courtyard. My target window group remains left of center and still distant, so I continue advancing.",
+        "The paved apron now spreads all the way to the base of the brick wall, giving me a clean run in. The window group I am heading for is bigger but still several strides off. I keep moving forward.",
+        "The wall is close enough now that the stone tracery of the lower windows reads clearly, and the bay I am aiming for lies off to my left along the run. No obstacle stands between me and it, so I take another step forward.",
+        "My heading is drawing me diagonally in toward the brickwork, with the window group I chose still ahead on the left. Distance is the only thing left to reduce, so I keep walking.",
+        "The lower windows on my left now dominate the view, and the buttresses flanking my chosen bay are clearly picked out. I advance again to bring myself in front of it.",
+        "The archway end of the row has slipped past the left edge of my view, so I stop counting and simply hold to the window group framed by its buttresses on my left. It is close but still ahead of me, so I keep stepping forward along the wall.",
+        "The triple lancet group I chose fills the left half of my view now, with its flanking buttress standing clear of the brick plinth. The paving in front stays open right up to the wall, so I keep walking to draw level with the bay.",
+        "The three lancets and their stone surround are close enough that the leaded panes read individually, and the buttress marking the near edge of the bay sits just ahead on my left. Nothing blocks the paving, so I take another stride along the facade.",
+        "My chosen window group now spans the whole left side, though my line still carries me a little past its centre rather than into it. I advance once more to bring myself abreast of the brick plinth beneath it.",
+        "I am now standing at the plinth of my window group, but my heading runs along the wall so the lancets are cut off at the left edge. Turning left should swing my facing squarely onto the three windows and the buttress that ends their bay.",
+        "The turn has put the triple lancets centred in front of me with their buttress at the right of the group. Only a short span of paving separates me from the wall, so I step in toward the window sill.",
+        "The sill course and brick base of my window group now fill most of the view, with the lancets rising directly above me. One more step should place me right at the foot of the bay.",
+        "I stand directly at the sill of the triple lancet group I selected, its stone mullions an arm's length away. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009042_y006975_z006942_t2_c/infos.json

@@ -0,0 +1,246 @@
+{
+    "Instruction": "Walk to the second triple-arched window on the ground floor from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -9041.579,
+        6974.739,
+        6941.673,
+        0.0,
+        177.6,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -9041.579,
+            6974.739,
+            6941.673,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9167.328,
+            6980.009,
+            6941.165,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9293.076,
+            6985.28,
+            6940.391,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9418.825,
+            6990.55,
+            6939.862,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9544.574,
+            6995.82,
+            6939.097,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9670.322,
+            7001.091,
+            6948.242,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -9670.322,
+            7001.091,
+            6948.242,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -9786.516,
+            6952.724,
+            6948.492,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -9902.711,
+            6904.357,
+            6948.743,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10018.905,
+            6855.99,
+            6949.252,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10135.099,
+            6807.623,
+            6949.502,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10251.294,
+            6759.256,
+            6949.757,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10367.488,
+            6710.889,
+            6950.012,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10483.682,
+            6662.522,
+            6950.262,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10599.877,
+            6614.155,
+            6950.513,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10716.071,
+            6565.787,
+            6950.764,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10832.265,
+            6517.42,
+            6951.018,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -10948.46,
+            6469.053,
+            6951.018,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -11064.654,
+            6420.686,
+            6951.018,
+            0.0,
+            -157.4,
+            0.0
+        ],
+        [
+            -11064.654,
+            6420.686,
+            6951.018,
+            0.0,
+            177.6,
+            -0.0
+        ],
+        [
+            -11064.654,
+            6420.686,
+            6951.018,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -11176.393,
+            6478.607,
+            6950.503,
+            0.0,
+            152.6,
+            -0.0
+        ],
+        [
+            -11176.393,
+            6478.607,
+            6950.503,
+            0.0,
+            152.6,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "A row of triple arched windows runs along the chapel's ground floor, ending on the right at the recessed pointed doorway near the corner. My target is the second window in from that end, two bays left of that doorway. It is far across the open paving, so I walk forward.",
+        "The chapel wall is still well ahead, and the window I want, two bays left of the recessed doorway, remains distant. The paving in front of me is clear of obstacles, so I keep walking to close the gap.",
+        "The facade now fills more of my view, but I am still out in the open courtyard with the lamp post standing off to my right. Nothing blocks the paved ground ahead, so I continue toward the window two bays left of the recessed doorway.",
+        "The ground floor windows now read clearly along the wall, and the recessed doorway that fixes my count sits ahead and to the right. I am still well short of the wall, so I keep advancing across the paving.",
+        "The lawn and lamp have slid out of view and the brick wall dominates ahead, with the pointed doorway still off to my right. My window lies two bays left of that doorway, so I keep walking to bring that stretch of wall within reach.",
+        "The recessed doorway that anchors my target sits well right of my current heading, and walking straight on would carry me past that end of the wall. I turn right to swing my facing toward the courtyard corner and the window two bays left of that doorway.",
+        "The turn has brought the courtyard corner and the recessed pointed doorway near the middle of my view, with the arched ground floor windows stepping away to its left. My target is the second of those, still some distance off, so I walk forward.",
+        "The wall is noticeably closer and the pointed doorway holds steady ahead of me, with the arched windows ranged to its left. I keep moving forward over the clear paving to reach the window two bays left of that doorway.",
+        "The pointed doorway sits squarely ahead where the brick chapel meets the pale sandstone range, and the arched bays step away to its left along the wall. My target is the second of those bays, and a broad stretch of empty paving still separates me from it. I step forward again.",
+        "Each stride enlarges the brickwork on my left while the doorway holds its place at the courtyard corner, so my heading is still true. Nothing stands on the paving between me and the wall. I continue toward the second bay left of that doorway.",
+        "Buttresses now separate the arched bays clearly along the brick face, and the doorway that anchors my count has grown noticeably larger. I am still too far out on the open courtyard to stand at any one bay. Another step forward.",
+        "The corner where the red brick meets the lighter stone wing is close enough now to read plainly, with the doorway tucked just before it. Two bays left of that doorway is where I need to be, and I am not yet abreast of the wall. I press on across the paving.",
+        "The nearest bays on my left are beginning to loom and foreshorten, so the wall no longer reads as a neat row from here. The doorway is still in view, and I keep my target fixed as the second bay to its left. I walk on.",
+        "From this angle only the last few bays before the doorway remain legible, and the one I want is the farther of that final pair. I am still out on the paving rather than beside the wall. Forward again to close the remaining gap.",
+        "The doorway with its lamp bracket is now clearly detailed, and the two bays to its left stand out on the brick face. My target is the second of them, slightly ahead and to my left. I keep walking to draw level with that stretch of wall.",
+        "I am nearly at the brick face, with the buttress that flanks my bay just off to my left and the doorway close on the right. A little more ground still lies between me and a position directly in front of that second bay. I advance again.",
+        "The brick face on my left is steep and foreshortened now, with the arched bay next to the doorway showing beyond the buttress and my own bay's tracery filling the near wall. I am still offset from a position squarely in front of it, so I take another step along the paving.",
+        "The doorway with its lamp sits close on my right and the narrow bay beside it is plainly the one before mine, which means my window is the tall traceried opening filling the wall to my left. My line of travel has not yet carried me level with its centre, so I walk on.",
+        "I am now standing off the wall roughly opposite my window, whose lights and stone sill run along my left while my heading still points at the courtyard corner. Turning left should swing my facing off the doorway and onto that bay.",
+        "The turn has brought the tall window and its brick plinth across most of my view, but its lights still sit left of centre with the buttress and downpipe holding the middle. A second turn should centre the bay in front of me.",
+        "The three lancet lights of my window now sit squarely ahead above their stone sill, with the buttress framing the bay on my left. A short stretch of paving still separates me from the wall, so I step in to stand directly at it.",
+        "The triple-arched window's lights and sill fill my view directly ahead, close enough to touch. I am standing at the target bay, so the task is done and I stop."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t0_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Move to the blue sign on the wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -9097.365,
+        5009.125,
+        6949.842,
+        0,
+        -116.96,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -9097.365,
+            5009.125,
+            6949.842,
+            0,
+            -116.96,
+            0
+        ],
+        [
+            -9154.426,
+            4896.944,
+            6949.842,
+            0.0,
+            -116.96,
+            0.0
+        ],
+        [
+            -9154.426,
+            4896.944,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9158.73,
+            4771.159,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9163.035,
+            4645.373,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9167.34,
+            4519.588,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9167.34,
+            4519.588,
+            6949.842,
+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -9118.082,
+            4403.768,
+            6949.842,
+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -9068.824,
+            4287.949,
+            6949.842,
+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -9019.566,
+            4172.129,
+            6949.842,
+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -8970.308,
+            4056.31,
+            6949.842,
+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -8970.308,
+            4056.31,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -8974.613,
+            3930.525,
+            6949.466,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -8978.917,
+            3804.739,
+            6962.104,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -8983.222,
+            3678.954,
+            6962.357,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -8987.526,
+            3553.168,
+            6962.867,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -8987.526,
+            3553.168,
+            6962.867,
+            0.0,
+            -91.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From the lawn I can see the long brick frontage ahead, and the small blue plaque is mounted on the wall to the right of the main doorway, still far off. I will move forward across the grass to begin closing that large gap before refining my heading.",
+        "The frontage is closer now, but the blue plaque sits well to the right of my current heading, near the far end of the wall. I will turn right so my facing swings toward that part of the building instead of the blank wall straight ahead.",
+        "After the turn the blue plaque and the paved walkway beside it are now within my forward field of view, with open lawn between me and them. I will move forward to cut down that distance along the grass.",
+        "The wall and the plaque have grown noticeably, so my current heading is carrying me usefully toward the target. I will continue forward while the ground ahead stays clear grass.",
+        "The doorway, bins and the small blue plaque on the brickwork are all closer and clearly resolved, so I am still short of the sign. I will take another step forward to keep closing on the frontage.",
+        "The facade now runs diagonally across the left of my view and my heading points into the wall near the entrance, while the blue plaque lies further along the frontage to the right. I will turn right to aim along the pavement toward the sign rather than into the brickwork.",
+        "With the new heading the blue plaque and the bench beneath it are ahead of me, with open paving and lawn in between. I will move forward to continue reducing the distance to the sign.",
+        "The plaque is bigger and its blue panel is now distinct on the brick wall just ahead and slightly left, so I still have ground to cover. I will step forward again along this heading toward it.",
+        "The small blue sign is mounted on the brick wall ahead to my left, still some distance away along the paved walkway. I will step forward on the clear pavement to close that gap before committing to a final heading change.",
+        "The blue sign has grown noticeably larger and the bench beneath it is now clearly resolved, so I am closing distance correctly. Another forward step along the walkway should bring me near enough to turn and face the sign directly.",
+        "I am now nearly level with the blue sign, but it sits off to my left on the brick wall rather than in front of me. I will turn left to bring the sign toward the center of my view and point my heading at the wall it hangs on.",
+        "After the turn the blue sign sits closer to the middle of my view with the wide paved terrace open in front of me. I will move forward along this heading to shrink the remaining distance to the wall-mounted sign.",
+        "The sign and the bench under it are noticeably larger, confirming my heading leads straight to the target wall. I will continue forward to keep closing in.",
+        "The blue plaque and the surrounding brickwork now dominate a large part of my view, so I am only a couple of steps from the wall. I will advance again to reach a close standing position in front of the sign.",
+        "The sign is directly ahead at close range with the bench just to its right and clear pavement under me. One more forward step should place me right at the wall beneath the sign.",
+        "The blue wall sign now fills the view directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Walk to the wooden bench on the left side of the building.",
+    "Type": 2,
+    "Start_Pose": [
+        -9097.365,
+        5009.125,
+        6949.842,
+        0.0,
+        -116.96,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -9097.365,
+            5009.125,
+            6949.842,
+            0.0,
+            -116.96,
+            0.0
+        ],
+        [
+            -9097.365,
+            5009.125,
+            6949.842,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9196.489,
+            4931.569,
+            6949.842,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9295.613,
+            4854.013,
+            6949.842,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9394.738,
+            4776.458,
+            6949.842,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9493.862,
+            4698.902,
+            6949.842,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9592.986,
+            4621.346,
+            6949.842,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9692.11,
+            4543.79,
+            6945.34,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9791.234,
+            4466.235,
+            6957.128,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9890.358,
+            4388.679,
+            6957.128,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9890.358,
+            4388.679,
+            6957.128,
+            0.0,
+            -141.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two wooden benches stand along the brick facade, one to the left of the arched entrance and one to its right beside the blue sign, so the left-hand bench under the hanging planter is my target. It sits well off my current heading toward the left edge of my view. I will turn left to bring it in front of me before walking.",
+        "The bench with the hanging planter above and to its left now sits near the middle of my view, so my heading is good. It is still far across the lawn and the paved strip. I will step forward to close that distance.",
+        "The bench has grown slightly and stays near the center of my view, confirming I am tracking straight at it. The grass still fills the foreground, so I am not yet on the paving. I will keep walking forward.",
+        "The bench against the brick wall is clearly larger now and holds its place ahead of me, so no correction is needed. A good stretch of lawn and paving still separates us. I will advance again.",
+        "The bench now reads plainly, its slatted back and legs distinct against the brickwork, and it remains slightly left of center. The paving edge is close but I am still on grass. Another forward step should carry me onto the walkway.",
+        "The lawn has shrunk to a thin band at the bottom and the bench fills a good part of my view, so I am nearly at the wall. I am still several paces short of standing beside it. I will step forward again.",
+        "I am on the paving now, with the bench directly ahead against the brick and the grass out of view. The gap is short but I am not yet within arm's reach of it. I will close the remaining distance with another step.",
+        "The bench now spans much of my view, its weathered slats and armrest clearly detailed just ahead on the paving. A short gap still remains before I am standing right at it. I will take one more step forward.",
+        "The bench dominates the lower half of my view with individual slats and the grain of its seat readable, and the window beside it fills the wall above. Only a stride or so of paving still lies between me and its front edge. One more step should bring me right up beside it.",
+        "The bench back rises immediately in front of me, close enough to touch against the brick wall. I have arrived at it, so there is no reason to keep walking."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Approach the left arched entrance door of the brick building.",
+    "Type": 2,
+    "Start_Pose": [
+        -9097.365,
+        5009.125,
+        6949.842,
+        0.0,
+        -116.96,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -9097.365,
+            5009.125,
+            6949.842,
+            0.0,
+            -116.96,
+            0.0
+        ],
+        [
+            -9154.426,
+            4896.944,
+            6949.842,
+            0.0,
+            -116.96,
+            0.0
+        ],
+        [
+            -9211.486,
+            4784.763,
+            6949.842,
+            0.0,
+            -116.96,
+            0.0
+        ],
+        [
+            -9268.547,
+            4672.582,
+            6949.842,
+            0.0,
+            -116.96,
+            0.0
+        ],
+        [
+            -9268.547,
+            4672.582,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9272.851,
+            4546.796,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9277.156,
+            4421.011,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9281.461,
+            4295.226,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9285.765,
+            4169.44,
+            6956.551,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9290.07,
+            4043.655,
+            6960.001,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9294.374,
+            3917.87,
+            6960.517,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9294.374,
+            3917.87,
+            6960.517,
+            0.0,
+            -116.96,
+            0.0
+        ],
+        [
+            -9294.374,
+            3917.87,
+            6960.517,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9393.498,
+            3840.314,
+            6960.517,
+            0.0,
+            -141.96,
+            0.0
+        ],
+        [
+            -9393.498,
+            3840.314,
+            6960.517,
+            0.0,
+            -141.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two arched entrances break the long brick facade ahead, and the one I want is the left of them, the doorway with the pale stone surround, a small lamp above it and two dark boxes flanking it, while the other sits far off to the right past the blue sign. A wide lawn still separates me from it, so I will walk straight ahead to close that gap.",
+        "The arched doorway with the lamp and its two flanking boxes is noticeably larger now, though the benches and paved strip at the wall are still well ahead of me. Nothing blocks the open grass in front, so I will keep walking forward.",
+        "The paved apron along the building now fills more of my view and the arched door with its lamp stands clearly to the right of my heading. I am still several paces short of the paving, so I will continue walking forward.",
+        "The arched entrance with the lamp and its two flanking boxes sits to the right of where I am pointed, so walking straight would carry me past it into blank brickwork. I will turn right to bring that doorway onto my line of travel before advancing again.",
+        "The turn has put the arched door with the lamp and its paired boxes ahead of me with clear paving between us. I will step forward to close that remaining distance.",
+        "The doorway's stone surround and the two boxes beside it are clearly resolved now, but I am still out on the grass beside the raised paving. I will keep advancing toward that entrance.",
+        "I am close enough now that the arched door, its lamp and the two boxes fill much of the wall ahead of me, slightly to my left. A few more paces of paving remain before I am in front of it, so I will move forward again.",
+        "The arched entrance with its lamp above and a box on either side is now near, sitting off to my left as I walk along the paving. I will step forward once more to draw level with it.",
+        "The glazed arched door and the box on its near side are now large on my left, but my heading still runs along the wall rather than into the recess. A little more paving lies between me and the point opposite the doorway, so I will keep walking.",
+        "The dark panelled leaves of the entrance are only a few paces off my left shoulder, with clear brick paving underfoot and nothing in the way. One more step should bring me level with the doorway before I swing toward it.",
+        "I have drawn level with the entrance: its glazed leaves are sliding off the left edge of my view while my heading points down the empty wall toward the benches. I will turn left to bring that doorway back in front of me instead of walking past it.",
+        "The turn has pulled the arched doors back into view, though they still sit left of centre with brickwork and the box filling my right side. Another turn the same way should square my body with the entrance.",
+        "I am now squared onto the arched doorway, its two glazed leaves centred with a box standing to either side. Only a short stretch of paving separates me from the threshold, so I will step forward to close it.",
+        "The glazed panes and handle of the arched entrance are directly in front of me at arm's length. I have reached this doorway, so there is nothing further to approach."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_d/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Navigate to the bench on the right near the far door.",
+    "Type": 2,
+    "Start_Pose": [
+        -9097.365,
+        5009.125,
+        6949.842,
+        0.0,
+        -116.96,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -9097.365,
+            5009.125,
+            6949.842,
+            0.0,
+            -116.96,
+            0.0
+        ],
+        [
+            -9154.426,
+            4896.944,
+            6949.842,
+            0.0,
+            -116.96,
+            0.0
+        ],
+        [
+            -9154.426,
+            4896.944,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9158.73,
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+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9163.035,
+            4645.373,
+            6949.842,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9167.34,
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+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -9167.34,
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+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -9118.082,
+            4403.768,
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+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -9068.824,
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+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -9019.566,
+            4172.129,
+            6949.842,
+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -8970.308,
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+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -8921.05,
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+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -8871.792,
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+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -8822.534,
+            3708.852,
+            6962.837,
+            0.0,
+            -66.96,
+            0.0
+        ],
+        [
+            -8822.534,
+            3708.852,
+            6962.837,
+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -8826.839,
+            3583.066,
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+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -8831.143,
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+            0.0,
+            -91.96,
+            0.0
+        ],
+        [
+            -8831.143,
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+            -91.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two benches stand along this brick facade, one far to my left and one at the right end beside the recessed doorway at the end of the building, and that right-hand one by the door is my target. I am still out on the grass, so I will walk forward to close the gap toward the paved walkway.",
+        "The bench beside the far doorway sits well off to the right edge of my view while the building fills the center. Turning right should swing my heading toward that end of the facade so I can walk straight at it.",
+        "The turn opened up the right end of the building, and I can now see the bench set against the wall next to the far doorway. Nothing blocks the grass ahead, so I will step forward to shorten the distance.",
+        "The bench by the far doorway is growing larger and stays slightly right of my heading, which tells me I am closing on it correctly. I will keep walking forward across the open grass.",
+        "The far doorway and the bench beside it are clearly resolved now, though still a good stretch of lawn away. Another forward step should bring me nearer the paved strip that runs past them.",
+        "As I have advanced along the facade, the bench by the far doorway has drifted to the right of my heading. I will turn right to put it back in front of me before continuing.",
+        "A separate bench has come into view out on the open ground to my right, but mine is the one tucked against the brick wall beside the doorway at the end of the building. With that bench now roughly ahead, I will walk forward toward it.",
+        "The bench against the wall next to the far doorway is noticeably closer and still lies just ahead of me. I will continue walking forward along the grass beside the paving to reach it.",
+        "My bench sits against the brick beside the recessed door near the corner of the building, and it now reads clearly ahead and slightly left of me. The lawn between us is open and level, so I will keep walking straight toward it.",
+        "The wall-side bench and the dark door beside it have grown noticeably, confirming I am closing along the right course. Another step forward should carry me further down the grass strip toward that corner of the building.",
+        "The bench's slats and armrests are now distinct where it stands under the blue sign beside the door, so there is no doubt which one I am heading to. I will keep advancing while the ground stays clear.",
+        "Only a short stretch of grass and paving separates me from the bench at the base of the wall. Continuing straight ahead should bring me onto the paved apron right in front of it.",
+        "I am on the paving now, and the bench fills much of the left side of my view with the door just past it. One more step forward should put me level with that stretch of wall.",
+        "Walking this close along the facade has pushed the bench out toward the left edge, with only its end still in view while my heading points down the empty paving. Turning left should bring it back in front of me for the final approach.",
+        "The turn placed the whole bench squarely before me, seated against the brick with the arched door immediately to its right. A step forward should close the last of the paving between us.",
+        "The bench now spans the lower half of my view and its backrest is nearly within reach. A final short step should place me right beside it, next to the door at the end of the building.",
+        "The bench beside the arched end door is right at my feet, its armrest within arm's reach. I have arrived at it, so there is nothing further to walk toward."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t3_a/infos.json

@@ -0,0 +1,256 @@
+{
+    "Instruction": "Walk to the wooden bench against the brick wall, then head toward the main entrance door.",
+    "Type": 3,
+    "Start_Pose": [
+        -9097.365,
+        5009.125,
+        6949.683,
+        0.0,
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+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+        [
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+        [
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+        [
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+        ],
+        [
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+            0.0,
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+            0.0
+        ],
+        [
+            -9522.508,
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+        ],
+        [
+            -9471.236,
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+        ],
+        [
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+            0.0,
+            -65.96,
+            0.0
+        ],
+        [
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+        ],
+        [
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+        ],
+        [
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+            0.0,
+            -90.96,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The wooden bench sits against the brick wall straight ahead across the lawn, with the arched entrance door further along the facade to my right. Since the bench comes first, I will walk forward over the grass toward it. The path ahead is open, so this step should close the distance.",
+        "The bench is a little larger now and still sits near the centre of my view, so my heading toward it is good. I will keep walking straight across the grass without turning.",
+        "The bench and the wall behind it fill more of my view, confirming I am gaining ground on it. Nothing blocks the lawn between me and the paving, so another forward step should bring me closer.",
+        "The bench now reads clearly with its slats and armrests, and the paved edge of the walkway is close in front of me. I will step forward again to reach the paving beside the bench.",
+        "I am on the paving now, and the bench stands against the brick wall just ahead and slightly left. Walking forward should carry me right up beside it.",
+        "The bench fills much of my view and the brickwork behind it is clearly textured, so only a short distance remains. I will advance again to stand at it.",
+        "The bench now sits close on my left with the tall window and wall filling the rest of my view. A further step should bring me level with it rather than leaving me short.",
+        "Only the bench back and the brick wall are in front of me, so I am nearly touching it. One more short step forward should put me right at the bench beside the wall.",
+        "The weathered slatted bench sits directly in front of me, its back rail almost within reach against the old brick wall. I have arrived at it. I mark reaching this bench before setting off for the building's main entrance door.",
+        "I am pressed close against the bench and the brick wall, with barely any pavement visible around me. Backing a few paces along the paving should give me clear space and a wider view before I aim myself toward the entrance.",
+        "With a little clearance regained, the bench and blank brickwork still fill my heading, and the entrance lies further along the facade to my right. I will turn right to swing my view off the wall and toward the open paved walkway.",
+        "The bench has slid to the edge of my view, but I am still looking mostly at plain brick and window rather than down the walkway. Another right turn should bring more of the paving and the far end of the facade into view.",
+        "Now the paving runs away ahead and I can pick out a recessed dark doorway with a lamp and planters further along the building to my right. I will keep turning right to line myself up with that stretch of walkway.",
+        "The doorway and its planters are visible ahead, but my heading still cuts toward the wall instead of following the pavement that runs past it. One more turn to the right should square me with that open walkway before I start moving.",
+        "I am now facing down the broad paving with the lawn on my right and the arched entrance with its lantern and planters set into the wall ahead on my left. Nothing blocks the route, so I will walk forward to close on that doorway.",
+        "The entrance doorway and the planters flanking it have grown noticeably larger along the wall to my left, so my heading is carrying me the right way. The pavement stays clear, and I will keep walking forward to draw level with the door.",
+        "The dark arched double doors set into the stone surround are now clearly visible ahead on my left, with the pair of metal planters flanking the approach. I am still several paces short of them along this paved walk, so I will keep walking forward to close that gap.",
+        "The entrance doors sit well off to my left while my heading still runs straight down the paved strip past the building. Turning left should swing the doorway toward the centre of my view so my remaining steps carry me onto it rather than past it.",
+        "The arched entrance with its glazed panelled doors now sits ahead of me rather than off to the side, framed between the two planters. The paving in front of it is clear, so I will step forward to close on the doorway.",
+        "The doors have grown noticeably larger and I can pick out the individual glass panes and the stone arch above them, but I am still a couple of strides away. Another step forward should bring me right up to the entrance.",
+        "The tall dark doors now fill much of the left side of my view and the nearer planter is right beside the threshold. One more step forward should place me directly at the entrance.",
+        "I am level with the entrance now, but my gaze runs along the facade so the doorway has slipped to the very edge of my view. Turning left should bring the doors squarely in front of me at the position I have been heading for.",
+        "The glazed panelled entrance door stands directly in front of me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t3_b/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Approach the main entrance door, then move to the wooden bench.",
+    "Type": 3,
+    "Start_Pose": [
+        -9097.365,
+        5009.125,
+        6949.683,
+        0.0,
+        -140.96,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        [
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+        ],
+        [
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+        ],
+        [
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+        ],
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+        [
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+        [
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+        ],
+        [
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+            0.0,
+            169.04,
+            -0.0
+        ],
+        [
+            -9549.61,
+            4028.13,
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+        ],
+        [
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+            4102.037,
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+            0.0,
+            144.04,
+            -0.0
+        ],
+        [
+            -9753.358,
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+            0.0,
+            144.04,
+            -0.0
+        ],
+        [
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+            0.0,
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+        ],
+        [
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+        ],
+        [
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+            0.0,
+            144.04,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From the lawn I can see the long brick facade, and the arched entrance porch with its double doors sits at the far right edge of my view. Turning right should swing that doorway toward the middle of my view so I can walk straight at it.",
+        "The arched entrance with the lamp above it is now near the centre of my view, and open grass lies between me and the paved strip in front of the building. I will walk forward to close that distance toward the doors.",
+        "The doorway and the two grey bins flanking it have grown larger, so my heading is carrying me toward the entrance. There is still a stretch of lawn ahead before the paved walk, so I keep walking forward.",
+        "The paved edge in front of the building is close now and the arched doors remain slightly right of straight ahead. Another step forward should bring me onto the paving near the entrance.",
+        "I am at the edge of the paving, but the entrance porch sits off to the right of my heading rather than in front of me. Turning right should point me along the walk toward those doors.",
+        "The arched entrance with its lamp and the two bins is now clearly ahead of me along the paving. I walk forward to close on the doors.",
+        "The doorway keeps filling more of my view, confirming I am gaining on it, and the walk ahead is clear apart from the bins standing to either side of the porch. I continue forward.",
+        "The panelled double doors and the lamp above them are close on my left-front, and I am now walking on the paving beside the building. A few more steps forward should bring me right up to the entrance.",
+        "The arched double door with its lamp and flanking planters stands ahead on my left along the paved frontage, and I am already up on the walkway with clear ground in front of me. I will keep walking forward to close the remaining distance to that entrance.",
+        "The entrance and its two planters now fill much more of my view, so my heading along the paving is still carrying me toward it. Another step forward should bring me close enough to be standing at the doorway.",
+        "I am close to the building now, but the dark double door has slid to the far left edge of my view while my heading points down the empty paving. Turning left should swing the doorway back to the middle of my view so I can walk straight into it.",
+        "The double door now sits squarely between the two metal planters directly ahead of me. With my heading centered on it, I will step forward to close the last of the gap to the entrance.",
+        "The dark timber door and its glazed panes now dominate my view, with the planters pushed to either side. One more step forward should put me right at the threshold of this entrance.",
+        "The weathered glazing bars and panelling of the double entrance door fill my whole view, close enough to touch. I am standing at the main entrance door. I mark reaching it, then turn my attention to the wooden bench further along this walkway.",
+        "Pressed this close to the door, the panelling blocks nearly everything and I cannot see the walkway or the bench along it. Backing up should open enough clearance in front of me to swing around and set off toward the bench.",
+        "The doorway and one planter are visible again, but I am still hemmed in tight against the entrance recess. Another step back should give me room to turn away from the wall and face along the walkway toward the wooden bench.",
+        "The tall panelled entrance doors stand squarely in front of me with both planters flanking them, so I have already reached that first destination. My remaining goal is the wooden bench set further along this paved frontage, well off to my left. I will turn left to begin swinging my heading away from the doorway toward that stretch of walkway.",
+        "The doorway has slid over to the right side of my view and a bin and downpipe now sit ahead of me against the brickwork. That is not yet the open line of paving I need for the bench. I will turn left again to keep rotating toward the walkway running along this wall.",
+        "Turning has opened the long brick wall ahead, and far down on the left I can pick out a wooden bench standing against it on the paving. My heading still points too much into the wall to walk that way cleanly. One more left turn should put that bench and the open path in front of me.",
+        "The paved walkway now runs straight ahead beside the brick wall, and the wooden bench sits against that wall a fair distance in front of me. Nothing blocks the paving between us. I will walk forward to close that gap.",
+        "The bench has grown noticeably larger ahead of me along the wall, so my line of travel is good. There is still a long stretch of empty paving between me and it. I will keep walking forward.",
+        "My path has drifted close in against the brickwork, and the bench now sits left of center rather than straight ahead. Walking on as I am would scrape past the wall instead of reaching it. I will turn left to bring the bench back into my direction of travel.",
+        "The turn has put the wooden bench squarely down my line of travel with open paving in between. The lawn edge on my left confirms I am on the walkway rather than crowding the wall. I will walk forward toward the bench.",
+        "The bench is clearly closer now, its slatted back and armrest showing against the brickwork ahead. I am still several paces short of standing beside it. I will continue walking forward.",
+        "The slatted wooden bench now stands clearly ahead on the right, set against the brick wall beside the paved walkway. It is still a few strides off, so I will keep walking straight along the path to close that remaining gap.",
+        "The bench has grown to fill the lower right of my view, its seat and armrest close beside me, but I am still level with its near end rather than alongside it. One more short step forward should bring me fully up to the bench.",
+        "The wooden bench is right beside me, its seat and back within arm's reach along the wall. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/EnglishCollege/task_x-009720_y007470_z006939_t3_a/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Walk to the black lamp post, then head toward the arched doorway.",
+    "Type": 3,
+    "Start_Pose": [
+        -9719.985,
+        7469.673,
+        6939.106,
+        0.0,
+        -107.36,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
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+        ],
+        [
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+        ],
+        [
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+    "Rationale": [
+        "The black lamp post stands on the grass verge ahead and to my right, at the edge of the paved apron. I will walk forward across the open paving to cut down that distance before adjusting my heading toward it.",
+        "The lamp post now sits noticeably right of my heading, so walking straight on would carry me past it along the building front. I will turn right to bring its dark shaft closer to the middle of my view.",
+        "The lamp post is now roughly ahead of me, rising from the grass just beyond the paved edge. With the way in front clear, I will step forward to close on it.",
+        "The post has grown taller in my view and its base on the lawn is clearly visible, so my heading is holding well. I will keep walking straight to shorten the remaining gap.",
+        "The lamp post now fills the center of my view from the ground up past the top of the frame, so only a short stretch of grass separates us. I will take another step forward to arrive at its base.",
+        "The black lamp post rises directly in front of me, its fluted base within arm's reach on the grass. I have reached it. I mark reaching the lamp post before setting off for the arched doorway in the brick wall.",
+        "Standing at the lamp post, my view is filled by its shaft and the long facade, with no arched entrance ahead of me. I will turn left to swing my heading back along the building and search for the arched doorway.",
+        "A dark pointed archway has come into the far left edge of my view where the paving meets the older brick wing. I will turn left again to bring that doorway toward the center of my heading.",
+        "With the lamp post behind me, I am swinging around toward the tall church wing, and the dark pointed archway sits left of center where the two brick facades meet. One more left turn should place that arched doorway squarely ahead so I can walk straight at it across the open paving.",
+        "The arched doorway is now roughly ahead of me, tucked into the shadowed corner where the church wall meets the lighter brick wing. The paved courtyard between us is flat and clear, so I will walk forward to begin closing that distance.",
+        "The arch has grown a little and stays just right of center, confirming my heading is good. Nothing blocks the paving in front of me, so I keep walking toward the doorway.",
+        "The gothic windows of the church are sliding past on my left while the arched doorway holds steady near the middle of my view, so my line is still right. I continue forward to cut down the remaining distance.",
+        "The stone surround of the arch is becoming clearer as the corner of the building fills more of my view. The courtyard remains empty ahead, so another step forward should bring me nearer the doorway.",
+        "The arched door and the lamp bracket above it are now clearly readable in the shadowed corner ahead. My heading still points at it, so I walk on rather than adjusting my facing.",
+        "The doorway keeps enlarging slightly right of center and the brick corner is close enough that its courses are sharp. There is still open paving between me and it, so I continue advancing.",
+        "I can now make out the timber planking of the arched door in the shaded recess ahead and to my right of center. The gap is shrinking but I am not yet at it, so I take another step forward.",
+        "The pointed arched doorway sits ahead in the shaded corner of the courtyard, still some distance off across open paving. Nothing blocks the route, so I will keep walking forward to close the gap.",
+        "The arched door has grown larger and its stone surround is now clearly defined, so my heading is good. I will step forward again to keep shrinking the remaining distance.",
+        "The doorway sits slightly right of my center of view but remains comfortably reachable on this line. Another forward step should bring me nearer without needing to reorient yet.",
+        "The recessed arch with its small lamp above is clearer as the brick wall fills more of my view, confirming I am closing in. I will continue forward along the same line.",
+        "The timber door and its stone arch are close now, though still off to my right side of view. Advancing once more should bring me within a short final stretch of it.",
+        "At this range the arched doorway has drifted to the right edge of my view while the blank church wall dominates straight ahead. I will turn right to put the door back in the middle of my heading before continuing.",
+        "The turn worked, and the arched door now sits near the center of my view with clear paving leading to it. I will walk forward to close the remaining distance.",
+        "The doorway is noticeably larger and its planks and lamp are distinct, so I am nearly at the wall. Another step forward should bring me right up to the arch.",
+        "The arched wooden doorway in the brick wall now sits squarely ahead of me, with clear paving between it and my feet. I will walk forward to keep closing that gap.",
+        "The stone arch and its timber door have grown noticeably larger and stay centered in front of me, so my heading needs no correction. I will step forward again to shorten the remaining distance.",
+        "The doorway now dominates my view, its threshold and stone surround clearly visible just a short walk away. I will continue forward to reach the arch itself.",
+        "The arch fills nearly my whole field of view and the door planks are close enough to read their grain. One more step forward should bring me right up against the doorway.",
+        "The arched doorway's timber planks and stone jamb fill my view at arm's length. The task is complete, so I stop here."
+    ]
+}