diff --git a/dataset/trajectory/EnglishCollege/task_x-002607_y012010_z006662_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-002607_y012010_z006662_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9b9b06319263b870d9d7df39a1fbde5398386965 --- /dev/null +++ b/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 + ], + [ + -2607.378, + 12010.376, + 6662.055, + 0.0, + 90.28, + -0.0 + ], + [ + -2607.378, + 12010.376, + 6662.055, + 0.0, + 115.28, + -0.0 + ], + [ + -2607.378, + 12010.376, + 6662.055, + 0.0, + 140.28, + -0.0 + ], + [ + -2704.186, + 12090.804, + 6659.763, + 0.0, + 140.28, + -0.0 + ], + [ + -2800.994, + 12171.233, + 6657.486, + 0.0, + 140.28, + -0.0 + ], + [ + -2897.801, + 12251.661, + 6655.202, + 0.0, + 140.28, + -0.0 + ], + [ + -2994.609, + 12332.09, + 6652.902, + 0.0, + 140.28, + -0.0 + ], + [ + -3091.417, + 12412.518, + 6650.484, + 0.0, + 140.28, + -0.0 + ], + [ + -3091.417, + 12412.518, + 6650.484, + 0.0, + 165.28, + -0.0 + ], + [ + -3213.145, + 12444.499, + 6649.693, + 0.0, + 165.28, + -0.0 + ], + [ + -3334.873, + 12476.479, + 6648.752, + 0.0, + 165.28, + -0.0 + ], + [ + -3334.873, + 12476.479, + 6648.752, + 0.0, + 140.28, + -0.0 + ], + [ + -3431.681, + 12556.907, + 6645.95, + 0.0, + 140.28, + -0.0 + ], + [ + -3431.681, + 12556.907, + 6645.95, + 0.0, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-003906_y-001422_z007050_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-003906_y-001422_z007050_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..662aa6fbceac2fdbfe8c96741242c03e3f407d64 --- /dev/null +++ b/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": [ + [ + -3906.033, + -1422.093, + 7049.804, + 0.0, + -106.4, + 0.0 + ], + [ + -3941.568, + -1542.831, + 7056.427, + 0.0, + -106.4, + 0.0 + ], + [ + -3977.103, + -1663.57, + 7064.864, + 0.0, + -106.4, + 0.0 + ], + [ + -3977.103, + -1663.57, + 7064.864, + 0.0, + -131.4, + 0.0 + ], + [ + -4060.335, + -1757.978, + 7069.069, + 0.0, + -131.4, + 0.0 + ], + [ + -4143.568, + -1852.386, + 7072.02, + 0.0, + -131.4, + 0.0 + ], + [ + -4226.8, + -1946.794, + 7075.007, + 0.0, + -131.4, + 0.0 + ], + [ + -4310.032, + -2041.203, + 7078.117, + 0.0, + -131.4, + 0.0 + ], + [ + -4393.838, + -2133.351, + 7080.454, + 0.0, + -131.4, + 0.0 + ], + [ + -4477.07, + -2227.759, + 7076.497, + 0.0, + -131.4, + 0.0 + ], + [ + -4477.07, + -2227.759, + 7076.497, + 0.0, + -106.4, + 0.0 + ], + [ + -4512.605, + -2348.497, + 7063.555, + 0.0, + -106.4, + 0.0 + ], + [ + -4548.14, + -2469.236, + 7060.191, + 0.0, + -106.4, + 0.0 + ], + [ + -4583.675, + -2589.974, + 7059.935, + 0.0, + -106.4, + 0.0 + ], + [ + -4583.675, + -2589.974, + 7059.935, + 0.0, + -131.4, + 0.0 + ], + [ + -4666.907, + -2684.382, + 7060.245, + 0.0, + -131.4, + 0.0 + ], + [ + -4750.139, + -2778.79, + 7060.245, + 0.0, + -131.4, + 0.0 + ], + [ + -4833.371, + -2873.199, + 7060.245, + 0.0, + -131.4, + 0.0 + ], + [ + -4833.371, + -2873.199, + 7060.245, + 0.0, + -131.4, + 0.0 + ], + [ + -4833.371, + -2873.199, + 7060.245, + 0.0, + -106.4, + 0.0 + ], + [ + -4833.371, + -2873.199, + 7060.245, + 0.0, + -81.4, + 0.0 + ], + [ + -4833.371, + -2873.199, + 7060.245, + 0.0, + -56.4, + 0.0 + ], + [ + -4833.371, + -2873.199, + 7060.245, + 0.0, + -31.4, + 0.0 + ], + [ + -4833.371, + -2873.199, + 7060.245, + 0.0, + -6.4, + 0.0 + ], + [ + -4833.371, + -2873.199, + 7060.245, + 0.0, + 18.6, + -0.0 + ], + [ + -4833.371, + -2873.199, + 7060.245, + 0.0, + 43.6, + -0.0 + ], + [ + -4742.228, + -2786.404, + 7060.245, + 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, + -2575.856, + 7063.506, + 0.0, + 43.6, + -0.0 + ], + [ + -4369.004, + -2575.856, + 7063.506, + 0.0, + 43.6, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004203_y-001845_z007073_t2_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-004203_y-001845_z007073_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a70c1aa14b2a9ab7b1942337c8ce871ffcedf5 --- /dev/null +++ b/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 + ], + [ + -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 + ], + [ + -4666.078, + -1729.402, + 7069.27, + 0.0, + 166.24, + -0.0 + ], + [ + -4666.078, + -1729.402, + 7069.27, + 0.0, + 166.24, + -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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004203_y-001845_z007073_t2_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-004203_y-001845_z007073_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9a11db5b66bc019618bb7d7b0c1f71393055d0a3 --- /dev/null +++ b/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, + -1845.217, + 7072.658, + 0.0, + 166.24, + -0.0 + ], + [ + -4325.326, + -1815.281, + 7071.982, + 0.0, + 166.24, + -0.0 + ], + [ + -4325.326, + -1815.281, + 7071.982, + 0.0, + 141.24, + -0.0 + ], + [ + -4423.468, + -1736.486, + 7070.283, + 0.0, + 141.24, + -0.0 + ], + [ + -4521.61, + -1657.69, + 7068.097, + 0.0, + 141.24, + -0.0 + ], + [ + -4619.751, + -1578.895, + 7065.523, + 0.0, + 141.24, + -0.0 + ], + [ + -4717.893, + -1500.1, + 7061.294, + 0.0, + 141.24, + -0.0 + ], + [ + -4816.035, + -1421.305, + 7055.729, + 0.0, + 141.24, + -0.0 + ], + [ + -4914.176, + -1342.509, + 7049.142, + 0.0, + 141.24, + -0.0 + ], + [ + -5012.318, + -1263.714, + 7043.344, + 0.0, + 141.24, + -0.0 + ], + [ + -5110.46, + -1184.919, + 7038.168, + 0.0, + 141.24, + -0.0 + ], + [ + -5110.46, + -1184.919, + 7038.168, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004203_y-001845_z007073_t5_a_p/infos.json b/dataset/trajectory/EnglishCollege/task_x-004203_y-001845_z007073_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f4840081c98a1b4dec518c6731e05462f05c3840 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..253c979ff34a6f7d2dbdef8ecb1205d43570728e --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b3e820aa4cf594e84b481126133ed9df3d72062a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-004418_y010292_z006698_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bdc5f10d47d7ae44bfda5c828ce72450e762f7c5 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004446_y008605_z006705_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-004446_y008605_z006705_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3413372dc69ca54935731dd91388cfe1d77e9c39 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004446_y008605_z006705_t1_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-004446_y008605_z006705_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c1acd708845c0f9e9ac04c2bfe72f00a5067b4c9 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-004471_y010234_z006698_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-004471_y010234_z006698_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c6661ad7696b57af0fd2f72ecd9b748687869f29 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-005715_y010753_z006697_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-005715_y010753_z006697_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2818d6a82f1831a96b17d51072f1850054a1622a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-005715_y010753_z006697_t1_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-005715_y010753_z006697_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..19d982792d690c39badd44314ceaa66e2deee0e1 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..59d349ebdcd677bd2aa2838d0ee5f229b3d028bd --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-005953_y007171_z006950_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6ddc393dff02dff5d58d19a4b2724e07813ce63 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-007797_y006244_z006950_t0_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-007797_y006244_z006950_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..87b0aca49f70b68ca36620172cbce25fe10f1b8d --- /dev/null +++ b/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, + 6244.411, + 6950.061, + 0.0, + 101.92, + -0.0 + ], + [ + -7823.084, + 6367.556, + 6949.808, + 0.0, + 101.92, + -0.0 + ], + [ + -7849.079, + 6490.701, + 6949.298, + 0.0, + 101.92, + -0.0 + ], + [ + -7849.079, + 6490.701, + 6949.298, + 0.0, + 126.92, + -0.0 + ], + [ + -7924.683, + 6591.322, + 6948.53, + 0.0, + 126.92, + -0.0 + ], + [ + -8000.286, + 6691.944, + 6948.01, + 0.0, + 126.92, + -0.0 + ], + [ + -8075.889, + 6792.565, + 6947.226, + 0.0, + 126.92, + -0.0 + ], + [ + -8151.493, + 6893.186, + 6946.693, + 0.0, + 126.92, + -0.0 + ], + [ + -8227.096, + 6993.807, + 6946.169, + 0.0, + 126.92, + -0.0 + ], + [ + -8302.7, + 7094.428, + 6945.37, + 0.0, + 126.92, + -0.0 + ], + [ + -8378.303, + 7195.049, + 6944.849, + 0.0, + 126.92, + -0.0 + ], + [ + -8453.907, + 7295.67, + 6944.062, + 0.0, + 126.92, + -0.0 + ], + [ + -8529.51, + 7396.292, + 6943.537, + 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, + 6949.659, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-007797_y006244_z006950_t0_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-007797_y006244_z006950_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a36b3410d5e712d05d572fba6904e13d2c7b6d8c --- /dev/null +++ b/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, + 6244.411, + 6950.061, + 0.0, + 101.92, + -0.0 + ], + [ + -7797.088, + 6244.411, + 6950.061, + 0.0, + 126.92, + -0.0 + ], + [ + -7872.691, + 6345.032, + 6949.542, + 0.0, + 126.92, + -0.0 + ], + [ + -7948.295, + 6445.653, + 6948.768, + 0.0, + 126.92, + -0.0 + ], + [ + -8023.898, + 6546.275, + 6948.236, + 0.0, + 126.92, + -0.0 + ], + [ + -8099.502, + 6646.896, + 6947.461, + 0.0, + 126.92, + -0.0 + ], + [ + -8175.105, + 6747.517, + 6946.924, + 0.0, + 126.92, + -0.0 + ], + [ + -8250.708, + 6848.138, + 6946.17, + 0.0, + 126.92, + -0.0 + ], + [ + -8326.312, + 6948.759, + 6945.639, + 0.0, + 126.92, + -0.0 + ], + [ + -8326.312, + 6948.759, + 6945.639, + 0.0, + 151.92, + -0.0 + ], + [ + -8437.356, + 7008.001, + 6944.845, + 0.0, + 151.92, + -0.0 + ], + [ + -8548.4, + 7067.244, + 6944.307, + 0.0, + 151.92, + -0.0 + ], + [ + -8659.445, + 7126.486, + 6943.509, + 0.0, + 151.92, + -0.0 + ], + [ + -8770.489, + 7185.728, + 6942.718, + 0.0, + 151.92, + -0.0 + ], + [ + -8881.533, + 7244.971, + 6941.946, + 0.0, + 151.92, + -0.0 + ], + [ + -8992.578, + 7304.213, + 6941.177, + 0.0, + 151.92, + -0.0 + ], + [ + -9103.622, + 7363.455, + 6940.636, + 0.0, + 151.92, + -0.0 + ], + [ + -9214.666, + 7422.698, + 6940.134, + 0.0, + 151.92, + -0.0 + ], + [ + -9325.71, + 7481.94, + 6939.883, + 0.0, + 151.92, + -0.0 + ], + [ + -9325.71, + 7481.94, + 6939.883, + 0.0, + 126.92, + -0.0 + ], + [ + -9401.314, + 7582.561, + 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 + ], + [ + -9885.654, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cd954f2b29f4a92d03ff22f7b595b126e93edbcb --- /dev/null +++ b/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 + ], + [ + -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 + ], + [ + -8234.857, + 8486.182, + 6946.312, + 0.0, + 129.6, + -0.0 + ], + [ + -8315.082, + 8583.158, + 6950.669, + 0.0, + 129.6, + -0.0 + ], + [ + -8395.308, + 8680.134, + 6950.669, + 0.0, + 129.6, + -0.0 + ], + [ + -8475.533, + 8777.11, + 6950.669, + 0.0, + 129.6, + -0.0 + ], + [ + -8475.533, + 8777.11, + 6950.669, + 0.0, + 104.6, + -0.0 + ], + [ + -8507.259, + 8898.905, + 6950.926, + 0.0, + 104.6, + -0.0 + ], + [ + -8538.984, + 9020.7, + 6950.926, + 0.0, + 104.6, + -0.0 + ], + [ + -8553.71, + 9126.209, + 6951.181, + 0.0, + 104.6, + -0.0 + ], + [ + -8553.71, + 9126.209, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f78f33018c4c3d1cb60d3e01f34300ed0769b7dd --- /dev/null +++ b/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, + 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 + ], + [ + -7994.18, + 8195.254, + 6949.869, + 0.0, + 154.6, + -0.0 + ], + [ + -8107.873, + 8249.239, + 6949.869, + 0.0, + 154.6, + -0.0 + ], + [ + -8221.566, + 8303.224, + 6949.869, + 0.0, + 154.6, + -0.0 + ], + [ + -8335.259, + 8357.21, + 6949.869, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a0e2813a42c30f276fff02c76833e06d6aa40fc8 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_d/infos.json b/dataset/trajectory/EnglishCollege/task_x-007834_y008001_z006950_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..711d38ff05cf132699281fe6d81a5734c0d80935 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a1d320604417de976c97617e824ac77981247e --- /dev/null +++ b/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, + 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 + ], + [ + -8160.234, + 7628.955, + 6947.876, + 0.0, + 74.84, + -0.0 + ], + [ + -8127.32, + 7750.434, + 6940.295, + 0.0, + 74.84, + -0.0 + ], + [ + -8094.406, + 7871.913, + 6946.91, + 0.0, + 74.84, + -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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_d/infos.json b/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..18e6de10459edececdb8c8c17d04bd5efc18a86c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t5_a_p/infos.json b/dataset/trajectory/EnglishCollege/task_x-008074_y007133_z006948_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4daff30b8205d1f6cb9ce33476666155dd0508c3 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008233_y003795_z006950_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-008233_y003795_z006950_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4051ee5b7adaee0862e6a7a2609789098132eef --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008233_y003795_z006950_t5_a_pd/infos.json b/dataset/trajectory/EnglishCollege/task_x-008233_y003795_z006950_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7dafe34c64f2604e917ffa598ce30cf885299256 --- /dev/null +++ b/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 + ], + [ + -8311.571, + 3696.345, + 6949.842, + 0.0, + -128.48, + 0.0 + ], + [ + -8389.885, + 3597.82, + 6949.842, + 0.0, + -128.48, + 0.0 + ], + [ + -8389.885, + 3597.82, + 6949.842, + 0.0, + -153.48, + 0.0 + ], + [ + -8502.501, + 3541.622, + 6949.842, + 0.0, + -153.48, + 0.0 + ], + [ + -8615.117, + 3485.425, + 6964.684, + 0.0, + -153.48, + 0.0 + ], + [ + -8727.733, + 3429.228, + 6964.433, + 0.0, + -153.48, + 0.0 + ], + [ + -8727.733, + 3429.228, + 6964.433, + 0.0, + -153.48, + 0.0 + ], + [ + -8727.733, + 3429.228, + 6964.433, + 0.0, + -128.48, + 0.0 + ], + [ + -8727.733, + 3429.228, + 6964.433, + 0.0, + -103.48, + 0.0 + ], + [ + -8727.733, + 3429.228, + 6964.433, + 0.0, + -78.48, + 0.0 + ], + [ + -8727.733, + 3429.228, + 6964.433, + 0.0, + -53.48, + 0.0 + ], + [ + -8652.834, + 3328.081, + 6964.939, + 0.0, + -53.48, + 0.0 + ], + [ + -8577.936, + 3226.934, + 6965.452, + 0.0, + -53.48, + 0.0 + ], + [ + -8577.936, + 3226.934, + 6965.452, + 0.0, + -78.48, + 0.0 + ], + [ + -8577.936, + 3226.934, + 6965.452, + 0.0, + -103.48, + 0.0 + ], + [ + -8599.902, + 3110.466, + 6965.541, + 0.0, + -103.48, + 0.0 + ], + [ + -8583.118, + 3180.482, + 6965.541, + 0.0, + -103.48, + 0.0 + ], + [ + -8583.118, + 3180.482, + 6965.541, + 0.0, + -103.48, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8831.309, + 3410.928, + 6879.007, + 0.0, + 0.0, + 0.0 + ], + [ + -8831.309, + 3410.928, + 6879.007, + 0.0, + 0.0, + 0.0 + ], + [ + -8831.309, + 3410.928, + 6879.007, + 0.0, + 0.0, + 0.0 + ], + [ + -8831.309, + 3410.928, + 6879.007, + 0.0, + 0.0, + 0.0 + ], + [ + -8831.309, + 3410.928, + 6879.007, + 0.0, + 0.0, + 0.0 + ], + [ + -8831.309, + 3410.928, + 6879.007, + 0.0, + 0.0, + 0.0 + ], + [ + -8831.309, + 3410.928, + 6879.007, + 0.0, + 0.0, + 0.0 + ], + [ + -8717.652, + 3410.393, + 6934.381, + -28.202, + -103.336, + 1.862 + ], + [ + -8709.883, + 3415.827, + 6934.654, + -28.189, + -78.324, + 1.872 + ], + [ + -8705.866, + 3423.828, + 6933.987, + -28.215, + -53.353, + 1.849 + ], + [ + -8700.633, + 3429.171, + 6934.051, + -14.092, + -36.137, + 6.87 + ], + [ + -8710.742, + 3442.353, + 6934.066, + -28.208, + -3.338, + 1.851 + ], + [ + -8636.084, + 3341.354, + 6935.105, + -28.189, + -3.322, + 1.869 + ], + [ + -8561.357, + 3240.422, + 6936.101, + -28.205, + -3.345, + 1.859 + ], + [ + -8557.612, + 3231.245, + 6935.048, + -28.202, + -28.339, + 1.86 + ], + [ + -8559.169, + 3222.616, + 6936.249, + -28.197, + -53.337, + 1.87 + ], + [ + -8578.982, + 3106.127, + 6935.675, + -28.191, + -53.328, + 1.874 + ], + [ + -8599.436, + 3112.41, + 6935.541, + 0.0, + -173.48, + 0.0 + ], + [ + -8599.436, + 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, + 105.2, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 20.8, + 19.3, + 21.4, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t0_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..039786a12e1c71f5c69e22d063d037f5b3bb335b --- /dev/null +++ b/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, + 6949.842, + 0.0, + -49.72, + 0.0 + ], + [ + -8175.531, + 3699.915, + 6949.842, + 0.0, + -49.72, + 0.0 + ], + [ + -8094.16, + 3603.898, + 6949.842, + 0.0, + -49.72, + 0.0 + ], + [ + -8044.246, + 3536.153, + 6963.778, + 0.0, + -49.72, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t0_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3542713bd323f4ec8ae7eed5412c275eacb96b93 --- /dev/null +++ b/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, + 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, + 6949.842, + 0.0, + -99.72, + 0.0 + ], + [ + -8408.235, + 3542.543, + 6949.842, + 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 + ], + [ + -8471.983, + 3170.386, + 6965.19, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f2286bdff0d7e10d446acc7f6d267dd17d919bbd --- /dev/null +++ b/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, + 3917.342, + 6949.842, + 0.0, + -74.72, + 0.0 + ], + [ + -8256.901, + 3795.932, + 6949.842, + 0.0, + -74.72, + 0.0 + ], + [ + -8223.733, + 3674.522, + 6949.842, + 0.0, + -74.72, + 0.0 + ], + [ + -8223.733, + 3674.522, + 6949.842, + 0.0, + -49.72, + 0.0 + ], + [ + -8142.362, + 3578.505, + 6949.842, + 0.0, + -49.72, + 0.0 + ], + [ + -8077.513, + 3496.732, + 6963.902, + 0.0, + -49.72, + 0.0 + ], + [ + -8077.513, + 3496.732, + 6963.902, + 0.0, + -49.72, + 0.0 + ], + [ + -8077.513, + 3496.732, + 6963.902, + 0.0, + -74.72, + 0.0 + ], + [ + -8077.513, + 3496.732, + 6963.902, + 0.0, + -99.72, + 0.0 + ], + [ + -8077.513, + 3496.732, + 6963.902, + 0.0, + -124.72, + 0.0 + ], + [ + -8152.472, + 3396.134, + 6963.624, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..748bc354fc6b12fd0380846882fd7c57ffee7d75 --- /dev/null +++ b/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, + 6949.842, + 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, + 6949.842, + 0.0, + -99.72, + 0.0 + ], + [ + -8408.235, + 3542.543, + 6949.842, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t5_a_p/infos.json b/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dc7f5ef9d4648ab5a67d7ed35b90fb1afd9e8cf7 --- /dev/null +++ b/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, + 6949.842, + 0.0, + -49.72, + 0.0 + ], + [ + -8241.867, + 3942.735, + 6949.842, + 0.0, + -49.72, + 0.0 + ], + [ + -8160.497, + 3846.718, + 6949.842, + 0.0, + -49.72, + 0.0 + ], + [ + -8079.126, + 3750.701, + 6949.842, + 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, + 3630.434, + 6904.842, + 0.0, + 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 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t5_b_p/infos.json b/dataset/trajectory/EnglishCollege/task_x-008323_y004039_z006950_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..565e563cb6bb22386de2139a75afec7cca043bb0 --- /dev/null +++ b/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, + 3917.342, + 6949.842, + 0.0, + -74.72, + 0.0 + ], + [ + -8290.07, + 3917.342, + 6949.842, + 0.0, + -99.72, + 0.0 + ], + [ + -8311.319, + 3793.29, + 6949.842, + 0.0, + -99.72, + 0.0 + ], + [ + -8332.568, + 3669.238, + 6949.842, + 0.0, + -99.72, + 0.0 + ], + [ + -8353.817, + 3545.185, + 6949.842, + 0.0, + -99.72, + 0.0 + ], + [ + -8375.067, + 3421.133, + 6949.842, + 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 + ], + [ + -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, + 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 + ], + [ + -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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f17a0d8724deb0278aa07ade8500e29862e8778b --- /dev/null +++ b/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 + ], + [ + -8854.887, + 6818.473, + 6943.086, + 0.0, + 89.4, + -0.0 + ], + [ + -8853.569, + 6944.325, + 6942.824, + 0.0, + 89.4, + -0.0 + ], + [ + -8852.251, + 7070.177, + 6942.571, + 0.0, + 89.4, + -0.0 + ], + [ + -8850.933, + 7196.029, + 6942.318, + 0.0, + 89.4, + -0.0 + ], + [ + -8849.615, + 7321.882, + 6942.064, + 0.0, + 89.4, + -0.0 + ], + [ + -8848.297, + 7447.734, + 6941.81, + 0.0, + 89.4, + -0.0 + ], + [ + -8846.979, + 7573.586, + 6941.556, + 0.0, + 89.4, + -0.0 + ], + [ + -8845.661, + 7699.438, + 6941.369, + 0.0, + 89.4, + -0.0 + ], + [ + -8845.661, + 7699.438, + 6941.369, + 0.0, + 89.4, + -0.0 + ], + [ + -8845.661, + 7699.438, + 6941.369, + 0.0, + 114.4, + -0.0 + ], + [ + -8845.661, + 7699.438, + 6941.369, + 0.0, + 139.4, + -0.0 + ], + [ + -8845.661, + 7699.438, + 6941.369, + 0.0, + 164.4, + -0.0 + ], + [ + -8966.884, + 7733.284, + 6941.941, + 0.0, + 164.4, + -0.0 + ], + [ + -9088.106, + 7767.13, + 6941.15, + 0.0, + 164.4, + -0.0 + ], + [ + -9209.329, + 7800.976, + 6940.899, + 0.0, + 164.4, + -0.0 + ], + [ + -9330.552, + 7834.822, + 6940.377, + 0.0, + 164.4, + -0.0 + ], + [ + -9330.552, + 7834.822, + 6940.377, + 0.0, + -170.6, + 0.0 + ], + [ + -9454.721, + 7814.266, + 6945.665, + 0.0, + -170.6, + 0.0 + ], + [ + -9454.721, + 7814.266, + 6945.665, + 0.0, + 164.4, + -0.0 + ], + [ + -9575.943, + 7848.112, + 6940.081, + 0.0, + 164.4, + -0.0 + ], + [ + -9697.166, + 7881.958, + 6940.081, + 0.0, + 164.4, + -0.0 + ], + [ + -9818.389, + 7915.804, + 6939.83, + 0.0, + 164.4, + -0.0 + ], + [ + -9818.389, + 7915.804, + 6939.83, + 0.0, + 139.4, + -0.0 + ], + [ + -9913.95, + 7997.709, + 6939.83, + 0.0, + 139.4, + -0.0 + ], + [ + -9913.95, + 7997.709, + 6939.83, + 0.0, + 139.4, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e315c064b58013d048b417f6466fca304163ff02 --- /dev/null +++ b/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": [ + -8854.887, + 6818.473, + 6943.041, + 0.0, + 114.4, + -0.0 + ], + "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": [ + [ + -8854.887, + 6818.473, + 6943.041, + 0.0, + 114.4, + -0.0 + ], + [ + -8906.88, + 6933.091, + 6942.565, + 0.0, + 114.4, + -0.0 + ], + [ + -8958.873, + 7047.709, + 6942.039, + 0.0, + 114.4, + -0.0 + ], + [ + -8958.873, + 7047.709, + 6942.039, + 0.0, + 139.4, + -0.0 + ], + [ + -9054.434, + 7129.614, + 6941.263, + 0.0, + 139.4, + -0.0 + ], + [ + -9149.995, + 7211.52, + 6940.737, + 0.0, + 139.4, + -0.0 + ], + [ + -9245.556, + 7293.426, + 6940.231, + 0.0, + 139.4, + -0.0 + ], + [ + -9341.117, + 7375.332, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -9436.678, + 7457.238, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -9532.239, + 7539.143, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -9627.8, + 7621.049, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -9723.362, + 7702.955, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -9818.923, + 7784.861, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -9914.484, + 7866.767, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -10010.045, + 7948.672, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -10010.045, + 7948.672, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -9939.888, + 7888.541, + 6939.729, + 0.0, + 139.4, + -0.0 + ], + [ + -9939.888, + 7888.541, + 6939.729, + 0.0, + 114.4, + -0.0 + ], + [ + -9939.888, + 7888.541, + 6939.729, + 0.0, + 89.4, + -0.0 + ], + [ + -9939.888, + 7888.541, + 6939.729, + 0.0, + 64.4, + -0.0 + ], + [ + -9939.888, + 7888.541, + 6939.729, + 0.0, + 39.4, + -0.0 + ], + [ + -9939.888, + 7888.541, + 6939.729, + 0.0, + 14.4, + -0.0 + ], + [ + -9939.888, + 7888.541, + 6939.729, + 0.0, + -10.6, + 0.0 + ], + [ + -9816.177, + 7865.389, + 6939.729, + 0.0, + -10.6, + 0.0 + ], + [ + -9692.466, + 7842.237, + 6939.729, + 0.0, + -10.6, + 0.0 + ], + [ + -9568.755, + 7819.085, + 6939.729, + 0.0, + -10.6, + 0.0 + ], + [ + -9568.755, + 7819.085, + 6939.729, + 0.0, + 14.4, + -0.0 + ], + [ + -9446.85, + 7850.385, + 6945.791, + 0.0, + 14.4, + -0.0 + ], + [ + -9324.945, + 7881.685, + 6944.908, + 0.0, + 14.4, + -0.0 + ], + [ + -9203.04, + 7912.985, + 6940.716, + 0.0, + 14.4, + -0.0 + ], + [ + -9203.04, + 7912.985, + 6940.716, + 0.0, + -10.6, + 0.0 + ], + [ + -9079.329, + 7889.833, + 6943.503, + 0.0, + -10.6, + 0.0 + ], + [ + -8955.617, + 7866.681, + 6950.332, + 0.0, + -10.6, + 0.0 + ], + [ + -8831.906, + 7843.529, + 6948.302, + 0.0, + -10.6, + 0.0 + ], + [ + -8831.906, + 7843.529, + 6948.302, + 0.0, + -10.6, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a4d5131a95e2a15b8ea7846b134b700eb2bedcf3 --- /dev/null +++ b/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": [ + -8854.887, + 6818.473, + 6943.085, + 0.0, + 114.4, + -0.0 + ], + "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": [ + [ + -8854.887, + 6818.473, + 6943.085, + 0.0, + 114.4, + -0.0 + ], + [ + -8906.88, + 6933.091, + 6942.565, + 0.0, + 114.4, + -0.0 + ], + [ + -8906.88, + 6933.091, + 6942.565, + 0.0, + 89.4, + -0.0 + ], + [ + -8905.562, + 7058.943, + 6942.312, + 0.0, + 89.4, + -0.0 + ], + [ + -8904.244, + 7184.795, + 6942.058, + 0.0, + 89.4, + -0.0 + ], + [ + -8902.926, + 7310.647, + 6941.801, + 0.0, + 89.4, + -0.0 + ], + [ + -8901.608, + 7436.499, + 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], + [ + -7971.844, + 9869.471, + 6954.99, + 0.0, + -110.6, + 0.0 + ], + [ + -8016.126, + 9751.66, + 6953.183, + 0.0, + -110.6, + 0.0 + ], + [ + -8060.409, + 9633.848, + 6953.183, + 0.0, + -110.6, + 0.0 + ], + [ + -8104.691, + 9516.037, + 6952.931, + 0.0, + -110.6, + 0.0 + ], + [ + -8148.974, + 9398.225, + 6952.673, + 0.0, + -110.6, + 0.0 + ], + [ + -8193.256, + 9280.414, + 6952.422, + 0.0, + -110.6, + 0.0 + ], + [ + -8237.539, + 9162.602, + 6951.914, + 0.0, + -110.6, + 0.0 + ], + [ + -8281.821, + 9044.791, + 6951.656, + 0.0, + -110.6, + 0.0 + ], + [ + -8326.103, + 8926.979, + 6951.402, + 0.0, + -110.6, + 0.0 + ], + [ + -8370.386, + 8809.168, + 6951.151, + 0.0, + -110.6, + 0.0 + ], + [ + -8414.668, + 8691.356, + 6950.897, + 0.0, + -110.6, + 0.0 + ], + [ + -8458.951, + 8573.545, + 6950.639, + 0.0, + -110.6, + 0.0 + ], + [ + -8503.233, + 8455.733, + 6950.138, + 0.0, + -110.6, + 0.0 + ], + [ + -8547.516, + 8337.922, + 6949.88, + 0.0, + -110.6, + 0.0 + ], + [ + -8591.798, + 8220.11, + 6949.629, + 0.0, + -110.6, + 0.0 + ], + [ + -8636.08, + 8102.299, + 6949.379, + 0.0, + -110.6, + 0.0 + ], + [ + -8680.363, + 7984.487, + 6948.331, + 0.0, + -110.6, + 0.0 + ], + [ + -8680.363, + 7984.487, + 6948.331, + 0.0, + -110.6, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_d/infos.json b/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2f9eff9bc53a9014ffc37820e316dcbe78adb719 --- /dev/null +++ b/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, + 6818.473, + 6943.085, + 0.0, + 114.4, + -0.0 + ], + "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": [ + [ + -8854.887, + 6818.473, + 6943.085, + 0.0, + 114.4, + -0.0 + ], + [ + -8906.88, + 6933.091, + 6942.565, + 0.0, + 114.4, + -0.0 + ], + [ + -8958.873, + 7047.709, + 6942.039, + 0.0, + 114.4, + -0.0 + ], + [ + -9010.865, + 7162.326, + 6941.526, + 0.0, + 114.4, + -0.0 + ], + [ + -9062.858, + 7276.944, + 6941.018, + 0.0, + 114.4, + -0.0 + ], + [ + -9062.858, + 7276.944, + 6941.018, + 0.0, + 139.4, + -0.0 + ], + [ + -9158.42, + 7358.85, + 6940.508, + 0.0, + 139.4, + -0.0 + ], + [ + -9253.981, + 7440.756, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9349.542, + 7522.661, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9445.103, + 7604.567, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9540.664, + 7686.473, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9636.225, + 7768.379, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9731.786, + 7850.285, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9827.347, + 7932.19, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9922.909, + 8014.096, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9922.909, + 8014.096, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9852.752, + 7953.965, + 6940.001, + 0.0, + 139.4, + -0.0 + ], + [ + -9852.752, + 7953.965, + 6940.001, + 0.0, + 164.4, + -0.0 + ], + [ + -9763.756, + 7929.117, + 6940.001, + 0.0, + 164.4, + -0.0 + ], + [ + -9763.756, + 7929.117, + 6940.001, + 0.0, + -170.6, + 0.0 + ], + [ + -9763.756, + 7929.117, + 6940.001, + 0.0, + -145.6, + 0.0 + ], + [ + -9867.604, + 7858.01, + 6939.751, + 0.0, + -145.6, + 0.0 + ], + [ + -9971.452, + 7786.904, + 6939.5, + 0.0, + -145.6, + 0.0 + ], + [ + -10075.3, + 7715.798, + 6940.986, + 0.0, + -145.6, + 0.0 + ], + [ + -10075.3, + 7715.798, + 6940.986, + 0.0, + -170.6, + 0.0 + ], + [ + -10199.469, + 7695.242, + 6939.098, + 0.0, + -170.6, + 0.0 + ], + [ + -10199.469, + 7695.242, + 6939.098, + 0.0, + -170.6, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_e/infos.json b/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e8211f40c0cb73a221f818a71812c96d95ad122b --- /dev/null +++ b/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": [ + -8854.887, + 6818.473, + 6943.085, + 0.0, + 114.4, + -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": [ + [ + -8854.887, + 6818.473, + 6943.085, + 0.0, + 114.4, + -0.0 + ], + [ + -8854.887, + 6818.473, + 6943.086, + 0.0, + 139.4, + -0.0 + ], + [ + -8950.448, + 6900.379, + 6942.566, + 0.0, + 139.4, + -0.0 + ], + [ + -9046.009, + 6982.285, + 6941.758, + 0.0, + 139.4, + -0.0 + ], + [ + -9141.57, + 7064.191, + 6940.984, + 0.0, + 139.4, + -0.0 + ], + [ + -9237.131, + 7146.096, + 6940.457, + 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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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_f/infos.json b/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t3_f/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a70f1e86b76181f0a8a87467d428d123d5be09da --- /dev/null +++ b/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": [ + -8854.887, + 6818.473, + 6943.085, + 0.0, + 114.4, + -0.0 + ], + "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": [ + [ + -8854.887, + 6818.473, + 6943.085, + 0.0, + 114.4, + -0.0 + ], + [ + -8906.88, + 6933.091, + 6942.565, + 0.0, + 114.4, + -0.0 + ], + [ + -8906.88, + 6933.091, + 6942.565, + 0.0, + 89.4, + -0.0 + ], + [ + -8905.562, + 7058.943, + 6942.312, + 0.0, + 89.4, + -0.0 + ], + [ + -8904.244, + 7184.795, + 6942.058, + 0.0, + 89.4, + -0.0 + ], + [ + -8902.926, + 7310.647, + 6941.801, + 0.0, + 89.4, + -0.0 + ], + [ + -8901.608, + 7436.499, + 6941.544, + 0.0, + 89.4, + -0.0 + ], + [ + -8900.29, + 7562.351, + 6941.293, + 0.0, + 89.4, + -0.0 + ], + [ + -8900.29, + 7562.351, + 6941.293, + 0.0, + 64.4, + -0.0 + ], + [ + -8845.908, + 7675.855, + 6941.293, + 0.0, + 64.4, + -0.0 + ], + [ + -8791.526, + 7789.359, + 6943.729, + 0.0, + 64.4, + -0.0 + ], + [ + -8791.526, + 7789.359, + 6943.729, + 0.0, + 64.4, + -0.0 + ], + [ + -8791.526, + 7789.359, + 6943.729, + 0.0, + 39.4, + -0.0 + ], + [ + -8694.268, + 7826.515, + 6949.842, + 0.0, + 39.4, + -0.0 + ], + [ + -8694.268, + 7826.515, + 6949.842, + 0.0, + 64.4, + -0.0 + ], + [ + -8637.237, + 7937.727, + 6949.358, + 0.0, + 64.4, + -0.0 + ], + [ + -8582.855, + 8051.231, + 6947.248, + 0.0, + 64.4, + -0.0 + ], + [ + -8528.473, + 8164.735, + 6946.389, + 0.0, + 64.4, + -0.0 + ], + [ + -8474.091, + 8278.239, + 6949.822, + 0.0, + 64.4, + -0.0 + ], + [ + -8419.709, + 8391.742, + 6950.076, + 0.0, + 64.4, + -0.0 + ], + [ + -8365.327, + 8505.246, + 6950.328, + 0.0, + 64.4, + -0.0 + ], + [ + -8310.945, + 8618.75, + 6950.579, + 0.0, + 64.4, + -0.0 + ], + [ + -8256.564, + 8732.254, + 6950.833, + 0.0, + 64.4, + -0.0 + ], + [ + -8202.182, + 8845.757, + 6951.336, + 0.0, + 64.4, + -0.0 + ], + [ + -8147.8, + 8959.261, + 6951.589, + 0.0, + 64.4, + -0.0 + ], + [ + -8093.418, + 9072.765, + 6951.841, + 0.0, + 64.4, + -0.0 + ], + [ + -8039.036, + 9186.269, + 6952.092, + 0.0, + 64.4, + -0.0 + ], + [ + -7984.654, + 9299.772, + 6952.346, + 0.0, + 64.4, + -0.0 + ], + [ + -7930.272, + 9413.276, + 6952.849, + 0.0, + 64.4, + -0.0 + ], + [ + -7930.272, + 9413.276, + 6952.849, + 0.0, + 89.4, + -0.0 + ], + [ + -7928.954, + 9539.128, + 6953.102, + 0.0, + 89.4, + -0.0 + ], + [ + -7927.636, + 9664.98, + 6953.102, + 0.0, + 89.4, + -0.0 + ], + [ + -7926.318, + 9790.832, + 6953.102, + 0.0, + 89.4, + -0.0 + ], + [ + -7926.318, + 9790.832, + 6953.102, + 0.0, + 89.4, + -0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t5_a_pd/infos.json b/dataset/trajectory/EnglishCollege/task_x-008855_y006818_z006943_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d8eac1231a857600a17e8b2cdfd4dd4d58605b9 --- /dev/null +++ b/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": [ + -8854.887, + 6818.473, + 6943.041, + 0, + 114.4, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -8856.467, + 7707.075, + 6881.23, + 0, + 0, + 0 + ], + "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" + ], + "Pose_Trajectory": [ + [ + -8854.887, + 6818.473, + 6943.041, + 0, + 114.4, + 0 + ], + [ + -8906.88, + 6933.091, + 6942.565, + 0.0, + 114.4, + -0.0 + ], + [ + -8906.88, + 6933.091, + 6942.565, + 0.0, + 89.4, + -0.0 + ], + [ + -8905.562, + 7058.943, + 6942.312, + 0.0, + 89.4, + -0.0 + ], + [ + -8904.244, + 7184.795, + 6942.058, + 0.0, + 89.4, + -0.0 + ], + [ + -8902.926, + 7310.647, + 6941.801, + 0.0, + 89.4, + -0.0 + ], + [ + -8901.608, + 7436.499, + 6941.544, + 0.0, + 89.4, + -0.0 + ], + [ + -8901.608, + 7436.499, + 6941.544, + 0.0, + 89.4, + -0.0 + ], + [ + -8900.29, + 7562.351, + 6941.293, + 0.0, + 89.4, + -0.0 + ], + [ + -8900.29, + 7562.351, + 6941.293, + 0.0, + 89.401, + -0.0 + ], + [ + -8900.29, + 7562.351, + 6941.293, + 0.0, + 114.401, + -0.0 + ], + [ + -8900.29, + 7562.351, + 6941.293, + 0.0, + 139.401, + -0.0 + ], + [ + -8900.29, + 7562.351, + 6941.293, + 0.0, + 164.401, + -0.0 + ], + [ + -9021.513, + 7596.196, + 6940.779, + 0.0, + 164.401, + -0.0 + ], + [ + -9142.736, + 7630.041, + 6940.258, + 0.0, + 164.401, + -0.0 + ], + [ + -9263.959, + 7663.886, + 6940.258, + 0.0, + 164.401, + -0.0 + ], + [ + -9385.182, + 7697.73, + 6940.258, + 0.0, + 164.401, + -0.0 + ], + [ + -9506.405, + 7731.575, + 6940.007, + 0.0, + 164.401, + -0.0 + ], + [ + -9627.628, + 7765.42, + 6940.007, + 0.0, + 164.401, + -0.0 + ], + [ + -9627.628, + 7765.42, + 6940.007, + 0.0, + 139.401, + -0.0 + ], + [ + -9723.19, + 7847.325, + 6940.007, + 0.0, + 139.401, + -0.0 + ], + [ + -9818.752, + 7929.23, + 6940.007, + 0.0, + 139.401, + -0.0 + ], + [ + -9914.314, + 8011.135, + 6940.007, + 0.0, + 139.401, + -0.0 + ], + [ + -9859.646, + 7964.279, + 6940.007, + 0.0, + 139.401, + -0.0 + ], + [ + -9859.646, + 7964.279, + 6940.007, + 0.0, + 139.401, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -8856.467, + 7707.075, + 6881.23, + 0.0, + 0.0, + 0.0 + ], + [ + -8856.467, + 7707.075, + 6881.23, + 0.0, + 0.0, + 0.0 + ], + [ + -8856.467, + 7707.075, + 6881.23, + 0.0, + 0.0, + 0.0 + ], + [ + -8856.467, + 7707.075, + 6881.23, + 0.0, + 0.0, + 0.0 + ], + [ + -8856.467, + 7707.075, + 6881.23, + 0.0, + 0.0, + 0.0 + ], + [ + -8856.467, + 7707.075, + 6881.23, + 0.0, + 0.0, + 0.0 + ], + [ + -8856.467, + 7707.075, + 6881.23, + 0.0, + 0.0, + 0.0 + ], + [ + -8856.467, + 7707.075, + 6881.23, + 0.0, + 0.0, + 0.0 + ], + [ + -8856.467, + 7707.075, + 6881.23, + 0.0, + 0.0, + 0.0 + ], + [ + -8921.649, + 7561.965, + 6911.167, + -28.202, + 139.545, + 1.862 + ], + [ + -8920.354, + 7552.572, + 6911.44, + -28.189, + 164.557, + 1.872 + ], + [ + -8915.064, + 7545.35, + 6910.773, + -28.215, + -170.472, + 1.849 + ], + [ + -8912.693, + 7538.256, + 6910.875, + -14.092, + -153.256, + 6.87 + ], + [ + -9026.553, + 7575.432, + 6910.942, + -28.198, + -145.454, + 1.865 + ], + [ + -9148.062, + 7609.354, + 6910.034, + -28.191, + -145.441, + 1.871 + ], + [ + -9269.404, + 7643.241, + 6909.615, + -28.214, + -145.469, + 1.852 + ], + [ + -9390.542, + 7677.056, + 6909.726, + -28.203, + -145.459, + 1.856 + ], + [ + -9511.527, + 7710.829, + 6910.022, + -28.187, + -145.443, + 1.872 + ], + [ + -9632.471, + 7744.603, + 6910.325, + -28.2, + -145.456, + 1.866 + ], + [ + -9641.002, + 7749.536, + 6909.355, + -28.201, + -170.453, + 1.862 + ], + [ + -9736.828, + 7830.897, + 6909.384, + -28.211, + -170.465, + 1.853 + ], + [ + -9832.23, + 7912.659, + 6909.732, + -28.203, + -170.462, + 1.859 + ], + [ + -9927.583, + 7994.381, + 6910.145, + -28.194, + -170.448, + 1.868 + ], + [ + -9912.796, + 8009.832, + 6900.007, + 0.0, + 139.401, + -0.0 + ], + [ + -9912.796, + 8009.832, + 6900.007, + 0.0, + 139.401, + -0.0 + ] + ], + "PD_Dist_2D": [ + 888.6, + 775.6, + 775.6, + 650.0, + 524.5, + 399.1, + 274.3, + 274.3, + 151.2, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 20.8, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-008950_y004396_z006950_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-008950_y004396_z006950_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..18559b58a6c8eab1c4ecb0f52a2999807816e773 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009042_y006975_z006942_t2_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-009042_y006975_z006942_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..650154c49e0ba0fe8dafc35eae59c3d81df415a3 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009042_y006975_z006942_t2_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-009042_y006975_z006942_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eb0902555ca7ae1a2287b454f29de5f4a5c683f7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009042_y006975_z006942_t2_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-009042_y006975_z006942_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f5855e70d08e6cc96ad90aeae4654831db3ca6d2 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t0_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e3ccadecd2b0094df46214e73861d0eeeb60a1f --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d27d36d0ab26d232bf315056fa3cdd6223c911d5 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..22a339e91cbdcdadc3776d8cd3a161dc16643e9b --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_d/infos.json b/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0da347ecb35fb0b9c85508e23db6a3845cf42f38 --- /dev/null +++ b/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, + 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 + ], + [ + -8921.05, + 3940.49, + 6949.842, + 0.0, + -66.96, + 0.0 + ], + [ + -8871.792, + 3824.671, + 6949.442, + 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, + 6963.344, + 0.0, + -91.96, + 0.0 + ], + [ + -8831.143, + 3457.281, + 6963.854, + 0.0, + -91.96, + 0.0 + ], + [ + -8831.143, + 3457.281, + 6963.854, + 0.0, + -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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7fad65ff91fb13b9b6610e3a96da0e302942caab --- /dev/null +++ b/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, + -140.96, + 0.0 + ], + "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": [ + [ + -9097.365, + 5009.125, + 6949.683, + 0.0, + -140.96, + 0.0 + ], + [ + -9195.121, + 4929.851, + 6949.842, + 0.0, + -140.96, + 0.0 + ], + [ + -9292.876, + 4850.577, + 6949.842, + 0.0, + -140.96, + 0.0 + ], + [ + -9390.632, + 4771.303, + 6949.842, + 0.0, + -140.96, + 0.0 + ], + [ + -9488.387, + 4692.029, + 6949.842, + 0.0, + -140.96, + 0.0 + ], + [ + -9586.143, + 4612.756, + 6949.842, + 0.0, + -140.96, + 0.0 + ], + [ + -9683.898, + 4533.482, + 6947.471, + 0.0, + -140.96, + 0.0 + ], + [ + -9781.654, + 4454.208, + 6957.096, + 0.0, + -140.96, + 0.0 + ], + [ + -9879.409, + 4374.934, + 6957.096, + 0.0, + -140.96, + 0.0 + ], + [ + -9879.409, + 4374.934, + 6957.096, + 0.0, + -140.96, + 0.0 + ], + [ + -9807.642, + 4433.133, + 6957.096, + 0.0, + -140.96, + 0.0 + ], + [ + -9807.642, + 4433.133, + 6957.096, + 0.0, + -115.96, + 0.0 + ], + [ + -9807.642, + 4433.133, + 6957.096, + 0.0, + -90.96, + 0.0 + ], + [ + -9807.642, + 4433.133, + 6957.096, + 0.0, + -65.96, + 0.0 + ], + [ + -9807.642, + 4433.133, + 6957.096, + 0.0, + -40.96, + 0.0 + ], + [ + -9712.597, + 4350.629, + 6957.605, + 0.0, + -40.96, + 0.0 + ], + [ + -9617.552, + 4268.124, + 6958.131, + 0.0, + -40.96, + 0.0 + ], + [ + -9522.508, + 4185.619, + 6958.639, + 0.0, + -40.96, + 0.0 + ], + [ + -9522.508, + 4185.619, + 6958.639, + 0.0, + -65.96, + 0.0 + ], + [ + -9471.236, + 4070.677, + 6959.408, + 0.0, + -65.96, + 0.0 + ], + [ + -9419.964, + 3955.735, + 6959.931, + 0.0, + -65.96, + 0.0 + ], + [ + -9365.113, + 3844.363, + 6960.457, + 0.0, + -65.96, + 0.0 + ], + [ + -9365.113, + 3844.363, + 6960.457, + 0.0, + -90.96, + 0.0 + ], + [ + -9365.113, + 3844.363, + 6960.457, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-009097_y005009_z006950_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f54d28aaa034d7d2ab4487a175c92a763a4a0aca --- /dev/null +++ b/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": [ + [ + -9097.365, + 5009.125, + 6949.683, + 0.0, + -140.96, + 0.0 + ], + [ + -9097.365, + 5009.125, + 6949.842, + 0.0, + -115.96, + 0.0 + ], + [ + -9152.459, + 4895.965, + 6949.842, + 0.0, + -115.96, + 0.0 + ], + [ + -9207.553, + 4782.805, + 6949.842, + 0.0, + -115.96, + 0.0 + ], + [ + -9262.647, + 4669.646, + 6949.842, + 0.0, + -115.96, + 0.0 + ], + [ + -9262.647, + 4669.646, + 6949.842, + 0.0, + -90.96, + 0.0 + ], + [ + -9264.756, + 4543.804, + 6949.842, + 0.0, + -90.96, + 0.0 + ], + [ + -9266.865, + 4417.963, + 6949.842, + 0.0, + -90.96, + 0.0 + ], + [ + -9268.973, + 4292.122, + 6949.842, + 0.0, + -90.96, + 0.0 + ], + [ + -9271.082, + 4166.28, + 6952.66, + 0.0, + -90.96, + 0.0 + ], + [ + -9273.191, + 4040.439, + 6960.121, + 0.0, + -90.96, + 0.0 + ], + [ + -9273.191, + 4040.439, + 6960.121, + 0.0, + -115.96, + 0.0 + ], + [ + -9328.285, + 3927.279, + 6960.372, + 0.0, + -115.96, + 0.0 + ], + [ + -9383.379, + 3814.119, + 6960.372, + 0.0, + -115.96, + 0.0 + ], + [ + -9383.379, + 3814.119, + 6960.372, + 0.0, + -115.96, + 0.0 + ], + [ + -9342.931, + 3897.196, + 6960.372, + 0.0, + -115.96, + 0.0 + ], + [ + -9302.484, + 3980.273, + 6960.372, + 0.0, + -115.96, + 0.0 + ], + [ + -9302.484, + 3980.273, + 6960.372, + 0.0, + -140.96, + 0.0 + ], + [ + -9302.484, + 3980.273, + 6960.372, + 0.0, + -165.96, + 0.0 + ], + [ + -9302.484, + 3980.273, + 6960.372, + 0.0, + 169.04, + -0.0 + ], + [ + -9426.047, + 4004.202, + 6959.856, + 0.0, + 169.04, + -0.0 + ], + [ + -9549.61, + 4028.13, + 6959.314, + 0.0, + 169.04, + -0.0 + ], + [ + -9549.61, + 4028.13, + 6959.314, + 0.0, + 144.04, + -0.0 + ], + [ + -9651.484, + 4102.037, + 6958.795, + 0.0, + 144.04, + -0.0 + ], + [ + -9753.358, + 4175.944, + 6958.28, + 0.0, + 144.04, + -0.0 + ], + [ + -9855.231, + 4249.851, + 6957.495, + 0.0, + 144.04, + -0.0 + ], + [ + -9910.22, + 4285.842, + 6957.234, + 0.0, + 144.04, + -0.0 + ], + [ + -9910.22, + 4285.842, + 6957.234, + 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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009720_y007470_z006939_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-009720_y007470_z006939_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5461014bc91e5a67a247e34adc5fff1c099d59fa --- /dev/null +++ b/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": [ + [ + -9719.985, + 7469.673, + 6939.106, + 0.0, + -107.36, + 0.0 + ], + [ + -9757.538, + 7349.547, + 6938.996, + 0.0, + -107.36, + 0.0 + ], + [ + -9757.538, + 7349.547, + 6938.996, + 0.0, + -82.36, + 0.0 + ], + [ + -9740.806, + 7224.805, + 6938.996, + 0.0, + -82.36, + 0.0 + ], + [ + -9724.073, + 7100.063, + 6948.08, + 0.0, + -82.36, + 0.0 + ], + [ + -9707.34, + 6975.322, + 6948.335, + 0.0, + -82.36, + 0.0 + ], + [ + -9707.34, + 6975.322, + 6948.335, + 0.0, + -82.36, + 0.0 + ], + [ + -9707.34, + 6975.322, + 6948.335, + 0.0, + -107.36, + 0.0 + ], + [ + -9707.34, + 6975.322, + 6948.335, + 0.0, + -132.36, + 0.0 + ], + [ + -9707.34, + 6975.322, + 6948.335, + 0.0, + -157.36, + 0.0 + ], + [ + -9823.501, + 6926.873, + 6948.587, + 0.0, + -157.36, + 0.0 + ], + [ + -9939.661, + 6878.425, + 6949.089, + 0.0, + -157.36, + 0.0 + ], + [ + -10055.822, + 6829.977, + 6949.34, + 0.0, + -157.36, + 0.0 + ], + [ + -10171.982, + 6781.529, + 6949.59, + 0.0, + -157.36, + 0.0 + ], + [ + -10288.143, + 6733.081, + 6949.845, + 0.0, + -157.36, + 0.0 + ], + [ + -10404.303, + 6684.633, + 6950.096, + 0.0, + -157.36, + 0.0 + ], + [ + -10520.464, + 6636.185, + 6950.35, + 0.0, + -157.36, + 0.0 + ], + [ + -10636.624, + 6587.737, + 6950.601, + 0.0, + -157.36, + 0.0 + ], + [ + -10752.785, + 6539.288, + 6950.852, + 0.0, + -157.36, + 0.0 + ], + [ + -10868.945, + 6490.84, + 6951.102, + 0.0, + -157.36, + 0.0 + ], + [ + -10985.106, + 6442.392, + 6951.102, + 0.0, + -157.36, + 0.0 + ], + [ + -11101.267, + 6393.944, + 6951.356, + 0.0, + -157.36, + 0.0 + ], + [ + -11101.267, + 6393.944, + 6951.356, + 0.0, + -132.36, + 0.0 + ], + [ + -11186.069, + 6300.944, + 6951.609, + 0.0, + -132.36, + 0.0 + ], + [ + -11270.871, + 6207.943, + 6952.114, + 0.0, + -132.36, + 0.0 + ], + [ + -11355.673, + 6114.943, + 6952.901, + 0.0, + -132.36, + 0.0 + ], + [ + -11440.475, + 6021.942, + 6953.163, + 0.0, + -132.36, + 0.0 + ], + [ + -11525.277, + 5928.942, + 6953.163, + 0.0, + -132.36, + 0.0 + ], + [ + -11610.079, + 5835.941, + 6953.163, + 0.0, + -132.36, + 0.0 + ], + [ + -11610.079, + 5835.941, + 6953.163, + 0.0, + -132.36, + 0.0 + ] + ], + "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." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-009720_y007470_z006939_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-009720_y007470_z006939_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..876af644b6646d30f60b4304898a0b46e11a0b05 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-009720_y007470_z006939_t3_b/infos.json @@ -0,0 +1,506 @@ +{ + "Instruction": "Approach the arched doorway, then proceed to the black lamp post.", + "Type": 3, + "Start_Pose": [ + -9719.985, + 7469.673, + 6939.106, + 0.0, + -107.36, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -9719.985, + 7469.673, + 6939.106, + 0.0, + -107.36, + 0.0 + ], + [ + -9719.985, + 7469.673, + 6939.247, + 0.0, + -132.36, + 0.0 + ], + [ + -9804.787, + 7376.672, + 6938.996, + 0.0, + -132.36, + 0.0 + ], + [ + -9889.59, + 7283.672, + 6947.695, + 0.0, + -132.36, + 0.0 + ], + [ + -9974.392, + 7190.671, + 6948.369, + 0.0, + -132.36, + 0.0 + ], + [ + -10059.194, + 7097.671, + 6948.627, + 0.0, + -132.36, + 0.0 + ], + [ + -10143.996, + 7004.67, + 6949.138, + 0.0, + -132.36, + 0.0 + ], + [ + -10228.798, + 6911.67, + 6949.396, + 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], + [ + -10884.532, + 6105.816, + 6952.203, + 0.0, + 17.64, + -0.0 + ], + [ + -10764.591, + 6143.955, + 6951.953, + 0.0, + 17.64, + -0.0 + ], + [ + -10644.65, + 6182.095, + 6951.703, + 0.0, + 17.64, + -0.0 + ], + [ + -10524.709, + 6220.235, + 6951.452, + 0.0, + 17.64, + -0.0 + ], + [ + -10404.768, + 6258.374, + 6951.194, + 0.0, + 17.64, + -0.0 + ], + [ + -10284.827, + 6296.514, + 6950.934, + 0.0, + 17.64, + -0.0 + ], + [ + -10284.827, + 6296.514, + 6950.934, + 0.0, + 42.64, + -0.0 + ], + [ + -10192.242, + 6381.77, + 6950.682, + 0.0, + 42.64, + -0.0 + ], + [ + -10099.657, + 6467.025, + 6950.17, + 0.0, + 42.64, + -0.0 + ], + [ + -10007.072, + 6552.281, + 6949.913, + 0.0, + 42.64, + -0.0 + ], + [ + -9914.487, + 6637.537, + 6949.36, + 0.0, + 42.64, + -0.0 + ], + [ + -9821.902, + 6722.792, + 6949.832, + 0.0, + 42.64, + -0.0 + ], + [ + -9821.902, + 6722.792, + 6949.832, + 0.0, + 42.64, + -0.0 + ] + ], + "Rationale": [ + "The pointed arched doorway sits in the shaded brick facade to my left, well off my current heading toward the open courtyard. I will turn left to bring that archway nearer the center of my view before walking toward it.", + "After turning, the arched doorway now sits ahead in the dark brick wall with clear paving between me and it. I will walk forward across the open courtyard to close that distance.", + "The archway has grown slightly larger and the courtyard paving continues unbroken in front of me. Another step forward should keep shrinking the gap to that doorway.", + "The doorway remains ahead and to the left of center, still far enough away that its arch is small. I will keep advancing straight across the open pavement toward it.", + "The tall church wall and the arched entrance are steadily filling more of my view, so my heading is still useful. I continue walking forward rather than adjusting the direction yet.", + "The arched door is now clearly resolved in the shadowed brickwork ahead of me, and nothing blocks the courtyard. Stepping forward again should bring me closer to it.", + "I am still several strides from the archway, which sits slightly left of my heading against the brick facade. I will keep moving forward across the courtyard to shorten that remaining distance.", + "The doorway's pointed arch and stone surround are becoming easier to make out as the wall looms larger. I will advance again, since the direct line across the paving is still clear.", + "The pointed arched door sits in the shaded angle of the brick wall ahead and slightly to my left, still some way off. The paving between me and it is open and unobstructed, so I will keep walking forward to close that gap.", + "The arched door has grown a little larger and its stone surround is now easier to pick out against the brickwork. My heading still carries me toward it across clear paving, so another step forward should shorten the distance further.", + "The timber panels of the arched door and the small fitting above it are becoming distinct, confirming I am tracking the right feature. Nothing blocks the courtyard ahead, so I continue walking straight toward it.", + "The arch now stands clearly on the near brick face, still a few strides off and a little left of the centre of my view. Since my line still leads toward that corner of the courtyard, I will step forward again.", + "The doorway keeps expanding and its lancet windows alongside are close enough to read in detail, so I am nearly at the wall. Advancing again should bring me into the immediate area in front of the arch.", + "The arched door is now large in my view, its weathered planks and the lamp over it plainly visible, though it sits off to my left rather than straight ahead. One more step forward should bring me closer before I correct my facing.", + "I am close to the brick wall, but the arched door lies to the left of my current heading while the plain wall fills the centre of my view. Turning left should swing the doorway toward the middle of my view so I can walk straight at it.", + "The turn has brought the arched door into the middle of my view, framed in its stone surround with the lamp above it. With my heading now aimed at it and open paving in between, I will step forward to close the last of the distance.", + "The pointed arched wooden door sits just right of center in this shaded corner of the brick wall, and the paving between us is clear. I will keep walking straight ahead to close the remaining distance to it.", + "The arch and its stone surround have grown noticeably larger, so my heading is carrying me toward the doorway. Another step forward should keep shrinking the gap across the empty paving.", + "The timber door and the small lamp bracket above it now read clearly ahead of me, still a few paces off. I continue straight so the doorway comes within close range.", + "The arch fills much more of my view and the brickwork detail is sharp, so I am close but not yet at the threshold. I keep advancing along the same line toward the door.", + "The doorway is only a short step away, with its stone jambs and planked leaves clearly framed slightly right of my heading. One more forward step should bring me right up against it.", + "Standing this close, the arch has drifted to the right edge of my view while plain brick and a window fill the left. Turning right should put the doorway squarely in front of me before I step in.", + "The arch is now centered dead ahead, its full stone surround and both door leaves in view. I will take one more step to stand directly at the doorway.", + "The weathered planks and curved stone jamb of the arched door fill my whole view at arm's length. I have reached the arched doorway. I mark reaching it, then turn my attention toward the black lamp post out in the open courtyard.", + "The weathered planks of the arched door fill my whole view, so I am standing right at it and nothing is gained by pressing closer. My other destination, the black lamp post, lies out in the open courtyard behind me. I will turn right to begin swinging my heading away from this wall.", + "Only the edge of the door and the brickwork beside it have come into view, so my heading is still buried against the church wall. A further turn right should keep rotating me toward the open courtyard rather than the masonry.", + "The wall is sliding away to the left and paving and sky are opening up, but I am still looking along the face of the building instead of across the square. I will turn right again to keep bringing the open ground where the lamp post stands into my view.", + "I am now looking down the walkway beside the range of windows, with lawn and young trees beyond, yet no lamp post sits in front of me. Continuing to turn right should sweep more of the courtyard into view.", + "The wide courtyard with its grass strip and trees is now spread ahead of me, and a slim dark post stands out toward the right near the far buildings. Another turn right should bring that post nearer the middle of my view.", + "The plaza is fully open in front of me and I can pick out the black lamp posts standing along the far range of buildings, still a little to the right of where I am pointed. One more turn right should settle my heading onto them.", + "The black lamp posts rise from the paving ahead beside the long building, and the square between us is flat and unobstructed. With my heading now set on them, I will walk forward to start closing the distance.", + "The lamp post ahead has grown slightly larger, which tells me my heading across the plaza is good. The paving stays clear, so I will keep walking forward toward it.", + "The open paving ahead is clear, and a slender black lamp post stands where the walkway meets the lawn in front of the long building. It is still well off in the distance, so I will keep walking straight toward it.", + "The dark lamp post ahead has grown taller in view, confirming my heading is carrying me toward it. Nothing blocks the paving between me and it, so another step forward should close more of that gap.", + "The black post sits just ahead of me on the strip between the grass and the paving, still some distance off. My line of travel is aimed near it, so I continue walking forward rather than adjusting my heading yet.", + "The nearer lamp post now shows its full shaft and lantern clearly against the brick facade, which means I am steadily gaining on it. The paving stays flat and open, so I keep advancing on the same line.", + "The black lamp post keeps growing in front of me and remains slightly left of my path. There is still open ground between us, so another forward step is the direct way to shorten it.", + "The tall dark post now rises well above the roofline of the building behind it, a sign I am close but not yet beside it. I will walk forward again to bring it within reach of my position.", + "The lamp post stands prominently ahead where the grass meets the paved square, noticeably nearer than a moment ago. Since my heading still points at it and the ground is clear, I keep moving forward.", + "The black lamp post is close now, its base sitting on the grass just ahead and a little to my left. A further step forward should bring me alongside it before I settle my final position.", + "The black lamp post stands ahead on the paved apron just right of my heading, and it has grown noticeably taller in view as I advance along this walkway. Nothing blocks the open pavement between us, so I will keep walking forward to cut the remaining distance.", + "The lamp post now sits noticeably right of my forward heading, so continuing straight would carry me past it across the grass. A small turn to the right should swing the post toward the middle of my view and set a direct line to its base.", + "After the turn the black lamp post sits near the center of my view with its lamp head clearly outlined against the sky. The pavement and grass strip ahead are clear, so I will step forward along this line toward it.", + "The post is larger and still holding the center of my view, which confirms my heading is good. I will continue walking forward to close the remaining stretch of open ground.", + "The lamp post's fluted black column and its base on the grass verge are now clearly resolved a short way ahead. My heading needs no correction, so another forward step should bring me appreciably nearer.", + "The post now rises through nearly the full height of my view, so only a little distance remains. I will step forward again to stand right beside its base.", + "The black column fills the middle of my view and its lamp head has passed above my sightline, meaning I am very close. One more forward step should place me directly at the post.", + "The black lamp post's base stands directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-010285_y005834_z006950_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-010285_y005834_z006950_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3a447412f6afdb993286c29f9809622b060b964c --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-010285_y005834_z006950_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for the pointed Gothic arch doorway set into the brick wall of the building, then walk toward it.", + "Type": 1, + "Start_Pose": [ + -10285.064, + 5833.814, + 6949.667, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10285.064, + 5833.814, + 6949.667, + 0.0, + -114.72, + 0.0 + ], + [ + -10285.064, + 5833.814, + 6949.842, + 0.0, + -139.72, + 0.0 + ], + [ + -10285.064, + 5833.814, + 6949.842, + 0.0, + -164.72, + 0.0 + ], + [ + -10406.474, + 5800.646, + 6949.842, + 0.0, + -164.72, + 0.0 + ], + [ + -10527.884, + 5767.477, + 6949.842, + 0.0, + -164.72, + 0.0 + ], + [ + -10649.294, + 5734.309, + 6949.842, + 0.0, + -164.72, + 0.0 + ], + [ + -10770.704, + 5701.14, + 6952.621, + 0.0, + -164.72, + 0.0 + ], + [ + -10892.114, + 5667.972, + 6952.872, + 0.0, + -164.72, + 0.0 + ], + [ + -10892.114, + 5667.972, + 6952.872, + 0.0, + 170.28, + -0.0 + ], + [ + -11016.166, + 5689.221, + 6953.126, + 0.0, + 170.28, + -0.0 + ], + [ + -11140.218, + 5710.47, + 6953.126, + 0.0, + 170.28, + -0.0 + ], + [ + -11264.27, + 5731.719, + 6953.126, + 0.0, + 170.28, + -0.0 + ], + [ + -11388.323, + 5752.969, + 6953.126, + 0.0, + 170.28, + -0.0 + ], + [ + -11512.375, + 5774.218, + 6953.126, + 0.0, + 170.28, + -0.0 + ], + [ + -11636.427, + 5795.467, + 6953.126, + 0.0, + 170.28, + -0.0 + ], + [ + -11636.427, + 5795.467, + 6953.126, + 0.0, + 170.28, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a long brick facade of tall windows and a lawn, with no pointed arch doorway anywhere in view. The wall continues off to my left, so I will turn left to scan that unseen stretch of the building for an arched entrance.", + "A dark pointed arch doorway has just come into view at the far left edge of the wall, partly cut off by my field of view. I will keep turning left to bring that arched entrance closer to the center of my view before moving toward it.", + "The pointed Gothic arch doorway is now clearly visible ahead in the brick wall, set in the recessed corner of the courtyard. Paved ground runs straight toward it, so I will walk forward to close the distance.", + "The arched doorway sits slightly left of center and is growing larger as the courtyard paving opens ahead of me. Nothing blocks the route, so I will continue walking forward toward it.", + "The recessed pointed arch and its wooden door are steadily filling more of my view as I close in on the corner of the courtyard. I will step forward again to keep shortening the gap.", + "The arched entrance remains toward the left side of my view and is still some distance across the paved yard. I will keep walking forward to bring myself nearer to the wall it is set into.", + "The wooden door under its pointed arch is now noticeably closer, with the lamp bracket above it clearly visible. I will advance again to continue closing on the entrance.", + "As I have come closer, the arched doorway has drifted toward the left edge of my view while plain brick wall fills the center. I will turn left to put the entrance back near the middle of my heading before continuing toward it.", + "The pointed Gothic arch doorway in the brick wall now sits near the middle of my view with open paving leading straight to it. I will walk forward to close the remaining distance along this clear approach.", + "The arched door is growing larger ahead of me and stays roughly centered, so my heading is still good. I will keep stepping forward across the paving toward it.", + "I can now see the arch stonework and timber planks of the target door clearly ahead of me, and nothing blocks my path. I will continue walking straight toward it to reduce the remaining gap.", + "The Gothic doorway now fills a large part of my view slightly right of center, still a few steps away. I will move forward again to bring myself close in front of it.", + "The pointed arch and its stone jambs tower ahead of me, indicating I am nearly at the threshold. I will take another step forward to stand right at the doorway.", + "The timber door leaf dominates my view and only a short stretch of paving remains before it. I will step forward once more to close that last bit of distance.", + "The weathered planks of the pointed Gothic arch door fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011040_y011326_z006900_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-011040_y011326_z006900_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..948db8218ab48022f54b16bad50391403a5e1693 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011040_y011326_z006900_t3_a/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Walk to the dark wooden door, then head toward the black bin.", + "Type": 3, + "Start_Pose": [ + -11040.324, + 11325.653, + 6899.947, + 0.0, + -14.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11040.324, + 11325.653, + 6899.947, + 0.0, + -14.24, + 0.0 + ], + [ + -10918.332, + 11294.694, + 6900.592, + 0.0, + -14.24, + 0.0 + ], + [ + -10796.341, + 11263.735, + 6900.849, + 0.0, + -14.24, + 0.0 + ], + [ + -10674.349, + 11232.775, + 6901.39, + 0.0, + -14.24, + 0.0 + ], + [ + -10552.357, + 11201.816, + 6910.204, + 0.0, + -14.24, + 0.0 + ], + [ + -10430.365, + 11170.857, + 6915.945, + 0.0, + -14.24, + 0.0 + ], + [ + -10308.373, + 11139.897, + 6915.69, + 0.0, + -14.24, + 0.0 + ], + [ + -10308.373, + 11139.897, + 6915.69, + 0.0, + -39.24, + 0.0 + ], + [ + -10210.895, + 11060.283, + 6915.438, + 0.0, + -39.24, + 0.0 + ], + [ + -10113.417, + 10980.668, + 6915.182, + 0.0, + -39.24, + 0.0 + ], + [ + -10015.939, + 10901.053, + 6914.922, + 0.0, + -39.24, + 0.0 + ], + [ + -9918.46, + 10821.439, + 6914.67, + 0.0, + -39.24, + 0.0 + ], + [ + -9918.46, + 10821.439, + 6914.67, + 0.0, + -14.24, + 0.0 + ], + [ + -9796.469, + 10790.479, + 6914.67, + 0.0, + -14.24, + 0.0 + ], + [ + -9674.477, + 10759.52, + 6914.67, + 0.0, + -14.24, + 0.0 + ], + [ + -9674.477, + 10759.52, + 6914.67, + 0.0, + -14.24, + 0.0 + ], + [ + -9764.038, + 10782.249, + 6914.67, + 0.0, + -14.24, + 0.0 + ], + [ + -9764.038, + 10782.249, + 6914.67, + 0.0, + 10.76, + -0.0 + ], + [ + -9764.038, + 10782.249, + 6914.67, + 0.0, + 35.76, + -0.0 + ], + [ + -9764.038, + 10782.249, + 6914.67, + 0.0, + 60.76, + -0.0 + ], + [ + -9764.038, + 10782.249, + 6914.67, + 0.0, + 85.76, + -0.0 + ], + [ + -9764.038, + 10782.249, + 6914.67, + 0.0, + 110.76, + -0.0 + ], + [ + -9764.038, + 10782.249, + 6914.67, + 0.0, + 135.76, + -0.0 + ], + [ + -9854.206, + 10870.057, + 6914.67, + 0.0, + 135.76, + -0.0 + ], + [ + -9944.374, + 10957.864, + 6914.67, + 0.0, + 135.76, + -0.0 + ], + [ + -10034.543, + 11045.672, + 6914.67, + 0.0, + 135.76, + -0.0 + ], + [ + -10124.711, + 11133.479, + 6915.189, + 0.0, + 135.76, + -0.0 + ], + [ + -10217.729, + 11218.019, + 6915.865, + 0.0, + 135.76, + -0.0 + ], + [ + -10311.961, + 11301.149, + 6916.419, + 0.0, + 135.76, + -0.0 + ], + [ + -10311.961, + 11301.149, + 6916.419, + 0.0, + 135.76, + -0.0 + ] + ], + "Rationale": [ + "The arched dark wooden door sits in the church wall ahead of me across the paved strip, and the black bin stands further right against the brick building. The door is my first stop, so I will walk forward along the paving to close that distance.", + "The arched door in the church wall has grown slightly larger and the bin against the brickwork has slid toward my right, confirming I am gaining ground. The paving in front of me stays clear, so I will keep walking forward toward that door.", + "The dark wooden door under its stone arch is still well ahead and slightly left of my heading, with lawn on one side and the brick wing on the other. Nothing blocks the walkway, so another step forward should bring me closer to it.", + "The bin has swung far to my right edge as I press along the paving, while the arched door is now clearly visible in the wall ahead of me. I will continue walking forward to reach that door.", + "The wooden door and its stone arch are noticeably larger now, set in the brick face beyond the corner of the near building. The paved lane runs straight toward it, so I will keep advancing.", + "The tall brick wall on my right fills much of the view, but the dark door remains open in front of me and is still some way off. One more forward step should carry me further along the lane toward it.", + "My heading has drifted so that the arched wooden door now sits well to the left of centre while the near brick wall crowds my right. Turning left should place the door squarely in front of me before I continue toward it.", + "The turn worked, and the dark wooden door in its arched surround now sits near the middle of my view with open paving between us. I will walk forward to close the remaining distance to it.", + "The dark wooden door sits in the brick facade straight ahead, still a fair distance across the open paving. My heading is already lined up with its arch, so I will keep walking forward to close that gap.", + "The arched door has grown noticeably larger and stays near the middle of my view. Nothing stands between me and it on the paving, so another stride forward should shorten the remaining distance.", + "The doorway now dominates the wall in front of me, its dark timber and stone arch plainly visible, yet I am still several paces short of it. I will keep advancing over the level paving toward it.", + "I am close to the wall now, and the door sits in a recess framed by projecting brick piers. Turning right swings my heading onto the paving running into that recess, keeping the door just off my left shoulder for the last few steps.", + "The dark wooden door now stands close on my left, with clear paving running ahead beside the brick corner. Stepping forward should bring me level with the threshold.", + "The door fills the left side of my view and the brick pier crowds the right, leaving only a short gap before I am beside its step. One more stride forward should put me right at the doorway.", + "The weathered dark timber and its frame are right beside me, close enough to touch, with the brickwork of the arch filling the rest of my view. I have reached the dark wooden door. I mark arriving here before setting off for the black bin out along the paving.", + "Standing this near the doorway, my view is almost entirely timber and brick with no room to swing around. Backing away from the wall should give me the clearance to reorient and head off toward the black bin.", + "With the dark wooden door now standing just off to my left and enough clearance in front of me, I no longer need to face it. I will turn right to begin swinging my heading away from this recessed doorway and back toward the open paving where the black bin stands.", + "My heading has only shifted partway; I am still looking into brickwork and another arched doorway of this same corner. I will keep turning right to continue sweeping toward the open walkway that leads away from the building's recess.", + "The view is still walls and windows with paving that dead ends against masonry, so this is not the line I want to walk. I will turn right again to carry my heading further around toward the open route out of this alcove.", + "A downpipe and corner of brickwork now edge into the right of my view, hinting the open side of the building lies further around. I will turn right once more to keep rotating toward that opening rather than facing this wall.", + "I am now looking straight at the brick corner with the downpipes, so my heading is close but still short of the walkway beyond it. I will turn right again to bring that outer path into the centre of my view.", + "Past the corner I can now see the long paved walkway with a grey bin sitting against the wall further along on the left of the path. It sits slightly right of my centre, so I will turn right once more to line my heading up with that walkway.", + "The walkway now runs straight ahead of me with the lawn on the right and the dark bin standing against the wall some distance down the path. My heading is clear of the corner, so I will step forward to close that gap.", + "The bin against the brick wall has grown slightly larger and stays just left of my line of travel, confirming I am closing on it. The paving ahead is clear, so I will keep walking forward.", + "The dark bin sits ahead along the brick wall, still several paces down the paved walkway. My heading runs straight along the path toward it, so I will keep walking forward to close the gap.", + "The bin is noticeably larger now and slightly left of my centre, resting against the wall a few steps away. Nothing blocks the pavement between us, so another step forward should bring me closer.", + "The bin now fills a good part of the walkway ahead and its metal lid is clearly visible, but I am not yet beside it. I will step forward again to draw level with it.", + "The bin is very near, its rim just below my line of sight and shifted toward the left of the path. One more step forward should place me right alongside it.", + "The dark bin stands directly at my feet, filling the bottom of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011040_y011326_z006900_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-011040_y011326_z006900_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5afd9fa6e6e1703bd9c3c7443d8b677494c686eb --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011040_y011326_z006900_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Approach the black bin, then proceed to the dark wooden door.", + "Type": 3, + "Start_Pose": [ + -11040.324, + 11325.653, + 6899.947, + 0.0, + -14.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11040.324, + 11325.653, + 6899.947, + 0.0, + -14.24, + 0.0 + ], + [ + -10918.332, + 11294.694, + 6900.592, + 0.0, + -14.24, + 0.0 + ], + [ + -10796.341, + 11263.735, + 6900.849, + 0.0, + -14.24, + 0.0 + ], + [ + -10796.341, + 11263.735, + 6900.849, + 0.0, + 10.76, + -0.0 + ], + [ + -10672.694, + 11287.232, + 6901.108, + 0.0, + 10.76, + -0.0 + ], + [ + -10549.048, + 11310.729, + 6916.389, + 0.0, + 10.76, + -0.0 + ], + [ + -10437.897, + 11321.421, + 6916.137, + 0.0, + 10.76, + -0.0 + ], + [ + -10437.897, + 11321.421, + 6916.137, + 0.0, + 10.76, + -0.0 + ], + [ + -10437.897, + 11321.421, + 6916.137, + 0.0, + 10.76, + -0.0 + ], + [ + -10437.897, + 11321.421, + 6916.137, + 0.0, + -14.24, + 0.0 + ], + [ + -10437.897, + 11321.421, + 6916.137, + 0.0, + -39.24, + 0.0 + ], + [ + -10341.155, + 11240.968, + 6915.986, + 0.0, + -39.24, + 0.0 + ], + [ + -10243.676, + 11161.353, + 6915.732, + 0.0, + -39.24, + 0.0 + ], + [ + -10146.198, + 11081.738, + 6915.227, + 0.0, + -39.24, + 0.0 + ], + [ + -10048.72, + 11002.124, + 6914.975, + 0.0, + -39.24, + 0.0 + ], + [ + -9951.242, + 10922.509, + 6914.723, + 0.0, + -39.24, + 0.0 + ], + [ + -9853.764, + 10842.894, + 6914.723, + 0.0, + -39.24, + 0.0 + ], + [ + -9756.285, + 10763.28, + 6914.723, + 0.0, + -39.24, + 0.0 + ], + [ + -9658.807, + 10683.665, + 6914.989, + 0.0, + -39.24, + 0.0 + ], + [ + -9658.807, + 10683.665, + 6914.989, + 0.0, + -39.24, + 0.0 + ] + ], + "Rationale": [ + "The dark bin sits ahead on the paved strip against the brick wall, still a good distance off to my right front. The paving between us is clear, so I will walk straight ahead to cut down that gap before worrying about heading.", + "The bin has grown larger and lower in my view, confirming my last step brought me nearer to it. The pavement ahead remains unobstructed, so another stride forward should keep closing on the bin.", + "The bin now sits well off to the right of my heading, near the edge of what I can see, while my body still points along the grass. A turn to the right should bring it toward the middle of my view so I can walk straight at it.", + "The bin is now roughly centred ahead of me with open paving between us. With my heading matched to it, I will step forward to close the remaining distance.", + "The bin fills much more of my view and its lid is sinking toward the lower frame, so I am considerably closer. Nothing blocks the walkway, so I will keep advancing straight toward it.", + "The bin is right in front of me at the bottom of my view, close enough that only a short gap remains against the brick wall. One more step forward should bring me level with it.", + "At this range only brickwork and windows fill my view, because the bin has dropped below my line of sight. I will look down to bring it back into view and confirm I am standing right at it.", + "The bin's metal lid is right at my feet beside the brick wall, close enough to touch. I have reached the black bin, so I mark arriving here before setting off for the dark wooden door set in the far wall.", + "I am right up against the black bin at the foot of the brick wall, and my heading now shows only masonry and paving. The dark wooden door lies back along the open walkway to my left, so I turn that way to swing my view off the bin and onto the route toward it.", + "The walkway has opened up again and I can pick out the arched dark wooden door set in the brick face ahead, but it sits well left of my heading. I turn left once more so the door moves nearer the centre of my view before I start walking.", + "The dark wooden door now sits close to the middle of my view at the far end of the paving, with the brick wall running along my right. The way is clear, so I walk forward to begin closing that distance.", + "The arched door has grown noticeably larger and stays near my line of travel, so my heading is good. I keep walking straight along the paving toward it.", + "The recessed doorway is clearly resolved now, its pale timber panels set between the two brick buttresses. Nothing blocks the paving, so another step forward should bring me closer still.", + "The door is well within the near half of the courtyard now and remains squarely on my heading. I continue walking straight at it since no adjustment in direction is needed.", + "The dark wooden door and its stone arch now dominate the wall in front of me, only a short stretch of paving away. I step forward again to bring myself up to it.", + "I am close enough to see the door's vertical timber boards and the handle plate at its edge. A further step should place me directly in front of it.", + "The arched dark wooden door now fills the centre of my view, set back slightly in its brick recess, and the paving ahead of it is clear. I am still a couple of paces short of standing at it, so I will walk straight forward to close that remaining gap.", + "The wooden door and its handle now dominate my view, with the brick jambs framing it on both sides, so my heading onto it is correct. One more step forward should bring me right up against the door face.", + "The dark wooden door's planks and handle fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011040_y011326_z006900_t5_a_pd/infos.json b/dataset/trajectory/EnglishCollege/task_x-011040_y011326_z006900_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..949e9dff9d3320867c2fe4d97ad2eb373bce9ab1 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011040_y011326_z006900_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Lift the trash bag beside the black bin, then leave it near the dark wooden door.", + "Type": 5, + "Start_Pose": [ + -11040.324, + 11325.653, + 6899.947, + 0, + -14.24, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -10377.748, + 11275.618, + 6826.633, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11040.324, + 11325.653, + 6899.947, + 0, + -14.24, + 0 + ], + [ + -10918.332, + 11294.694, + 6900.592, + 0.0, + -14.24, + 0.0 + ], + [ + -10796.341, + 11263.735, + 6900.849, + 0.0, + -14.24, + 0.0 + ], + [ + -10674.349, + 11232.775, + 6901.39, + 0.0, + -14.24, + 0.0 + ], + [ + -10552.357, + 11201.816, + 6910.204, + 0.0, + -14.24, + 0.0 + ], + [ + -10552.357, + 11201.816, + 6910.204, + 0.0, + 10.76, + -0.0 + ], + [ + -10552.357, + 11201.816, + 6910.204, + 0.0, + 10.76, + -0.0 + ], + [ + -10552.357, + 11201.816, + 6910.204, + 0.0, + -14.24, + 0.0 + ], + [ + -10430.365, + 11170.856, + 6915.945, + 0.0, + -14.24, + 0.0 + ], + [ + -10308.373, + 11139.897, + 6915.69, + 0.0, + -14.24, + 0.0 + ], + [ + -10186.382, + 11108.937, + 6915.439, + 0.0, + -14.24, + 0.0 + ], + [ + -10186.382, + 11108.937, + 6915.439, + 0.0, + -39.24, + 0.0 + ], + [ + -10088.904, + 11029.322, + 6915.183, + 0.0, + -39.24, + 0.0 + ], + [ + -9991.426, + 10949.708, + 6914.923, + 0.0, + -39.24, + 0.0 + ], + [ + -9893.948, + 10870.093, + 6914.671, + 0.0, + -39.24, + 0.0 + ], + [ + -9796.469, + 10790.478, + 6914.671, + 0.0, + -39.24, + 0.0 + ], + [ + -9698.991, + 10710.863, + 6914.671, + 0.0, + -39.24, + 0.0 + ], + [ + -9754.756, + 10756.408, + 6914.671, + 0.0, + -39.24, + 0.0 + ], + [ + -9754.756, + 10756.408, + 6914.671, + 0.0, + -39.24, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -10377.748, + 11275.618, + 6826.633, + 0.0, + 0.0, + 0.0 + ], + [ + -10377.748, + 11275.618, + 6826.633, + 0.0, + 0.0, + 0.0 + ], + [ + -10377.748, + 11275.618, + 6826.633, + 0.0, + 0.0, + 0.0 + ], + [ + -10377.748, + 11275.618, + 6826.633, + 0.0, + 0.0, + 0.0 + ], + [ + -10377.748, + 11275.618, + 6826.633, + 0.0, + 0.0, + 0.0 + ], + [ + -10377.748, + 11275.618, + 6826.633, + 0.0, + 0.0, + 0.0 + ], + [ + -10556.923, + 11223.533, + 6872.303, + -28.202, + 60.904, + 1.862 + ], + [ + -10547.894, + 11222.717, + 6872.576, + -28.189, + 35.917, + 1.872 + ], + [ + -10426.098, + 11191.806, + 6886.589, + -28.193, + 35.908, + 1.872 + ], + [ + -10304.064, + 11160.833, + 6886.292, + -28.198, + 35.91, + 1.868 + ], + [ + -10181.828, + 11129.816, + 6885.634, + -28.196, + 35.907, + 1.865 + ], + [ + -10173.818, + 11125.133, + 6885.518, + -28.189, + 10.918, + 1.867 + ], + [ + -10076.157, + 11046.478, + 6885.603, + -28.207, + 10.895, + 1.857 + ], + [ + -9978.705, + 10966.894, + 6885.456, + -28.192, + 10.908, + 1.872 + ], + [ + -9881.1, + 10887.163, + 6885.041, + -28.206, + 10.898, + 1.864 + ], + [ + -9783.397, + 10807.375, + 6884.673, + -28.205, + 10.898, + 1.852 + ], + [ + -9685.734, + 10727.607, + 6884.373, + -28.2, + 10.909, + 1.863 + ], + [ + -9700.541, + 10712.128, + 6874.671, + 0.0, + -39.24, + 0.0 + ], + [ + -9700.541, + 10712.128, + 6874.671, + 0.0, + -39.24, + 0.0 + ] + ], + "PD_Dist_2D": [ + 664.5, + 540.9, + 418.8, + 299.7, + 189.6, + 189.6, + 22.2, + 21.4, + 21.4, + 21.4, + 21.4, + 20.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The black trash bag sits on the paving beside the metal bin, far ahead along the right-hand building wall. It is well beyond reach from here, so I will walk forward along the path to close that distance.", + "The bag and the bin have grown slightly larger ahead of me, confirming my heading is taking me toward them. They are still too distant for a grasp, so I will keep walking forward.", + "The trash bag now reads clearly against the brick wall, just left of the black bin, but it remains several paces off to my right front. Another step forward should bring me alongside it.", + "The bag has swung to the lower right edge of my view as I draw level with the building wall. I will advance once more so it sits within grabbing range beside me.", + "The bag has slipped to the far right margin of my view, almost out of sight past the brick wall. I will turn right to bring it back in front of me before attempting a grasp.", + "The trash bag now stands centered and close in front of me, resting on the paving beside the metal bin. This is within reach, so I will attempt to pick it up.", + "The grasp worked and the bag is now held with me rather than sitting on the pavement. My heading points into the brick wall on the right, so I will turn left to face back along the open path toward the dark wooden door.", + "With the bag in hand, the paved corridor now runs clear ahead and the dark wooden door is visible in the far wall to the left of center. I will walk forward to carry the bag toward it.", + "The bag is still in my hands and moves with me, so the carry is holding. The dark wooden door sits ahead at the far end of this brick passage, offset slightly to my left. I will keep walking forward to close that remaining distance.", + "I am still carrying the bag, and the arched wooden door has grown noticeably larger ahead on the left side of the passage. The paved corridor between the two brick walls stays clear. Another step forward should bring me within a short approach of the door.", + "The bag remains in my hands, but my heading has drifted along the right-hand brick wall, which now fills much of my view. The dark wooden door sits off to my left in the recessed corner. I will turn left so the door is centered before I continue toward it.", + "The turn has brought the arched wooden door near the middle of my view with open paving leading straight to it. I am still holding the bag. I will walk forward along this heading to reach the doorway.", + "The door and its brick surround now occupy the center of my view, and I still carry the bag. Nothing blocks the paving between me and the recessed entry. I will step forward again to shorten the gap.", + "The dark wooden door fills a large part of my view now, with the buttresses on either side framing it. The bag is still held. I will advance once more since I am not yet close enough to set it down beside the door.", + "I am only a couple of paces from the arched door, which now dominates my view with its threshold visible at the bottom. The bag remains in my hands. One more forward step should place me right at the doorway.", + "The dark wooden door now spans almost my entire view, so I am nearly at its threshold while still holding the bag. A final short step should put me close enough that releasing the bag leaves it right beside the door.", + "The dark wooden door now fills my view at arm's length, so I have carried the trash bag to the delivery spot named in the task. Any further forward step would only press me into the door, so this is the right release point. I will drop the bag here, and it should come to rest right beside the doorway.", + "The trash bag is released and resting on the ground at the foot of the dark wooden door. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011107_y008985_z006917_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-011107_y008985_z006917_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d731fab660eda127489cf809768c8e4f977c7f8a --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011107_y008985_z006917_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Locate the door that has a slope in front of it within this brick-arched passageway, then navigate to that door.", + "Type": 1, + "Start_Pose": [ + -11107.316, + 8984.912, + 6916.996, + 0.0, + -114.72, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11107.316, + 8984.912, + 6916.996, + 0.0, + -114.72, + 0.0 + ], + [ + -11107.316, + 8984.912, + 6916.941, + 0.0, + -89.72, + 0.0 + ], + [ + -11107.316, + 8984.912, + 6916.941, + 0.0, + -64.72, + 0.0 + ], + [ + -11107.316, + 8984.912, + 6916.941, + 0.0, + -39.72, + 0.0 + ], + [ + -11010.509, + 8904.484, + 6917.735, + 0.0, + -39.72, + 0.0 + ], + [ + -10913.701, + 8824.055, + 6918.795, + 0.0, + -39.72, + 0.0 + ], + [ + -10816.893, + 8743.627, + 6919.855, + 0.0, + -39.72, + 0.0 + ], + [ + -10720.085, + 8663.198, + 6920.914, + 0.0, + -39.72, + 0.0 + ], + [ + -10623.277, + 8582.77, + 6921.974, + 0.0, + -39.72, + 0.0 + ], + [ + -10526.47, + 8502.341, + 6923.468, + 0.0, + -39.72, + 0.0 + ], + [ + -10526.47, + 8502.341, + 6923.468, + 0.0, + -14.72, + 0.0 + ], + [ + -10526.47, + 8502.341, + 6923.468, + 0.0, + 10.28, + -0.0 + ], + [ + -10402.631, + 8524.802, + 6925.253, + 0.0, + 10.28, + -0.0 + ], + [ + -10283.522, + 8533.164, + 6941.159, + 0.0, + 10.28, + -0.0 + ], + [ + -10283.522, + 8533.164, + 6941.159, + 0.0, + 10.28, + -0.0 + ] + ], + "Rationale": [ + "My view is largely blocked by a stone pillar directly ahead, and the only door I can see is a glazed entrance with flat paving in front of it, not a slope. I will turn right to swing my view along the passageway and look for other doorways with a ramp at their base.", + "The glazed doors on my left still show no slope, but the passage now opens to my right with more brickwork and a further doorway in shadow. I will keep turning right in the same direction to bring the rest of the arcade into view and check the bases of those doors.", + "Down the corridor I can now see a bright arched opening to the outside, and near the right side there is a pale patch on the ground that could be a raised ramp in front of a recessed doorway. I will continue the same rightward scan to face straight down the passage and get a clearer look at that pale surface.", + "I am now aligned down the length of the brick-arched passage, with the pale sloped surface visible on the right side further along near a tall ornate arch. I will walk forward along the corridor to close distance and confirm that this pale surface is a ramp leading up to a door.", + "The pale surface ahead on the right is holding its shape as a low, wide ramp set against the ornate stone archway, while the doors on my left meet the paving flush. I will keep walking forward down the corridor toward that ramped entrance.", + "The ramp on the right is clearly rising toward a dark recessed door under the carved arch, which matches the door with a slope in front of it. I will advance further along the passage to bring myself level with that entrance.", + "I can now make out the tall dark timber door set deep in the ornate arch with the ramp sloping up to it on my right. I will continue walking forward so that I arrive beside the foot of that ramp.", + "The ramped entrance is now close on my right, with its stepped incline spreading out onto the paving beside me. I will take another step forward to draw level with the door before turning toward it.", + "The pale stone ramp sloping up to the tall arched double door is now clearly on my right, confirming this is the door with a slope in front of it. I am still slightly short of the ramp's near edge, so I will step forward once more along the passage to draw level with it before turning in.", + "I am now level with the sloped stone approach, which lies to my right while my heading still points down the passage toward the open outer arch. I will turn right to begin swinging my view onto the ramp and the arched door it serves.", + "The ramp and the dark arched door are now in the right half of my view but the door is not yet centered ahead of me. I will turn right again to bring the sloped approach and the doorway squarely in front before walking up to it.", + "The tall arched door with its stepped stone slope rising in front of it is now centered in my view, matching the door described in the task. With a clear path over the sloped approach, I will walk forward to close the remaining distance to it.", + "The dark plank door and its ring handle now fill most of my view, but a short stretch of the sloped stone approach still separates me from the threshold. I will take one more step forward to stand right at the door.", + "I am standing directly at the sloped door, its planks and ring handle filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5993fe39c3d27488c4c0dc847cccdc7dce3c03db --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Walk to the leftmost dark bin along the building wall.", + "Type": 2, + "Start_Pose": [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + [ + -11375.822, + 10849.886, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -11277.133, + 10927.994, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -11178.443, + 11006.102, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -11079.754, + 11084.21, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -10981.065, + 11162.318, + 6901.95, + 0.0, + 38.36, + -0.0 + ], + [ + -10882.375, + 11240.427, + 6901.176, + 0.0, + 38.36, + -0.0 + ], + [ + -10783.686, + 11318.535, + 6900.648, + 0.0, + 38.36, + -0.0 + ], + [ + -10783.686, + 11318.535, + 6900.648, + 0.0, + 13.36, + -0.0 + ], + [ + -10661.233, + 11347.617, + 6918.568, + 0.0, + 13.36, + -0.0 + ], + [ + -10538.78, + 11376.699, + 6916.557, + 0.0, + 13.36, + -0.0 + ], + [ + -10445.766, + 11418.938, + 6917.062, + 0.0, + 13.36, + -0.0 + ], + [ + -10445.766, + 11418.938, + 6917.062, + 0.0, + 13.36, + -0.0 + ], + [ + -10445.766, + 11418.938, + 6917.062, + 0.0, + 13.36, + -0.0 + ] + ], + "Rationale": [ + "Three dark bins stand along the paved strip at the base of the building wall, and the one furthest left sits beneath the small blue wall sign near the corner of the facade. That bin is my target, so I will turn left to swing it toward the center of my view and open up the wall beyond it.", + "The bin under the blue wall sign now sits left of center with open lawn between me and the pavement in front of it. Nothing blocks that stretch of grass, so I will walk forward to close the distance.", + "The wall has grown larger and the bin below the blue sign is still ahead and slightly left, with the chapel end of the building now showing beyond it and no further bin past that point. The lawn ahead stays clear, so I keep walking forward.", + "My target bin, the one standing under the blue sign and the wall lamp, is clearly larger now but still several strides away across the grass. I will continue forward toward it.", + "The kerb edge of the paved strip is now visible ahead and the bin beneath the lamp and blue sign stands just past it. I will step forward again to reach the paving in front of it.", + "The bin under the blue sign now fills a good part of my view and the paving in front of it is only a couple of strides off. The way is clear, so I will keep advancing toward it.", + "I am on the paving now, with the bin beneath the lamp and blue sign close ahead and to my left. One more step forward should bring me right up beside it.", + "The bin has drifted to the left edge of my view as I closed in, so my heading no longer points at it. I will turn left to bring it back in front of me and finish the approach squarely.", + "The turn worked, and the bin now sits squarely ahead of me on the paving with the blue sign and lamp above it. Beyond it the wall runs into the chapel corner with no further bin, so this is the end of the row. I will step forward to close the last of the gap.", + "The bin has grown to fill the lower middle of my view, but there is still a stride or two of clear paving before I stand at it. Nothing sits between me and it, so I keep walking straight in.", + "The bin's lid is now below my eye level at the bottom left and the brickwork behind it fills most of my view, so I am nearly on top of it. One more short step should bring me right against its side.", + "At this range my level gaze catches only brick and the stone string course, with the bin dropped out of sight beneath me. I will look down to bring it back into view and confirm I am standing beside it.", + "The dark bin's lid is directly below me at the foot of the wall, within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d51511db140d6a5bc226d3310c71c350c025f190 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the second dark bin from the left near the wall.", + "Type": 2, + "Start_Pose": [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + [ + -11319.389, + 10962.384, + 6902.203, + 0.0, + 63.36, + -0.0 + ], + [ + -11262.956, + 11074.882, + 6902.203, + 0.0, + 63.36, + -0.0 + ], + [ + -11262.956, + 11074.882, + 6902.203, + 0.0, + 88.36, + -0.0 + ], + [ + -11259.354, + 11200.689, + 6901.948, + 0.0, + 88.36, + -0.0 + ], + [ + -11255.752, + 11326.497, + 6900.563, + 0.0, + 88.36, + -0.0 + ], + [ + -11252.15, + 11452.304, + 6899.126, + 0.0, + 88.36, + -0.0 + ], + [ + -11248.548, + 11578.112, + 6899.422, + 0.0, + 88.36, + -0.0 + ], + [ + -11244.946, + 11703.919, + 6901.404, + 0.0, + 88.36, + -0.0 + ], + [ + -11241.344, + 11829.726, + 6914.465, + 0.0, + 88.36, + -0.0 + ], + [ + -11241.344, + 11829.726, + 6914.465, + 0.0, + 63.36, + -0.0 + ], + [ + -11184.911, + 11942.224, + 6908.258, + 0.0, + 63.36, + -0.0 + ], + [ + -11184.911, + 11942.224, + 6908.258, + 0.0, + 63.36, + -0.0 + ] + ], + "Rationale": [ + "Three dark bins stand along the foot of the long brick wall across the lawn, and counting from the left my target is the second one, the bin sitting below the middle bank of ground-floor windows. It is still far off, so I walk straight forward to close that distance.", + "The wall has grown slightly but the bin I chose is still small and distant, sitting just right of my heading. Another straight step across the grass should bring me near the paved strip that runs along the building.", + "I am now close to the wall and facing it almost squarely, so walking on would only press me into the brickwork. My target bin lies off to my right along the paved strip, so I turn right to swing my heading down the walkway toward it.", + "The new heading runs along the building with the walkway open ahead and the bin I am after just left of center at the wall base. Nothing blocks the pavement, so I step forward to begin closing on it.", + "The bin I am heading for is visibly larger now and still sits a little left of my heading beside the wall. The path stays clear, so I continue walking straight to shorten the gap.", + "My target bin keeps growing and drifting leftward as I come along the wall, which matches walking parallel to the facade toward it. I take another forward step rather than turning, since I am still several paces short of it.", + "The left end of the row has slipped out of my view and a further identical bin now shows down the wall, so I stop counting and simply hold on to the bin I fixed, the one nearest on my left. It is still ahead of me, so I keep walking forward.", + "The bin I am tracking is now large and low on my left, close against the brickwork, but I am not yet beside it. One more forward step along the clear pavement should bring me level with it.", + "My bin now stands out clearly against the brick on my left, close enough to show its panelled face, but I am still a stride or two short of being beside it. The pavement ahead stays open, so I walk forward again.", + "The bin has slid to the very edge of my view on the left, so another straight step would carry me past it rather than to it. I turn left to bring it back in front of me before closing the last bit of distance.", + "The bin sits squarely in the middle of my view now, flat against the brick beneath the window bay, with only a short stretch of paving between us. One step straight ahead should put me right at it.", + "The dark bin's lid is directly below me at arm's length against the brickwork. I have reached it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..51a70786c3c79010d55159ec5a32a184c621988a --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the rightmost bin along the brick building base.", + "Type": 2, + "Start_Pose": [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + [ + -11319.389, + 10962.384, + 6902.203, + 0.0, + 63.36, + -0.0 + ], + [ + -11262.956, + 11074.882, + 6902.203, + 0.0, + 63.36, + -0.0 + ], + [ + -11262.956, + 11074.882, + 6902.203, + 0.0, + 88.36, + -0.0 + ], + [ + -11259.354, + 11200.689, + 6901.948, + 0.0, + 88.36, + -0.0 + ], + [ + -11255.752, + 11326.497, + 6900.563, + 0.0, + 88.36, + -0.0 + ], + [ + -11252.15, + 11452.304, + 6899.126, + 0.0, + 88.36, + -0.0 + ], + [ + -11248.548, + 11578.112, + 6899.422, + 0.0, + 88.36, + -0.0 + ], + [ + -11248.548, + 11578.112, + 6899.422, + 0.0, + 113.36, + -0.0 + ], + [ + -11298.452, + 11693.654, + 6900.563, + 0.0, + 113.36, + -0.0 + ], + [ + -11348.356, + 11809.197, + 6900.594, + 0.0, + 113.36, + -0.0 + ], + [ + -11398.26, + 11924.739, + 6898.915, + 0.0, + 113.36, + -0.0 + ], + [ + -11448.164, + 12040.282, + 6913.883, + 0.0, + 113.36, + -0.0 + ], + [ + -11498.068, + 12155.824, + 6907.399, + 0.0, + 113.36, + -0.0 + ], + [ + -11547.972, + 12271.367, + 6907.657, + 0.0, + 113.36, + -0.0 + ], + [ + -11597.876, + 12386.909, + 6898.7, + 0.0, + 113.36, + -0.0 + ], + [ + -11661.037, + 12441.59, + 6898.859, + 0.0, + 113.36, + -0.0 + ], + [ + -11661.037, + 12441.59, + 6898.859, + 0.0, + 113.36, + -0.0 + ] + ], + "Rationale": [ + "Several matching gray bins line the brick base, and the one furthest to the right, closest to where the wall runs off toward the far end, is my target. They look alike, so I hold its place against that end of the building rather than recounting. I walk forward to close the gap.", + "The paved strip at the foot of the wall is noticeably nearer and the line of bins still trails off to my right. The lawn ahead is clear, so I keep walking forward to reach the walkway before working along it.", + "I am facing the wall almost head on, while the bin I want lies far along it to my right, past the nearer ones. Turning right should swing my heading down the length of the facade so I can travel beside it instead of into it.", + "The facade now runs away to my right and I can see where the building ends in a projecting gable with open ground beyond. That end anchors the bin I am heading for, so I walk forward along the wall toward it.", + "The gabled end of the building is drawing closer and the paved strip beside the wall stays clear of obstacles. I keep stepping forward along this line to shorten the distance to the bin at that end.", + "The near bins are growing large against the brickwork while my target still sits further on, close to the building's projecting end. Nothing interrupts the walkway, so I continue forward rather than stopping at one of the closer boxes.", + "A nearby bin now stands close on my left, but the one I chose is still further along beside the building's end. I walk forward again to pass this closer one and keep closing on that far end.", + "The near bin has come alongside me on the left and no longer counts from here, while the bin I want sits ahead where the wall steps out at the building's end. The pavement bends right around that corner, so I turn right to line my heading up with it.", + "With the corner behind me, only one bin is still ahead on the paving, tucked against the brickwork near the building's projecting end, and the earlier ones no longer sit in my view to count from. That single box is the one I chose. I walk forward toward it.", + "The bin ahead has grown against the brick pier it stands beside, and open water and sky fill the space past the building's end. My heading runs straight down the paving at it, so no correction is needed. I keep walking.", + "The paving continues unbroken between the wall on my left and the grass verge on my right, with the bin still set slightly left of my path. Nothing blocks the strip. Another stride forward should bring me appreciably nearer.", + "The bin and the squat brick pillar next to it now read clearly as separate shapes, which tells me the gap is shrinking fast. My line still lands on it. I step forward again.", + "The box sits square in front of me beside the capped pier, its metal panels already legible at this range. There is still a stretch of paving between us. I press on toward it.", + "The bin now stands taller than the low wall coping behind it and occupies much of the ground in front of me. A couple more paces should put me right beside it. I continue walking.", + "The lidded box is close enough that its rim and riveted edges dominate my view, just to the right of the brick pillar at my left. I am nearly alongside it. One more step forward closes the remaining gap.", + "The bin's flat top is right at the bottom edge of my view, so I am practically level with it and the wall corner beyond marks the end of this run. A last short step should bring me fully alongside rather than short of it.", + "The bin's lid is directly below me at arm's reach against the brickwork. I have arrived, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_d/infos.json b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b38b291666bbf109729b6337e6df489db8bed6d7 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the third ground-floor window from the right.", + "Type": 2, + "Start_Pose": [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + [ + -11375.822, + 10849.886, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -11277.133, + 10927.994, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -11178.443, + 11006.102, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -11079.754, + 11084.21, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -10981.065, + 11162.318, + 6901.95, + 0.0, + 38.36, + -0.0 + ], + [ + -10882.375, + 11240.427, + 6901.176, + 0.0, + 38.36, + -0.0 + ], + [ + -10882.375, + 11240.427, + 6901.176, + 0.0, + 13.36, + -0.0 + ], + [ + -10759.922, + 11269.509, + 6900.916, + 0.0, + 13.36, + -0.0 + ], + [ + -10637.469, + 11298.591, + 6917.552, + 0.0, + 13.36, + -0.0 + ], + [ + -10515.016, + 11327.673, + 6916.403, + 0.0, + 13.36, + -0.0 + ], + [ + -10515.016, + 11327.673, + 6916.403, + 0.0, + 13.36, + -0.0 + ] + ], + "Rationale": [ + "Counting the ground-floor windows from the right end of this facade, the third one sits well to my left, marked by the small blue plaque on the brick beside it. I will turn left so that stretch of wall comes squarely in front of me before I close the distance.", + "The plaque-marked window now lies ahead of me across the lawn, with open grass and no obstruction between us. I will walk forward to cut down that distance.", + "The wall is growing larger and the window beside the blue plaque and its little lamp still sits ahead of me. I am not close enough for that window to fill my view, so I keep walking forward.", + "The right end of the ground-floor row has slid out of my view, so I hold onto the window itself, the one with the blue plaque and the lamp bracket just to its left. It remains ahead of me, so I continue forward.", + "The window with the plaque and lamp stands slightly left of my heading, and a grey utility cabinet sits on the pavement below it. There is still lawn between me and the walkway, so I step forward again.", + "The kerb and paved strip are now close, and the target window with its plaque and lamp is only a short distance ahead and slightly left. I will advance once more to reach the pavement in front of it.", + "From this close range the facade runs away to my left, and the window with the plaque and lamp has drifted toward the left edge of my view. I will turn left to put it and the walkway in front of me.", + "The walkway now runs clear along the wall with the plaque-marked window ahead of me and the grey cabinet standing beneath it. I will step forward along the paving to draw level with that window.", + "The grey cabinet under the wall is close ahead and the blue plaque with its lamp now hangs high above me, so the window they mark is just past my right shoulder. I am not yet level with it, so I keep walking along the paving.", + "The wall is filling my view at a steep angle, with the plaque directly overhead and the tall window it marks passing along my right. A single further step should put me squarely beside that window.", + "I am standing right at the facade with the plaque-marked window at arm's length along the wall beside me. The target position is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_e/infos.json b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1052aa5b8a623681f9e355cc2a38cb76316e1ae7 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011376_y010850_z006902_t2_e/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Move to the second ground-floor window from the left.", + "Type": 2, + "Start_Pose": [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11375.822, + 10849.886, + 6902.451, + 0.0, + 63.36, + -0.0 + ], + [ + -11319.389, + 10962.384, + 6902.203, + 0.0, + 63.36, + -0.0 + ], + [ + -11262.956, + 11074.882, + 6902.203, + 0.0, + 63.36, + -0.0 + ], + [ + -11262.956, + 11074.882, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -11164.267, + 11152.99, + 6902.203, + 0.0, + 38.36, + -0.0 + ], + [ + -11065.577, + 11231.098, + 6901.23, + 0.0, + 38.36, + -0.0 + ], + [ + -10966.888, + 11309.206, + 6900.45, + 0.0, + 38.36, + -0.0 + ], + [ + -10868.198, + 11387.314, + 6900.45, + 0.0, + 38.36, + -0.0 + ], + [ + -10769.509, + 11465.423, + 6916.95, + 0.0, + 38.36, + -0.0 + ], + [ + -10769.509, + 11465.423, + 6916.95, + 0.0, + 13.36, + -0.0 + ], + [ + -10647.056, + 11494.505, + 6917.217, + 0.0, + 13.36, + -0.0 + ], + [ + -10542.77, + 11504.501, + 6917.782, + 0.0, + 13.36, + -0.0 + ], + [ + -10542.77, + 11504.501, + 6917.782, + 0.0, + 13.36, + -0.0 + ] + ], + "Rationale": [ + "From the lawn I can see the whole ground-floor run, and counting from its left end the second window is the wide mullioned one with the small blue wall plaque at its side, under the lamp bracket. It lies far across the grass, so I will walk forward to begin closing that distance.", + "The plaque-marked window sits ahead and off to my left, still far enough that the whole facade fits in view. The grass and the kerb between me and the paved strip are clear, so I will keep walking forward.", + "Getting nearer the wall has pushed the plaque-marked window out toward my left edge, while my heading now points at brickwork and windows further along to the right. I will turn left so that window comes back in front of me before I advance again.", + "The turn has brought the window with the blue plaque back into view left of center, with open lawn and pavement leading toward it. I will step forward to shorten the remaining distance.", + "The plaque and the lamp above it stand out clearly on the bay I am heading for, though the wall is still several strides away. Nothing lies across my path, so I will keep walking forward.", + "The target bay with its blue plaque is noticeably larger now and sits just left of center, with a grey utility box standing on the paving well clear of my line. I will continue forward toward the wall.", + "I can now make out the lettering on the blue plaque beside my window, but I am still out on the paving and short of the sill. The way ahead is open, so I will keep moving forward.", + "Closing on the facade at an angle has carried the plaque and its window to my far left, and the wall now fills my view too closely to read the row from its end. I will walk forward again to draw level with that window.", + "Standing this close, my heading falls on bare brick piers and the mullions of a bay slipping off my left edge, with no plaque in sight. Swinging left should bring the plaque-marked window back under my nose rather than leaving me facing blank wall.", + "The turn has put the blue plaque and the lamp bracket back in view, with my window's tall lights just right of them along the wall. The paving ahead is clear apart from the grey box hugging the brick, so I will walk on toward that bay.", + "The window's lights and its stone sill now fill the upper half of my view, with the plaque close by on my left. Only a short stretch of paving separates me from the wall, so one more step forward should bring me level with the sill.", + "The plaque-marked window's sill and glazing bars are directly in front of me at arm's length. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011416_y010476_z006902_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-011416_y010476_z006902_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..018073fce07c9c55370b1b792f2c4093ed6d92f9 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011416_y010476_z006902_t3_a/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Walk to the dark bin on the path, then head toward the arched entrance.", + "Type": 3, + "Start_Pose": [ + -11416.366, + 10476.37, + 6902.232, + 0.0, + -63.36, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11416.366, + 10476.37, + 6902.232, + 0.0, + -63.36, + 0.0 + ], + [ + -11416.366, + 10476.37, + 6902.4, + 0.0, + -88.36, + 0.0 + ], + [ + -11412.764, + 10350.563, + 6903.488, + 0.0, + -88.36, + 0.0 + ], + [ + -11409.162, + 10224.755, + 6902.387, + 0.0, + -88.36, + 0.0 + ], + [ + -11405.56, + 10098.948, + 6902.236, + 0.0, + -88.36, + 0.0 + ], + [ + -11401.958, + 9973.14, + 6902.236, + 0.0, + -88.36, + 0.0 + ], + [ + -11401.958, + 9973.14, + 6902.236, + 0.0, + -88.36, + 0.0 + ], + [ + -11401.958, + 9973.14, + 6902.236, + 0.0, + -63.36, + 0.0 + ], + [ + -11345.525, + 9860.642, + 6902.236, + 0.0, + -63.36, + 0.0 + ], + [ + -11289.092, + 9748.144, + 6918.166, + 0.0, + -63.36, + 0.0 + ], + [ + -11232.659, + 9635.646, + 6916.202, + 0.0, + -63.36, + 0.0 + ], + [ + -11176.226, + 9523.148, + 6915.951, + 0.0, + -63.36, + 0.0 + ], + [ + -11119.793, + 9410.65, + 6916.203, + 0.0, + -63.36, + 0.0 + ], + [ + -11119.793, + 9410.65, + 6916.203, + 0.0, + -88.36, + 0.0 + ], + [ + -11116.191, + 9284.843, + 6916.535, + 0.0, + -88.36, + 0.0 + ], + [ + -11112.589, + 9159.035, + 6917.607, + 0.0, + -88.36, + 0.0 + ], + [ + -11108.987, + 9033.228, + 6916.508, + 0.0, + -88.36, + 0.0 + ], + [ + -11108.987, + 9033.228, + 6916.508, + 0.0, + -88.36, + 0.0 + ] + ], + "Rationale": [ + "The dark bin sits on the paved walkway off to my left, while my heading points at the church wall and the arched doorway ahead. I will turn left so the bin comes into the middle of my view and gives me a straight line to walk.", + "The dark bin now sits ahead of me on the pale paving, just left of center, with open grass and path between us. I will walk forward to close that gap.", + "The bin has grown noticeably larger and sits squarely ahead where the grass meets the paving. Nothing blocks the lawn edge in front of me, so I keep walking straight toward it.", + "The dark bin is clearly closer now, its panelled sides distinct against the paving. I am still several strides short of standing beside it, so I advance again on the same heading.", + "The bin is large in front of me and slightly left, sitting just beyond the kerb of the lawn. One more step forward should bring me right up alongside it.", + "The dark bin is right at my feet in the lower left corner, so close that only its rim and near face fill the frame. I have reached the bin on the path. I mark reaching it and turn my attention to the arched entrance in the brick facade ahead.", + "The stone arched entrance stands to the right of my current heading, which points more toward the long brick range on the left. I will turn right to bring the archway into the center of my view for a direct walk.", + "The arched entrance is now framed ahead of me with its opening and the passage beyond in plain sight. The paved courtyard between us is clear, so I step forward toward the arch.", + "The arched entrance stands ahead and slightly left, its opening now clearly showing the passage beyond. Nothing blocks the paved court between me and it, so I will keep walking straight to close the remaining distance.", + "The arch has grown noticeably larger and the blue doors inside it are becoming legible, confirming I am closing on it. My heading still points into that opening, so another step forward should shorten the gap further.", + "The archway now dominates the left half of my view, with its stonework and the corridor beneath clearly resolved. The paving runs unobstructed toward it, so I will continue advancing rather than adjust my heading yet.", + "I am close enough that the arch's timbered ceiling and inner doors are plainly visible off to my left, while the brick pier sits to my right. Stepping forward again should bring me level with the entrance mouth.", + "My forward heading has drifted so that the brick pier fills the right of my view and the arched opening sits off to my left. Turning left should swing the entrance back into the center of my path before I continue.", + "The turn has brought the arch back in front of me, with the vaulted passage and blue doors framed ahead. With the way open, I will walk forward into the entrance.", + "The vaulted ceiling now spreads overhead and the covered passage opens to my right, so I am passing under the arch itself. Another step forward should carry me properly into the entrance.", + "I am under the arched entrance, with the glazed blue doors beside me and the passage running clear ahead. One more step forward should place me squarely within the entrance.", + "I am standing inside the arched entrance, its vaulted passage and stone piers surrounding me. The task is complete, so there is no reason to keep moving." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011416_y010476_z006902_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-011416_y010476_z006902_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b6f3fb85221c08936d87355e19e0ca5a26d25bb5 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011416_y010476_z006902_t3_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the dark bin, then proceed to the bench near the arched entrance.", + "Type": 3, + "Start_Pose": [ + -11416.366, + 10476.37, + 6902.232, + 0.0, + -63.36, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11416.366, + 10476.37, + 6902.232, + 0.0, + -63.36, + 0.0 + ], + [ + -11416.366, + 10476.37, + 6902.4, + 0.0, + -88.36, + 0.0 + ], + [ + -11412.764, + 10350.563, + 6903.488, + 0.0, + -88.36, + 0.0 + ], + [ + -11409.162, + 10224.755, + 6902.387, + 0.0, + -88.36, + 0.0 + ], + [ + -11405.56, + 10098.948, + 6902.236, + 0.0, + -88.36, + 0.0 + ], + [ + -11401.958, + 9973.14, + 6902.236, + 0.0, + -88.36, + 0.0 + ], + [ + -11401.958, + 9973.14, + 6902.236, + 0.0, + -88.36, + 0.0 + ], + [ + -11401.958, + 9973.14, + 6902.236, + 0.0, + -63.36, + 0.0 + ], + [ + -11401.958, + 9973.14, + 6902.236, + 0.0, + -38.36, + 0.0 + ], + [ + -11303.269, + 9895.032, + 6902.236, + 0.0, + -38.36, + 0.0 + ], + [ + -11204.579, + 9816.924, + 6902.236, + 0.0, + -38.36, + 0.0 + ], + [ + -11105.89, + 9738.816, + 6902.236, + 0.0, + -38.36, + 0.0 + ], + [ + -11007.2, + 9660.708, + 6902.236, + 0.0, + -38.36, + 0.0 + ], + [ + -10908.511, + 9582.599, + 6916.005, + 0.0, + -38.36, + 0.0 + ], + [ + -10809.822, + 9504.491, + 6916.005, + 0.0, + -38.36, + 0.0 + ], + [ + -10809.822, + 9504.491, + 6916.005, + 0.0, + -38.36, + 0.0 + ] + ], + "Rationale": [ + "The dark bin stands on the paved apron off to my left, while my heading points at the brick church wall and its arched entrance. I will turn left so the bin sits ahead of me for a straight walk across the paving.", + "The dark bin now sits near the middle of my view on the open paving, with clear ground between us. I will walk forward to close that distance.", + "The bin has grown larger and stays just left of my heading as the paved edge comes closer. Nothing blocks the line, so I will step forward again to keep closing on it.", + "The bin is clearly nearer now, its panelled sides and plinth showing detail at the lower left of my view. I will keep walking forward to reach it.", + "The bin fills a large part of my lower view and I am nearly beside it. One more step forward should bring me right up to it.", + "The dark bin is right at my feet in the lower corner of my view, close enough to touch. I have reached it, so I mark arriving at the bin before setting off for the bench beside the arched entrance ahead of me.", + "Standing at the bin, the arched entrance lies off to my right with the wooden bench along the brick wall beyond it. I will turn right to swing my heading toward that bench.", + "The arch is now centered but the wooden bench sits further right against the brick wall. Another turn right should put the bench squarely ahead so I can walk straight to it.", + "The wooden bench sits against the brick wall ahead of me, just right of the arched entrance, and my heading now points straight at it. Nothing blocks the paved strip between us, so I will walk forward to close that distance.", + "The bench has grown noticeably larger and now sits near the middle of my view, confirming my heading is good. I will keep walking forward across the open paving toward it.", + "The bench is clearly framed against the brickwork slightly left of center and its slats are now distinct, so I am still several strides short of it. I will advance again to shorten the gap.", + "The bench now fills a good portion of my view, centered against the wall between the brick piers, and the paving in front of it is unobstructed. Another step forward should bring me close enough to stand beside it.", + "I am close to the wall now, with the bench spanning much of my view and its armrests plainly visible. A further step forward should place me right at it.", + "The bench now dominates my view and the brick wall behind it is only a short distance off. One more step forward should bring me directly up against the bench.", + "The bench back is directly in front of me against the church wall, within arm's reach. I have arrived at my destination, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011416_y010476_z006902_t5_a_pd/infos.json b/dataset/trajectory/EnglishCollege/task_x-011416_y010476_z006902_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a7089593957c6080f5851a4dcd6b6357ce8f03a8 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011416_y010476_z006902_t5_a_pd/infos.json @@ -0,0 +1,468 @@ +{ + "Instruction": "Pick up the green bell pepper by the dark bin on the path, then place it at the arched entrance.", + "Type": 5, + "Start_Pose": [ + -11416.366, + 10476.37, + 6902.232, + 0, + -63.36, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -11422.854, + 9684.842, + 6861.494, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11416.366, + 10476.37, + 6902.232, + 0, + -63.36, + 0 + ], + [ + -11359.933, + 10363.872, + 6902.332, + 0.0, + -63.36, + 0.0 + ], + [ + -11303.5, + 10251.374, + 6902.203, + 0.0, + -63.36, + 0.0 + ], + [ + -11303.5, + 10251.374, + 6902.203, + 0.0, + -88.36, + 0.0 + ], + [ + -11299.898, + 10125.567, + 6902.203, + 0.0, + -88.36, + 0.0 + ], + [ + -11296.296, + 9999.759, + 6902.203, + 0.0, + -88.36, + 0.0 + ], + [ + -11296.296, + 9999.759, + 6902.203, + 0.0, + -113.36, + 0.0 + ], + [ + -11346.2, + 9884.217, + 6902.203, + 0.0, + -113.36, + 0.0 + ], + [ + -11346.2, + 9884.217, + 6902.203, + 0.0, + -113.36, + 0.0 + ], + [ + -11396.104, + 9768.674, + 6916.49, + 0.0, + -113.36, + 0.0 + ], + [ + -11396.104, + 9768.674, + 6916.49, + 0.0, + -113.36, + 0.0 + ], + [ + -11396.104, + 9768.674, + 6916.49, + 0.0, + -113.36, + 0.0 + ], + [ + -11396.104, + 9768.674, + 6916.49, + 0.0, + -88.36, + 0.0 + ], + [ + -11392.502, + 9642.867, + 6916.743, + 0.0, + -88.36, + 0.0 + ], + [ + -11388.9, + 9517.059, + 6916.743, + 0.0, + -88.36, + 0.0 + ], + [ + -11388.9, + 9517.059, + 6916.743, + 0.0, + -63.36, + 0.0 + ], + [ + -11332.467, + 9404.561, + 6916.743, + 0.0, + -63.36, + 0.0 + ], + [ + -11276.034, + 9292.063, + 6916.743, + 0.0, + -63.36, + 0.0 + ], + [ + -11219.601, + 9179.565, + 6917.001, + 0.0, + -63.36, + 0.0 + ], + [ + -11163.168, + 9067.067, + 6916.468, + 0.0, + -63.36, + 0.0 + ], + [ + -11106.735, + 8954.569, + 6917.032, + 0.0, + -63.36, + 0.0 + ], + [ + -11139.018, + 9018.926, + 6916.776, + 0.0, + -63.36, + 0.0 + ], + [ + -11139.018, + 9018.926, + 6916.776, + 0.0, + -63.36, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11422.854, + 9684.842, + 6861.494, + 0.0, + 0.0, + 0.0 + ], + [ + -11376.258, + 9760.767, + 6886.635, + -28.202, + -63.215, + 1.862 + ], + [ + -11373.819, + 9769.929, + 6886.907, + -28.189, + -38.203, + 1.872 + ], + [ + -11371.184, + 9644.495, + 6887.336, + -28.193, + -38.211, + 1.872 + ], + [ + -11367.584, + 9518.643, + 6887.484, + -28.198, + -38.21, + 1.868 + ], + [ + -11369.342, + 9527.189, + 6886.584, + -28.208, + -13.218, + 1.852 + ], + [ + -11313.689, + 9414.768, + 6886.879, + -28.189, + -13.201, + 1.867 + ], + [ + -11257.389, + 9302.512, + 6887.247, + -28.207, + -13.225, + 1.857 + ], + [ + -11200.967, + 9190.053, + 6887.589, + -28.192, + -13.212, + 1.872 + ], + [ + -11144.466, + 9077.397, + 6886.923, + -28.206, + -13.222, + 1.864 + ], + [ + -11087.899, + 8964.649, + 6887.092, + -28.205, + -13.222, + 1.852 + ], + [ + -11107.631, + 8956.357, + 6906.776, + 0.0, + -63.36, + 0.0 + ], + [ + -11107.631, + 8956.357, + 6906.776, + 0.0, + -63.36, + 0.0 + ] + ], + "PD_Dist_2D": [ + 791.6, + 681.9, + 579.0, + 579.0, + 457.6, + 339.4, + 339.4, + 213.6, + 213.6, + 88.0, + 88.0, + 21.4, + 22.3, + 21.4, + 21.4, + 22.0, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The green bell pepper sits beside the dark bin on the paved walkway ahead, well to the left of the arched entrance, but it is still far across the lawn. I will walk forward to close that gap before worrying about fine alignment.", + "The pepper and the dark bin next to it now appear noticeably larger on the walkway to my left, so my heading is still bringing me nearer. I will keep walking forward to shorten the remaining distance to the pickup spot.", + "The pepper has drifted to the far left edge of my view and is close to leaving it entirely, so continuing straight would carry me past it. I will turn left to bring the pepper and its bin back toward the center of my heading.", + "After turning, the pepper and the dark bin are back in the left-of-center part of my view with clear paving between us. I will walk forward along this heading to keep closing on the pepper.", + "The pepper is clearly larger now, resting on the paving just right of the dark bin, and my path onto the courtyard is unobstructed. I will step forward again to get near enough for a grasp attempt.", + "The green bell pepper sits on the paving ahead of me, but it is off to the left of my heading rather than centered. I will turn left to put it squarely in front of me so my remaining approach runs straight at it.", + "The pepper now sits near the middle of my view with the dark bin just to its left, so my heading is right. It is still several paces away, too far to reach, so I will walk forward to close that gap.", + "The pepper fills much of my view now, sitting on the pavement directly in front with the bin edge at my left. It looks close enough to reach, so I will try to grasp it rather than spend another step walking.", + "That grasp attempt did not take hold; my hands are empty. I must have reached for the pepper from too far back. I will step forward to stand right over it before trying again.", + "After stepping in, my forward view shows only the open plaza and the far buildings, with the pepper no longer in sight because it lies below my line of sight. I will look down to bring it back into view and confirm it is within reach.", + "My earlier grasp attempt from farther back left my hands empty and the pepper untouched on the paving. Now the green bell pepper fills the lower part of my view directly in front of my feet, well inside reach. I will attempt the pick again from this closer stance.", + "The grasp worked, and the pepper is now in my hands rather than resting on the paving. The arched entrance of the brick building lies off to my right from this heading, not ahead of me. I will turn right to bring that archway into my forward path.", + "I am carrying the pepper and the deep arched entrance is now visible ahead, slightly to the right past the brick corner. Nothing blocks the open courtyard paving between me and it. I will walk forward to close that distance.", + "The archway has grown larger in my view, so my last step did bring me nearer with the pepper still in hand. I am still several paces short of the entrance opening and the route stays clear. I will keep walking forward.", + "From this close position the arched opening sits to the right of my heading, while the blank brick wall fills the center of my view. Walking straight on would carry me past the entrance rather than into it. I will turn right to face the archway squarely.", + "The bell pepper is in my hands, so the remaining job is delivery to the arched entrance. My heading now puts the tall stone arch squarely ahead with open paving leading to it, so I will walk forward to close that gap.", + "The arch has grown much larger and its opening still sits centered in front of me, confirming my line of travel is good while carrying the pepper. Nothing blocks the brick paving between me and the threshold, so I step forward again.", + "I am right at the mouth of the arch, with its vaulted ceiling and the far opening now visible through the passage. Since the drop should happen at the entrance itself rather than outside it, I continue forward under the arch.", + "I have passed under the stone arch and stand inside the covered passage, still holding the pepper. The corridor ahead is clear toward the far archway, so another step forward should bring me to a suitable spot within the entrance to set the pepper down.", + "I am well inside the arched entrance passage with the doorways on my left and the far opening ahead, and the pepper is still in my hands. One more step should place me on the open paving of the entrance where releasing the pepper makes sense.", + "I am standing inside the vaulted arched entrance passage with the green bell pepper still held from my earlier grasp, and the archway opening lies just ahead of me. This spot is the delivery point named in the task, so I will release the pepper here and expect it to settle on the paving at the entrance.", + "The green bell pepper now rests on the paving at the arched entrance, out of my hands. The task condition is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t0_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..df3c3b4c9470b67fee9711f481a0aed958a8ed16 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the wooden bench against the brick wall.", + "Type": 0, + "Start_Pose": [ + -11587.131, + 9694.81, + 6917.061, + 0.0, + -4.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11587.131, + 9694.81, + 6917.061, + 0.0, + -4.8, + 0.0 + ], + [ + -11587.131, + 9694.81, + 6917.114, + 0.0, + -29.8, + 0.0 + ], + [ + -11477.915, + 9632.261, + 6917.114, + 0.0, + -29.8, + 0.0 + ], + [ + -11368.699, + 9569.712, + 6916.864, + 0.0, + -29.8, + 0.0 + ], + [ + -11259.483, + 9507.164, + 6916.349, + 0.0, + -29.8, + 0.0 + ], + [ + -11259.483, + 9507.164, + 6916.349, + 0.0, + -4.8, + 0.0 + ], + [ + -11134.065, + 9496.632, + 6915.821, + 0.0, + -4.8, + 0.0 + ], + [ + -11008.647, + 9486.1, + 6915.821, + 0.0, + -4.8, + 0.0 + ], + [ + -10883.23, + 9475.569, + 6915.821, + 0.0, + -4.8, + 0.0 + ], + [ + -10883.23, + 9475.569, + 6915.821, + 0.0, + -4.8, + 0.0 + ] + ], + "Rationale": [ + "From here I can pick out a small wooden bench set against the brick facade, sitting left of my current heading with a sandy strip and paved walkway between us. My body is aimed too far along the building's length, so I will turn left to bring the bench and the open paved approach in front of me. That should give me a clean straight run toward it.", + "The bench now sits ahead of me beneath the tall windows, with the arched entry to its left and clear paving in between. Nothing blocks the route, so I will move forward to begin closing the fairly long gap.", + "The bench and its brick backing have grown noticeably larger, confirming my heading is carrying me toward it. The paving underfoot continues unobstructed, so I will keep moving forward to shorten the remaining distance.", + "I am closer now, with the bench's slats and armrests clearly resolved against the low brick wall, but still several strides away. I will advance again to keep closing on it before making any final heading adjustment.", + "The bench is now near, but it has drifted to the right of my view while the archway and pier dominate the left side of my forward path. I will turn right to swing my heading back onto the bench so the last approach runs straight at it.", + "With the bench now centred ahead against the brick wall, my heading looks correct for a direct final approach. I will move forward along the paving to close the remaining gap.", + "The bench fills much more of my view and its wooden frame and brick backing are close and sharp, yet I am not quite beside it. I will step forward once more to bring myself right up to it.", + "The bench now spans a large part of my view, with its armrest and the wall's brickwork just ahead of me. One more forward step should place me directly at the bench against the brick wall.", + "The wooden bench against the brick wall is directly in front of me, filling the lower view within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t0_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5389b2fc11f2b5f9c74d85bc42af64e1acad7189 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t0_b/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Head toward the dark wooden door on the building.", + "Type": 0, + "Start_Pose": [ + -11587.131, + 9694.81, + 6917.061, + 0.0, + -4.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11587.131, + 9694.81, + 6917.061, + 0.0, + -4.8, + 0.0 + ], + [ + -11461.713, + 9684.278, + 6917.114, + 0.0, + -4.8, + 0.0 + ], + [ + -11336.296, + 9673.746, + 6916.586, + 0.0, + -4.8, + 0.0 + ], + [ + -11336.296, + 9673.746, + 6916.586, + 0.0, + 20.2, + -0.0 + ], + [ + -11218.178, + 9717.205, + 6907.376, + 0.0, + 20.2, + -0.0 + ], + [ + -11100.06, + 9760.664, + 6902.203, + 0.0, + 20.2, + -0.0 + ], + [ + -10981.942, + 9804.123, + 6902.203, + 0.0, + 20.2, + -0.0 + ], + [ + -10863.824, + 9847.582, + 6902.203, + 0.0, + 20.2, + -0.0 + ], + [ + -10745.707, + 9891.041, + 6917.006, + 0.0, + 20.2, + -0.0 + ], + [ + -10745.707, + 9891.041, + 6917.006, + 0.0, + 45.2, + -0.0 + ], + [ + -10657.022, + 9980.347, + 6917.006, + 0.0, + 45.2, + -0.0 + ], + [ + -10568.338, + 10069.653, + 6916.476, + 0.0, + 45.2, + -0.0 + ], + [ + -10479.653, + 10158.958, + 6915.39, + 0.0, + 45.2, + -0.0 + ], + [ + -10390.968, + 10248.264, + 6915.39, + 0.0, + 45.2, + -0.0 + ], + [ + -10302.284, + 10337.57, + 6915.139, + 0.0, + 45.2, + -0.0 + ], + [ + -10213.599, + 10426.876, + 6915.139, + 0.0, + 45.2, + -0.0 + ], + [ + -10124.915, + 10516.182, + 6915.139, + 0.0, + 45.2, + -0.0 + ], + [ + -10036.23, + 10605.488, + 6914.888, + 0.0, + 45.2, + -0.0 + ], + [ + -9947.546, + 10694.794, + 6914.888, + 0.0, + 45.2, + -0.0 + ], + [ + -9858.861, + 10784.099, + 6914.888, + 0.0, + 45.2, + -0.0 + ], + [ + -9770.176, + 10873.405, + 6914.638, + 0.0, + 45.2, + -0.0 + ], + [ + -9681.492, + 10962.711, + 6914.638, + 0.0, + 45.2, + -0.0 + ], + [ + -9681.492, + 10962.711, + 6914.638, + 0.0, + 20.2, + -0.0 + ], + [ + -9681.492, + 10962.711, + 6914.638, + 0.0, + 20.2, + -0.0 + ] + ], + "Rationale": [ + "From the open paved area I can see the tall brick church wall running along my left and a lawn on my right, and far ahead on the right side of my view a small dark door set into the adjoining building. That dark door matches my target, so I will step forward along the paved strip to begin closing the long distance. I expect the door to grow larger as I advance.", + "The buttresses and bench along the church wall have slid past on my left, confirming that my last step carried me forward along the path. The dark door on the far building is still small and sits toward the right edge of my view, so distance remains the main thing to reduce. I will take another step forward before adjusting my heading.", + "My current heading runs parallel to the church wall, which keeps the dark wooden door off to the right rather than in front of me. I will turn right to swing my facing toward that door so the remaining approach can be a straight walk. This should bring the target closer to the center of my view.", + "After the turn the courtyard opens up ahead and the dark arched door on the low brick wing is now clearly within my view rather than at its edge. The paving between me and it looks continuous, so I will move forward to close the gap. I expect the door to keep enlarging as I go.", + "The buttressed church wall on my left is passing by and the dark door ahead has grown slightly, so my heading is carrying me toward it. Nothing blocks the paving in front of me. I will continue forward to keep reducing the distance.", + "The dark wooden door remains ahead in the courtyard corner, a bit right of straight ahead but still well within my view. Since forward steps have been steadily enlarging it, I will keep walking rather than adjust my heading yet. I may need a small rightward correction once I am nearer.", + "The near church wall now fills more of my left side while the courtyard beyond stays open, and the dark door is clearly larger than a few steps ago. I will advance again along this heading to keep shrinking the remaining distance. The door should continue drifting toward the middle of my view as I close in.", + "I am now well inside the courtyard, with the dark arched door plainly visible ahead in the recessed brick wing. There is still a fair stretch of paving to cross before I am close enough to stop. I will take another step forward and then reassess my heading toward the door.", + "The dark wooden door under the small gabled porch now sits well to the right of my heading, while the brick buttresses of the tall church wall run away on my left. I will turn right to bring that door closer to the center of my view so the paved courtyard ahead becomes a straight path toward it.", + "After the turn the dark wooden door is now near the middle of my view, set in the low brick porch ahead across the paving. The way in front of me is clear open pavement with only the lawn edge to the right, so I will step forward to begin closing the distance.", + "The dark door has grown slightly larger and is holding its place just left of center, which tells me my heading is still good. I will continue forward along the paving since nothing blocks the route toward it.", + "The arched dark door and its stone step are becoming clearer as the porch fills more of my view. There is still a good stretch of open pavement between me and it, so another step forward keeps reducing that gap.", + "I am now close enough that the porch gable and the door's stone surround dominate the middle of my view, with the door itself a bit left of my heading. I will advance again, keeping my line so the door stays reachable straight ahead.", + "The dark wooden door is clearly resolved now, framed by its stone arch above a raised step, but I am still several paces short of it. Moving forward again should bring me into a position where the door is directly in front of me.", + "The wooden planks of the dark door and the weathering on its surface are now visible, so I am getting close to the porch recess. The pavement in front stays clear, so I will take another step to tighten the distance before stopping.", + "The door and its stone threshold fill a large part of my view now, with the neighboring brick wings pressing in on both sides of the narrow approach. I will keep moving forward, since a short remaining gap of paving still separates me from the doorway.", + "The dark wooden arched door sits in the recessed corner of the brick wing just right of center in my view, with clear paving between me and it. My heading already lines up with that opening, so I will step forward to keep closing the gap.", + "The dark door and its stone threshold are noticeably larger now and remain near the center of my view, confirming my line of travel is good. I will advance again to shorten the remaining distance across the paving.", + "I can now read the individual planks of the dark door and the flanking narrow windows, so I am within a few steps of the wall. Nothing blocks the paving ahead, so another forward step should bring me closer to the doorway.", + "The dark door with its pointed arch and raised stone step now dominates the middle of my view at close range. I will keep walking forward to close the last of the distance to the entrance.", + "The door and its stone step fill much of my view, with the brick pier and downpipe close on the right, so I am nearly at the wall. One more short step forward should place me right at the threshold.", + "At this range the weathered dark planks of the door only occupy the left portion of my view while brickwork and the stone sill take up the right. Turning left should swing my heading back onto the door so it sits squarely in front of me.", + "The dark wooden door stands directly in front of me, centered and within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b9c29d214d719cf571df7325ccc82cee0b691cc4 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Walk to the wooden bench against the brick wall, then head toward the large arched entrance.", + "Type": 3, + "Start_Pose": [ + -11587.131, + 9694.81, + 6917.114, + 0.0, + -4.8, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11587.131, + 9694.81, + 6917.114, + 0.0, + -4.8, + 0.0 + ], + [ + -11461.713, + 9684.278, + 6917.114, + 0.0, + -4.8, + 0.0 + ], + [ + -11336.296, + 9673.746, + 6916.586, + 0.0, + -4.8, + 0.0 + ], + [ + -11210.878, + 9663.215, + 6917.99, + 0.0, + -4.8, + 0.0 + ], + [ + -11085.46, + 9652.683, + 6902.203, + 0.0, + -4.8, + 0.0 + ], + [ + -11085.46, + 9652.683, + 6902.203, + 0.0, + -29.8, + 0.0 + ], + [ + -10976.244, + 9590.134, + 6915.935, + 0.0, + -29.8, + 0.0 + ], + [ + -10867.028, + 9527.586, + 6915.935, + 0.0, + -29.8, + 0.0 + ], + [ + -10867.028, + 9527.586, + 6915.935, + 0.0, + -29.8, + 0.0 + ], + [ + -10867.028, + 9527.586, + 6915.935, + 0.0, + -54.8, + 0.0 + ], + [ + -10867.028, + 9527.586, + 6915.935, + 0.0, + -79.8, + 0.0 + ], + [ + -10867.028, + 9527.586, + 6915.935, + 0.0, + -104.8, + 0.0 + ], + [ + -10899.178, + 9405.902, + 6915.935, + 0.0, + -104.8, + 0.0 + ], + [ + -10937.471, + 9313.87, + 6915.987, + 0.0, + -104.8, + 0.0 + ], + [ + -11009.484, + 9233.732, + 6916.902, + 0.0, + -104.8, + 0.0 + ], + [ + -11049.264, + 9119.626, + 6917.819, + 0.0, + -104.8, + 0.0 + ], + [ + -11049.264, + 9119.626, + 6917.819, + 0.0, + -79.8, + 0.0 + ], + [ + -11026.976, + 8995.756, + 6917.53, + 0.0, + -79.8, + 0.0 + ], + [ + -11026.976, + 8995.756, + 6917.53, + 0.0, + -79.8, + 0.0 + ] + ], + "Rationale": [ + "The wooden bench sits ahead against the brick wall of the church, still some distance down the paved walk. I will walk forward along the pavement to close that gap.", + "The bench against the brickwork is noticeably larger and lower in my view now, so my heading along the walkway is good. I will keep walking forward to shorten the remaining distance.", + "The bench now reads clearly with its slatted back and armrests, sitting a few paces ahead beside the wall. Nothing blocks the paving, so I will step forward again toward it.", + "The bench is close on my left, but my path still carries me slightly past its front. I will advance once more to draw level with it before adjusting my facing.", + "The bench has slid to the left edge of my view as I came alongside it, so I am no longer facing it squarely. I will turn left to bring the bench and the brick wall behind it back to the centre of my view.", + "The turn worked, and the bench now sits centred against the brick wall directly ahead of me. I will step forward to stand right at it.", + "The bench fills much of my view now, its seat and armrest close in front with the drainpipe and wall just beyond. One more step forward should put me right up against it.", + "The wooden bench is right in front of me, its arm and slatted back within arm's reach against the brick wall. I have reached it. I mark reaching the bench and now set off for the large arched entrance.", + "The wooden bench and its brick wall fill my whole view, so nothing useful lies straight ahead now that I stand at it. I will turn left to swing my heading off the wall and start looking for the large arched entrance.", + "After the first turn I still face brickwork, window bays and the bench seat, with no opening anywhere in sight. I will keep turning left to bring more of the walkway beyond the wall's corner into view.", + "The tall arched entrance has just come into view at the far left edge, partly cut off by the brick pier beside me. I will turn left again to bring that archway toward the middle of my view before walking.", + "The arched entrance now sits left of centre with open paving running toward it and the brick pier cleanly off to my right. I will step forward along that clear stretch to close the distance to the arch.", + "The arch has grown noticeably larger and I can now see into the shadowed recess beneath it. The paving to the left of the projecting brick corner stays clear, so I will keep walking forward toward the opening.", + "The brick corner is sliding past my right shoulder while the arch and its stone jamb stand close on the left. Another step forward should carry me level with the opening rather than stopping short of it.", + "I have come out beside the arch and can see the vaulted covered space with its timber roof and glazed doors beneath the brick arch ahead. I will advance once more to move properly into the entrance area.", + "I am standing within the arched entrance, but the glazed doors and stone pier fill my view while the covered space clearly continues off to my right. I will turn right to face along that open span of the entrance.", + "The turn has brought the big arched opening, bright with grass and sky beyond it, squarely into the middle of my view down this covered passage. The brick floor ahead is clear, so I will walk forward to close the last of the gap to that archway.", + "The tall arched entrance now stands open directly before me, its daylight and lawn filling my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1af3568eb1fb87827eb6fe38695687dd219083ad --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t3_b/infos.json @@ -0,0 +1,476 @@ +{ + "Instruction": "Approach the far corner of the brick building, then move to the wooden bench.", + "Type": 3, + "Start_Pose": [ + -11587.131, + 9694.81, + 6917.114, + 0.0, + -4.8, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11587.131, + 9694.81, + 6917.114, + 0.0, + -4.8, + 0.0 + ], + [ + -11587.131, + 9694.81, + 6917.114, + 0.0, + 20.2, + -0.0 + ], + [ + -11469.013, + 9738.268, + 6916.86, + 0.0, + 20.2, + -0.0 + ], + [ + -11350.895, + 9781.727, + 6918.394, + 0.0, + 20.2, + -0.0 + ], + [ + -11232.777, + 9825.186, + 6902.335, + 0.0, + 20.2, + -0.0 + ], + [ + -11114.66, + 9868.645, + 6902.335, + 0.0, + 20.2, + -0.0 + ], + [ + -10996.542, + 9912.104, + 6902.335, + 0.0, + 20.2, + -0.0 + ], + [ + -10878.424, + 9955.563, + 6902.335, + 0.0, + 20.2, + -0.0 + ], + [ + -10760.306, + 9999.022, + 6902.335, + 0.0, + 20.2, + -0.0 + ], + [ + -10642.188, + 10042.481, + 6910.297, + 0.0, + 20.2, + -0.0 + ], + [ + -10524.071, + 10085.94, + 6915.364, + 0.0, + 20.2, + -0.0 + ], + [ + -10524.071, + 10085.94, + 6915.364, + 0.0, + 45.2, + -0.0 + ], + [ + -10435.386, + 10175.245, + 6915.364, + 0.0, + 45.2, + -0.0 + ], + [ + -10346.702, + 10264.551, + 6915.364, + 0.0, + 45.2, + -0.0 + ], + [ + -10258.017, + 10353.857, + 6915.113, + 0.0, + 45.2, + -0.0 + ], + [ + -10169.332, + 10443.163, + 6915.113, + 0.0, + 45.2, + -0.0 + ], + [ + -10080.648, + 10532.469, + 6915.113, + 0.0, + 45.2, + -0.0 + ], + [ + -9991.963, + 10621.775, + 6914.863, + 0.0, + 45.2, + -0.0 + ], + [ + -9903.279, + 10711.081, + 6914.863, + 0.0, + 45.2, + -0.0 + ], + [ + -9814.594, + 10800.386, + 6914.863, + 0.0, + 45.2, + -0.0 + ], + [ + -9814.594, + 10800.386, + 6914.863, + 0.0, + 20.2, + -0.0 + ], + [ + -9696.476, + 10843.845, + 6914.863, + 0.0, + 20.2, + -0.0 + ], + [ + -9578.359, + 10887.304, + 6914.863, + 0.0, + 20.2, + -0.0 + ], + [ + -9578.359, + 10887.304, + 6914.863, + 0.0, + 20.2, + -0.0 + ], + [ + -9578.359, + 10887.304, + 6914.863, + 0.0, + -4.8, + 0.0 + ], + [ + -9578.359, + 10887.304, + 6914.863, + 0.0, + -29.8, + 0.0 + ], + [ + -9578.359, + 10887.304, + 6914.863, + 0.0, + -54.8, + 0.0 + ], + [ + -9578.359, + 10887.304, + 6914.863, + 0.0, + -79.8, + 0.0 + ], + [ + -9578.359, + 10887.304, + 6914.863, + 0.0, + -104.8, + 0.0 + ], + [ + -9578.359, + 10887.304, + 6914.863, + 0.0, + -129.8, + 0.0 + ], + [ + -9658.922, + 10790.609, + 6914.863, + 0.0, + -129.8, + 0.0 + ], + [ + -9739.486, + 10693.913, + 6914.863, + 0.0, + -129.8, + 0.0 + ], + [ + -9820.049, + 10597.218, + 6914.863, + 0.0, + -129.8, + 0.0 + ], + [ + -9900.613, + 10500.523, + 6914.863, + 0.0, + -129.8, + 0.0 + ], + [ + -9981.176, + 10403.827, + 6914.863, + 0.0, + -129.8, + 0.0 + ], + [ + -10061.74, + 10307.132, + 6915.114, + 0.0, + -129.8, + 0.0 + ], + [ + -10142.304, + 10210.436, + 6915.114, + 0.0, + -129.8, + 0.0 + ], + [ + -10222.867, + 10113.741, + 6915.114, + 0.0, + -129.8, + 0.0 + ], + [ + -10306.21, + 10030.863, + 6915.397, + 0.0, + -129.8, + 0.0 + ], + [ + -10387.82, + 9935.101, + 6915.421, + 0.0, + -129.8, + 0.0 + ], + [ + -10468.383, + 9838.405, + 6915.421, + 0.0, + -129.8, + 0.0 + ], + [ + -10548.947, + 9741.71, + 6915.421, + 0.0, + -129.8, + 0.0 + ], + [ + -10634.455, + 9658.875, + 6915.659, + 0.0, + -129.8, + 0.0 + ], + [ + -10634.455, + 9658.875, + 6915.659, + 0.0, + -104.8, + 0.0 + ], + [ + -10692.585, + 9562.114, + 6915.729, + 0.0, + -104.8, + 0.0 + ], + [ + -10692.585, + 9562.114, + 6915.729, + 0.0, + -104.8, + 0.0 + ] + ], + "Rationale": [ + "From here the long brick facade runs away to my right and its far end is well off the edge of my view, so walking straight would only carry me along the wall. I will turn right to bring the paved walk and the receding end of the brickwork into the center of my heading.", + "My heading now runs down the courtyard with the brick church wall on my left and the far range with its arched doorway closing the space ahead. The paving in front of me is clear, so I will walk forward to shorten the distance to the corner where the two brick wings meet.", + "The buttresses of the brick wall on my left have grown noticeably larger, confirming that my heading is carrying me deeper into the courtyard. The corner junction ahead is still distant, so I will keep walking forward along the open paving.", + "The lawn edge runs parallel to my course and the brick wall stays clear on my left, so nothing blocks my line. The far end of the brickwork is still ahead of me, and another step forward should keep closing on it.", + "Ahead the paving widens where the church wall meets the lower range, and that junction is the far end of the brick building I want. I will step forward again because the route there remains straight and open.", + "The arched door set into the far corner is now clearly resolved rather than a distant smudge, so my approach is working. Nothing lies between me and it, so I will continue walking forward.", + "The brick wall on my left has swung wide across my view as I draw level with its buttresses, and the corner recess ahead keeps growing. I will take another step forward to press toward that far end of the building.", + "The grass strip on my right has narrowed to a sliver, showing how far along the courtyard I have come, while the corner with its dark arched door still sits ahead of me. The paving stays clear, so I will keep advancing toward it.", + "The brick facade keeps running ahead of me and the paving stays clear along its base, with the deep angle where the two wings meet still some distance off to my right front. Nothing blocks the walk, so I will keep striding forward to close that gap.", + "The buttressed brickwork on my left has slid past and the sheltered corner with its dark arched door now sits noticeably larger ahead. The pavement continues unobstructed, so another step forward should bring me closer to that corner.", + "My heading has drifted so that the brick wall on my left dominates the view while the corner recess I am aiming for sits off to the right of center. A turn to the right should put that angled corner and its arched door squarely in front of me before I advance again.", + "The turn has lined me up with the recessed corner, the arched door now sitting near the middle of my view with open paving leading to it. I will walk straight ahead to shorten the distance.", + "The corner ahead grows steadily and the flanking wings are opening out on either side of my path. With my line still good, I keep walking toward that far angle of the brickwork.", + "The arched door and its stone step are now clearly resolved straight ahead, meaning the far corner is close but not yet reached. Another forward stride should carry me further into that recess.", + "Brick walls now rise on both sides as the recess narrows around my line of travel, and the dark door dominates the middle of my view. I keep advancing since I am still short of the corner itself.", + "The doorway and the stone plinth beneath it are close enough now to read their details, yet a few paces of paving still lie between me and the angle of the walls. I will step forward again to press right up to that corner.", + "The brick frontage has narrowed into a sheltered recess where the walls meet, with the dark arched door set straight ahead of me. That recess is the far end of this brick building, so I will keep walking forward to close the remaining gap.", + "The arched door and its flanking windows now fill most of my view, and the side walls press in on both sides as the recess deepens. The paving in front of me is still clear, so another step forward should bring me right up into this end of the building.", + "I am close enough that the stone step under the arched door and the downpipe on the right wall read clearly, yet a short stretch of paving still separates me from the wall. I will step forward again to stand at this far end of the brickwork.", + "Standing almost against the wall, I can see the two brick faces meeting in a corner off to my left, beyond the narrow window. Turning left should put that corner junction squarely in front of me rather than the flat door wall.", + "The angled meeting of the two brick faces now sits ahead and slightly left, with the tall door edge on my right. A short step forward should bring me right into that corner of the building.", + "Brick fills nearly the whole view now, with the window sill and stone band of the corner just in front of me. One more step should put me hard against this far corner.", + "The two brick faces meet immediately in front of me, close enough to see the mortar and the weathered stone band. I have reached the far corner of the brick building, so I mark arriving here before setting off toward the wooden bench standing along this building's frontage.", + "With the corner brickwork pressed against my view, nothing ahead is walkable and the bench lies back along the frontage behind me. I will turn left to begin swinging my heading off this wall and open up a route away from the corner.", + "My view is still packed with the brick corner I am standing against, so there is no walkable ground in front of me. Another left turn should keep swinging my heading away from this masonry and back toward the open paving I need in order to set off for the wooden bench.", + "The corner brickwork still fills almost the whole view, with only a paler sliver of wall opening at the left edge. I will turn left again to keep rotating out of this tight angle toward clearer ground.", + "The rotation is starting to pay off, since the wall now sits mainly on my right while a hint of lighter space appears past its left edge. Turning left once more should bring the open paving further into the middle of my view.", + "Open paving, a downpipe and a lit brick facade are now visible along the left portion of my view, so I am nearly clear of the cramped corner. I will turn left again to place that route in front of me instead of off to one side.", + "The broad paved walkway, the grass strip and the long building beyond now occupy the left half of my view, while my heading still runs along the brickwork. One more left turn should center that walkway so I can walk it while looking for the wooden bench.", + "The paving now runs straight ahead of me, with the brick facade close on my right and lawn opening to my left, and nothing obstructs it. I will step forward along this route to search it for the wooden bench.", + "The walkway remains clear and the brick wall is sliding past on my right as the distant building grows larger. No bench has appeared along the paving yet, so I will keep walking forward.", + "Buttresses of the brick wall keep passing on my right and the paving continues uninterrupted, still with no seat in sight. Another stride forward should carry me further along this facade, where a bench would most likely stand.", + "Having left the recessed doorway corner behind, I am now on the open paved walk that runs along the brick building's flank, with lawn to my left. No bench is in sight yet along this stretch of wall, so I keep walking straight down the path to uncover more of it.", + "The paving continues unobstructed ahead with the brick wall and its lamp bracket close on my right. Nothing bench-like has appeared against the wall yet, so another step forward should bring more of this frontage into view.", + "A projecting brick buttress on my right still hides the wall face beyond it. Walking on should carry me past that corner so I can check whether a wooden bench stands further along this frontage.", + "I am drawing level with the buttress and the walk ahead remains wide and clear. Since the wall beyond is still not fully exposed, I keep moving forward along the same line rather than turning.", + "Past the buttress the paved strip runs on beside the brick wall toward the far courtyard. Still no seating against this side, so I continue straight to bring the next section of frontage into view.", + "The route stays open, with grass and a distant stone building on my left and unbroken brickwork close on my right. Nothing here invites a turn, so I press on along the wall in search of the bench.", + "Another projecting pier ahead on my right again cuts off the near wall face. I keep advancing along the paving so that the stretch hidden behind it may come into view.", + "I am close beside the pier now and the wall beyond it is only just beginning to open up. Continuing forward is the direct way to reveal whether the wooden bench sits along this shaded frontage.", + "The paved walk continues clear along the brick wall on my right, with no seating yet visible past the projecting buttress ahead. I will keep walking straight down this strip so the stretch of wall beyond the corner opens up, where a bench may stand.", + "Past the buttress, the pale slats and legs of a wooden bench have come into view against the brick wall on my right. I will step forward again to close the remaining gap and bring it fully into reach.", + "The wooden bench now sits plainly against the brick wall to my right, while my heading still points down the walkway past it. Turning right should swing my facing onto the bench so I can walk straight at it.", + "The bench is now centred ahead of me with its backrest against the brick wall, only a short stretch of paving between us. I will walk forward to draw right up alongside it.", + "The wooden bench is directly beside me, its slatted seat within arm's reach along the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t3_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..326f66a1393dfa6f118f3ee095be18cbd4148c10 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t3_c/infos.json @@ -0,0 +1,396 @@ +{ + "Instruction": "Head toward the large arched entrance, then proceed to the far corner of the brick building.", + "Type": 3, + "Start_Pose": [ + -11587.131, + 9694.81, + 6917.114, + 0.0, + -4.8, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11587.131, + 9694.81, + 6917.114, + 0.0, + -4.8, + 0.0 + ], + [ + -11587.131, + 9694.81, + 6917.114, + 0.0, + -29.8, + 0.0 + ], + [ + -11477.915, + 9632.261, + 6917.114, + 0.0, + -29.8, + 0.0 + ], + [ + -11368.699, + 9569.712, + 6916.864, + 0.0, + -29.8, + 0.0 + ], + [ + -11368.699, + 9569.712, + 6916.864, + 0.0, + -54.8, + 0.0 + ], + [ + -11296.149, + 9466.867, + 6916.614, + 0.0, + -54.8, + 0.0 + ], + [ + -11223.6, + 9364.022, + 6916.36, + 0.0, + -54.8, + 0.0 + ], + [ + -11151.051, + 9261.177, + 6916.901, + 0.0, + -54.8, + 0.0 + ], + [ + -11078.502, + 9158.332, + 6917.686, + 0.0, + -54.8, + 0.0 + ], + [ + -11078.502, + 9158.332, + 6917.686, + 0.0, + -54.8, + 0.0 + ], + [ + -11131.764, + 9233.836, + 6917.43, + 0.0, + -54.8, + 0.0 + ], + [ + -11131.764, + 9233.836, + 6917.43, + 0.0, + -29.8, + 0.0 + ], + [ + -11131.764, + 9233.836, + 6917.43, + 0.0, + -4.8, + 0.0 + ], + [ + -11131.764, + 9233.836, + 6917.43, + 0.0, + 20.2, + -0.0 + ], + [ + -11131.764, + 9233.836, + 6917.43, + 0.0, + 45.2, + -0.0 + ], + [ + -11043.08, + 9323.142, + 6916.244, + 0.0, + 45.2, + -0.0 + ], + [ + -10954.395, + 9412.448, + 6915.988, + 0.0, + 45.2, + -0.0 + ], + [ + -10865.711, + 9501.754, + 6915.988, + 0.0, + 45.2, + -0.0 + ], + [ + -10777.026, + 9591.06, + 6915.988, + 0.0, + 45.2, + -0.0 + ], + [ + -10688.341, + 9680.366, + 6915.737, + 0.0, + 45.2, + -0.0 + ], + [ + -10599.657, + 9769.671, + 6915.737, + 0.0, + 45.2, + -0.0 + ], + [ + -10510.972, + 9858.977, + 6915.737, + 0.0, + 45.2, + -0.0 + ], + [ + -10422.288, + 9948.283, + 6915.487, + 0.0, + 45.2, + -0.0 + ], + [ + -10333.603, + 10037.589, + 6915.487, + 0.0, + 45.2, + -0.0 + ], + [ + -10244.919, + 10126.895, + 6915.487, + 0.0, + 45.2, + -0.0 + ], + [ + -10156.234, + 10216.201, + 6915.487, + 0.0, + 45.2, + -0.0 + ], + [ + -10067.549, + 10305.507, + 6915.236, + 0.0, + 45.2, + -0.0 + ], + [ + -9983.266, + 10396.939, + 6915.11, + 0.0, + 45.2, + -0.0 + ], + [ + -9899.471, + 10490.471, + 6915.041, + 0.0, + 45.2, + -0.0 + ], + [ + -9810.786, + 10579.777, + 6915.041, + 0.0, + 45.2, + -0.0 + ], + [ + -9722.102, + 10669.082, + 6915.041, + 0.0, + 45.2, + -0.0 + ], + [ + -9722.102, + 10669.082, + 6915.041, + 0.0, + 70.2, + -0.0 + ], + [ + -9679.469, + 10787.501, + 6914.79, + 0.0, + 70.2, + -0.0 + ], + [ + -9679.469, + 10787.501, + 6914.79, + 0.0, + 45.2, + -0.0 + ], + [ + -9679.469, + 10787.501, + 6914.79, + 0.0, + 20.2, + -0.0 + ], + [ + -9584.67, + 10848.83, + 6914.716, + 0.0, + 20.2, + -0.0 + ], + [ + -9511.961, + 10867.72, + 6914.787, + 0.0, + 20.2, + -0.0 + ], + [ + -9511.961, + 10867.72, + 6914.787, + 0.0, + 20.2, + -0.0 + ] + ], + "Rationale": [ + "The tall arched opening in the brick facade sits at the far left edge of my view, mostly cut off by the frame. I will turn left to bring that archway squarely ahead before walking toward it.", + "The large stone archway now stands centered ahead with its passage and far opening clearly visible. The paved forecourt in front of me is clear, so I will walk forward to close the distance to that entrance.", + "The arch has grown noticeably larger and I can see through into the covered passage beyond. Still some distance short of it, I will keep walking forward along the paving.", + "My approach has drifted so the archway now sits off to my left while the brick wall and bench fill the right of my view. I will turn left to line my heading up with the opening so I can walk straight through it.", + "The arch is squarely ahead now, its vaulted ceiling and the passage floor plainly in front of me. I will step forward to reach the entrance itself.", + "The archway fills much of my view and I can make out the timber roof and the doors along the inner wall. A few more steps should bring me under the arch, so I will continue forward.", + "I am at the threshold with the arch's stone piers to either side and the covered walkway opening out ahead. I will walk forward to move into the entrance itself.", + "I am now inside the arched passage, with the vaulted ceiling overhead and the blue doors along the left wall. One more step should put me solidly at this entrance, so I will keep advancing.", + "The tall pointed arch vaults directly over me and its passage opens on both sides, so I am standing inside the large arched entrance. I have reached it. I mark that arrival and now turn my attention to the far corner of the brick building outside.", + "Having reached the arched entrance, my next destination is the corner of the brick building out on the paved court. The heavy stone pier sits close against my right shoulder here, so I will step back a little to gain room before swinging my heading around toward it.", + "I am still facing down the covered passage, which leads away from the brick flank I now want. Turning right should begin swinging my view off this passage and around toward the open paving beside the building.", + "Right now the pier and its brick return block most of my view, so I cannot yet see the walkway running along the building's flank. I will keep rotating right to bring that outer face and its paving into sight.", + "The brick buttress and the bench along the outer wall have come into view, but the wall still runs almost straight across my line of sight. A further turn right should open up the paved walk that follows this facade toward its far end.", + "The walkway beside the brick facade is now visible but still runs off to the right of my heading, with the lawn edge beyond it. One more turn right should place that path straight ahead so I can walk the length of the building.", + "The paved walk now runs straight ahead with the brick wall and its bench close on my left and the lawn on my right. This is the line that follows the building toward its far end, so I will walk forward along it.", + "The bench has slipped back beside me and the paving still stretches unobstructed along the brick wall. The building's far end lies further down this line, so I will keep walking forward.", + "The paved walk runs straight ahead along the brick flank of the building, with the lawn edge holding it open on my right. Far down that line the wall meets a recessed corner with a dark arched door, which is where I want to end up. I will keep walking forward along the clear paving.", + "The bench has slipped behind me and the wall lamp is now nearly level with my shoulder, so my last step gained real ground. The corner of the brick building with its arched doorway still sits ahead and slightly right of center. Another forward step should close more of that gap.", + "The brick buttresses on my left are passing steadily, confirming my heading is parallel to the wall I am following. The shadowed corner with the arched door grows a little larger in front of me with each step. I will continue advancing along the paving.", + "The far corner where the two brick wings meet is now clearly resolved ahead, with its small gabled roof and dark pointed door. Nothing blocks the walkway between me and it. I will step forward again to shorten the distance.", + "My current line still points into the recessed corner of the brick building, so no turn is needed yet. The lawn on my right and the wall on my left funnel the paving straight toward that corner. Another forward step should bring me closer.", + "The brick face on my left now fills more of the view as I draw level with another buttress, which tells me I am hugging the wall closely. The corner doorway is still ahead and reachable in a straight line. I will keep moving forward rather than adjust my heading.", + "The dark arched door in the corner recess is noticeably nearer and its stone step is beginning to show. The paving underfoot continues unobstructed toward it. I will advance again to close the remaining stretch.", + "The corner of the brick building now dominates the view, the arched door and its flanking windows standing plainly ahead of me. The grass edge has fallen back to my right, so the walk continues straight into that recess. I will take another step forward toward it.", + "The brick wall runs away on my left and the paving ahead ends where the wing meets it in a shadowed corner with a dark arched door. That inner corner is where I am headed, so I keep walking straight along the pavement toward it.", + "The arched door and the buttress beside it have grown larger and sit just right of my heading, and the pavement in front of me is still clear. I will step forward again to close the remaining distance to that corner of the brick building.", + "A brick pier now fills the near left of my view, which tells me I am hugging the wall line that leads into the corner. The recessed doorway ahead is still several strides away, so I continue walking forward.", + "The pier has slid past and the corner between the two brick faces is opening up in front of me, with the arched door set into it. There is still open paving between me and that corner, so I keep advancing.", + "The dark arched door and its stone step now dominate the view ahead, and a downpipe marks the far side of the recess. I am close but not yet inside the corner, so another step forward should bring me nearer.", + "The corner recess is right in front of me now, with the arched door and its step just to the right of my line of travel. A final stride forward should put me at the corner itself rather than short of it.", + "A broad brick pier now blocks the left half of my view while the arched door and the corner sit off to my right. Turning right should swing that corner of the brick building back to the center of my heading before I move again.", + "The arched door and its step are now squarely ahead of me with clear paving between us. I will walk forward to bring myself right up into that corner of the brick building.", + "I am now right up against the dark arched door set in the brick wall, so the remaining work is to settle into the building's far corner rather than the doorway itself. The angled brick face and window recess lie off to my left, so I will turn left to bring that junction into the middle of my view.", + "The door has swung toward my right and the neighboring brick face with its window is now entering the left of my view, but the corner where the two walls meet is still not centered. Another left turn should place that inside corner straight ahead of me.", + "The recessed junction of the two brick faces now sits ahead of me, with the window above the stone band and the dark door edge just to my right. I will walk forward to close the short gap into that corner.", + "The two brick walls now converge directly in front of me and the stone sill and string course fill most of my view, so only a short distance remains. I will step forward again to bring myself fully into the corner.", + "The two brick faces meet immediately in front of me at the building's far corner. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t5_a_p/infos.json b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f2409774185ba8594d04b85b6fca3a54466ad9e9 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011587_y009695_z006917_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the candelabra near the wooden bench against the brick wall.", + "Type": 5, + "Start_Pose": [ + -11587.131, + 9694.81, + 6917.061, + 0, + -4.8, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + -10858.386, + 9513.75, + 6830.831, + 0, + 30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11587.131, + 9694.81, + 6917.061, + 0, + -4.8, + 0 + ], + [ + -11461.713, + 9684.278, + 6917.114, + 0.0, + -4.8, + 0.0 + ], + [ + -11336.296, + 9673.746, + 6916.586, + 0.0, + -4.8, + 0.0 + ], + [ + -11210.878, + 9663.215, + 6917.99, + 0.0, + -4.8, + 0.0 + ], + [ + -11085.46, + 9652.683, + 6902.203, + 0.0, + -4.8, + 0.0 + ], + [ + -11085.46, + 9652.683, + 6902.203, + 0.0, + -29.8, + 0.0 + ], + [ + -10976.244, + 9590.134, + 6915.935, + 0.0, + -29.8, + 0.0 + ], + [ + -10976.244, + 9590.134, + 6915.935, + 0.0, + -29.8, + 0.0 + ], + [ + -10976.244, + 9590.134, + 6915.935, + 0.0, + -29.8, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -10858.386, + 9513.75, + 6830.831, + 0.0, + 30.0, + -0.0 + ], + [ + -10858.386, + 9513.75, + 6830.831, + 0.0, + 30.0, + -0.0 + ], + [ + -10858.386, + 9513.75, + 6830.831, + 0.0, + 30.0, + -0.0 + ], + [ + -10858.386, + 9513.75, + 6830.831, + 0.0, + 30.0, + -0.0 + ], + [ + -10858.386, + 9513.75, + 6830.831, + 0.0, + 30.0, + -0.0 + ], + [ + -10858.386, + 9513.75, + 6830.831, + 0.0, + 30.0, + -0.0 + ], + [ + -10858.386, + 9513.75, + 6830.831, + 0.0, + 30.0, + -0.0 + ], + [ + -10966.162, + 9608.968, + 6885.953, + -28.202, + 20.344, + 1.862 + ], + [ + -10966.162, + 9608.968, + 6885.953, + -28.202, + 20.344, + 1.862 + ] + ], + "PD_Dist_2D": [ + 750.9, + 627.0, + 504.0, + 382.9, + 266.2, + 266.2, + 140.4, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the wooden bench set against the brick wall of the church ahead, with a small candelabra standing on the paving beside it. It is far off across the open forecourt, so I will walk forward to close that distance.", + "The bench and the candelabra beside it are now noticeably larger and lower in my view, confirming I am heading the right way. They are still well out of reach, so I continue walking straight toward them.", + "The candelabra now stands clearly on the pavement just in front of the bench, slightly left of my path. The gap is still too large for any grasp attempt, so I keep advancing along the paved strip.", + "The candelabra with its pale candles is close and drifting toward the left edge of my view as I approach. I will take another step forward to keep shrinking the remaining distance before I settle my heading.", + "The candelabra sits well off to my left, near the edge of my view, so walking straight ahead would carry me past it. I will turn left to bring it in front of me and line up my approach.", + "The candelabra is now centred in front of me with the bench squarely behind it against the brick wall. A short step forward should bring it within arm's reach for a grasp.", + "The candelabra is directly in front of me at the base of my view, its candles rising close to me beside the bench. This is within reach, so I will attempt to pick it up.", + "The candelabra is now held in my hands, lifted off the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011721_y009372_z006918_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-011721_y009372_z006918_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a711020992c5556358127caa9fad12337c5a78d --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011721_y009372_z006918_t3_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Walk to the black bin in the courtyard, then head toward the dark doorway.", + "Type": 3, + "Start_Pose": [ + -11721.075, + 9372.094, + 6918.492, + 0.0, + 30.72, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11721.075, + 9372.094, + 6918.492, + 0.0, + 30.72, + -0.0 + ], + [ + -11612.877, + 9436.388, + 6918.323, + 0.0, + 30.72, + -0.0 + ], + [ + -11612.877, + 9436.388, + 6918.323, + 0.0, + 55.72, + -0.0 + ], + [ + -11541.989, + 9540.385, + 6917.802, + 0.0, + 55.72, + -0.0 + ], + [ + -11471.1, + 9644.381, + 6917.268, + 0.0, + 55.72, + -0.0 + ], + [ + -11471.1, + 9644.381, + 6917.268, + 0.0, + 80.72, + -0.0 + ], + [ + -11447.489, + 9757.297, + 6917.008, + 0.0, + 80.72, + -0.0 + ], + [ + -11447.489, + 9757.297, + 6917.008, + 0.0, + 80.72, + -0.0 + ], + [ + -11447.489, + 9757.297, + 6917.008, + 0.0, + 55.72, + -0.0 + ], + [ + -11447.489, + 9757.297, + 6917.008, + 0.0, + 30.72, + -0.0 + ], + [ + -11339.291, + 9821.592, + 6909.765, + 0.0, + 30.72, + -0.0 + ], + [ + -11231.093, + 9885.886, + 6902.203, + 0.0, + 30.72, + -0.0 + ], + [ + -11122.896, + 9950.18, + 6902.203, + 0.0, + 30.72, + -0.0 + ], + [ + -11014.698, + 10014.474, + 6902.203, + 0.0, + 30.72, + -0.0 + ], + [ + -10906.5, + 10078.768, + 6902.203, + 0.0, + 30.72, + -0.0 + ], + [ + -10798.303, + 10143.062, + 6902.203, + 0.0, + 30.72, + -0.0 + ], + [ + -10690.105, + 10207.357, + 6902.203, + 0.0, + 30.72, + -0.0 + ], + [ + -10581.907, + 10271.651, + 6902.203, + 0.0, + 30.72, + -0.0 + ], + [ + -10473.709, + 10335.945, + 6902.203, + 0.0, + 30.72, + -0.0 + ], + [ + -10365.512, + 10400.239, + 6902.203, + 0.0, + 30.72, + -0.0 + ], + [ + -10257.314, + 10464.533, + 6914.469, + 0.0, + 30.72, + -0.0 + ], + [ + -10149.116, + 10528.828, + 6914.9, + 0.0, + 30.72, + -0.0 + ], + [ + -10040.919, + 10593.122, + 6914.9, + 0.0, + 30.72, + -0.0 + ], + [ + -9932.721, + 10657.416, + 6914.9, + 0.0, + 30.72, + -0.0 + ], + [ + -9824.523, + 10721.71, + 6914.9, + 0.0, + 30.72, + -0.0 + ], + [ + -9716.325, + 10786.004, + 6914.9, + 0.0, + 30.72, + -0.0 + ], + [ + -9716.325, + 10786.004, + 6914.9, + 0.0, + 55.72, + -0.0 + ], + [ + -9645.437, + 10890.001, + 6914.65, + 0.0, + 55.72, + -0.0 + ], + [ + -9645.437, + 10890.001, + 6914.65, + 0.0, + 55.72, + -0.0 + ] + ], + "Rationale": [ + "The black bin sits ahead of me on the pale paving at the edge of the lawn, off to my right. Nothing blocks the open courtyard between us, so I will walk forward to cut down that distance before correcting my heading.", + "After moving up, the bin has slipped to the far right edge of my view and is nearly out of sight. I will turn right to bring it back in front of me so my next steps carry me straight at it.", + "The bin now stands squarely ahead of me across flat, empty paving. With my heading aimed at it, I will walk forward to close the gap.", + "The bin has grown noticeably larger and still sits just right of my centre line, so I am tracking it well. I will keep walking forward to draw close enough to count as standing at it.", + "I am close now, but the bin has drifted low into the right corner of my view as I came alongside it. A turn to the right should swing it back in front of me for the final short approach.", + "The bin is centred low in front of me, its lid clearly at close range. One more step forward should bring me right up beside it.", + "Only the top rim of the black bin still shows at the very bottom of my view, meaning it is right at my feet. I have arrived at the black bin in the courtyard. I mark reaching it before setting off toward the dark doorway.", + "Standing at the bin, all I face is the long brick range and open lawn, with no dark doorway in front of me. The recessed arched entrance lies back around to my left, so I will turn left to bring it into view.", + "The small dark arched door tucked into the corner of the brick range now sits well to the left of my heading, with the lawn opening in front of it. One more left turn should bring that doorway near the middle of my view so I can walk straight at it.", + "The dark doorway now sits roughly ahead of me across the grass, framed by the cathedral wall on the left and the long brick range on the right. With my heading settled on it, I will step forward to start closing the gap.", + "The doorway has grown slightly and stayed near the middle of my view, so my heading is still good. The ground ahead is clear grass running up to the paved strip, so I keep walking forward.", + "The recessed dark door and its small gabled porch are clearer now, still lined up with my path. Nothing blocks the grass in front of me, so another forward step should shorten the distance.", + "The brick walls on either side are widening in my view as the courtyard corner draws nearer, and the dark doorway stays straight ahead. I continue walking toward it.", + "The pale paving that fronts the doorway is now plainly visible past the edge of the lawn, and the door itself sits centered above it. Advancing again should bring me onto that paved area near the entrance.", + "The doorway and its stone step are noticeably larger and still aligned with my heading, and the paving stretches unobstructed toward them. I take another step forward to keep closing in.", + "I am on the paved forecourt now, with the dark arched door set into the brick wall directly ahead of me. The way is clear, so I keep moving forward toward it.", + "The dark arched door sits in the recessed corner ahead, roughly centred between the brick pier on my left and the lighter stone-framed windows on my right. The paving in front of me runs straight toward it with nothing in the way, so I will walk on to cut the remaining distance.", + "The doorway has grown noticeably larger and the small gabled roof above it is now clearly framed in my view, confirming I am closing on it. My heading still points into that corner and the paving stays clear, so another step forward is the simplest way to keep gaining ground.", + "The dark door and its pale stone step are now distinct ahead of me, with the brick buttress passing on my left as I advance. Nothing blocks the paving between me and that corner, so I keep walking straight at it.", + "The arched dark door remains slightly right of my centre and continues to enlarge, so my current line is still carrying me toward it. The grass edge has fallen away to my right and the paving ahead is open, which lets me press on without adjusting heading yet.", + "I am now inside the courtyard corner, with brick walls on both sides and the dark door standing directly ahead across a short stretch of paving. The route is unobstructed, so I will step forward again to close on it.", + "The dark door fills a good part of the wall ahead and its narrow flanking windows are clearly visible, so only a few paces remain. My heading is still aimed at it and the paving is clear, so I continue walking toward it.", + "The dark door is close now, just right of the brick pier that is entering my left foreground. Since the paving in front of me stays open, I will step forward again to bring myself right up to that entrance.", + "The weathered dark door now stands only a short distance ahead on the wall to my right of the corner pier, with its stone threshold plainly in view. I will advance once more to bring myself close in front of it.", + "The dark arched door sits ahead in the recessed corner of the brick wall, close enough now that its stone step and frame are clear. The paving between me and it is open, so I will keep walking to shorten the remaining gap before fine alignment.", + "My last steps brought me very near the wall, and the dark door has slid to the right edge of my view while plain brickwork fills the center. A turn to the right should bring the doorway back in front of me for a straight final approach.", + "The dark arched door is now centered in front of me, flanked evenly by its windows, with only a short stretch of paving left. I will step forward to close the last of that distance and stand right at the doorway.", + "The dark wooden door fills my view from its brick jambs to the threshold at my feet. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-011926_y009731_z006918_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-011926_y009731_z006918_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..537330d592b6f46b6502bd3a5a7f7b112926c6ed --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-011926_y009731_z006918_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Discover the bench situated near the arched entrance of the brick building, then approach it.", + "Type": 1, + "Start_Pose": [ + -11925.869, + 9730.755, + 6918.278, + 0.0, + -94.72, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11925.869, + 9730.755, + 6918.278, + 0.0, + -94.72, + 0.0 + ], + [ + -11925.869, + 9730.755, + 6918.199, + 0.0, + -69.72, + 0.0 + ], + [ + -11925.869, + 9730.755, + 6918.199, + 0.0, + -44.72, + 0.0 + ], + [ + -11925.869, + 9730.755, + 6918.199, + 0.0, + -19.72, + 0.0 + ], + [ + -11807.391, + 9688.287, + 6917.939, + 0.0, + -19.72, + 0.0 + ], + [ + -11688.914, + 9645.819, + 6917.686, + 0.0, + -19.72, + 0.0 + ], + [ + -11570.436, + 9603.351, + 6917.431, + 0.0, + -19.72, + 0.0 + ], + [ + -11451.958, + 9560.884, + 6917.174, + 0.0, + -19.72, + 0.0 + ], + [ + -11333.48, + 9518.416, + 6916.655, + 0.0, + -19.72, + 0.0 + ], + [ + -11215.003, + 9475.948, + 6916.15, + 0.0, + -19.72, + 0.0 + ], + [ + -11096.525, + 9433.48, + 6916.15, + 0.0, + -19.72, + 0.0 + ], + [ + -11096.525, + 9433.48, + 6916.15, + 0.0, + 5.28, + -0.0 + ], + [ + -10971.2, + 9445.062, + 6916.15, + 0.0, + 5.28, + -0.0 + ], + [ + -10845.875, + 9456.644, + 6915.9, + 0.0, + 5.28, + -0.0 + ], + [ + -10845.875, + 9456.644, + 6915.9, + 0.0, + 5.28, + -0.0 + ] + ], + "Rationale": [ + "I am facing a long brick facade with rows of windows and a dark bin on the paved courtyard, but no arched entrance and no bench are anywhere in this view. Since the building continues off to my right and the open ground extends that way, I will turn right to scan along the facade for an arched doorway.", + "A tall stone arched passage has now come into view toward the right edge of my field, which matches the arched entrance mentioned in the task. I will keep turning right to bring that archway toward the center and check the ground beside it for a bench.", + "The archway is now roughly ahead of me, but the wall stretch to its right where a bench would plausibly stand is still cut off by the edge of my view. I will turn right once more to open up that side of the building before committing to a walking direction.", + "From here I can see the arched entrance on my left and the long church wall running to the right, with only a dark bin on the far right and no bench yet distinguishable at this distance. The arch is the strong cue named in the task, so I will walk forward across the open ground to close in and inspect the paving beside it.", + "The archway and the adjoining brick wall are noticeably larger now, confirming I am closing on the entrance area, though the ground along the wall is still too far to resolve a bench. I will continue walking forward toward the arch to get a clearer look at that frontage.", + "I am close enough now that the arched passage opens onto lawn beyond it, and the strip of paving along the wall to its right is coming into view. I will keep stepping forward to reach that frontage where a bench near the entrance would most likely sit.", + "A wooden bench is now visible set against the brick wall just to the right of the arched passage, which is exactly the target described in the task. I will continue walking forward to close the remaining distance to it.", + "The bench beside the arched entrance is clearly in view ahead and slightly right, and it has grown as I advance, so my heading is carrying me toward it. I will keep moving forward to shorten the gap to the bench.", + "The wooden bench set against the brick wall just beside the arched passage is clearly in view ahead and slightly right, matching the target described in the task. It is still several strides away, so I will keep walking straight along the open paved ground toward it.", + "The bench now fills more of my view under the tall windows, confirming that my heading is closing the gap. There is still open brick paving between me and it, so another step forward should bring me near enough to stand beside it.", + "I am now close to the bench, but the brick wall it stands against is squarely across my path, so continuing straight would take me into the masonry rather than up beside the seat. Turning right should swing my heading onto the open walkway that runs along this facade, giving me a clear line to step in next to the bench.", + "With my heading now running along the facade, the bench sits close on my left and the paved walk ahead is clear. Stepping forward should carry me alongside the bench instead of into the wall.", + "The bench is now very near on my left, its slats and armrest clearly resolved beside the drainpipe and brick pier. One more short step should place me right at the bench, close enough to count as having reached it.", + "The bench beside the arched brick entrance is directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t0_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c28eb92a98196f666e52f8debaa23b2da450ce5b --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t0_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the base of the metal spiral staircase.", + "Type": 0, + "Start_Pose": [ + -12615.498, + 8725.191, + 6913.053, + 0, + -107.36, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12615.498, + 8725.191, + 6913.053, + 0, + -107.36, + 0 + ], + [ + -12653.051, + 8605.065, + 6913.073, + 0.0, + -107.36, + 0.0 + ], + [ + -12690.604, + 8484.939, + 6913.073, + 0.0, + -107.36, + 0.0 + ], + [ + -12728.157, + 8364.813, + 6926.804, + 0.0, + -107.36, + 0.0 + ], + [ + -12765.711, + 8244.687, + 6925.626, + 0.0, + -107.36, + 0.0 + ], + [ + -12803.264, + 8124.561, + 6926.407, + 0.0, + -107.36, + 0.0 + ], + [ + -12841.137, + 8004.704, + 6927.193, + 0.0, + -107.36, + 0.0 + ], + [ + -12859.458, + 7963.528, + 6927.475, + 0.0, + -107.36, + 0.0 + ], + [ + -12859.458, + 7963.528, + 6927.475, + 0.0, + -107.36, + 0.0 + ] + ], + "Rationale": [ + "I can see the pale metal spiral staircase ahead in the courtyard, roughly centered in my view where the two brick wings meet. The paved walkway runs straight toward it, so I will move forward along the pavement to begin closing the distance.", + "The staircase now appears larger and its lowest steps are clearer, confirming my heading is still pointed at it. The paving in front of me is unobstructed, so I will continue straight forward.", + "The spiral stair and its central column dominate more of my view, and the bench to the right sits off my path. I still have several meters of open paving between me and the stair base, so I will keep advancing.", + "The bottom step and the ground plate of the staircase are now visible slightly left of center, which keeps my heading acceptable without turning. I will move forward again to shrink the remaining gap.", + "The stair structure now fills much of the upper view and the column meets the paving just ahead of me, so I am close but not yet at its base. Another forward step should bring me right up to the foot of the spiral.", + "I am nearly under the lowest landing, with the central post and bottom treads directly in front and slightly right. A short further advance should place me at the base itself, so I will move forward.", + "The underside of the stair landing is overhead and the column with its bottom steps is right in front of me, so only a small final gap remains. I will edge forward to settle at the base of the spiral staircase.", + "I am standing at the foot of the metal spiral staircase, with its base column and lowest treads directly beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t2_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb932b8db949bbbcb3bbdf3a07f8ddc78edf1bed --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the bench to the right of the spiral staircase.", + "Type": 2, + "Start_Pose": [ + -12615.498, + 8725.191, + 6913.053, + 0.0, + -107.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12615.498, + 8725.191, + 6913.053, + 0.0, + -107.36, + 0.0 + ], + [ + -12653.051, + 8605.065, + 6913.073, + 0.0, + -107.36, + 0.0 + ], + [ + -12690.604, + 8484.939, + 6913.073, + 0.0, + -107.36, + 0.0 + ], + [ + -12728.157, + 8364.813, + 6926.804, + 0.0, + -107.36, + 0.0 + ], + [ + -12765.711, + 8244.687, + 6925.626, + 0.0, + -107.36, + 0.0 + ], + [ + -12765.711, + 8244.687, + 6925.626, + 0.0, + -82.36, + 0.0 + ], + [ + -12748.978, + 8119.946, + 6926.154, + 0.0, + -82.36, + 0.0 + ], + [ + -12748.978, + 8119.946, + 6926.154, + 0.0, + -82.36, + 0.0 + ] + ], + "Rationale": [ + "From the edge of the lawn I can see the spiral staircase ahead, and the wooden bench I want is the one on the paving just to its right, backed against the brick wall, not the seat off to the far left. The paved strip runs straight toward it, so I will walk forward to close the gap.", + "The staircase and the bench beside it have grown larger, confirming my heading is good. Nothing blocks the paving between me and that bench, so I will keep walking forward.", + "The wooden bench beside the staircase now reads clearly, its slatted back set against the brick wall, but it still sits well ahead of me and slightly to my right. I will continue advancing along the paving to shorten that distance.", + "The bench fills much more of my view now and its near armrest is close to the right side of my sight. A few more steps of forward travel should bring me within arm's reach of it.", + "I am nearly level with the staircase, and the bench has slid toward the right edge of my view while the stairs dominate the center. Turning right should swing my heading onto the bench so my final step should carry me to it rather than past it.", + "The bench is now squarely in front of me, its full length running along the brick wall with the staircase off to my left. One more step forward should place me right at its edge.", + "The wooden bench beside the spiral staircase is directly before me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t5_a_p/infos.json b/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..35d61c671a4815150db20ebc555f47201de2e042 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012615_y008725_z006913_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the plate from the base of the metal spiral staircase.", + "Type": 5, + "Start_Pose": [ + -12615.498, + 8725.191, + 6913.053, + 0, + -107.36, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -12960.689, + 8007.117, + 6877.219, + 90, + 30, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12615.498, + 8725.191, + 6913.053, + 0, + -107.36, + 0 + ], + [ + -12653.051, + 8605.065, + 6913.073, + 0.0, + -107.36, + 0.0 + ], + [ + -12690.604, + 8484.939, + 6913.073, + 0.0, + -107.36, + 0.0 + ], + [ + -12728.157, + 8364.813, + 6926.804, + 0.0, + -107.36, + 0.0 + ], + [ + -12765.711, + 8244.687, + 6925.626, + 0.0, + -107.36, + 0.0 + ], + [ + -12803.264, + 8124.561, + 6926.407, + 0.0, + -107.36, + 0.0 + ], + [ + -12803.264, + 8124.561, + 6926.407, + 0.0, + -107.36, + 0.0 + ], + [ + -12803.264, + 8124.561, + 6926.407, + 0.0, + -107.36, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -12960.689, + 8007.117, + 6877.219, + 90.0, + 30.0, + 0.0 + ], + [ + -12960.689, + 8007.117, + 6877.219, + 90.0, + 30.0, + 0.0 + ], + [ + -12960.689, + 8007.117, + 6877.219, + 90.0, + 30.0, + 0.0 + ], + [ + -12960.689, + 8007.117, + 6877.219, + 90.0, + 30.0, + 0.0 + ], + [ + -12960.689, + 8007.117, + 6877.219, + 90.0, + 30.0, + 0.0 + ], + [ + -12960.689, + 8007.117, + 6877.219, + 90.0, + 30.0, + 0.0 + ], + [ + -12782.7, + 8118.773, + 6896.486, + -28.202, + -57.215, + 1.862 + ], + [ + -12782.7, + 8118.773, + 6896.486, + -28.202, + -57.215, + 1.862 + ] + ], + "PD_Dist_2D": [ + 796.7, + 672.4, + 548.9, + 426.6, + 307.3, + 196.4, + 21.4, + 21.4 + ], + "Rationale": [ + "The white plate is propped at the foot of the metal spiral staircase across the courtyard, well beyond reach. My heading along the paved walkway already points at it, so I will walk straight ahead to close the gap.", + "The staircase and the plate beside it now sit larger in view, confirming my line of travel is correct. Nothing blocks the paving between me and them, so another step forward should keep shrinking the distance.", + "The plate leans against the base of the spiral stair slightly left of my center of view, still too distant to grasp. The walkway continues clear past the bench, so I keep advancing rather than adjusting my heading yet.", + "The plate now fills a clear portion of the lower left view and the stair treads loom close, showing I am nearly there. I will step forward again to bring the plate into comfortable grasping range.", + "The plate is very near at my left, but still a short stride off from a reliable reach. One more forward step should place me right beside it at the foot of the staircase.", + "I am standing at the foot of the spiral staircase with the plate immediately beside me, its rim filling the near left of my view. My hands are empty and nothing separates me from it, so I will attempt to pick it up now.", + "The plate is held in my hands and no longer resting at the staircase base. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ecc5ac610497315f872a73ea13d1bd252cbc257e --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t3_a/infos.json @@ -0,0 +1,306 @@ +{ + "Instruction": "Walk to the building's front entrance steps, then head toward the gray bin.", + "Type": 3, + "Start_Pose": [ + -12696.042, + 12084.957, + 6885.787, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12696.042, + 12084.957, + 6885.787, + 0.0, + 57.6, + -0.0 + ], + [ + -12628.603, + 12191.223, + 6884.739, + 0.0, + 57.6, + -0.0 + ], + [ + -12561.165, + 12297.49, + 6885.713, + 0.0, + 57.6, + -0.0 + ], + [ + -12493.726, + 12403.756, + 6890.554, + 0.0, + 57.6, + -0.0 + ], + [ + -12426.287, + 12510.022, + 6893.408, + 0.0, + 57.6, + -0.0 + ], + [ + -12358.849, + 12616.288, + 6895.075, + 0.0, + 57.6, + -0.0 + ], + [ + -12291.41, + 12722.555, + 6894.762, + 0.0, + 57.6, + -0.0 + ], + [ + -12223.972, + 12828.821, + 6900.034, + 0.0, + 57.6, + -0.0 + ], + [ + -12156.533, + 12935.087, + 6900.034, + 0.0, + 57.6, + -0.0 + ], + [ + -12089.094, + 13041.353, + 6900.814, + 0.0, + 57.6, + -0.0 + ], + [ + -12021.656, + 13147.62, + 6930.671, + 0.0, + 57.6, + -0.0 + ], + [ + -11971.935, + 13209.174, + 6950.855, + 0.0, + 57.6, + -0.0 + ], + [ + -11971.935, + 13209.174, + 6950.855, + 0.0, + 57.6, + -0.0 + ], + [ + -12021.446, + 13131.158, + 6930.286, + 0.0, + 57.6, + -0.0 + ], + [ + -12070.956, + 13053.142, + 6903.672, + 0.0, + 57.6, + -0.0 + ], + [ + -12070.956, + 13053.142, + 6903.672, + 0.0, + 32.6, + -0.0 + ], + [ + -12070.956, + 13053.142, + 6903.672, + 0.0, + 7.6, + -0.0 + ], + [ + -12070.956, + 13053.142, + 6903.672, + 0.0, + -17.4, + 0.0 + ], + [ + -12070.956, + 13053.142, + 6903.672, + 0.0, + -42.4, + 0.0 + ], + [ + -12070.956, + 13053.142, + 6903.672, + 0.0, + -67.4, + 0.0 + ], + [ + -12070.956, + 13053.142, + 6903.672, + 0.0, + -92.4, + 0.0 + ], + [ + -12076.227, + 12927.394, + 6900.081, + 0.0, + -92.4, + 0.0 + ], + [ + -12076.227, + 12927.394, + 6900.081, + 0.0, + -67.4, + 0.0 + ], + [ + -12082.131, + 12852.734, + 6899.964, + 0.0, + -67.4, + 0.0 + ], + [ + -12082.131, + 12852.734, + 6899.964, + 0.0, + -42.4, + 0.0 + ], + [ + -11989.19, + 12767.867, + 6899.437, + 0.0, + -42.4, + 0.0 + ], + [ + -11896.249, + 12683.0, + 6899.185, + 0.0, + -42.4, + 0.0 + ], + [ + -11803.308, + 12598.133, + 6899.185, + 0.0, + -42.4, + 0.0 + ], + [ + -11803.308, + 12598.133, + 6899.185, + 0.0, + -42.4, + 0.0 + ] + ], + "Rationale": [ + "From the edge of the lawn I can see the recessed dark doorway with its short flight of pale steps set into the brick facade ahead of me. Nothing blocks the grass between us, so I will walk straight forward to begin closing that gap.", + "The doorway and the steps below it have grown slightly larger and remain almost straight ahead of me, so my heading is still good. I will keep walking forward across the grass rather than spend a turn correcting anything.", + "The paved strip running along the base of the building is now visible ahead, with the entrance steps just beyond it. My line still points at that doorway, so another forward stride should bring me onto firmer ground near it.", + "The kerb and the wide paved area in front of the entrance fill more of my view, and the pale steps sit squarely ahead. Distance is the only thing left between me and them, so I continue walking forward.", + "I am on the paving now and the flight of steps up to the double doors stands clearly ahead, a little left of my center. The heading is close enough to keep, so I press forward instead of turning.", + "The steps and the tall dark doors ahead now dominate my view, with the reception sign on the wall beside them. I am close but not yet at the foot of the flight, so I keep walking toward it.", + "The individual treads of the entrance stair are now clearly separated in front of me and the doors rise directly above them. A couple more strides should put me right at the bottom of these steps, so I advance again.", + "The lowest tread now spans the bottom of my view and the doors are squarely in front of me at the top of the flight. I am nearly at the entrance, so I take another step forward to settle right onto it.", + "The stone steps and the weathered double doors under the reception sign now fill most of my view, so the entrance is only a short walk ahead. I will keep walking straight forward to close the last of that gap.", + "The doorway now spans nearly the whole view and the lowest step edge sits just in front of my feet, so I am almost at the entrance. Another step forward should bring me right onto the steps.", + "The dark plank doors and their two handles now occupy my entire view, meaning I am standing on the entrance steps themselves. I will advance a last short step to settle squarely at the doorway.", + "The weathered timber of the front doors is directly against my view, with the top step under me. I have reached the building's front entrance steps. I mark arriving here before setting off toward the gray bin.", + "Pressed this close to the doors, I have almost no view beyond the timber and no room to swing around toward the bin. Stepping back down away from the doorway should give me the clearance and sightlines I need.", + "Backing off has already brought the door frame, the pale stone blocks and the step treads back into view, but I am still tight against the entrance. One more step backward should put me clear of the steps with room to turn.", + "I am now back from the doorway with the whole entrance and its steps framed ahead, which is nothing more to do here. The gray bin is not in this narrow view, so I will rotate left, away from the doors, to sweep toward the open paving beside the building.", + "The turn has swung the doorway to the edge and brought the adjoining brick wall and its window into view, but still no sign of the gray bin. I will keep rotating left to bring the open walkway alongside the building into my heading.", + "The reception sign and the top step still sit at the right edge, so I am barely off the doorway and facing brickwork with no open ground yet. I will keep rotating left to swing my heading away from the entrance and toward the paved area where a gray bin might stand.", + "My view is now almost entirely the brick facade and its window band, with only a sliver of the sign left at the upper right and no walkway ahead. Another left turn should carry my heading further around until open paving and the courtyard come into the frame.", + "A downpipe and unbroken brickwork still fill the whole view, so I am aimed straight at the wall rather than at any route. I will turn left again, expecting the building corner to slide past and reveal the open ground beyond it.", + "The wall corner has finally opened on the left, showing paving, lawn and distant ranges of the courtyard, but most of my view is still blocked by brickwork on the right. One more left turn should put that open walkway roughly ahead of me so I can start moving out.", + "The paved walkway now runs clear ahead along the edge of the lawn, with only the building corner crowding my right side. I will walk forward to clear that corner and open up the courtyard, where I should be able to spot the gray bin.", + "Out in the open the courtyard spreads to my left, while a gray bin shows at the far right edge of my view against the building side. I will turn right to bring that bin and the paving beside the wall into the middle of my view before advancing.", + "The gray bin now stands clearly on the paving ahead and slightly to my right, beside the building wall. The walkway between us is unobstructed, so I will step forward to cut down that remaining distance.", + "I am closer now, but the bin has drifted toward the right edge of my view as I walked along the lawn side of the path. A right turn should place it squarely in front of me so my next steps carry me straight to it.", + "The gray bin now sits ahead of me along the paved walkway, tucked against the brick wall on my right, and my heading points straight down that path. I will walk forward to close the remaining distance toward it.", + "The gray bin has grown noticeably larger and is now just ahead beside the wall, so my heading down the walkway is still good. Another step forward should bring me within arm's reach of it.", + "The gray bin is close now, filling the lower right of my view against the brick wall, but I am not yet standing beside it. I will take one more step forward to draw level with it.", + "The gray bin is right beside me, its open top within arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t5_a_p/infos.json b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..daa1dacff5458de8272146a889df0ee0731edbfa --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012696_y012085_z006886_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the jerry can near the main entrance with steps.", + "Type": 5, + "Start_Pose": [ + -12696.042, + 12084.957, + 6885.759, + 0, + 57.6, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -11992.283, + 13193.971, + 6869.819, + 0, + 60, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12696.042, + 12084.957, + 6885.759, + 0, + 57.6, + 0 + ], + [ + -12628.603, + 12191.223, + 6884.739, + 0.0, + 57.6, + -0.0 + ], + [ + -12561.165, + 12297.49, + 6885.713, + 0.0, + 57.6, + -0.0 + ], + [ + -12493.726, + 12403.756, + 6890.554, + 0.0, + 57.6, + -0.0 + ], + [ + -12426.287, + 12510.022, + 6893.408, + 0.0, + 57.6, + -0.0 + ], + [ + -12358.849, + 12616.288, + 6895.075, + 0.0, + 57.6, + -0.0 + ], + [ + -12291.41, + 12722.555, + 6894.762, + 0.0, + 57.6, + -0.0 + ], + [ + -12223.972, + 12828.821, + 6900.034, + 0.0, + 57.6, + -0.0 + ], + [ + -12156.533, + 12935.087, + 6900.034, + 0.0, + 57.6, + -0.0 + ], + [ + -12089.094, + 13041.353, + 6900.814, + 0.0, + 57.6, + -0.0 + ], + [ + -12021.742, + 13147.547, + 6930.672, + 0.0, + 57.6, + -0.0 + ], + [ + -12021.742, + 13147.547, + 6930.672, + 0.0, + 57.6, + -0.0 + ], + [ + -12021.742, + 13147.547, + 6930.672, + 0.0, + 57.6, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -11992.283, + 13193.971, + 6869.819, + 0.0, + 60.0, + -0.0 + ], + [ + -12040.099, + 13158.474, + 6890.687, + -28.202, + 107.745, + 1.862 + ], + [ + -12040.099, + 13158.474, + 6890.687, + -28.202, + 107.745, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1313.5, + 1187.6, + 1061.7, + 935.9, + 810.0, + 684.2, + 558.3, + 432.5, + 306.6, + 180.7, + 55.0, + 21.4, + 21.4 + ], + "Rationale": [ + "From the lawn I can see the recessed main entrance with its flight of steps, and a small reddish jerry can sitting just in front of the doors. The target is far off but roughly straight ahead of my heading, so no turn is needed yet. I will walk forward to close that distance.", + "The entrance porch and its steps now fill more of my view, so my heading is still carrying me toward the jerry can beside the doorway. Nothing blocks the grass strip between me and the paved forecourt. I will keep walking forward.", + "The paved apron edging the building is now clearly in front of me and the steps sit slightly right of center, still well within my forward path. The can remains far too distant to reach. Another forward stride should bring me onto the paving near the entrance.", + "The entrance arch and the jerry can resting at the top of the steps are becoming distinct, confirming I am aimed at the right target. I am still several strides out on the grass. I will continue advancing without changing heading.", + "I am now on the smooth paved area with the steps ahead and the can clearly perched near the doors. The path across the forecourt is clear of obstacles. Walking forward again should place me close to the base of the steps.", + "The doorway and its stone surround now dominate my view, and the jerry can stands plainly at the top step slightly left of center. It is still beyond arm's reach, so grasping now would be premature. I will step forward to shorten the gap.", + "The flight of steps is directly before me and the jerry can sits on the upper landing, still a couple of strides away. My heading already lines up with it, so only distance remains to be closed. I will advance again toward the can.", + "I am at the foot of the steps with the jerry can clearly visible against the doors, close but not yet within grabbing distance. Climbing closer is the only thing separating me from an interaction. I will move forward up toward it.", + "The jerry can sits centered on the top step in front of the main entrance doors, directly along my heading, but still a few steps of brickwork away. My alignment is already good, so I will keep walking straight ahead to close that remaining gap.", + "The can now fills a large part of my view on the step just below the doors, yet it is still slightly beyond comfortable reach. One more step forward should bring it close enough in front of me to attempt a grasp.", + "I am now standing right at the entrance door with the jerry can immediately in front of me, its handle and body filling the lower part of my view. My hands are empty and nothing blocks the container, so I will reach out and try to grab it.", + "The jerry can is now held in my hands rather than resting on the entrance step. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012773_y009004_z006911_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-012773_y009004_z006911_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c2777293826a8f8ad6a0aa73a5b5f515d2ad9f04 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012773_y009004_z006911_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Search for the base of the metal spiral staircase tucked into the corner of the courtyard, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -12773.375, + 9003.737, + 6910.949, + 0.0, + 5.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12773.375, + 9003.737, + 6910.949, + 0.0, + 5.28, + -0.0 + ], + [ + -12773.375, + 9003.737, + 6910.801, + 0.0, + -19.72, + 0.0 + ], + [ + -12773.375, + 9003.737, + 6910.801, + 0.0, + -44.72, + 0.0 + ], + [ + -12773.375, + 9003.737, + 6910.801, + 0.0, + -69.72, + 0.0 + ], + [ + -12773.375, + 9003.737, + 6910.801, + 0.0, + -94.72, + 0.0 + ], + [ + -12783.731, + 8878.305, + 6910.801, + 0.0, + -94.72, + 0.0 + ], + [ + -12794.088, + 8752.873, + 6911.129, + 0.0, + -94.72, + 0.0 + ], + [ + -12804.444, + 8627.441, + 6912.994, + 0.0, + -94.72, + 0.0 + ], + [ + -12814.801, + 8502.009, + 6912.893, + 0.0, + -94.72, + 0.0 + ], + [ + -12825.157, + 8376.576, + 6915.032, + 0.0, + -94.72, + 0.0 + ], + [ + -12835.514, + 8251.144, + 6927.614, + 0.0, + -94.72, + 0.0 + ], + [ + -12845.87, + 8125.712, + 6926.525, + 0.0, + -94.72, + 0.0 + ], + [ + -12856.227, + 8000.28, + 6927.042, + 0.0, + -94.72, + 0.0 + ], + [ + -12858.463, + 7963.179, + 6927.474, + 0.0, + -94.72, + 0.0 + ], + [ + -12858.463, + 7963.179, + 6927.474, + 0.0, + -94.72, + 0.0 + ] + ], + "Rationale": [ + "From this corner of the courtyard I only see the long brick wing on my left and the chapel windows ahead, with no metal spiral staircase anywhere in view. I will turn left to begin a steady scan along the building line, since the shaded corners on that side are the likely places for an exterior stair.", + "The view now fills with the near brick wing and its rows of windows, and still no metal stair structure has appeared. I will keep rotating left in the same direction to sweep further along this wall toward the unseen corner of the courtyard.", + "I am facing a flat stretch of brick facade with a bench beneath it, so the target is not in this segment. Continuing the same leftward scan should bring the courtyard corner beyond this wall into view, where a tucked-in stair would most plausibly sit.", + "The metal spiral staircase has come into view at the inner corner where the two wings meet, sitting left of my heading. I will turn left once more to bring its base closer to the center of my view before walking toward it.", + "The spiral staircase and its supporting column are now roughly centered ahead in the courtyard corner, with open grass and paving between us. I will walk forward to close that distance toward its base.", + "The staircase treads and railing are noticeably larger than a moment ago, confirming my heading is carrying me straight at it. I will continue walking forward across the lawn since nothing blocks the line to the corner.", + "The spiral stair's central post and lower steps are clearly resolved ahead, with the bench beside it on the paved area. I keep stepping forward to reach the base rather than stopping out on the grass.", + "The staircase now dominates the middle of my view and the paved corner edge is close in front of me. I will advance again to stand at the foot of the spiral stair.", + "The metal spiral staircase stands clearly ahead in the courtyard corner, with its central post and lower treads rising from the paved area beside the wooden bench. I am still several paces short of its base, and the brick paving in front of me looks clear. I will keep walking straight toward it to close that remaining gap.", + "The staircase now fills much more of my view and its base column meets the pavement just ahead of me, confirming I am aimed correctly at the corner. Nothing blocks the brick paving between me and that base. I will step forward again to keep shrinking the distance.", + "The spiral treads and the supporting post are close now, and the base plate on the brickwork sits slightly left of my heading. I still have a short stretch of open paving before I would be standing at the foot of the stair. I will advance once more to reach it.", + "I am nearly under the lowest curve of the staircase, with the central column and bottom steps large in front of me and the bench off to my right. A little more forward motion should put me right at the stair's base rather than a step short. I will continue straight ahead.", + "The underside of the spiral and its column are directly before me, so I am essentially at the corner where the staircase meets the courtyard floor. A final short step should place me squarely at the base instead of just outside it. I will move forward once more.", + "The spiral staircase's central post and lowest treads stand directly in front of me at arm's length in the courtyard corner. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012773_y009004_z006911_t1_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-012773_y009004_z006911_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f9de463ca926c9912f1ab198aad9de96c0645a42 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012773_y009004_z006911_t1_b/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the wooden bench situated beside the spiral staircase in the corner; once you identify it, go over to it.", + "Type": 1, + "Start_Pose": [ + -12773.375, + 9003.737, + 6910.949, + 0.0, + 5.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12773.375, + 9003.737, + 6910.949, + 0.0, + 5.28, + -0.0 + ], + [ + -12773.375, + 9003.737, + 6910.801, + 0.0, + -19.72, + 0.0 + ], + [ + -12773.375, + 9003.737, + 6910.801, + 0.0, + -44.72, + 0.0 + ], + [ + -12773.375, + 9003.737, + 6910.801, + 0.0, + -69.72, + 0.0 + ], + [ + -12773.375, + 9003.737, + 6910.801, + 0.0, + -94.72, + 0.0 + ], + [ + -12783.731, + 8878.305, + 6910.801, + 0.0, + -94.72, + 0.0 + ], + [ + -12794.088, + 8752.873, + 6911.129, + 0.0, + -94.72, + 0.0 + ], + [ + -12804.444, + 8627.441, + 6912.994, + 0.0, + -94.72, + 0.0 + ], + [ + -12814.801, + 8502.009, + 6912.893, + 0.0, + -94.72, + 0.0 + ], + [ + -12825.157, + 8376.576, + 6915.032, + 0.0, + -94.72, + 0.0 + ], + [ + -12825.157, + 8376.576, + 6915.032, + 0.0, + -69.72, + 0.0 + ], + [ + -12781.534, + 8258.519, + 6925.598, + 0.0, + -69.72, + 0.0 + ], + [ + -12737.91, + 8140.462, + 6926.109, + 0.0, + -69.72, + 0.0 + ], + [ + -12737.91, + 8140.462, + 6926.109, + 0.0, + -69.72, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a chapel facade, an open paved plaza and lawn ahead, with no spiral staircase or bench anywhere in view. Since the courtyard corner that could hold such a staircase is hidden behind the brick wing on my left, I will turn left to begin a steady scan in that direction.", + "The view now shows more of the long brick wing and its paved walkway, but still no spiral staircase or bench. I will keep rotating left in the same direction to sweep further along this facade toward the courtyard corner.", + "A wooden bench has just come into view at the far left edge against the brick wall, which matches the target description. I will continue turning left to bring that bench and whatever stands beside it toward the center of my view.", + "Now I can see the metal spiral staircase in the courtyard corner with a wooden bench beside it, slightly left of center. One more left turn should line my heading up with that corner before I start walking.", + "The spiral staircase and the wooden bench beside it now sit near the middle of my view across the lawn. With the heading set on that corner, I will walk forward to close the distance.", + "The staircase and the bench to its right have grown larger, confirming I am heading into the correct courtyard corner. I will keep walking forward since the path across the grass stays clear.", + "The wooden bench beside the spiral staircase is clearly resolved now, but I am still out on the lawn well short of the paving. I will step forward again to reduce the remaining distance.", + "The bench and the staircase now fill much of the courtyard corner ahead, though the paved edge is still a few steps away. I will continue forward to reach the bench itself.", + "The wooden bench sits clearly against the brick wall just right of the metal spiral staircase, and the paved courtyard ahead of me is open and level. I still have several strides of distance before I am beside it, so I will keep walking straight forward to close that gap.", + "I am now close to the corner, and the bench beside the spiral staircase lies to the right of my current heading while the stair itself fills the center of my view. Turning right should place the bench squarely in front of me so my remaining steps lead straight to it.", + "The bench now sits centered ahead of me along the brick wall, with the spiral staircase just to its left as described in the task. The paving in front of it is clear, so I will step forward to bring myself right up beside it.", + "The bench fills much of the lower view now and its wooden armrest and slats are close enough to make out individually. One more step forward should put me directly at the bench rather than a stride short of it.", + "The wooden bench is directly beneath me at arm's length beside the spiral staircase. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-012914_y013080_z006891_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-012914_y013080_z006891_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..065c9917ed71c09a0c48f46645a076e30c7f1106 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-012914_y013080_z006891_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Discover the dark double door set within the red brick building's facade, accessed by a small set of stone steps; once found, approach it.", + "Type": 1, + "Start_Pose": [ + -12913.692, + 13079.645, + 6891.406, + 0.0, + 105.28, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12913.692, + 13079.645, + 6891.406, + 0.0, + 105.28, + -0.0 + ], + [ + -12913.692, + 13079.645, + 6891.267, + 0.0, + 80.28, + -0.0 + ], + [ + -12913.692, + 13079.645, + 6891.267, + 0.0, + 55.28, + -0.0 + ], + [ + -12913.692, + 13079.645, + 6891.267, + 0.0, + 30.28, + -0.0 + ], + [ + -12913.692, + 13079.645, + 6891.267, + 0.0, + 5.28, + -0.0 + ], + [ + -12788.367, + 13091.226, + 6892.964, + 0.0, + 5.28, + -0.0 + ], + [ + -12663.042, + 13102.808, + 6894.95, + 0.0, + 5.28, + -0.0 + ], + [ + -12537.717, + 13114.39, + 6899.309, + 0.0, + 5.28, + -0.0 + ], + [ + -12412.392, + 13125.972, + 6900.889, + 0.0, + 5.28, + -0.0 + ], + [ + -12287.068, + 13137.554, + 6901.142, + 0.0, + 5.28, + -0.0 + ], + [ + -12287.068, + 13137.554, + 6901.142, + 0.0, + 30.28, + -0.0 + ], + [ + -12178.379, + 13201.016, + 6915.451, + 0.0, + 30.28, + -0.0 + ], + [ + -12069.691, + 13264.477, + 6949.215, + 0.0, + 30.28, + -0.0 + ], + [ + -12069.691, + 13264.477, + 6949.215, + 0.0, + 30.28, + -0.0 + ] + ], + "Rationale": [ + "Ahead of me is mostly open pavement and lawn, with only the corner of a red brick building and its tall arched windows at my far left. The dark double door with stone steps is not yet anywhere in front of me, so the facade extending off to my left is the strongest lead. I will turn left to swing my heading along that brick wall and start scanning it.", + "More of the red brick wall now fills the left side, showing window bays and a lamp post but still no entrance. The building continues further left, so the doorway most likely lies beyond my current heading. I will keep turning left in the same direction to sweep along the facade.", + "At the far left of what I can see, a dark recessed doorway with a pale flight of stone steps has come into sight against the brick wall. That matches the entrance I am looking for, but it sits at the very edge of my heading. I will continue turning left to bring it toward the middle of my sightline.", + "The dark double door set in its stone surround, with the small flight of steps below it, is now clearly ahead but still offset to my left. A further left turn should place it near the centre of my heading so a straight walk leads right to it. I will turn left once more to finish lining up.", + "The dark double door and its stone steps now sit close to the middle of my heading, with open paving and grass between me and the building. Nothing blocks the direct line, so walking straight should reduce the distance. I will step forward toward the entrance.", + "The doorway and its four pale steps have grown larger and remain almost straight ahead of me, confirming my heading is good. I am still standing well back on the paving, so more forward distance is needed. I will keep walking toward the door.", + "The dark timber double doors and the stone step run are now prominent and slightly right of my heading, with clear paving underfoot. The gap is closing steadily, so continuing straight remains the most direct way in. I will advance again toward the entrance.", + "I am now close to the foot of the stone steps, with the dark double doors and their blue reception sign filling much of what lies ahead. A little more forward distance should bring me right up to the entrance. I will step forward again.", + "The dark double door with its pale stone surround and the flight of stone steps now fills the right half of my view, so the target is clearly identified. I am still standing out on the paving a few steps short of the stairs, so I will keep walking forward to close the remaining gap.", + "The doors sit noticeably right of my heading, with the corner brickwork and side window crowding the left of my view. I will turn right to bring the doorway and its steps to the center of my view before continuing straight in.", + "The turn worked, and the dark double doors with their stone jambs are now squarely centered ahead with the stone steps leading straight up to them. I will step forward along this line to shorten the distance to the entrance.", + "The doors now dominate my view, and I can make out the handles and the low top step just in front of me. I will take one more step forward to stand right at the doorway.", + "The dark planked double door and its handle fill my view at arm's length. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d032b45371c3eab5371699625cd0b579f1a6f12d --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t3_a/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Walk to the wooden arched door, then head toward the bench.", + "Type": 3, + "Start_Pose": [ + -14374.198, + 10328.748, + 6910.801, + 0.0, + -136.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14374.198, + 10328.748, + 6910.801, + 0.0, + -136.32, + 0.0 + ], + [ + -14465.221, + 10241.826, + 6910.801, + 0.0, + -136.32, + 0.0 + ], + [ + -14556.243, + 10154.904, + 6911.121, + 0.0, + -136.32, + 0.0 + ], + [ + -14647.265, + 10067.982, + 6914.206, + 0.0, + -136.32, + 0.0 + ], + [ + -14738.287, + 9981.06, + 6915.468, + 0.0, + -136.32, + 0.0 + ], + [ + -14829.31, + 9894.138, + 6915.468, + 0.0, + -136.32, + 0.0 + ], + [ + -14920.332, + 9807.216, + 6920.068, + 0.0, + -136.32, + 0.0 + ], + [ + -15011.354, + 9720.294, + 6920.04, + 0.0, + -136.32, + 0.0 + ], + [ + -15102.377, + 9633.372, + 6918.771, + 0.0, + -136.32, + 0.0 + ], + [ + -15193.399, + 9546.45, + 6917.448, + 0.0, + -136.32, + 0.0 + ], + [ + -15284.421, + 9459.528, + 6949.79, + 0.0, + -136.32, + 0.0 + ], + [ + -15375.443, + 9372.606, + 6949.79, + 0.0, + -136.32, + 0.0 + ], + [ + -15466.466, + 9285.684, + 6949.79, + 0.0, + -136.32, + 0.0 + ], + [ + -15466.466, + 9285.684, + 6949.79, + 0.0, + -136.32, + 0.0 + ], + [ + -15399.641, + 9349.498, + 6949.79, + 0.0, + -136.32, + 0.0 + ], + [ + -15399.641, + 9349.498, + 6949.79, + 0.0, + -111.32, + 0.0 + ], + [ + -15399.641, + 9349.498, + 6949.79, + 0.0, + -86.32, + 0.0 + ], + [ + -15399.641, + 9349.498, + 6949.79, + 0.0, + -61.32, + 0.0 + ], + [ + -15399.641, + 9349.498, + 6949.79, + 0.0, + -36.32, + 0.0 + ], + [ + -15399.641, + 9349.498, + 6949.79, + 0.0, + -11.32, + 0.0 + ], + [ + -15399.641, + 9349.498, + 6949.79, + 0.0, + 13.68, + -0.0 + ], + [ + -15399.641, + 9349.498, + 6949.79, + 0.0, + 38.68, + -0.0 + ], + [ + -15301.39, + 9428.156, + 6949.79, + 0.0, + 38.68, + -0.0 + ], + [ + -15203.138, + 9506.815, + 6922.861, + 0.0, + 38.68, + -0.0 + ], + [ + -15203.138, + 9506.815, + 6922.861, + 0.0, + 13.68, + -0.0 + ], + [ + -15080.849, + 9536.58, + 6917.647, + 0.0, + 13.68, + -0.0 + ], + [ + -15080.849, + 9536.58, + 6917.647, + 0.0, + -11.32, + 0.0 + ], + [ + -15080.849, + 9536.58, + 6917.647, + 0.0, + -36.32, + 0.0 + ], + [ + -15008.113, + 9504.266, + 6917.565, + 0.0, + -36.32, + 0.0 + ], + [ + -15008.113, + 9504.266, + 6917.565, + 0.0, + -36.32, + 0.0 + ] + ], + "Rationale": [ + "The wooden arched door sits ahead in the brick facade, centered just right of my heading, with an open lawn between me and the paving in front of it. Nothing blocks that line, so I will walk forward to begin closing the gap.", + "The facade has grown slightly larger and the arched door remains near the center of my view, so my heading is still good. I will keep walking straight across the grass toward it.", + "The paved apron and the low steps under the arched doorway are now clearly resolved ahead of me, and a wooden bench stands against the wall to the right of those steps. The door is still my immediate goal, so another stride forward is the right move.", + "I am nearing the edge of the lawn where it meets the wide paving in front of the entrance, and the arched door stays lined up with my path. I will continue forward onto the paved area.", + "I am now on the paving, with the tiled steps rising directly ahead toward the arched wooden door. The route is clear of the bench and bin on the right, so I keep walking straight in.", + "The stepped platform in front of the doorway is close now and the door fills more of my view slightly right of center. Advancing again should bring me onto the steps rather than past them.", + "The first step edge is right at my feet and the arched door with its lamp stands squarely in front of me. I will step forward onto the landing to keep closing on the doorway.", + "I am up on the tiled landing with the arched wooden door and its sign a short distance ahead, still centered. Nothing stands between me and the threshold, so I continue walking toward it.", + "The wooden arched door sits squarely ahead of me, its stone arch and the reception sign now clearly readable at close range. The raised brick platform in front of it is only a couple of paces away, so I will keep walking straight in to close the last of that gap.", + "The arched door now dominates my view, with its handle and white threshold slab plainly visible across the brick paving. I am still short of the doorway itself, so another step forward should bring me right up to it.", + "The stone arch and its timber planks fill most of what I can see, and the pale threshold slab lies just beyond the last stretch of brick. I am close but not yet standing at the doorway, so I will advance again.", + "The timber planks, iron handle and flanking stonework now fill my view, and the threshold slab is right at my feet. One more step should place me directly at the arched door.", + "Nothing but the grain of the timber planks and the iron ring handle fills my view, with the pale stone jamb pressed against my left shoulder. I am standing at the wooden arched door, so I mark reaching it before setting off toward the bench out on the paved terrace.", + "Pressed this close to the door, the timber fills my whole view and I can see nothing of the terrace where the bench stands. Backing up a step should open the space I need to swing my heading around toward it.", + "With a little distance from the door I can see the arch and its stone surround again, but the open paving where the bench sits lies off to my right beyond the brick wall. I will turn right to begin swinging my heading away from the doorway.", + "The door has slid to my left and I am now looking at the brick wall and drainpipe beside the entrance, with no open terrace in sight yet. I will keep turning right to bring the paved area and its bench around into view.", + "The wooden arched door has slipped to the far left edge and blank brickwork with a tall window now fills my view, so my heading is still buried in this doorway recess. I will keep turning right to swing further toward the open ground past the building corner, where a bench is more likely to stand.", + "Now only brick wall, a drainpipe and window panes fill my view, with no walkway or seating in sight. Another right turn should carry my heading further around toward the open side of this courtyard.", + "The window row still runs straight across my view, meaning I am facing the wall broadside rather than any route away from it. Turning right again should bring the building's edge and the ground beyond it into view.", + "The building's corner has come into view on the right, and past it I can see lawn, paving and a long facade across the open space. I will turn right once more so that open ground moves toward the center of my view instead of sitting at its edge.", + "The paved courtyard and lawn now occupy the right half of my view while the wall still blocks the left. One more turn to the right should put the open paving squarely ahead so I can walk out and search for a bench.", + "I am now facing out across the open paving toward the lawn and the long building opposite, with the wall pushed to my left edge. Walking forward should carry me clear of this corner and give me a wider look for a bench.", + "More of the courtyard has opened up as the corner falls behind on my left, but the paving ahead still shows no seating. Another step forward should bring me fully out into the open where benches along the edges could become visible.", + "From out here the courtyard ahead is just lawn and the far facade, with nothing to sit on in sight. The walkway I stepped off runs back along the building to my left, so I will turn that way to scan it for a bench.", + "A wooden bench sits at the near edge of the paving on my left, but I am still angled across the open courtyard rather than beside the seating. I will step forward along the paved walkway to draw level with that row of benches along the building wall.", + "My forward step carried me past the bench that was at the left edge, and now I face only lawn and the far range of the building. I will turn left to swing the seating beside the wall back into view.", + "The turn has brought the brick wall and the line of benches into the left side of my view, though they sit well off my heading. Another left turn should put the bench and the walkway beside it squarely in front of me.", + "The wooden bench now stands clearly ahead and slightly left, close against the brick wall with the walkway open in front of me. I will take a short step forward to come right up alongside it.", + "The wooden bench is directly beside me at the edge of the walkway, within arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..956b822c2943af27855912133debf05c866f51f1 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-014374_y010329_z006911_t3_b/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Approach the dark bin, then move to the wooden arched door.", + "Type": 3, + "Start_Pose": [ + -14374.198, + 10328.748, + 6910.801, + 0, + -136.32, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -14374.198, + 10328.748, + 6910.801, + 0, + -136.32, + 0 + ], + [ + -14465.221, + 10241.826, + 6910.801, + 0.0, + -136.32, + 0.0 + ], + [ + -14465.221, + 10241.826, + 6910.801, + 0.0, + -111.32, + 0.0 + ], + [ + -14510.98, + 10124.58, + 6910.801, + 0.0, + -111.32, + 0.0 + ], + [ + -14556.739, + 10007.335, + 6914.801, + 0.0, + -111.32, + 0.0 + ], + [ + -14602.499, + 9890.089, + 6915.306, + 0.0, + -111.32, + 0.0 + ], + [ + -14648.258, + 9772.843, + 6915.05, + 0.0, + -111.32, + 0.0 + ], + [ + -14694.017, + 9655.597, + 6914.051, + 0.0, + -111.32, + 0.0 + ], + [ + -14739.777, + 9538.351, + 6918.896, + 0.0, + -111.32, + 0.0 + ], + [ + -14785.536, + 9421.106, + 6917.491, + 0.0, + -111.32, + 0.0 + ], + [ + -14785.536, + 9421.106, + 6917.491, + 0.0, + -111.32, + 0.0 + ], + [ + -14785.536, + 9421.106, + 6917.491, + 0.0, + -136.32, + 0.0 + ], + [ + -14785.536, + 9421.106, + 6917.491, + 0.0, + -161.32, + 0.0 + ], + [ + -14785.536, + 9421.106, + 6917.491, + 0.0, + 173.68, + -0.0 + ], + [ + -14785.536, + 9421.106, + 6917.491, + 0.0, + 148.68, + -0.0 + ], + [ + -14893.055, + 9486.529, + 6917.491, + 0.0, + 148.68, + -0.0 + ], + [ + -15000.573, + 9551.953, + 6917.994, + 0.0, + 148.68, + -0.0 + ], + [ + -15000.573, + 9551.953, + 6917.994, + 0.0, + 173.68, + -0.0 + ], + [ + -15000.573, + 9551.953, + 6917.994, + 0.0, + -161.32, + 0.0 + ], + [ + -15119.802, + 9511.643, + 6917.464, + 0.0, + -161.32, + 0.0 + ], + [ + -15119.802, + 9511.643, + 6917.464, + 0.0, + -136.32, + 0.0 + ], + [ + -15210.825, + 9424.721, + 6949.562, + 0.0, + -136.32, + 0.0 + ], + [ + -15301.847, + 9337.799, + 6949.86, + 0.0, + -136.32, + 0.0 + ], + [ + -15392.869, + 9250.877, + 6949.86, + 0.0, + -136.32, + 0.0 + ], + [ + -15392.869, + 9250.877, + 6949.86, + 0.0, + -136.32, + 0.0 + ] + ], + "Rationale": [ + "From the lawn I can see the long brick facade, with the wooden arched door under its stone arch and, further along the paving to the right, a bench with a dark bin beside it. Both destinations are far off across the grass, so I walk forward to close on the paved terrace.", + "The grass edge is nearer now, but the dark bin beside the bench sits well to the right of my heading, while the wall runs off to that side. I will turn right to swing the bin toward the middle of my view so I can walk straight at it.", + "The turn has put the bench and the dark bin next to it near the center of my view, with clear grass and then open paving between us. I will walk forward along this heading to shorten the distance to the bin.", + "The dark bin against the brick plinth has grown noticeably and stays straight ahead of me, so my heading is still good. I keep walking forward to reach the paving where it stands.", + "I am close to the edge of the lawn, and the bin beside the bench holds its place directly in front of me. Nothing blocks the ground between us, so another step forward should carry me onto the paving toward it.", + "The bench and the dark bin beside it now sit clearly ahead at the foot of the brick wall, and the paving is open all the way there. I continue forward to keep closing the remaining gap.", + "I am on the paving now, with the bin standing squarely ahead at the end of the bench and filling much more of my view. A few more strides are still needed, so I walk forward again.", + "The dark bin is close enough now that its panelled front and lid dominate the middle of my view beside the bench. One more step forward should bring me right up against it.", + "The dark bin now sits just ahead beside the bench, close enough that its panels fill much of my view. One more step should bring me right up against it rather than stopping short.", + "The dark bin fills the lower part of my view, its lid within arm's reach against the brick wall. I have reached it. I mark arriving at the dark bin and turn my attention to the wooden arched door.", + "With the dark bin right beside me, nothing but plain brick and windows lies straight ahead, so I have no line on the wooden arched door from this heading. Rotating left should swing my view back along the frontage toward the recessed entrance end of the building.", + "The view is still dominated by the bench back and close brickwork, with no sign of the arched doorway yet. I will keep turning left to bring the far end of the facade into sight.", + "The projecting tower and a run of low steps have appeared at the left edge, so the entrance side of the building lies further round that way. Another left turn should place that open stretch of paving in front of me.", + "The paved terrace and the tower now sit ahead and to my left, with the wall and bench sliding off to the right. One more left turn should line my heading up with the open walkway leading toward the entrance.", + "The walkway ahead is clear, with the brick tower and its low steps standing off to my right. Walking straight on should carry me along the terrace toward the entrance side where the wooden arched door faces out.", + "The broad steps on my right have grown noticeably closer as I advance along the open paving. I will keep walking to draw level with them, since the arched entrance sits back beyond that corner of the wall.", + "Ahead of me the paving opens toward the empty forecourt, and the arched wooden door I want is hidden behind the brick corner on my right. Turning right should swing my heading along the facade with the shallow steps so the entrance can come into view.", + "The wooden arched doorway has appeared at the far right edge, half cut off by the frame, with the broad brick steps leading up to it. One more turn to the right should bring that door near the center of my view before I walk toward it.", + "The arched wooden door now sits ahead in my view above the tiered brick steps, with clear paving between me and them. I will walk forward to close some of that distance.", + "The door has grown larger but still sits right of my heading, so walking straight would carry me past its threshold. A small turn to the right should place the arch squarely in front of me.", + "The wooden arched door is now framed near the middle of my view with flat paving running straight to its pale threshold stone. I will step forward along that clear line to shorten the gap.", + "The arch and its stone surround fill much more of my view and the reception sign beside it is readable, so I am close but not yet at the doorway. Another step forward should bring me onto the threshold area.", + "The wooden door now dominates my view, its planks and iron ring handle clearly visible just beyond the white sill. One more step should place me right at the door.", + "The wooden arched door fills my view at arm's length, its planks and ring handle directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t3_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c5875e57bbb8ff53b441d67a0f8fd34b37ca674 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t3_a/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Walk to the wooden arched door, then head toward the bench.", + "Type": 3, + "Start_Pose": [ + -15237.402, + 10382.515, + 6911.033, + 0.0, + -107.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15237.402, + 10382.515, + 6911.033, + 0.0, + -107.36, + 0.0 + ], + [ + -15274.955, + 10262.389, + 6911.266, + 0.0, + -107.36, + 0.0 + ], + [ + -15312.509, + 10142.263, + 6919.023, + 0.0, + -107.36, + 0.0 + ], + [ + -15350.062, + 10022.137, + 6911.967, + 0.0, + -107.36, + 0.0 + ], + [ + -15387.615, + 9902.011, + 6910.648, + 0.0, + -107.36, + 0.0 + ], + [ + -15425.168, + 9781.885, + 6909.568, + 0.0, + -107.36, + 0.0 + ], + [ + -15462.721, + 9661.759, + 6935.555, + 0.0, + -107.36, + 0.0 + ], + [ + -15500.274, + 9541.633, + 6949.874, + 0.0, + -107.36, + 0.0 + ], + [ + -15537.827, + 9421.507, + 6949.874, + 0.0, + -107.36, + 0.0 + ], + [ + -15571.932, + 9306.355, + 6949.905, + 0.0, + -107.36, + 0.0 + ], + [ + -15571.932, + 9306.355, + 6949.905, + 0.0, + -107.36, + 0.0 + ], + [ + -15544.362, + 9394.546, + 6949.905, + 0.0, + -107.36, + 0.0 + ], + [ + -15544.362, + 9394.546, + 6949.905, + 0.0, + -82.36, + 0.0 + ], + [ + -15544.362, + 9394.546, + 6949.905, + 0.0, + -57.36, + 0.0 + ], + [ + -15544.362, + 9394.546, + 6949.905, + 0.0, + -32.36, + 0.0 + ], + [ + -15544.362, + 9394.546, + 6949.905, + 0.0, + -7.36, + 0.0 + ], + [ + -15544.362, + 9394.546, + 6949.905, + 0.0, + 17.64, + -0.0 + ], + [ + -15424.421, + 9432.686, + 6949.905, + 0.0, + 17.64, + -0.0 + ], + [ + -15304.48, + 9470.826, + 6949.905, + 0.0, + 17.64, + -0.0 + ], + [ + -15184.539, + 9508.966, + 6917.544, + 0.0, + 17.64, + -0.0 + ], + [ + -15184.539, + 9508.966, + 6917.544, + 0.0, + -7.36, + 0.0 + ], + [ + -15059.717, + 9492.843, + 6917.047, + 0.0, + -7.36, + 0.0 + ], + [ + -15059.717, + 9492.843, + 6917.047, + 0.0, + -32.36, + 0.0 + ], + [ + -15034.1, + 9489.119, + 6917.297, + 0.0, + -32.36, + 0.0 + ], + [ + -15034.1, + 9489.119, + 6917.297, + 0.0, + -32.36, + 0.0 + ] + ], + "Rationale": [ + "The wooden arched door sits ahead in the brick facade, above a low flight of steps, and I am still out on the open paving. The way across the plaza is clear, so I will walk forward to close the distance toward that doorway.", + "The arched door and its raised step platform have grown slightly larger, confirming my heading is taking me toward them. Plenty of paving still separates me from the steps, so I will keep walking forward.", + "The doorway remains near the middle of my view and the brick steps are drawing closer, so my line of travel is still good. I will continue advancing rather than adjust my heading yet.", + "The stepped platform now fills much of the lower view and the arched door stands directly beyond it. Nothing blocks the approach, so I will keep walking straight toward the doorway.", + "I am at the edge of the raised brick landing with the arched door just beyond, and the blue sign beside it is now legible. Continuing forward should carry me up onto the landing and closer to the door.", + "I am on the brick landing and the wooden arched door dominates the view slightly right of center, its handle now visible. I will step forward again to bring myself right up to the doorway.", + "The arched door and its white threshold are close ahead, filling most of my view. A short further advance should place me directly at the door itself.", + "The timber planks, iron handle and reception sign are right in front of me, so I am nearly at the doorway. I will take one more step forward to stand at the door before turning my attention toward the bench.", + "The arched wooden door and its stone surround now fill most of my view, with the white threshold slab just ahead of my feet. One more step should bring me right up against the doorway rather than leaving me short of it.", + "The vertical planks of the wooden arched door and its pale stone jamb are directly in front of me, close enough to touch. I have reached the door. I mark reaching it and now set off for the bench beside the building.", + "Standing this close, the door planks and jamb block almost everything, so I cannot see the paving or the bench area beside the building. Backing away from the doorway should give me clearance and a wider view before I swing toward my next destination.", + "I now have the whole doorway and its sign in front of me again with room to pivot. The bench sits off to my right, past the corner of the wing beside these steps, so I turn that way to bring the open paving into view.", + "The door has slid to the left side of my view and the brick wall with its downpipe is coming into the centre. My heading is still along the facade, so I keep rotating right toward the open paving where the bench stands.", + "Only the edge of the door remains at my left while the brick wall and its mullioned window now dominate ahead. I am still facing masonry rather than the walkway, so another turn to the right is needed.", + "The wing's brick wall and window fill my view and sky is appearing at the right edge, which tells me the open courtyard lies just beyond that direction. I continue turning right to clear the wall and pick up the paved route toward the bench.", + "The courtyard lawn, the paved walk and the far building are now open on my right while this wing still occupies the left half of my view. One more turn to the right should put the walkway ahead of me so I can head along it toward the bench.", + "With the arched doorway now behind my shoulder, my heading opens onto the paved courtyard running past the brick wing toward the long building and lawn. No seating is visible yet from this tight corner, so I will walk forward along the paving to open up the courtyard edge where a bench would stand.", + "The courtyard is widening as I advance, but the brick wall on my left still hides the strip of pavement alongside it where seating would sit. I will keep walking forward to clear that wall and bring the near edge of the path into view.", + "A wooden slatted back is just appearing at the foot of the brick wall on my left, which looks like the bench I am after. I will step forward again to draw level with it and see it fully rather than in the corner of my view.", + "The bench sits at the lower left edge of my view, well off my current heading, which points across the lawn instead. I will turn left to bring the seating back into the middle of my view so I can walk straight at it.", + "The turn has put the bench against the brick wall into clear view on my left, a few paces off along the paving. I will walk forward to close that remaining gap along the wall.", + "I am now abreast of the wall, and the bench has slid to the far left margin of my view while I face down the courtyard. I will turn left again to square up with the seating beside the brickwork before making my last approach.", + "The bench now lies directly along my heading, its slatted seat and armrest close in front of me against the brick wall. Only a short step remains, so I will move forward to stand right at it.", + "The wooden bench is directly beside me at arm's length along the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t3_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d6a447630c8b942c5e6542a5fd7d11819a15d6a7 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head toward the bench, then proceed to the arched doorway.", + "Type": 3, + "Start_Pose": [ + -15237.402, + 10382.515, + 6911.033, + 0.0, + -107.36, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15237.402, + 10382.515, + 6911.033, + 0.0, + -107.36, + 0.0 + ], + [ + -15274.955, + 10262.389, + 6911.266, + 0.0, + -107.36, + 0.0 + ], + [ + -15274.955, + 10262.389, + 6911.266, + 0.0, + -82.36, + 0.0 + ], + [ + -15258.223, + 10137.647, + 6911.516, + 0.0, + -82.36, + 0.0 + ], + [ + -15241.49, + 10012.905, + 6912.645, + 0.0, + -82.36, + 0.0 + ], + [ + -15224.757, + 9888.163, + 6921.199, + 0.0, + -82.36, + 0.0 + ], + [ + -15224.757, + 9888.163, + 6921.199, + 0.0, + -57.36, + 0.0 + ], + [ + -15156.874, + 9782.181, + 6920.147, + 0.0, + -57.36, + 0.0 + ], + [ + -15088.991, + 9676.198, + 6919.338, + 0.0, + -57.36, + 0.0 + ], + [ + -15021.108, + 9570.215, + 6918.285, + 0.0, + -57.36, + 0.0 + ], + [ + -15021.108, + 9570.215, + 6918.285, + 0.0, + -57.36, + 0.0 + ], + [ + -15070.945, + 9648.023, + 6918.799, + 0.0, + -57.36, + 0.0 + ], + [ + -15070.945, + 9648.023, + 6918.799, + 0.0, + -82.36, + 0.0 + ], + [ + -15070.945, + 9648.023, + 6918.799, + 0.0, + -107.36, + 0.0 + ], + [ + -15070.945, + 9648.023, + 6918.799, + 0.0, + -132.36, + 0.0 + ], + [ + -15155.747, + 9555.022, + 6917.693, + 0.0, + -132.36, + 0.0 + ], + [ + -15240.549, + 9462.022, + 6948.172, + 0.0, + -132.36, + 0.0 + ], + [ + -15325.351, + 9369.021, + 6949.763, + 0.0, + -132.36, + 0.0 + ], + [ + -15410.153, + 9276.021, + 6949.763, + 0.0, + -132.36, + 0.0 + ], + [ + -15410.153, + 9276.021, + 6949.763, + 0.0, + -132.36, + 0.0 + ] + ], + "Rationale": [ + "From this edge of the paved courtyard I can pick out the wooden bench set against the brick wing far to my right, with the arched door and its steps ahead. The bench is my first destination, so I will walk forward across the open paving to cut down that distance before adjusting my heading.", + "The bench sits well off to my right, near the corner of the low brick wing, while my heading still points at the stepped entrance platform. Turning right should swing that bench closer to the center of my view so I can walk straight at it.", + "The turn has brought the bench and the bins beside it into clearer view along the wing wall to my right. The paving between us is flat and clear, so I will step forward to close on the bench.", + "The bench against the brick wing is growing larger but is still some way off across the paving. I will keep walking forward to shorten the remaining gap.", + "The bench and the bin next to it are now clearly resolved just past the corner of the brick wing, though still ahead of me. Another step forward should bring me appreciably nearer before I refine my heading.", + "The bench has drifted to the right side of my view as I closed on the corner of the brick wing. A turn to the right should line my body up with it so the last stretch is a straight walk.", + "The bench now sits ahead of me along the wall, with the wide paved walkway running clear past it. I will walk forward to close the remaining distance to it.", + "The bench and the bin beside it are close now, their slats clearly visible against the brickwork just ahead and slightly left. I will take another step forward to bring myself right up alongside it.", + "The wooden bench against the brick wall is now close on my left, but I am still slightly short of standing beside it. I will walk one more step along the paving to draw level with it.", + "The slatted wooden bench is right beside me at arm's length along the wall, closer than any other feature in view. I have reached the bench. I mark reaching it and now set off for the arched wooden doorway set back behind me along this frontage.", + "Standing this tight against the bench leaves me no room to swing around toward the arched doorway. I will step back along the paving to open space before turning.", + "With a little clearance from the bench, I can now begin swinging my heading. The arched entrance lies back to my left along this brick frontage, so I will turn that way to bring it into view.", + "The corner of the brick wing has swung into the middle of my view, but the arched entrance is still hidden further round to my left. I will keep turning left to bring it into sight.", + "The arched wooden door and its stone surround have appeared at the left edge of my view above the shallow brick steps. One more turn left should place it squarely ahead so I can walk straight at it.", + "The arched doorway now sits centred ahead of me, with the low brick steps leading up to it. I will walk forward along that line to close the gap.", + "The arch is growing in front of me and stays centred, so my heading needs no correction. I will continue walking straight toward it across the brick paving.", + "The pointed stone arch and its wooden door stand squarely ahead of me, centered in my view with the paved landing running straight to its step. Nothing blocks that short stretch, so I will walk forward to close the remaining gap to the doorway.", + "The arched doorway now towers directly in front of me, its handle and white threshold step clearly within reach of a short walk. I am still a stride short of standing at the entrance, so I will step forward again.", + "The arched doorway's wooden planks and handle fill my view at arm's length. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t3_c/infos.json b/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..570a0249244ad1081625f8d0b33b26d362e79c93 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t3_c/infos.json @@ -0,0 +1,266 @@ +{ + "Instruction": "Navigate to the blue sign near the door, then reach the bench.", + "Type": 3, + "Start_Pose": [ + -15237.402, + 10382.515, + 6911.033, + 0.0, + -107.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15237.402, + 10382.515, + 6911.033, + 0.0, + -107.36, + 0.0 + ], + [ + -15274.955, + 10262.389, + 6911.266, + 0.0, + -107.36, + 0.0 + ], + [ + -15312.509, + 10142.263, + 6919.023, + 0.0, + -107.36, + 0.0 + ], + [ + -15350.062, + 10022.137, + 6911.967, + 0.0, + -107.36, + 0.0 + ], + [ + -15387.615, + 9902.011, + 6910.648, + 0.0, + -107.36, + 0.0 + ], + [ + -15425.168, + 9781.885, + 6909.568, + 0.0, + -107.36, + 0.0 + ], + [ + -15462.721, + 9661.759, + 6935.555, + 0.0, + -107.36, + 0.0 + ], + [ + -15500.274, + 9541.633, + 6949.874, + 0.0, + -107.36, + 0.0 + ], + [ + -15537.827, + 9421.507, + 6949.874, + 0.0, + -107.36, + 0.0 + ], + [ + -15537.827, + 9421.507, + 6949.874, + 0.0, + -107.36, + 0.0 + ], + [ + -15537.827, + 9421.507, + 6949.874, + 0.0, + -107.36, + 0.0 + ], + [ + -15537.827, + 9421.507, + 6949.874, + 0.0, + -82.36, + 0.0 + ], + [ + -15537.827, + 9421.507, + 6949.874, + 0.0, + -57.36, + 0.0 + ], + [ + -15537.827, + 9421.507, + 6949.874, + 0.0, + -32.36, + 0.0 + ], + [ + -15537.827, + 9421.507, + 6949.874, + 0.0, + -7.36, + 0.0 + ], + [ + -15537.827, + 9421.507, + 6949.874, + 0.0, + 17.64, + -0.0 + ], + [ + -15417.886, + 9459.646, + 6949.874, + 0.0, + 17.64, + -0.0 + ], + [ + -15297.945, + 9497.786, + 6949.874, + 0.0, + 17.64, + -0.0 + ], + [ + -15178.004, + 9535.926, + 6917.261, + 0.0, + 17.64, + -0.0 + ], + [ + -15178.004, + 9535.926, + 6917.261, + 0.0, + -7.36, + 0.0 + ], + [ + -15053.182, + 9519.803, + 6917.513, + 0.0, + -7.36, + 0.0 + ], + [ + -15053.182, + 9519.803, + 6917.513, + 0.0, + -32.36, + 0.0 + ], + [ + -15053.182, + 9519.803, + 6917.513, + 0.0, + -57.36, + 0.0 + ], + [ + -15041.467, + 9480.338, + 6917.17, + 0.0, + -57.36, + 0.0 + ], + [ + -15041.467, + 9480.338, + 6917.17, + 0.0, + -57.36, + 0.0 + ] + ], + "Rationale": [ + "Across the wide paved courtyard I can pick out the arched wooden door in the brick facade, with a small blue plaque mounted on the wall to its left. That plaque is where I need to get first, and nothing blocks the open paving between us. I will walk straight ahead to close the gap.", + "The doorway and its blue plaque now sit larger in my view, so my heading down the courtyard is good. The paving continues unobstructed toward the low stepped platform in front of the entrance. I will keep walking forward.", + "The blue plaque beside the arched door is still ahead and slightly left of my centerline, and the brick steps up to the entrance terrace are now clearly resolved. My current heading carries me straight at them. I will advance again.", + "I am now close enough that the steps and the raised brick terrace fill the lower half of my view, while the blue plaque remains too small to read. Continuing straight should bring me up to the entrance platform. I will step forward once more.", + "The plaque now shows faint white lettering on its blue face, just left of the arched door, so I am nearly at the wall. The terrace surface runs straight ahead with no obstruction. I will keep moving toward it.", + "I am up on the brick terrace with the door and the blue plaque directly in front of me at eye level. A few more paces should put me right beside the sign on the wall. I will walk forward again.", + "The plaque is now large and its wording legible, confirming this is the blue sign beside the arched entrance door. I am still short of the wall itself, so a further step should bring me right up against it. I will advance.", + "The blue sign fills the upper left of my view and the door timbers are close enough to see their grain, so I am almost at the wall beside the plaque. One more step should place me directly at it. I will move forward.", + "I am close against the brickwork beside the arched wooden door, and the blue sign is clipped by the top edge of my view so only part of its lettering shows. I will look up to bring the whole plaque into view and confirm I am standing right at it.", + "The blue reception plaque now sits fully in view on the brick wall beside the arched wooden door, an arm's reach away. I have reached the blue sign by the door. I mark arriving here, and now I turn toward the wooden bench out along the paving.", + "The sign and the door fill my whole field at close range, so there is no view of the seating from this heading. I will turn right to swing my gaze off the brick wall and begin looking along the paving for the bench.", + "The door has shifted to my left and a brick wall with a window now stands ahead, still hemming in my view. Turning right again should carry my heading further around toward the open paved area where a bench would sit.", + "Only the last sliver of the doorway remains at my left edge and the windowed wall of the wing dominates ahead. I will keep turning right so my heading clears this corner and opens toward the courtyard beyond.", + "The mullioned window wall still fills most of my view, but a strip of lawn and lighter paving is appearing at the right edge. Another right turn should bring that open ground squarely in front of me for the walk to the bench.", + "The courtyard lawn and the long building across it are now open on my right, while the near wing still cuts off my left. One more right turn should line my heading up with the paved walk leading out along the courtyard.", + "My heading is now clear of the doorway, with unobstructed paving running ahead between the wing on my left and the lawn on my right. I will walk forward along this path to come past the building corner and get the bench into view.", + "The brick corner still crowds my left side and the paved courtyard opens out ahead toward the lawn and the long range of buildings. I need to clear this wall before I can see any seating along it, so I keep walking straight ahead.", + "As I clear the corner, a slatted wooden frame low against the wall edges into the bottom left of my view, which looks like the seating I am after. I am still too tight to the brickwork to judge it, so another step forward should open that side up.", + "Straight ahead I now see only open paving, grass and the far buildings, with the wall and its seating swung out past my left shoulder. Turning left should bring that sheltered side of the courtyard back into view so I can line up on the bench.", + "Turning has brought the wooden benches back into view, ranged along the brick wall to my left, but they are still several paces off. The paving between me and them is clear, so I walk forward to close that gap.", + "The nearest bench has slipped to the very edge of my view on the left, with my heading still pointed down the courtyard. I turn left to swing that seating back toward the centre of my view before advancing again.", + "The row of benches along the brick wall is in view now, but it still runs away at an angle to my left rather than lying ahead of me. A further left turn should square me up with the closest bench.", + "The wooden bench now lies directly ahead of me, its slatted seat filling the lower part of my view beside the brick wall. Only a short gap remains, so I step forward to bring myself right up to it.", + "The slatted wooden bench is directly in front of me, within arm's reach against the wall. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t5_a_pd/infos.json b/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..967ded2830ab3e2aeb1b940ddbcdc9b7012ec203 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-015237_y010383_z006911_t5_a_pd/infos.json @@ -0,0 +1,449 @@ +{ + "Instruction": "Lift the metal bucket at the wooden arched door, then leave it by the bench.", + "Type": 5, + "Start_Pose": [ + -15237.402, + 10382.515, + 6911.033, + 0, + -107.36, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -15438.068, + 9455.44, + 6869.675, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15237.402, + 10382.515, + 6911.033, + 0, + -107.36, + 0 + ], + [ + -15274.955, + 10262.389, + 6911.266, + 0.0, + -107.36, + 0.0 + ], + [ + -15312.509, + 10142.263, + 6919.023, + 0.0, + -107.36, + 0.0 + ], + [ + -15350.062, + 10022.137, + 6911.967, + 0.0, + -107.36, + 0.0 + ], + [ + -15387.615, + 9902.011, + 6910.648, + 0.0, + -107.36, + 0.0 + ], + [ + -15425.168, + 9781.885, + 6909.568, + 0.0, + -107.36, + 0.0 + ], + [ + -15462.721, + 9661.759, + 6935.555, + 0.0, + -107.36, + 0.0 + ], + [ + -15500.274, + 9541.633, + 6949.874, + 0.0, + -107.36, + 0.0 + ], + [ + -15500.274, + 9541.633, + 6949.874, + 0.0, + -82.36, + 0.0 + ], + [ + -15500.274, + 9541.633, + 6949.874, + 0.0, + -82.36, + 0.0 + ], + [ + -15500.274, + 9541.633, + 6949.874, + 0.0, + -57.36, + 0.0 + ], + [ + -15500.274, + 9541.633, + 6949.874, + 0.0, + -32.36, + 0.0 + ], + [ + -15500.274, + 9541.633, + 6949.874, + 0.0, + -7.36, + 0.0 + ], + [ + -15375.452, + 9525.511, + 6949.874, + 0.0, + -7.36, + 0.0 + ], + [ + -15250.63, + 9509.389, + 6933.809, + 0.0, + -7.36, + 0.0 + ], + [ + -15125.808, + 9493.267, + 6917.021, + 0.0, + -7.36, + 0.0 + ], + [ + -15019.978, + 9500.604, + 6917.471, + 0.0, + -7.36, + 0.0 + ], + [ + -15019.978, + 9500.604, + 6917.471, + 0.0, + -32.36, + 0.0 + ], + [ + -15019.978, + 9500.604, + 6917.471, + 0.0, + -57.36, + 0.0 + ], + [ + -14987.536, + 9502.512, + 6917.61, + 0.0, + -57.36, + 0.0 + ], + [ + -15026.371, + 9563.141, + 6918.139, + 0.0, + -57.36, + 0.0 + ], + [ + -15026.371, + 9563.141, + 6918.139, + 0.0, + -57.36, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -15438.068, + 9455.44, + 6869.675, + 0.0, + 0.0, + 0.0 + ], + [ + -15438.068, + 9455.44, + 6869.675, + 0.0, + 0.0, + 0.0 + ], + [ + -15438.068, + 9455.44, + 6869.675, + 0.0, + 0.0, + 0.0 + ], + [ + -15438.068, + 9455.44, + 6869.675, + 0.0, + 0.0, + 0.0 + ], + [ + -15438.068, + 9455.44, + 6869.675, + 0.0, + 0.0, + 0.0 + ], + [ + -15438.068, + 9455.44, + 6869.675, + 0.0, + 0.0, + 0.0 + ], + [ + -15438.068, + 9455.44, + 6869.675, + 0.0, + 0.0, + 0.0 + ], + [ + -15438.068, + 9455.44, + 6869.675, + 0.0, + 0.0, + 0.0 + ], + [ + -15438.068, + 9455.44, + 6869.675, + 0.0, + 0.0, + 0.0 + ], + [ + -15478.341, + 9545.011, + 6920.011, + -28.202, + -32.215, + 1.862 + ], + [ + -15480.846, + 9554.14, + 6920.284, + -28.189, + -7.203, + 1.872 + ], + [ + -15481.449, + 9561.128, + 6919.67, + -14.092, + 9.984, + 6.87 + ], + [ + -15497.958, + 9562.978, + 6919.687, + -28.208, + 42.783, + 1.851 + ], + [ + -15373.408, + 9546.785, + 6920.108, + -28.189, + 42.798, + 1.869 + ], + [ + -15248.861, + 9530.688, + 6888.728, + -28.205, + 42.776, + 1.859 + ], + [ + -15124.083, + 9514.58, + 6887.844, + -28.191, + 42.79, + 1.872 + ], + [ + -15017.898, + 9521.868, + 6887.519, + -28.191, + 42.794, + 1.874 + ], + [ + -15009.542, + 9518.189, + 6887.573, + -28.217, + 17.773, + 1.848 + ], + [ + -15002.968, + 9511.303, + 6887.108, + -28.19, + -7.199, + 1.871 + ], + [ + -14970.076, + 9514.838, + 6888.09, + -28.203, + -7.222, + 1.862 + ], + [ + -14988.616, + 9504.195, + 6878.139, + 0.0, + -57.36, + 0.0 + ], + [ + -14988.616, + 9504.195, + 6878.139, + 0.0, + -57.36, + 0.0 + ] + ], + "PD_Dist_2D": [ + 948.5, + 823.3, + 698.2, + 573.5, + 449.4, + 326.7, + 207.8, + 106.3, + 106.3, + 22.2, + 23.1, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 21.4, + 20.4, + 20.1, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The wooden arched door sits ahead across the paved courtyard, with a dark metal bucket standing on the raised brick platform in front of it. Nothing blocks the straight path, so I will walk forward to close the long gap before I can lift it.", + "The door and the bucket on the platform have grown slightly larger, confirming my heading is taking me toward them. The route across the paving is still clear, so I will keep walking forward.", + "The metal bucket is now clearly visible on the brick platform below the arched door, but it is still well beyond arm's reach. I will continue walking forward along this heading to shorten the distance.", + "The steps up to the platform are close now and the bucket sits just beyond their top edge, slightly right of my heading. Another forward step should bring me onto the platform level with the target.", + "The bucket now stands large and near, just right of center on the brick surface in front of the door. It is still not close enough to grasp, so I will step forward again.", + "The bucket with its handle is close on my right and the arched door fills much of the view ahead. I will advance one more step to bring the bucket within grasping range.", + "I am nearly at the doorway and the bucket sits very near, low on my right side. A final short step forward should put me beside it so I can reach down and lift it.", + "I am standing right at the arched doorway, but my gaze is aimed at the door itself and the bucket has slipped past the right edge of what I can see. I will turn right to face the bucket squarely so it is centered and within reach before attempting the lift.", + "The metal bucket now sits right at my feet in the lower right of my view, close beside the arched wooden door, and the arch itself is squarely in front of me. This is the closest grasping position I can get without stepping past it, so I will attempt the pick now. If my hands close on the handle, the bucket should come up with me for the carry to the bench.", + "The pick succeeded, since the bucket is now held in my hands rather than resting on the brick landing. The door wall blocks the way ahead, so I need to swing away from it toward the open paving to my right. I will turn right to begin facing back out across the terrace toward the bench area.", + "I am carrying the bucket and my view still faces the arched doorway and the adjacent brick wall, which is not a route I can walk. Continuing to rotate right should bring the open courtyard paving into the center of my view. I will turn right again to keep opening up a walkable heading.", + "With the bucket still in hand, the courtyard and its far buildings are now coming into view past the corner of the brick block, but the near wall still crowds the left of my heading. Another right turn should clear that corner and point me along the open walkway. I will turn right once more before setting off.", + "My heading is now clear of the building corner, with the paved walkway and courtyard lawn opening ahead of me and the bucket still in my grip. The bench belongs along this side of the building, further down the path. I will walk forward to carry the bucket along that route.", + "The walkway ahead stays clear as the brick wall slides past on my left, and the bucket is still carried with me. Nothing yet resembling the bench has come into view along this frontage. I will keep walking forward to bring more of that side of the building into sight.", + "I am still holding the bucket and the wall on my left continues to occlude whatever sits along its base. The path ahead of me remains unobstructed toward the courtyard edge. I will advance again so the frontage past this wall becomes visible.", + "A wooden bench with a bin beside it has now appeared close on my left, set against the wall, and I am still carrying the bucket. I am not yet fully alongside it, so stopping here would leave me short of a good drop position. I will step forward once more to draw level with the bench.", + "I am carrying the bucket along the paved walk, and the bench line runs beside the brick wall on my left, currently only clipping the edge of my view. Turning left should bring that bench area in front of me so I can approach a drop spot.", + "The wooden bench against the wall is now clearly in view, but it sits off to my left rather than straight ahead. A second turn to the left should square my heading with the bench so the bucket can be set down right beside it.", + "I am now facing along the bench beside the wall, with the bench and bin just ahead on my left and the bucket still in my hands. A short step forward should place me close enough alongside the bench to release the bucket there.", + "I am standing right at the end of the wooden bench, with the bench slats and the bin immediately beside me and clear pavement at my position. This is the spot the task asks for, so I will release the bucket here and expect it to come to rest by the bench.", + "The bucket now stands on the pavement at the bench and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-015299_y010162_z006912_t1_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-015299_y010162_z006912_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..db5b54db81e05301e53287b38bc61d59b313a9cb --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-015299_y010162_z006912_t1_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Locate the pointed Gothic-arch doorway with a wooden door set into the red brick building, then navigate to that entrance.", + "Type": 1, + "Start_Pose": [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + 165.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + 165.28, + -0.0 + ], + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + -169.72, + 0.0 + ], + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + -144.72, + 0.0 + ], + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + -119.72, + 0.0 + ], + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + -94.72, + 0.0 + ], + [ + -15309.222, + 10036.153, + 6912.256, + 0.0, + -94.72, + 0.0 + ], + [ + -15319.578, + 9910.721, + 6911.217, + 0.0, + -94.72, + 0.0 + ], + [ + -15329.935, + 9785.288, + 6919.658, + 0.0, + -94.72, + 0.0 + ], + [ + -15340.291, + 9659.856, + 6918.445, + 0.0, + -94.72, + 0.0 + ], + [ + -15350.648, + 9534.424, + 6949.8, + 0.0, + -94.72, + 0.0 + ], + [ + -15361.004, + 9408.992, + 6949.8, + 0.0, + -94.72, + 0.0 + ], + [ + -15361.004, + 9408.992, + 6949.8, + 0.0, + -119.72, + 0.0 + ], + [ + -15423.4, + 9299.689, + 6949.8, + 0.0, + -119.72, + 0.0 + ], + [ + -15485.796, + 9190.385, + 6964.182, + 0.0, + -119.72, + 0.0 + ], + [ + -15485.796, + 9190.385, + 6964.182, + 0.0, + -119.72, + 0.0 + ] + ], + "Rationale": [ + "From here I only see open snow, a bare tree, and the corner of a red brick building with tall Gothic windows on my right, but no doorway is visible. The building facade continues out of view past that corner, so I will turn right to scan along it for the arched wooden entrance.", + "Turning has brought more of the brick building into view, including a paved apron running along its base, but the wall in front of me still shows only windows. I will keep rotating right in the same direction to bring the rest of that facade and the paving into view where an entrance is most likely.", + "A pointed arch with a wooden door has now appeared at the far right edge, raised above a run of shallow steps. I will continue turning right to bring that doorway toward the center of my view before moving.", + "The Gothic-arch wooden doorway with its stepped platform is now clearly in view, but it still sits right of my heading. One more turn to the right should center it so I can walk straight toward the entrance.", + "The arched wooden door in the red brick wall now sits near the middle of my view, with the paved forecourt and its steps clear ahead of me. I will walk forward to close the distance toward that entrance.", + "The doorway and its brick steps are noticeably larger now, confirming I am closing on the correct entrance. The paving ahead remains unobstructed, so I will keep walking forward.", + "The stepped platform in front of the arched wooden door now fills much of the lower view, so the entrance is close but not yet reached. I will step forward again to move onto the approach and nearer the door.", + "I am now at the raised platform with the pointed-arch doorway and its blue reception sign directly ahead and slightly left. Another step forward should bring me right up to the wooden door.", + "The pointed stone arch and its wooden door now fill the left side of my view, with the raised brick step platform directly ahead of me. I am still a few paces short of the threshold, so I will keep walking forward to close the remaining gap to the entrance.", + "The arched wooden door and its stone surround now dominate the left of my view and the step platform runs right up to it. I am close but not yet at the threshold, so another step forward should bring me level with the doorway.", + "The wooden door has slid to the far left edge of my view while the plain brick wall and window occupy the center, so I am no longer facing the entrance squarely. I will turn left to bring the arched doorway back into the middle of my view before continuing.", + "The pointed arch and its wooden door are now centered ahead of me with the reception sign beside it, confirming this is the target entrance. A short step forward should place me right at the threshold.", + "The wooden door planks now fill most of my view with the handle and stone jamb clearly visible, so I am nearly at the entrance. One more short step should bring me right up against the threshold.", + "The wooden planks and handle of the arched door fill my view at arm's length. The entrance is reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-015299_y010162_z006912_t1_b/infos.json b/dataset/trajectory/EnglishCollege/task_x-015299_y010162_z006912_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5bc3ca022e0bc73dd195f97a82c258da55deedac --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-015299_y010162_z006912_t1_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Discover the small wooden bench situated beside the Gothic-arched doorway of the red brick building; once found, approach it.", + "Type": 1, + "Start_Pose": [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + 165.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + 165.28, + -0.0 + ], + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + -169.72, + 0.0 + ], + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + -144.72, + 0.0 + ], + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + -119.72, + 0.0 + ], + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + -94.72, + 0.0 + ], + [ + -15298.865, + 10161.585, + 6911.589, + 0.0, + -69.72, + 0.0 + ], + [ + -15255.241, + 10043.528, + 6916.843, + 0.0, + -69.72, + 0.0 + ], + [ + -15211.618, + 9925.471, + 6921.556, + 0.0, + -69.72, + 0.0 + ], + [ + -15167.994, + 9807.414, + 6920.492, + 0.0, + -69.72, + 0.0 + ], + [ + -15124.37, + 9689.357, + 6919.342, + 0.0, + -69.72, + 0.0 + ], + [ + -15124.37, + 9689.357, + 6919.342, + 0.0, + -44.72, + 0.0 + ], + [ + -15034.941, + 9600.797, + 6918.577, + 0.0, + -44.72, + 0.0 + ], + [ + -15034.941, + 9600.797, + 6918.577, + 0.0, + -69.72, + 0.0 + ], + [ + -14989.423, + 9503.277, + 6917.612, + 0.0, + -69.72, + 0.0 + ], + [ + -14989.423, + 9503.277, + 6917.612, + 0.0, + -69.72, + 0.0 + ] + ], + "Rationale": [ + "From here I only see the corner of a red brick building on my right, with open snow and a bare tree filling the rest of the view, and no arched doorway or bench anywhere. The building facade continues off to my right, so turning that way should let me scan along it for the Gothic-arched entrance mentioned in the task.", + "More of the brick building has come into view, and a paved apron now runs along its base on my right, which suggests an entrance area lies further around that way. I still see no arched door or bench, so I will keep rotating right in the same direction to follow the facade.", + "A wooden Gothic-arched door with a small sign and a broad flight of steps has just appeared at the right edge of my view, which matches the doorway described in the task. I will continue turning right to bring that entrance and the ground beside it fully into view so I can look for the bench.", + "The arched doorway and its stepped platform are now centered in front of me, confirming this is the entrance I need to work from. No bench is visible on this side of the steps, so I will turn right again to inspect the paved area extending along the wall beyond the entrance.", + "With the doorway now off to my left, the courtyard opens out to the right and I can make out dark objects set against the lower brick wall further along, possibly seating and bins. I will turn right once more to face down that stretch of paving before moving.", + "I am now facing straight down the paved courtyard that runs beside the arched doorway, with the entrance steps at my left and a hedge bordering the right. A low object that looks like a bench sits against the brick wall ahead, so I will walk forward along the paving to close the distance and confirm it.", + "The forward step brought me closer, and the object beside the wall is resolving into a slatted seat next to a dark bin. The paving ahead is clear, so I will keep walking forward toward it.", + "I can now clearly see a small wooden bench with a slatted back tucked against the brick wall, just along from the entrance steps behind me on the left. It is still several paces away, so I will continue walking forward to reach it.", + "The slatted wooden bench set against the brick wall is now clearly visible ahead of me, just past the corner of the building and beside the flight of steps leading up to the arched entrance. It still sits well beyond comfortable reach, so I will keep walking straight along the paving to close the remaining gap.", + "I am now close to the projecting brick corner, which sits almost straight ahead of me and cuts across a direct line to the bench beside it. Turning right should swing my heading onto the open paved walkway running past that corner, giving me a clear lane to walk along the wall toward the bench.", + "From this heading the walkway beside the brick wall runs clear ahead, with the wooden bench and the bin next to it lying along the wall on my left. Stepping forward should carry me level with the bench and shorten the short distance that remains.", + "The bench has slipped into the lower left edge of my view and is now partly outside it, since my heading points down the walkway rather than at the wall. I will turn left to bring the bench back to the center of my view and face it squarely before closing the last bit of distance.", + "The wooden bench is now centered in front of me, its back rail and seat slats clearly resolved against the red brick wall. A short step forward should bring me right up beside it and complete the approach.", + "The wooden bench against the red brick wall now fills the foreground directly in front of me, within arm's reach. The approach goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/EnglishCollege/task_x-020319_y021003_z005154_t0_a/infos.json b/dataset/trajectory/EnglishCollege/task_x-020319_y021003_z005154_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..92fc67464f958f50deefc703751b6dc0450ed8e0 --- /dev/null +++ b/dataset/trajectory/EnglishCollege/task_x-020319_y021003_z005154_t0_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the base of the red-leafed tree.", + "Type": 0, + "Start_Pose": [ + -20319.367, + 21002.801, + 5153.823, + 0.0, + 129.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -20319.367, + 21002.801, + 5153.823, + 0.0, + 129.6, + -0.0 + ], + [ + -20399.593, + 21099.777, + 5140.685, + 0.0, + 129.6, + -0.0 + ], + [ + -20479.818, + 21196.753, + 5129.163, + 0.0, + 129.6, + -0.0 + ], + [ + -20479.818, + 21196.753, + 5129.163, + 0.0, + 104.6, + -0.0 + ], + [ + -20511.544, + 21318.548, + 5127.515, + 0.0, + 104.6, + -0.0 + ], + [ + -20543.269, + 21440.343, + 5115.646, + 0.0, + 104.6, + -0.0 + ], + [ + -20574.994, + 21562.138, + 5106.343, + 0.0, + 104.6, + -0.0 + ], + [ + -20606.719, + 21683.932, + 5102.533, + 0.0, + 104.6, + -0.0 + ], + [ + -20638.444, + 21805.727, + 5104.461, + 0.0, + 104.6, + -0.0 + ], + [ + -20670.17, + 21927.522, + 5107.431, + 0.0, + 104.6, + -0.0 + ], + [ + -20701.895, + 22049.317, + 5108.364, + 0.0, + 104.6, + -0.0 + ], + [ + -20733.62, + 22171.112, + 5114.758, + 0.0, + 104.6, + -0.0 + ], + [ + -20765.345, + 22292.907, + 5121.148, + 0.0, + 104.6, + -0.0 + ], + [ + -20797.07, + 22414.702, + 5128.374, + 0.0, + 104.6, + -0.0 + ], + [ + -20828.796, + 22536.497, + 5134.417, + 0.0, + 104.6, + -0.0 + ], + [ + -20860.521, + 22658.292, + 5141.753, + 0.0, + 104.6, + -0.0 + ], + [ + -20892.246, + 22780.087, + 5150.437, + 0.0, + 104.6, + -0.0 + ], + [ + -20923.971, + 22901.882, + 5161.399, + 0.0, + 104.6, + -0.0 + ], + [ + -20955.696, + 23023.676, + 5171.408, + 0.0, + 104.6, + -0.0 + ], + [ + -20965.919, + 23062.086, + 5173.707, + 0.0, + 104.6, + -0.0 + ], + [ + -20965.919, + 23062.086, + 5173.707, + 0.0, + 104.6, + -0.0 + ], + [ + -20965.919, + 23062.086, + 5173.707, + 0.0, + 104.6, + -0.0 + ] + ], + "Rationale": [ + "The red-leafed tree stands out clearly among the green-crowned trees ahead and slightly left of center, well across the open grass. My heading is close enough to that direction to make straight walking useful, so I will step forward over the lawn to start closing the gap.", + "The red crown now appears larger and higher in my view, which tells me the previous step genuinely reduced the distance. The path across the grass is still clear, so I will continue walking forward toward it.", + "As I have come closer, the red-leafed tree has drifted toward the left side of my view and its trunk is no longer in front of me. I will turn left to bring the crown and trunk back to the center of my view so that further forward steps head straight at its base.", + "After the turn the red-leafed crown sits near the middle of my view with its pale trunk visible below it, so my heading now points at the target. I will walk forward across the grass to keep reducing the distance.", + "The red-leafed tree keeps growing in my view while staying near center, confirming my heading is still good. I will take another step forward rather than adjust my direction.", + "The dark red foliage now fills much of the upper middle of my view and its trunk is clearly separated from the surrounding green trees. Nothing blocks the grass in front of me, so I will continue advancing straight toward the base.", + "The red-leafed crown is now high overhead in my view, so I am closer but still not at the trunk, which stands further back along the tree line. I will step forward again to keep closing on its base.", + "The target trunk is visible slightly right of center with its red canopy above, and there is still a stretch of grass between me and it. I will continue forward, since my heading remains aligned closely enough to reach the base without turning.", + "The red-leafed crown sits high near the center of my view with its pale trunk running down between the green birches, so my heading is still correct for a straight approach. There is open, gently sloping grass ahead with nothing blocking the line, so I will step forward again to close the remaining distance.", + "The red canopy has grown noticeably wider and its trunk is now easier to trace down to the tree line, confirming I am closing on the correct tree. I keep my current heading and advance again, since no turn correction is needed yet.", + "The red-leafed tree now dominates the upper middle of my view and its trunk stands out clearly against the lighter background, so it remains straight ahead of me. Another forward step should bring me meaningfully closer to its base.", + "I can now follow the target trunk down to where it meets the grass slightly right of center, so the base I need to reach is directly in my path. I will continue walking forward rather than adjust heading, since the alignment is already good.", + "The red canopy has risen above me and the thick pale trunk with its shadow on the grass is clearly the nearest object ahead. Still several strides short of the trunk, I take another forward step to keep shrinking the gap.", + "The trunk is now large and centered with the red leaves arching overhead to the left, so I am nearly under the tree but not yet at its base. I keep advancing straight, as the heading needs no correction.", + "The base of the trunk is plainly visible where it flares into the grass just ahead of me, and the red leaves are now above my head. A couple more forward steps should place me right at that base, so I move forward again.", + "The trunk fills much of the center of my view and its base sits only a short distance ahead on the shaded grass. I will step forward once more to finish closing that last gap to the tree's base.", + "The pale trunk of the red-leafed tree stands straight ahead in the middle of my view, with its dark red canopy now spreading across the top of my view. The open grass between me and its base is still clear, so I will keep walking forward to close that remaining gap.", + "The trunk has grown noticeably wider and its base with the shadow at ground level is clearly visible just ahead of me. I am still a few paces short of standing at that base, so another forward step should bring me closer without any need to change heading.", + "The trunk now fills a large part of my view and its flared base sits directly in front of my feet, with only a short strip of grass left. I will advance once more to settle right at the base of this red-leafed tree.", + "My last step moved me only a little, which suggests the trunk immediately ahead is already limiting further advance. I will attempt one more small forward push to press right up against the base, expecting little or no additional movement.", + "The red-leafed tree's flared trunk base stands immediately in front of me, filling the center of my view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x-000020_y000126_z-000612_t3_a/infos.json b/dataset/trajectory/Museum/task_x-000020_y000126_z-000612_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..caa47c7dfe937e89a898f180759c969098b79310 --- /dev/null +++ b/dataset/trajectory/Museum/task_x-000020_y000126_z-000612_t3_a/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Approach the bench beneath the yellow painting, then move to the large figurative painting.", + "Type": 3, + "Start_Pose": [ + -19.741, + 125.711, + -611.725, + 0.0, + -154.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -19.741, + 125.711, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -133.245, + 71.329, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -246.748, + 16.947, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -360.252, + -37.435, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -473.756, + -91.817, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -587.26, + -146.198, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -700.763, + -200.58, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -700.763, + -200.58, + -611.725, + 0.0, + -179.4, + 0.0 + ], + [ + -826.616, + -201.898, + -611.725, + 0.0, + -179.4, + 0.0 + ], + [ + -952.468, + -203.216, + -611.725, + 0.0, + -179.4, + 0.0 + ], + [ + -952.468, + -203.216, + -611.725, + 0.0, + -179.4, + 0.0 + ], + [ + -952.468, + -203.216, + -611.725, + 0.0, + -179.4, + 0.0 + ], + [ + -860.073, + -202.249, + -611.725, + 0.0, + -179.4, + 0.0 + ], + [ + -860.073, + -202.249, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -860.073, + -202.249, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -860.073, + -202.249, + -611.725, + 0.0, + -104.4, + 0.0 + ], + [ + -860.073, + -202.249, + -611.725, + 0.0, + -79.4, + 0.0 + ], + [ + -860.073, + -202.249, + -611.725, + 0.0, + -54.4, + 0.0 + ], + [ + -860.073, + -202.249, + -611.725, + 0.0, + -29.4, + 0.0 + ], + [ + -750.423, + -264.033, + -611.725, + 0.0, + -29.4, + 0.0 + ], + [ + -640.772, + -325.818, + -611.725, + 0.0, + -29.4, + 0.0 + ], + [ + -531.122, + -387.603, + -611.725, + 0.0, + -29.4, + 0.0 + ], + [ + -531.122, + -387.603, + -611.725, + 0.0, + -54.4, + 0.0 + ], + [ + -452.954, + -444.568, + -611.725, + 0.0, + -54.4, + 0.0 + ], + [ + -452.954, + -444.568, + -611.725, + 0.0, + -79.4, + 0.0 + ], + [ + -452.954, + -444.568, + -611.725, + 0.0, + -79.4, + 0.0 + ], + [ + -452.954, + -444.568, + -611.725, + 0.0, + -79.4, + 0.0 + ] + ], + "Rationale": [ + "The yellow sunflower canvas hangs on the far wall ahead of me, with a low red bench running beneath it. That bench is my first destination and it is still far across the open parquet floor. I will walk forward to begin closing that gap.", + "The sunflower painting and the bench below it now sit larger and more central in front of me, so my heading is carrying me toward them. Nothing blocks the stretch of floor between us. Another step forward should keep shortening the distance.", + "The framed sunflower field and the three red bench segments under it keep growing in my view, confirming this heading is good. I am still several paces short of standing at that bench. I will continue walking straight ahead.", + "The gilded frame of the sunflower painting now fills much of the upper left and the bench beneath it is close enough to see its dark legs. I have not yet reached it. Stepping forward again should bring me right up to the bench.", + "The sunflower canvas towers at my left and the red bench beneath it stretches across the near floor, though I am still standing out from the wall. Columns rise to my right without crowding my path. I will keep advancing toward the bench.", + "Only a short stretch of parquet separates me from the red bench under the sunflower painting, which now sits low and to my left. The way forward remains clear of the column bases on my right. One more step should put me at the bench.", + "The bench and the sunflower painting above it have drifted to the left edge of my view while the column plinths dominate the right. To arrive squarely at that bench rather than sliding past it, I need my body pointed at it. Turning left should center it ahead of me.", + "The three red bench segments now sit squarely in front of me with the sunflower canvas directly above them, so my heading is aimed properly. A little floor still lies between me and the bench edge. I will step forward to stand right at it.", + "The red bench and the marble ledge beneath the sunflower canvas now fill most of my view, so only a short gap remains. I will step forward once more to stand right at the bench under that yellow painting.", + "I am so close that only the wall panel and its dark rail fill my view, with the seating hidden below my line of sight. I will look down to bring the bench itself back into view and confirm I am standing at it.", + "The red padded bench and its marble backing lie directly below me, tucked under the yellow sunflower canvas. I have arrived at that bench. I mark reaching it and now set off for the large painting of the figures in the blue and red gowns.", + "I am pressed right up against the bench and its marble backing, with no room to swing around toward the other wall. I will back up a step to gain clearance from the seating before reorienting.", + "With a little clearance from the bench, the sunflower canvas and its wall still fill my view, but the painting of the gowned figures hangs on the far side of the hall. I will begin swinging right to bring that side of the room into view.", + "The sunflower frame has slid to my left edge and a column base is entering on the right, so I am only part way around. I will keep turning right toward the opposite wall where the large figurative canvas hangs.", + "Only the corner columns and their marble plinth face me now, blocking any sight of the far wall. I will continue rotating right until the open side of the hall and the large painting of the figures come into view.", + "The grey service door and exit sign are now ahead of me, but the large canvas with the gowned figures is still further round to my right. I will turn right again to bring it into my view.", + "The tall figurative canvas with the couple in the pale room and the woman in the blue gown now shows at the upper right of my view, past the grey service door. Since the marble plinth and columns still fill my left side, I will keep turning right to bring that painting toward the center of my heading.", + "The figurative painting of the couple stands ahead of me above the roped-off wall, but my heading still points into the corner rather than along the open floor beside it. One more turn to the right should line me up with the clear aisle so I can walk toward that canvas.", + "The long hall now opens ahead of me with the large figurative painting hanging on the wall to my left, above the rope barrier. The floor between me and it is clear, so I will walk forward to close the distance to that canvas.", + "The painting of the couple and the woman in the blue gown has grown much larger on my left, so I am closing on it. Nothing blocks the aisle in front of me, so another step forward should bring me level with it.", + "The big canvas now fills the upper left corner of my view, which means I am nearly abreast of it but still slightly short. I will step forward once more to reach a position right in front of that painting.", + "I have drawn level with the large figurative painting, but it sits at the far left edge of my view while I face down the hall. Turning left should swing that canvas back in front of me.", + "The big canvas with the red and blue figures is now framed in the upper left of my view and the wall beneath it is close. A short step forward should place me directly at that painting, just short of the rope line.", + "I am now standing right at the wall, but only the lower edge and ornate frame of the large figurative painting clips the top left of my view. A turn to the left should square me up with that canvas.", + "I am standing right against the wall of the large figurative canvas, but my gaze sits so low that only its bottom frame edge and the small wall label are in front of me. Raising my line of sight should bring the painting itself squarely into view.", + "The large figurative painting with the blue gowned woman fills my view at arm's length. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Museum/task_x-000020_y000126_z-000612_t3_b/infos.json b/dataset/trajectory/Museum/task_x-000020_y000126_z-000612_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf0672fdb8e4752c9e692cb5d64c5c0ba601c57f --- /dev/null +++ b/dataset/trajectory/Museum/task_x-000020_y000126_z-000612_t3_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Head toward the gray doorway on the far wall, then reach the brown bench beneath the yellow painting.", + "Type": 3, + "Start_Pose": [ + -19.741, + 125.711, + -611.725, + 0.0, + -154.4, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -19.741, + 125.711, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -133.245, + 71.329, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -133.245, + 71.329, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -213.131, + -25.926, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -293.018, + -123.182, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -372.904, + -220.437, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -452.791, + -317.693, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -532.677, + -414.948, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -583.664, + -418.519, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -667.249, + -507.416, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -667.249, + -507.416, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -667.249, + -507.416, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -667.249, + -507.416, + -611.725, + 0.0, + -179.4, + 0.0 + ], + [ + -667.249, + -507.416, + -611.725, + 0.0, + 155.6, + -0.0 + ], + [ + -667.249, + -507.416, + -611.725, + 0.0, + 130.6, + -0.0 + ], + [ + -749.155, + -411.855, + -611.725, + 0.0, + 130.6, + -0.0 + ], + [ + -831.061, + -316.294, + -611.725, + 0.0, + 130.6, + -0.0 + ], + [ + -831.061, + -316.294, + -611.725, + 0.0, + 155.6, + -0.0 + ], + [ + -945.678, + -264.301, + -611.725, + 0.0, + 155.6, + -0.0 + ], + [ + -945.678, + -264.301, + -611.725, + 0.0, + 155.6, + -0.0 + ], + [ + -945.678, + -264.301, + -611.725, + 0.0, + 155.6, + -0.0 + ] + ], + "Rationale": [ + "From the entrance side of the gallery I can see the gray service door set into the far wall beneath the green exit sign, well ahead and slightly to my right. The parquet floor between me and that wall is clear of stanchions along this line, so I will walk forward to cut the distance before fine-tuning my heading.", + "After closing some distance, the gray door now sits off to the right of my heading, with the columns and the sunflower canvas filling the center of my view. Walking straight from here would carry me past it, so I will turn right to put the door nearer the middle of my view.", + "The turn has brought the gray door and its green exit sign into the middle of my view, framed between the column cluster and the roped-off wall. With my heading now pointed at it and open floor in between, I will step forward to close on the doorway.", + "The doorway is noticeably larger and still sitting near the center of my view, so my line toward it holds. The rope stanchions run along the wall to my right rather than across my path, so I will keep walking forward.", + "The gray door and the exit sign above it now dominate the middle of my view, and the marble plinth of the columns is drifting to my left as expected for a straight approach. Nothing stands between me and the door, so I will advance again.", + "The door panel and its handle are becoming clear, and the exit sign sits just above it, confirming this is the doorway I am heading for. There is still a stretch of floor before I stand at it, so I will keep stepping forward.", + "The gray door now fills much of the view with its handle and vent slats plainly visible, so only a short gap of floor remains. A single stanchion stands off to my right and does not sit in my path, so I will move forward again.", + "I am close enough now that the door frame and its recess dominate my view and the exit sign has risen to the top edge. A little more ground would put me right at the doorway, so I will take another step forward.", + "The gray door on the far wall now fills most of my view, with its handle and keyhole clearly resolved just ahead of me. A short step forward should bring me right up against it and complete this leg of the walk.", + "The gray door's panel, handle and keyhole fill my view at arm's length, so I am standing directly at it. I have reached the gray doorway on the far wall. I mark reaching it and then set off for the brown bench under the yellow sunflower painting.", + "Facing the door leaves nothing but its metal panel in front of me, and the bench under the yellow sunflower painting sits back across the hall to my left. I turn left to swing my heading off the door and back into the open gallery.", + "The turn has brought the column bases and the marble ledge into view, but the door frame still cuts across my right and the benches are not yet visible. Another left turn should carry my heading further around toward the wall with the sunflower painting.", + "The nearby column plinth still blocks most of my view, though a sliver of the sunflower painting and a red bench edge have appeared at the far left. I keep turning left to bring that bench wall into the center of my view.", + "The yellow sunflower painting and the row of dark red benches beneath it are now open to my left, while the column base still crowds the right of my view. One more left turn should line my heading up with that bench so I can walk straight to it.", + "The yellow sunflower painting and the bench below it now sit ahead of me with clear floor in between, and only a column stands off to my right. I walk forward to close the gap toward that bench.", + "The bench and the sunflower canvas above it have grown noticeably larger and the wall plaque is readable, so my heading is carrying me straight at them. I take another step forward to get within reach of the bench.", + "The dark red bench and the yellow sunflower painting above it now sit off to my right, while the columns crowd the left of my view. I will turn right to put that bench squarely ahead so my remaining steps carry me straight to it.", + "The bench beneath the yellow painting is centered in front of me, but there is still open floor between us. I will step forward to close that last gap and stand at the bench.", + "I am close enough that the marble ledge and bench edge fill most of my view and only the bottom corner of the gilt frame remains visible. I will look up so the yellow painting above the bench comes fully into sight and confirms I am at the right spot.", + "The yellow sunflower painting fills my view directly above the bench I am standing at. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x-000020_y000126_z-000612_t3_c/infos.json b/dataset/trajectory/Museum/task_x-000020_y000126_z-000612_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e92fbdea68e8d49504b9bb50e71efbe5e5746e6f --- /dev/null +++ b/dataset/trajectory/Museum/task_x-000020_y000126_z-000612_t3_c/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Move to the painting with the woman in blue, then approach the left stanchion row.", + "Type": 3, + "Start_Pose": [ + -19.741, + 125.711, + -611.725, + 0.0, + -154.4, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -19.741, + 125.711, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -133.245, + 71.329, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -133.245, + 71.329, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -213.131, + -25.926, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -293.018, + -123.182, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -372.904, + -220.437, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -372.904, + -220.437, + -611.725, + 0.0, + -104.4, + 0.0 + ], + [ + -404.204, + -342.342, + -611.725, + 0.0, + -104.4, + 0.0 + ], + [ + -435.074, + -443.668, + -611.725, + 0.0, + -104.4, + 0.0 + ], + [ + -435.074, + -443.668, + -611.725, + 0.0, + -104.4, + 0.0 + ], + [ + -435.074, + -443.668, + -611.725, + 0.0, + -104.4, + 0.0 + ], + [ + -435.074, + -443.668, + -611.725, + 0.0, + -129.4, + 0.0 + ], + [ + -435.074, + -443.668, + -611.725, + 0.0, + -154.4, + 0.0 + ], + [ + -435.074, + -443.668, + -611.725, + 0.0, + -179.4, + 0.0 + ], + [ + -435.074, + -443.668, + -611.725, + 0.0, + 155.6, + -0.0 + ], + [ + -435.074, + -443.668, + -611.725, + 0.0, + 130.6, + -0.0 + ], + [ + -516.98, + -348.107, + -611.725, + 0.0, + 130.6, + -0.0 + ], + [ + -598.886, + -252.546, + -611.725, + 0.0, + 130.6, + -0.0 + ], + [ + -680.791, + -156.985, + -611.725, + 0.0, + 130.6, + -0.0 + ], + [ + -762.697, + -61.424, + -611.725, + 0.0, + 130.6, + -0.0 + ], + [ + -844.603, + 34.137, + -611.725, + 0.0, + 130.6, + -0.0 + ], + [ + -844.603, + 34.137, + -611.725, + 0.0, + 130.6, + -0.0 + ] + ], + "Rationale": [ + "From the doorway of this gallery I can see the large canvas on the right wall showing the woman in the blue gown, still far off across the parquet. I will walk forward into the open floor to cut down that distance before angling toward it.", + "The blue-gowned woman's painting now sits at the far right edge of my view, so walking straight ahead would carry me past it toward the sunflower canvas instead. I will turn right to bring that painting nearer the center of my heading.", + "The painting of the woman in blue is now well inside my view on the right, with clear floor between me and the stanchion line beneath it. I will step forward to close on it.", + "The blue gown and its gilt frame have grown noticeably larger, so my heading is carrying me toward it. I will keep walking forward to shorten the remaining gap to that wall.", + "The painting now dominates the upper right of my view and the roped posts guarding its wall are close ahead. Another step forward should bring me within a short reach of that canvas.", + "The canvas has drifted up and off the right side of my view, cut by the frame edge, while the stairwell door and columns fill the left. I will turn right to square myself onto the painting before advancing any further.", + "The painting of the woman in blue is now centered above the rope barrier directly in front of me. I will walk forward to bring myself right up to it.", + "Only the lower portion of the blue gown and the ornate frame still fit in my view, and the stanchion rope is just a pace away. I will take one more step forward to stand as close to this painting as the barrier allows.", + "I am now right up against the gallery wall, and at this range only the gilded lower edge of the canvas hangs in the top of my view while the rest sits above my line of sight. Tilting my gaze upward should bring the scene with the woman in the blue gown fully into view so I can confirm I am standing at it.", + "The framed scene directly in front of me fills my view, the woman in the sweeping blue gown unmistakable at arm's length. I have arrived at this painting. I mark reaching it, then set off for the row of roped stanchions standing along the left side of the hall.", + "Facing this canvas at close range leaves me looking at nothing but wall and frame, which is no use for my next destination. I will turn left to swing my heading off this wall and back toward the open floor, where the roped posts stand.", + "The swing has brought the service door, a column base and one black post with red rope into the left of my view, so I am rotating the right way. Another left turn should carry my heading further along the rope line toward the stanchion row on that side of the hall.", + "The columns and the roped barrier now sit ahead of me with open parquet opening to the left. I will keep turning left so my heading crosses the room toward the stanchion row rather than into this corner wall.", + "The sunflower canvas and the bench alcove have come into the left of my view, meaning the far side of the gallery is swinging into frame while the roped posts drift to my right. One more left turn should bring the stanchion line along that wall squarely ahead of me.", + "The columns and bench run are centered now, but the black posts with their ropes still lie beyond the left edge of my view. Turning left once more should place that stanchion row in front of me so I can walk straight at it.", + "The line of black posts strung with red rope now stands clearly on the left of my view, across a stretch of open parquet. With nothing between me and it, I will walk forward to close that gap toward the stanchion row.", + "The roped stanchion posts along the left wall are still several paces off, sitting at the edge of my view beyond the sunflower canvas. I will step forward again to close that gap on the left-hand rope line.", + "The stanchion row on my left has grown noticeably larger, with one post and its rope now near the left edge of my view. Another step forward should bring me alongside that roped line.", + "Only the nearest stanchion post still shows at my left margin, so the roped line is now close beside my path. I keep walking forward to draw level with it.", + "The column plinth ahead fills most of my view and the roped posts have slipped past my left shoulder, which tells me I am nearly level with that row. One more step should place me right at it.", + "I am up against the plinth at the left-hand roped row, its column bases within arm's reach. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x-000119_y-000106_z000098_t1_a/infos.json b/dataset/trajectory/Museum/task_x-000119_y-000106_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28f34059732f33165afc78d7e1dfb214c61d5c2a --- /dev/null +++ b/dataset/trajectory/Museum/task_x-000119_y-000106_z000098_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Locate the painting depicting a person riding a horse on the gallery wall, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -118.785, + -106.141, + 98.275, + 0.0, + 99.68, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -118.785, + -106.141, + 98.275, + 0.0, + 99.68, + -0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + 124.68, + -0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + 149.68, + -0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -110.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -85.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -60.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -35.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -10.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + 14.68, + -0.0 + ], + [ + 2.965, + -74.246, + 98.275, + 0.0, + 14.68, + -0.0 + ], + [ + 2.965, + -74.246, + 98.275, + 0.0, + 39.68, + -0.0 + ], + [ + 99.829, + 6.115, + 98.275, + 0.0, + 39.68, + -0.0 + ], + [ + 196.693, + 86.476, + 98.275, + 0.0, + 39.68, + -0.0 + ], + [ + 293.557, + 166.837, + 98.275, + 0.0, + 39.68, + -0.0 + ], + [ + 384.009, + 173.113, + 98.275, + 0.0, + 39.68, + -0.0 + ], + [ + 384.009, + 173.113, + 98.275, + 0.0, + 39.68, + -0.0 + ], + [ + 384.009, + 173.113, + 98.275, + 0.0, + 39.68, + -0.0 + ] + ], + "Rationale": [ + "From where I stand, the only fully visible canvas is a hazy cityscape on the left wall, and the marble pedestal with its columns blocks most of the room ahead. Nothing here shows a rider on horseback, so I will pivot to the right to bring an unseen stretch of gallery wall into view. Turning in place keeps my position while opening up new picture surfaces to inspect.", + "The rotation has revealed a long roped-off wall lined with seascapes and small portraits, but none of them depicts a person riding a horse. The hall clearly continues further to my right, past the edge of my current view. I will keep turning right to sweep along that receding row of frames.", + "A much larger hall has opened ahead, with a glass pyramid display and a big framed portrait of a woman on the far wall. Those subjects are faces and ships, not a horseman, so the target is still elsewhere. I will continue the rightward sweep to check the walls that remain hidden behind me.", + "Now I can see both flanking walls of the wide hall crowded with portraits and landscapes, yet no canvas shows a rider mounted on a horse. Since scanning from this spot costs no travel, another right pivot is the cheapest way to cover the remaining arc. I will turn again and read the next set of frames.", + "The sweep has brought a column and another pedestal into the right foreground, with more portraits and a glowing interior scene along the wall. None of these matches a person on horseback. I will keep rotating right so the blocked area behind that column comes into view.", + "Directly ahead the pedestal, chairs and columns take up most of my view, leaving only a few paintings readable at the edges, and a large female portrait sits on the right wall. This is still not the equestrian canvas I am looking for. Another right turn should carry my gaze past this obstruction to the wall beyond it.", + "The wall now facing me carries two dark female portraits and small cloud studies behind the rope line, none of them the horse-and-rider subject. The room clearly continues to the right where more hanging space is still hidden. I will keep the rotation going to inspect that next section.", + "Along this wall I can read a night scene, cloud studies, two portraits and some warm interior canvases further right, but no painting of a person riding a horse. The row of frames keeps extending past the right edge of what I can see. I will turn right again to continue examining that receding line of artwork.", + "The wall in front of me holds only portraits, small cloud studies and interior scenes, with nothing showing a horse or rider. Since this stretch of the gallery does not contain the target, I will keep pivoting right to bring the next section of wall into view.", + "Rotating has opened up a view down a long vaulted hall, with dark portraits on the left wall and benches on the floor ahead, still no equestrian subject. I will continue turning right so the far side of this hall and its paintings come into my field of view.", + "I am now looking straight down the long gallery, and the right-hand wall carries a row of large canvases that I cannot yet read clearly from this angle. Another right rotation should square those right-wall works up in front of me so I can check them for the horse and rider.", + "On the right-hand wall I can now make out a framed painting of a rider mounted on a brown horse, which matches the subject I am searching for. The floor between the benches and the rope stanchions is clear, so I will walk forward to close the distance toward that wall.", + "The equestrian canvas sits on the wall to my right rather than straight ahead, so walking on my current heading would carry me past it down the hall. I will turn right to bring that painting and its stretch of wall into the center of my view before continuing.", + "The painting of the rider on the horse is now clearly in view along the wall ahead of me, with the rope barrier running below it. The floor in front is unobstructed, so I will step forward to reduce the remaining distance to that canvas.", + "The horse painting has grown noticeably larger and is holding position in my view, confirming I am tracking toward the right target. I will keep walking forward along the open floor to bring myself close in front of it.", + "I am now close to the wall, with the mounted rider and horse filling a large part of the canvas directly ahead of me. A further step forward should place me right at the barrier in front of this painting.", + "The equestrian canvas with the horse's legs and dark body is now directly beside me on the right wall, confirming this is the painting the task describes. I will take one more step along the wall to bring myself level with it, just outside the rope barrier that keeps me from the wall. This short advance should place me close enough for the painting to dominate my view.", + "I am standing right at the barrier in front of the target canvas, but from this close my view only catches the horse's legs and lower body while the upper part of the frame is cut off above me. Tilting my gaze upward should reveal the rider seated on the horse and confirm the full subject of the painting.", + "Directly in front of me hangs the large framed painting showing a rider mounted on a horse. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x-000119_y-000106_z000098_t1_b/infos.json b/dataset/trajectory/Museum/task_x-000119_y-000106_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c89ed8d9b3361deb4f92078e4415e823aff42eff --- /dev/null +++ b/dataset/trajectory/Museum/task_x-000119_y-000106_z000098_t1_b/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Determine where the painting showing two figures seen from behind with a circular element hangs in this exhibition hall; once found, make your way over to it.", + "Type": 1, + "Start_Pose": [ + -118.785, + -106.141, + 98.275, + 0.0, + 99.68, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -118.785, + -106.141, + 98.275, + 0.0, + 99.68, + -0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + 74.68, + -0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + 49.68, + -0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + 24.68, + -0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -0.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -25.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -50.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -75.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -100.32, + 0.0 + ], + [ + -118.785, + -106.141, + 98.275, + 0.0, + -125.32, + 0.0 + ], + [ + -191.549, + -208.834, + 98.275, + 0.0, + -125.32, + 0.0 + ], + [ + -191.549, + -208.834, + 98.275, + 0.0, + -150.32, + 0.0 + ], + [ + -300.896, + -271.154, + 98.275, + 0.0, + -150.32, + 0.0 + ], + [ + -410.243, + -333.473, + 98.275, + 0.0, + -150.32, + 0.0 + ], + [ + -519.59, + -395.793, + 98.275, + 0.0, + -150.32, + 0.0 + ], + [ + -628.937, + -458.113, + 98.275, + 0.0, + -150.32, + 0.0 + ], + [ + -628.937, + -458.113, + 98.275, + 0.0, + -175.32, + 0.0 + ], + [ + -754.277, + -460.072, + 98.275, + 0.0, + -175.32, + 0.0 + ], + [ + -879.573, + -460.071, + 98.275, + 0.0, + -175.32, + 0.0 + ], + [ + -1004.885, + -460.072, + 98.275, + 0.0, + -175.32, + 0.0 + ], + [ + -1130.182, + -460.072, + 98.275, + 0.0, + -175.32, + 0.0 + ], + [ + -1130.182, + -460.072, + 98.275, + 0.0, + -150.32, + 0.0 + ], + [ + -1130.182, + -460.072, + 98.275, + 0.0, + -125.32, + 0.0 + ], + [ + -1130.182, + -460.072, + 98.275, + 0.0, + -100.32, + 0.0 + ], + [ + -1130.182, + -460.072, + 98.275, + 0.0, + -75.32, + 0.0 + ], + [ + -1130.182, + -460.072, + 98.275, + 0.0, + -75.32, + 0.0 + ], + [ + -1130.182, + -460.072, + 98.275, + 0.0, + -75.32, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I can only see a single cityscape canvas on the wall ahead and a marble pedestal with urns blocking much of the room to my right. Nothing here shows two figures viewed from behind with a circular element, so I need a wider sense of this hall. I will turn left to sweep my view along the picture wall and open up the unseen part of the gallery.", + "The rotation has brought a longer stretch of the roped-off wall into view, with a horse and rider, a golden abstract and the cityscape, but none of them shows two figures from behind with a circular element. The wall clearly continues further to my left beyond the frames I can see. I will keep turning left to follow that run of paintings.", + "Now a deep row of framed works stretches away down the hall, including portraits and a violet canvas, yet still nothing with two backs turned and a round motif. The far end of the room and the opposite side remain outside my field of view. Another left turn should reveal that unexplored part of the exhibition space.", + "The vaulted hall now opens up ahead with benches on the floor and a distant arched passage, and I can see both sides of the display wall from here without spotting the painting described. The wall to my left is still only partially in view. I will continue turning left to inspect it.", + "Looking straight down the centre of the hall, I see rows of framed works on both long walls and the benches in the middle, but nothing with a circular element framing two figures seen from behind. The nearer left wall carries several dark portraits I have not examined closely. I will turn left again to bring that wall in front of me.", + "The left wall is now facing me and shows portraits, a moonlit seascape and a small cloud study, all clearly different from the painting I am looking for. This stretch is close by and can be ruled out quickly. I will keep rotating left to continue the sweep toward the section behind the columns.", + "Directly ahead are the two pale female portraits and a lit interior scene, none of which matches the subject described in the task. To my left the tall columns and a pedestal begin to close off the view, hinting at another bay of the gallery beyond them. I will turn left once more to look into that area.", + "The pedestal with its urns and the chairs now sit in front of me, with a portrait to the right and small canvases to the left, and still no painting of two figures with a circular element. The wall past the columns on my left is the part of the hall I have not yet seen. I will turn left to bring that stretch of wall into view.", + "From here the columned pedestal with its stacked chairs blocks a large part of the wall ahead, and the only clear canvas in front of me is a single female portrait, which does not match the two figures with a circular element I am looking for. I will keep rotating left to bring the next stretch of hanging wall into view and continue the survey of this hall.", + "The rotation has opened up a long picture wall on my left, and among the frames there is a rounded, oval shaped work with dark standing figures that could be the painting described in the task. It is still far away and partly hidden behind the pedestal on my right, so I will walk forward to close distance and get a clearer look at that candidate.", + "After stepping forward the marble pedestal and its column fill most of my view on the right, while the gallery run with the oval two figure canvas continues off to my left. I will turn left so my heading follows that picture wall and the corridor ahead opens up for a straight approach.", + "Now the corridor runs clear in front of me, with the roped off wall of paintings on my right and the oval framed work showing two upright figures set among them. Nothing blocks the floor ahead, so I will walk forward to close the remaining distance to that canvas.", + "The oval canvas with the two standing figures is noticeably larger on the right wall now, which confirms I am on the correct line of approach. I will keep walking forward along the open floor beside the rope barrier.", + "The gold framed interior scene on the right is passing close beside me, and the oval work with the two dark figures sits just beyond it further along this wall. The aisle in front of the stanchions is still clear, so I will continue advancing toward it.", + "I am now close along the right hand wall, with the ornate gold frame filling much of that side and the wall section holding the oval painting only a short way ahead. One more step forward should place me level with that part of the display.", + "Standing this close to the wall, the nearby gold frame and the rope posts crowd almost my whole view and I can no longer see the corridor line I have been following. I will turn left to swing my heading back along the hall so the remaining wall section and the room ahead come into view.", + "Scanning down this stretch of the hall, the large dark panel on the wall to my right carries an oval canvas with two shadowy figures set against a glowing background, which matches the painting I am looking for. The floor between the stanchions and the wall is clear, so I will walk forward to close the distance instead of continuing to look around. This should bring the piece nearer and let me confirm the two figures and the circular element.", + "The oval work in its heavy dark frame has grown larger on my right, and I can now make out the tall silhouetted forms inside the circular opening. It is still well ahead of my shoulder line, so I will keep walking forward along the barrier line. Continuing straight should place me level with that section of wall.", + "The target panel with its oval canvas now dominates the upper right of my view, but I am still short of standing directly beneath it. I will take another step forward along the roped-off wall to reach a proper viewing position. Nothing blocks the walkway, so the approach can simply continue.", + "I am nearly abreast of the dark panel holding the oval painting, with its wall label plaques already beside me on the right. One more step forward should put me squarely in front of that section of wall rather than slightly short of it. After that I can turn to face the work itself.", + "I have reached the stretch of wall where the dark panel with the oval canvas hangs, and it is now off to my right rather than ahead. Walking further along the corridor would only carry me past it, so I will turn right to begin facing the wall. This first turn should swing the framed work toward the center of my view.", + "The wall is coming around into view, with the labels and the corner of the heavy dark frame now visible on the right side. I am still angled along the hall rather than square to the painting, so I will turn right again. This should bring the oval work closer to the middle of my view.", + "Facing further into the wall, the deep reddish-brown panel now fills the upper right while the two label plaques sit to its left. The painting itself hangs above my current line of sight, so I need to be squarely under it before looking up. Another right turn should finish squaring me to the wall.", + "I am now standing close under the mounted panel, seeing only its underside and the curved edge of the oval frame above the bare wall. A final right turn should center that frame overhead so the painted surface sits directly in front of me. From there I can raise my gaze to take in the two figures and the circular element.", + "I am now standing right in front of the large dark wooden panel, but at this range my view catches only its lower edge and the bottom curve of the oval element above me. Tilting my gaze upward should bring the full oval and the two figures into view so I can confirm this is the painting described in the task.", + "Directly before me hangs the oval-framed painting with two back-turned figures. The target artwork is reached and identified, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x-001055_y-000234_z000098_t2_a/infos.json b/dataset/trajectory/Museum/task_x-001055_y-000234_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6de93d6adbe6402d06e9a10160b63e547acebe38 --- /dev/null +++ b/dataset/trajectory/Museum/task_x-001055_y-000234_z000098_t2_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Walk to the right group of pillars.", + "Type": 2, + "Start_Pose": [ + -1054.783, + -234.253, + 98.275, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1054.783, + -234.253, + 98.275, + 0.0, + 172.8, + -0.0 + ], + [ + -1056.129, + -235.598, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1175.963, + -274.073, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1295.797, + -312.547, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1415.631, + -351.022, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1535.465, + -389.496, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1655.299, + -427.971, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1717.347, + -459.963, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1717.347, + -459.963, + 98.275, + 0.0, + -162.2, + 0.0 + ] + ], + "Rationale": [ + "Two clusters of white columns flank the large oval portrait, and the one standing to its right, beside the corner with the darker paintings, is where I am headed. It sits off toward my right edge, so I turn right to bring that cluster into the middle of my view.", + "The turn has brought the columns on their marble plinth into the right half of my view, with the roped-off floor open between me and them. Nothing blocks the way, so I step forward to close the distance.", + "The pair of columns and the plinth carrying them have grown noticeably larger and now sit near the center of my view. I am still several strides short of them, so I keep walking straight ahead.", + "The two column shafts and the metal-banded bases on the marble plinth fill more of my view, and the rope stanchions in front of them are clearly separated now. I advance again to close the remaining gap.", + "The plinth with its columns now dominates the middle of my view, though the roped barrier still stands between us. My heading is straight onto it, so another forward step is all that is needed.", + "I am close enough that the banded column bases and the marble face of the plinth fill most of my view, with only a short stretch of floor and the rope line left. I step forward once more to finish the approach.", + "The columns and their plinth are directly in front of me and nearly fill my view, so only a short step remains before I am standing right at them. I move forward a final time to settle into position.", + "The banded bases of the columns and their marble plinth stand immediately in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x-001055_y-000234_z000098_t2_b/infos.json b/dataset/trajectory/Museum/task_x-001055_y-000234_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ecde387c07b381ae503d2095eb89e8026c242906 --- /dev/null +++ b/dataset/trajectory/Museum/task_x-001055_y-000234_z000098_t2_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the left pillar group.", + "Type": 2, + "Start_Pose": [ + -1054.783, + -234.253, + 98.275, + 0.0, + 172.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1054.783, + -234.253, + 98.275, + 0.0, + 172.8, + -0.0 + ], + [ + -1180.995, + -219.824, + 98.275, + 0.0, + 172.8, + -0.0 + ], + [ + -1305.862, + -204.05, + 98.275, + 0.0, + 172.8, + -0.0 + ], + [ + -1305.862, + -204.05, + 98.275, + 0.0, + 147.8, + -0.0 + ], + [ + -1412.363, + -136.982, + 98.275, + 0.0, + 147.8, + -0.0 + ], + [ + -1518.864, + -69.915, + 98.275, + 0.0, + 147.8, + -0.0 + ], + [ + -1625.365, + -2.848, + 98.275, + 0.0, + 147.8, + -0.0 + ], + [ + -1719.93, + 59.001, + 98.275, + 0.0, + 147.8, + -0.0 + ], + [ + -1717.347, + 103.437, + 98.275, + 0.0, + 147.8, + -0.0 + ], + [ + -1717.347, + 103.437, + 98.275, + 0.0, + 147.8, + -0.0 + ] + ], + "Rationale": [ + "From the doorway I see two clusters of white columns flanking the large oval portrait, one on its marble plinth to the left of the painting and a matching one to the right. The left cluster, the one standing beside the smaller framed pictures on that wall, is my target. I step forward to close the open floor between us.", + "The columns and their plinth on the left side of the portrait are noticeably larger now, so my heading is carrying me into the room correctly. I still have several strides of bare floor before the rope stanchions in front of them. I keep walking straight ahead.", + "The pillars I want sit well off to the left of my heading, while the portrait dominates the middle of my view and the other column group hugs the right edge. Walking straight would take me past them toward the far wall. I turn left to put that column group and its plinth ahead of me.", + "The turn worked, and the columns on their marble plinth now stand near the middle of my view with the portrait pushed to the right. The path across the floor to them is clear. I walk forward to shorten the distance.", + "The plinth and its columns are directly ahead and growing, with the rope stanchions still a few paces off. Nothing blocks the parquet between us. I continue straight toward them.", + "The marble plinth now fills much of my forward view and the column bases sit above eye level of the barrier posts. I am close but not yet at the rope line. Another step forward should bring me right up to the group.", + "The columns and their pedestal now occupy nearly the whole view, with the ropes just in front of me. A short additional step should place me as near as the barrier allows. I move forward again.", + "I am practically at the rope in front of the pedestal, with the column bases and their metal collars filling my view. Only a small residual gap remains before the barrier stops me. I take one last short step to stand right at the column group.", + "The pedestal and its column bases fill my view at arm's length, with the rope post beside me. I have arrived at this column group, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x-001055_y-000234_z000098_t5_a_p/infos.json b/dataset/trajectory/Museum/task_x-001055_y-000234_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b67318a36188777b6effa1018f0677da49f30f19 --- /dev/null +++ b/dataset/trajectory/Museum/task_x-001055_y-000234_z000098_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Pick up the ceramic vase at the right group of pillars.", + "Type": 5, + "Start_Pose": [ + -1054.783, + -234.253, + 98.275, + 0, + 172.8, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1926.51, + -295.238, + 28.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1054.783, + -234.253, + 98.275, + 0, + 172.8, + 0 + ], + [ + -1180.995, + -219.824, + 98.275, + 0.0, + 172.8, + -0.0 + ], + [ + -1305.862, + -204.05, + 98.275, + 0.0, + 172.8, + -0.0 + ], + [ + -1430.728, + -188.275, + 98.275, + 0.0, + 172.8, + -0.0 + ], + [ + -1430.728, + -188.275, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1550.563, + -226.75, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1670.397, + -265.224, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1790.231, + -303.699, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1790.231, + -303.699, + 98.275, + 0.0, + -162.2, + 0.0 + ], + [ + -1790.231, + -303.699, + 98.275, + 0.0, + -162.2, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1926.51, + -295.238, + 28.275, + 0.0, + 0.0, + 0.0 + ], + [ + -1926.51, + -295.238, + 28.275, + 0.0, + 0.0, + 0.0 + ], + [ + -1926.51, + -295.238, + 28.275, + 0.0, + 0.0, + 0.0 + ], + [ + -1926.51, + -295.238, + 28.275, + 0.0, + 0.0, + 0.0 + ], + [ + -1926.51, + -295.238, + 28.275, + 0.0, + 0.0, + 0.0 + ], + [ + -1926.51, + -295.238, + 28.275, + 0.0, + 0.0, + 0.0 + ], + [ + -1926.51, + -295.238, + 28.275, + 0.0, + 0.0, + 0.0 + ], + [ + -1926.51, + -295.238, + 28.275, + 0.0, + 0.0, + 0.0 + ], + [ + -1783.122, + -323.844, + 68.381, + -28.202, + -112.055, + 1.862 + ], + [ + -1783.122, + -323.844, + 68.381, + -28.202, + -112.055, + 1.862 + ] + ], + "PD_Dist_2D": [ + 872.4, + 749.3, + 627.3, + 507.2, + 507.2, + 382.1, + 257.9, + 136.5, + 21.4, + 21.4 + ], + "Rationale": [ + "From the gallery entrance I can see two roped-off pillar groups flanking the large oval portrait, and a slim white ceramic vase stands on the floor beside the right group. It is still far across the parquet, so I will walk forward to close that distance before refining my heading.", + "The portrait and the flanking pillars have grown larger, confirming I am heading into the right part of the hall where the ceramic vase stands. Nothing blocks the open floor ahead, so I will keep walking straight to shorten the remaining distance.", + "The vase beside the right pillar group is now clearly visible against the wall, but it is still several paces away and slightly right of my heading. I will continue forward to get within reach before adjusting direction.", + "I am close enough that the vase now sits noticeably right of my forward path, so walking straight would carry me past it toward the portrait wall instead. Turning right should bring the vase and the right pillar pedestal into the center of my view for a straight approach.", + "The ceramic vase now sits ahead of me on the floor between the painting and the roped pedestal of the right pillars, matching the target described in the task. The path across the parquet toward it is clear, so I will step forward.", + "The vase is bigger in view but still beyond arm's reach, standing just outside the red rope line. I will take another step forward to close the gap before attempting a grasp.", + "The tall white vase with red flower motifs now fills much of the left foreground, yet it is still a stride away from a comfortable grasp. One more forward step should bring me right beside it so I can reach down and take it.", + "I am standing directly beside the ceramic vase at the right group of pillars, close enough that it dominates the near view and no rope stands between us. This is the target named in the task, so I will attempt to pick it up now.", + "The ceramic vase is now held in my hands, no longer standing by the pillars. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x000229_y000021_z000098_t3_a/infos.json b/dataset/trajectory/Museum/task_x000229_y000021_z000098_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f0cedbde62e7697945cd9f5030b7f921379eea20 --- /dev/null +++ b/dataset/trajectory/Museum/task_x000229_y000021_z000098_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the sculpture in the center, then head toward the pair of gray chairs against the right wall.", + "Type": 3, + "Start_Pose": [ + 228.802, + 20.766, + 98.275, + 0.0, + -160.32, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 228.802, + 20.766, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + 110.295, + -21.619, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -8.213, + -64.004, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -126.72, + -106.389, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -126.72, + -106.389, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -252.037, + -94.72, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -377.354, + -83.05, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -502.671, + -71.381, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -627.987, + -59.712, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -627.987, + -59.712, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -746.495, + -102.097, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -746.495, + -102.097, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -659.492, + -70.979, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -659.492, + -70.979, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -659.492, + -70.979, + 98.275, + 0.0, + -110.32, + 0.0 + ], + [ + -659.492, + -70.979, + 98.275, + 0.0, + -85.32, + 0.0 + ], + [ + -659.492, + -70.979, + 98.275, + 0.0, + -60.32, + 0.0 + ], + [ + -659.492, + -70.979, + 98.275, + 0.0, + -35.32, + 0.0 + ], + [ + -556.799, + -143.744, + 98.275, + 0.0, + -35.32, + 0.0 + ], + [ + -454.106, + -216.508, + 98.275, + 0.0, + -35.32, + 0.0 + ], + [ + -351.413, + -289.273, + 98.275, + 0.0, + -35.32, + 0.0 + ], + [ + -351.413, + -289.273, + 98.275, + 0.0, + -35.32, + 0.0 + ] + ], + "Rationale": [ + "The glass pyramid sculpture sits in the middle of the hall ahead of me, still far off across the parquet floor. The pair of gray chairs stands further along the right wall, but the sculpture comes first, so I will walk straight forward to close the gap.", + "The pyramid has grown larger and the flanking rope stanchions are now clearly separated, confirming I am gaining ground on it. Nothing blocks the open floor between us, so I will keep walking forward.", + "The pyramid now occupies a good portion of the view and its metal ribs are distinct, so I am well within the central hall. It still lies a bit left of my heading, but there is plenty of clear floor to cover first, so I will step forward again.", + "The pyramid has drifted noticeably left of my heading while the right wall paintings dominate the view, so walking straight would carry me past it. I will turn left to bring the sculpture back onto my forward line before advancing further.", + "The turn worked, and the glass pyramid now sits squarely ahead framed by the arched end of the hall. With my heading aligned on it, I will walk forward to close the remaining distance.", + "The pyramid is visibly closer, its glass panels and base rail now distinct, and it remains centered on my heading. I will keep walking straight toward it.", + "The sculpture now fills much of the lower view and I can see the frame joints along its sloping face, so only a short stretch of floor remains. I will step forward again to reach it.", + "I am nearly beside the pyramid now, its glazed flank sweeping across the right of my view at close range. One more step forward should bring me level with the sculpture in the center of the hall.", + "The glass pyramid has slid off to my right and now crowds the right edge of my view while the empty floor and left wall dominate ahead. I will turn right to bring the sculpture back in front of me so my remaining approach runs straight at it.", + "The glass pyramid is now squarely ahead of me, its near edge just a short stretch of parquet away with no stanchions between us. I will step forward to close that last gap and stand at the sculpture in the middle of the hall.", + "The glass pyramid now fills the whole lower half of my view, its ridge running away from me right at my feet in the middle of the hall. I have reached the sculpture. I mark arriving here before setting off for the pair of gray chairs standing against the wall on my right.", + "I am pressed right against the pyramid's sloping glass face, which leaves me no room to swing my heading around toward the chairs by the wall. Backing up a short way should open enough clearance from the sculpture for a clean turn.", + "I have a little floor behind me now, and the chairs I want stand off to my right along the side wall, well outside my current forward view. I will turn right to begin swinging my heading off the sculpture and toward that wall.", + "The pyramid has slipped to my left and the roped picture wall on the right side of the hall is coming into view, but I still see only paintings and stanchions, no seating. I will keep turning right to sweep further along that wall.", + "I am now facing the rope line and the framed pictures square on, with only the corner of the sculpture left in the bottom left. The chairs must lie further along to the right, so I will continue rotating that way.", + "The pyramid is fully behind me and the pale columns on their marble base are entering the right edge of my view, which is the stretch of wall where the chairs sit. Another turn to the right should bring that seating into the center of my view.", + "The two gray chairs tucked against the marble pillar base are now visible ahead of me on the right side of my view, with the rope line running along the wall past them. One more turn to the right should put them squarely in front of me and open the clear stretch of floor I need to walk.", + "The pair of gray chairs against the pillared right wall is now framed ahead of me, with unobstructed parquet between us. I will walk forward to close that gap.", + "The two gray chairs have grown noticeably larger against the marble plinth, so my heading is carrying me straight to them. Another step forward should bring me close alongside the pair.", + "The chairs now fill much of the lower left of my view, but I am still a stride short of standing beside them. One more step forward should place me right at the pair.", + "The two gray chairs stand immediately beside me at the pillar base along the right wall. The task is complete, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Museum/task_x000229_y000021_z000098_t3_b/infos.json b/dataset/trajectory/Museum/task_x000229_y000021_z000098_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5c2c5535ce696e38321a9d330fe05002ce4c9cc6 --- /dev/null +++ b/dataset/trajectory/Museum/task_x000229_y000021_z000098_t3_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Navigate to the chair against the right wall, then reach the sculpture in the center.", + "Type": 3, + "Start_Pose": [ + 228.802, + 20.766, + 98.275, + 0.0, + -160.32, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 228.802, + 20.766, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + 228.802, + 20.766, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + 139.311, + -67.731, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + 49.819, + -156.229, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -39.672, + -244.726, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -129.164, + -333.223, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -129.164, + -333.223, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -129.164, + -333.223, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -129.164, + -333.223, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -221.063, + -301.099, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -346.38, + -289.43, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -471.697, + -277.76, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -597.014, + -266.091, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -722.331, + -254.421, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -722.331, + -254.421, + 98.275, + 0.0, + 174.68, + -0.0 + ] + ], + "Rationale": [ + "From here the gallery runs ahead of me, with the glass pyramid sculpture sitting in the middle of the floor and a pair of chairs set against the wall on my right, beside the marble pillar base. Since the chairs are my first destination, I will turn right to put them in front of me before walking.", + "The two chairs by the right wall now sit near the middle of my view, tucked against the marble base under the columns, with open parquet between me and them. I will walk forward to close that gap.", + "The chairs and the plinth behind them have grown larger and shifted slightly left, so my heading is still carrying me toward them. The floor stays clear, so I will keep walking.", + "The pair of chairs against the right wall is now clearly ahead on my left, with the column base towering beside them. A few more steps should bring me right up to them, so I will advance again.", + "The chairs are close now, filling the lower left of my view against the marble plinth. One more step forward should put me directly beside them at the wall.", + "The chairs are right at my feet against the marble plinth of the wall columns, so close that the moulding and column bases fill my view. I have reached the chairs by the right wall. I mark arriving here, and now I set off for the glass pyramid sculpture out on the open floor of the hall.", + "Standing against the wall, the plinth and column bases block nearly everything in front of me, and the open hall with the glass pyramid lies off to my left. I will turn left to swing my view away from the wall and back toward the centre of the room.", + "The turn has opened up the hall, and the faceted glass pyramid is now visible out on the parquet toward my left, with the plinth still crowding my right. Another left turn should bring the sculpture into the middle of my view so I can walk straight at it.", + "My heading now runs down the open hall with the glass pyramid sitting on the floor ahead of me, just left of center, and the seating I came to is behind my shoulder. The lane between the rope stanchions is clear, so I will walk forward to begin closing that distance.", + "The pyramid has grown larger and sits close to the middle of my view, confirming my heading is good. Nothing blocks the floor between me and it, so I will keep walking straight toward it.", + "The mirrored pyramid now occupies a good share of the lower view and its base edges are clearly resolved, so I am well inside the central hall. I still have several paces of clear parquet before it, so another step forward should bring me nearer.", + "The pyramid's glass panels and frame struts are now distinct directly ahead of me, and it is drifting slightly to my left as I close in. A short gap of floor still separates us, so I will step forward again.", + "The sculpture's sloping glass face now dominates the near half of my view, so I am nearly beside it. One more step should put me right at its edge, within arm's reach.", + "The glass pyramid's edge is directly beside me, filling the near view within arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Museum/task_x000229_y000021_z000098_t5_a_pd/infos.json b/dataset/trajectory/Museum/task_x000229_y000021_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c3dd3d6d022e9aa50b81dcbf145f6ca76090187e --- /dev/null +++ b/dataset/trajectory/Museum/task_x000229_y000021_z000098_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Lift the metal bucket beside the central sculpture, then leave it near the bench on the right wall.", + "Type": 5, + "Start_Pose": [ + 228.802, + 20.766, + 98.275, + 0, + -160.32, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -649.015, + -151.746, + 20.275, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 228.802, + 20.766, + 98.275, + 0, + -160.32, + 0 + ], + [ + 110.295, + -21.619, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -8.213, + -64.004, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -126.72, + -106.389, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -245.227, + -148.774, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -363.735, + -191.159, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -363.735, + -191.159, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -489.052, + -179.49, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -489.052, + -179.49, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -489.052, + -179.49, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -489.052, + -179.49, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -489.052, + -179.49, + 98.275, + 0.0, + -110.32, + 0.0 + ], + [ + -489.052, + -179.49, + 98.275, + 0.0, + -85.32, + 0.0 + ], + [ + -489.052, + -179.49, + 98.275, + 0.0, + -60.32, + 0.0 + ], + [ + -489.052, + -179.49, + 98.275, + 0.0, + -35.32, + 0.0 + ], + [ + -386.359, + -252.254, + 98.275, + 0.0, + -35.32, + 0.0 + ], + [ + -286.865, + -304.174, + 98.275, + 0.0, + -35.32, + 0.0 + ], + [ + -345.612, + -262.548, + 98.275, + 0.0, + -35.32, + 0.0 + ], + [ + -345.612, + -262.548, + 98.275, + 0.0, + -35.32, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -649.015, + -151.746, + 20.275, + 0.0, + 0.0, + 0.0 + ], + [ + -649.015, + -151.746, + 20.275, + 0.0, + 0.0, + 0.0 + ], + [ + -649.015, + -151.746, + 20.275, + 0.0, + 0.0, + 0.0 + ], + [ + -649.015, + -151.746, + 20.275, + 0.0, + 0.0, + 0.0 + ], + [ + -649.015, + -151.746, + 20.275, + 0.0, + 0.0, + 0.0 + ], + [ + -649.015, + -151.746, + 20.275, + 0.0, + 0.0, + 0.0 + ], + [ + -649.015, + -151.746, + 20.275, + 0.0, + 0.0, + 0.0 + ], + [ + -649.015, + -151.746, + 20.275, + 0.0, + 0.0, + 0.0 + ], + [ + -490.424, + -200.809, + 68.381, + -28.202, + -135.175, + 1.862 + ], + [ + -480.957, + -200.291, + 68.654, + -28.189, + -110.163, + 1.872 + ], + [ + -473.323, + -195.613, + 67.987, + -28.215, + -85.193, + 1.849 + ], + [ + -466.059, + -193.834, + 68.041, + -14.092, + -67.976, + 6.87 + ], + [ + -467.693, + -177.303, + 68.057, + -28.208, + -35.178, + 1.851 + ], + [ + -469.756, + -167.888, + 68.725, + -28.198, + -10.174, + 1.867 + ], + [ + -475.662, + -160.881, + 68.372, + -28.195, + 14.825, + 1.865 + ], + [ + -374.752, + -234.306, + 68.782, + -28.195, + 14.83, + 1.87 + ], + [ + -275.319, + -286.183, + 68.976, + -28.193, + 14.829, + 1.871 + ], + [ + -288.496, + -303.018, + 58.275, + 0.0, + -35.32, + 0.0 + ], + [ + -288.496, + -303.018, + 58.275, + 0.0, + -35.32, + 0.0 + ] + ], + "PD_Dist_2D": [ + 894.6, + 770.4, + 646.8, + 524.3, + 403.8, + 288.0, + 288.0, + 162.4, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 22.5, + 22.9, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The metal bucket sits far down the hall at the foot of the low pyramid sculpture in the center of the gallery. My heading already points straight at it along the open parquet aisle, so no turn is needed yet. I will walk forward to close that distance.", + "The bucket and the pyramid it stands against are noticeably larger in front of me, confirming my heading is good. The aisle between the roped stanchions stays clear. I will keep walking forward toward the bucket.", + "The dark metal bucket is now clearly resolved at the near edge of the pyramid sculpture, slightly left of my center line. It is still several strides away, too far to reach. I will continue advancing.", + "The bucket now fills a good part of the lower view and drifts a little to my left as I close in. It remains beyond arm's reach, so grasping now would be premature. I will step forward again.", + "The bucket is close to the sculpture edge but has slid toward the left side of my view, meaning my path is passing slightly to its right. Another stride should bring me level with it before I correct my heading. I will move forward.", + "The bucket now sits large in the lower left corner of my view, off my forward axis, so walking straight would carry me past it. Rotating left should bring it back to the center of my view for a clean approach. I will turn left.", + "The turn has placed the bucket squarely in the middle of my view against the pyramid's near corner. It is still a short step out of reach for a grasp. I will walk forward to stand right over it.", + "The metal bucket is directly in front of me, its open rim filling the lower view at arm's length with nothing between us. This is the grasp position the task asks for before carrying it to the bench. I will attempt to pick it up.", + "The grasp worked: the metal bucket is off the floor and in my hands. The bench I must leave it near is along the right wall, so I turn right to swing my heading away from the sculpture toward that side of the hall.", + "With the bucket held, my view now shows the glass sculpture and the far end wall, and no bench appears in this direction. I continue turning right so my heading keeps sweeping toward the roped right-hand wall where the seating should be.", + "This stretch of the right wall shows only framed paintings behind stanchions, with the sculpture edge slipping out of view at my left. Nothing here resembles a bench, so I rotate right again to bring the next section of that wall in front of me.", + "I am still holding the bucket, and the wall ahead is bare floor and rope barriers with no seating. Turning right once more should carry my heading past this blank stretch toward the columned side of the hall.", + "A heavy column base is now entering the right of my view, and a chair leg appears at its edge, which suggests the seating area is just beyond my current heading. I turn right again to bring that area fully in front of me.", + "The seating beside the column pedestal is now centered, confirming the right-wall rest area. I turn right once more to face along the hall so I can walk in with the bucket rather than straight into the pedestal.", + "My heading now runs down the open hall with the chairs and bench seating lining the right wall ahead. Still carrying the bucket, I step forward to close the remaining distance to that seating area.", + "The chairs by the column are now close on my left and the bench line continues along the right wall ahead. I take another step forward with the bucket to reach a spot right beside the seating before setting it down.", + "I am carrying the metal bucket and have reached the row of seats set against the pillar base on this wall, which is now immediately at my side. This is the intended release spot, so I will drop the bucket here and it should come to rest beside that seating.", + "The bucket now stands on the floor right beside the wall seating, and my hands are empty. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Museum/task_x000229_y000021_z000098_t5_b_pd/infos.json b/dataset/trajectory/Museum/task_x000229_y000021_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3f6b171612d38cdf83e10ed13a54408eb86b4126 --- /dev/null +++ b/dataset/trajectory/Museum/task_x000229_y000021_z000098_t5_b_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the plate at the chair against the right wall, then drop it near the sculpture in the center.", + "Type": 5, + "Start_Pose": [ + 228.802, + 20.766, + 98.275, + 0, + -160.32, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -94.413, + -366.273, + 48.275, + 90, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 228.802, + 20.766, + 98.275, + 0, + -160.32, + 0 + ], + [ + 228.802, + 20.766, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + 139.311, + -67.731, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + 49.819, + -156.229, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -39.672, + -244.726, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -39.672, + -244.726, + 98.275, + 0.0, + -135.32, + 0.0 + ], + [ + -39.672, + -244.726, + 98.275, + 0.0, + -160.32, + 0.0 + ], + [ + -39.672, + -244.726, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -164.989, + -233.057, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -290.306, + -221.388, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -415.623, + -209.719, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -540.94, + -198.05, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -666.257, + -186.381, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -594.567, + -193.057, + 98.275, + 0.0, + 174.68, + -0.0 + ], + [ + -594.567, + -193.057, + 98.275, + 0.0, + 174.68, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -94.413, + -366.273, + 48.275, + 90.0, + 0.0, + 0.0 + ], + [ + -94.413, + -366.273, + 48.275, + 90.0, + 0.0, + 0.0 + ], + [ + -94.413, + -366.273, + 48.275, + 90.0, + 0.0, + 0.0 + ], + [ + -94.413, + -366.273, + 48.275, + 90.0, + 0.0, + 0.0 + ], + [ + -94.413, + -366.273, + 48.275, + 90.0, + 0.0, + 0.0 + ], + [ + -24.223, + -259.48, + 68.381, + -28.202, + -85.175, + 1.862 + ], + [ + -32.222, + -263.729, + 68.654, + -28.189, + -110.163, + 1.872 + ], + [ + -41.699, + -264.798, + 67.987, + -28.215, + -135.192, + 1.849 + ], + [ + -166.679, + -254.347, + 67.8, + -28.202, + -135.178, + 1.858 + ], + [ + -291.844, + -242.691, + 68.062, + -28.208, + -135.178, + 1.852 + ], + [ + -416.903, + -231.054, + 68.484, + -28.189, + -135.161, + 1.867 + ], + [ + -541.944, + -219.399, + 68.865, + -28.207, + -135.185, + 1.857 + ], + [ + -667.222, + -207.742, + 69.014, + -28.192, + -135.172, + 1.872 + ], + [ + -664.265, + -186.567, + 68.275, + 90.0, + 174.68, + 0.0 + ], + [ + -664.265, + -186.567, + 68.275, + 90.0, + 174.68, + 0.0 + ] + ], + "PD_Dist_2D": [ + 504.2, + 504.2, + 379.1, + 254.8, + 133.3, + 21.4, + 20.4, + 20.2, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The white plate stands far down the hall on the right, beside the chairs at the base of the right wall, well off my current heading. I will turn right so that the plate and its chairs sit near the center of my view before I start walking toward them.", + "My heading now points down the right side of the gallery, with the plate and the pair of chairs against the right wall clearly ahead. They are still many steps away, so I will walk forward to close that gap.", + "The plate and the chairs beside the marble pedestal have grown larger and remain on my line of travel. The floor between us is clear of stanchions, so I will keep walking forward to shorten the distance for a grasp.", + "The plate now fills a large part of the right side of my view, but it is still a stride or two beyond comfortable reach. I will step forward once more to bring it within grasping range.", + "The plate is right beside me at the chairs against the right wall, close enough that its rim dominates the near edge of my view. I will attempt to pick it up now so I can carry it toward the sculpture.", + "The pick worked, and the plate is now held in my hands instead of resting by the chairs. The sculpture in the middle of the hall lies off to my left, so I will turn left to begin swinging my heading toward it.", + "The glass pyramid sculpture is now visible in the left half of my view, but my heading still points partly at the right wall and its chairs. I will turn left again to place the sculpture closer to the center of my path.", + "The sculpture now sits ahead of me near the middle of the hall with the plate in hand. The open parquet in front is clear, so I will walk forward to carry the plate toward the sculpture.", + "The plate is in my hands and the glass pyramid at the room's center sits squarely ahead of me down the open gallery floor. I still have a long stretch of parquet to cover before I am close enough to release it nearby, so I walk forward along this heading.", + "The pyramid has grown noticeably larger and remains centered, confirming my heading carries the plate straight toward it. The gap is still too wide for a sensible release, so I take another step forward.", + "The glass pyramid now dominates the lower half of my view, but its near edge is still several paces off. Keeping the plate with me, I advance again to close that remaining distance to the center of the hall.", + "I am nearly at the sculpture's base, with its mirrored panels filling most of the floor ahead of me. One more step should place me right beside it, close enough that setting the plate down counts as near the sculpture.", + "The pyramid's mirrored face is directly in front of me and I am standing at its edge, still holding the plate. This is the center-of-room position the task asks for, so I release the plate here and expect it to settle beside the sculpture.", + "The plate rests on the floor at the central sculpture and my hands are empty. The task condition is met, so I stop." + ] +} diff --git a/dataset/trajectory/Museum/task_x000275_y-000024_z-000612_t1_a/infos.json b/dataset/trajectory/Museum/task_x000275_y-000024_z-000612_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4d609c77afa4b99c6c4bf2089f85421678c8b8a3 --- /dev/null +++ b/dataset/trajectory/Museum/task_x000275_y-000024_z-000612_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for an emergency exit sign near the standalone sunflower painting hung on the wall; after locating it, proceed to that exit.", + "Type": 1, + "Start_Pose": [ + 274.804, + -23.682, + -611.725, + 0.0, + 127.04, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 274.804, + -23.682, + -611.725, + 0.0, + 127.04, + -0.0 + ], + [ + 274.804, + -23.682, + -611.725, + 0.0, + 152.04, + -0.0 + ], + [ + 274.804, + -23.682, + -611.725, + 0.0, + 177.04, + -0.0 + ], + [ + 149.113, + -17.183, + -611.725, + 0.0, + 177.04, + -0.0 + ], + [ + 23.422, + -10.684, + -611.725, + 0.0, + 177.04, + -0.0 + ], + [ + -102.269, + -4.184, + -611.725, + 0.0, + 177.04, + -0.0 + ], + [ + -227.96, + 2.315, + -611.725, + 0.0, + 177.04, + -0.0 + ], + [ + -227.96, + 2.315, + -611.725, + 0.0, + -157.96, + 0.0 + ], + [ + -344.622, + -44.914, + -611.725, + 0.0, + -157.96, + 0.0 + ], + [ + -344.622, + -44.914, + -611.725, + 0.0, + -132.96, + 0.0 + ], + [ + -430.393, + -137.022, + -611.725, + 0.0, + -132.96, + 0.0 + ], + [ + -516.165, + -229.129, + -611.725, + 0.0, + -132.96, + 0.0 + ], + [ + -601.936, + -321.236, + -611.725, + 0.0, + -132.96, + 0.0 + ], + [ + -601.936, + -321.236, + -611.725, + 0.0, + -107.96, + 0.0 + ], + [ + -640.745, + -440.962, + -611.725, + 0.0, + -107.96, + 0.0 + ], + [ + -675.747, + -534.311, + -611.725, + 0.0, + -107.96, + 0.0 + ], + [ + -675.747, + -534.311, + -611.725, + 0.0, + -107.96, + 0.0 + ] + ], + "Rationale": [ + "I am facing a wall of framed portraits and none of them is the standalone sunflower painting, and no exit signage is visible here. I will turn right to sweep my view further along the gallery and open up the room beyond this picture wall.", + "Turning has brought a bright yellow field painting into view on the far wall past the columns, but it sits at the edge of my view and I still see no exit signage. I will turn right again to bring that sunflower canvas and the wall around it into the center of my view.", + "The standalone sunflower painting now hangs directly ahead between the columns, and I can make out a small green sign on the far right wall of that bay. I will walk forward to close the distance so I can confirm the exit marking near the painting.", + "The sunflower painting and the green sign beside the grey door on the right wall are growing clearer as I advance across the open floor. I will keep walking forward since the path between the stanchions and the benches is clear.", + "I am now well inside the columned bay with the sunflower painting large ahead of me, confirming this is the standalone canvas named in the task. I will continue forward to reach the area where the exit signage sits so I can head toward that door.", + "The sunflower painting is directly in front of me and the low benches sit against the wall below it, so I still have clear floor to cross. I will step forward once more to get close enough for the right-hand wall and its exit marking to come into view.", + "I am close to the sunflower painting now, and the wall it hangs on continues to my right where I earlier glimpsed a green marker. Since walking straight ahead only leads into the painting's wall, I will turn right to face that side of the bay and confirm the emergency exit sign.", + "The green emergency exit sign is now clearly visible above a grey metal door on the right side of this bay, just past the sunflower painting, so the search target is located. I will walk forward to begin closing on that exit door.", + "The standalone sunflower painting is on the wall to my left, and the green emergency exit sign with its grey door sits well off to the right edge of my view. Since the sign I was told to find is already located, I will turn right to bring that exit door toward the center of my heading before walking to it.", + "The green exit sign and the grey door beneath it are now roughly ahead of me, with open parquet floor and no barrier posts in the direct path. I will step forward to close the distance toward that exit.", + "The exit door and its illuminated sign have grown noticeably larger, confirming my heading is carrying me toward them. I will continue walking forward to keep closing on the exit.", + "The exit door now dominates the right half of my view with the green sign directly above it, so I am only a short distance away. I will take another step forward to reach the doorway itself.", + "I am close to the exit, but the door and its sign sit right of my current heading while the marble column base fills the left of my view. A small turn to the right should square me up with the door before the final steps.", + "The grey emergency door with the green sign above it is now framed ahead of me with clear floor in between. I will walk forward to bring myself right up to the exit.", + "The exit door now fills most of my view and its lever handle is plainly visible, so only a short gap remains. I will take one more step forward to stand directly at the door.", + "I am standing right at the emergency exit door, with its handle directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x000338_y-000444_z-000612_t3_a/infos.json b/dataset/trajectory/Museum/task_x000338_y-000444_z-000612_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c9a00ffd3c04158d64d9800d572e7cb190a28482 --- /dev/null +++ b/dataset/trajectory/Museum/task_x000338_y-000444_z-000612_t3_a/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Walk to the portrait of a woman's head, then head toward the brown leather bench.", + "Type": 3, + "Start_Pose": [ + 338.283, + -443.8, + -611.725, + 0, + 80.8, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 338.283, + -443.8, + -611.725, + 0, + 80.8, + 0 + ], + [ + 338.283, + -443.8, + -611.725, + 0.0, + 105.8, + -0.0 + ], + [ + 304.014, + -322.696, + -611.725, + 0.0, + 105.8, + -0.0 + ], + [ + 269.745, + -201.592, + -611.725, + 0.0, + 105.8, + -0.0 + ], + [ + 269.745, + -201.592, + -611.725, + 0.0, + 130.8, + -0.0 + ], + [ + 187.506, + -106.318, + -611.725, + 0.0, + 130.8, + -0.0 + ], + [ + 105.267, + -11.043, + -611.725, + 0.0, + 130.8, + -0.0 + ], + [ + 23.029, + 84.232, + -611.725, + 0.0, + 130.8, + -0.0 + ], + [ + 23.029, + 84.232, + -611.725, + 0.0, + 130.8, + -0.0 + ], + [ + 23.029, + 84.232, + -611.725, + 0.0, + 130.8, + -0.0 + ], + [ + 23.029, + 84.232, + -611.725, + 0.0, + 105.8, + -0.0 + ], + [ + 23.029, + 84.232, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 23.029, + 84.232, + -611.725, + 0.0, + 55.8, + -0.0 + ], + [ + 23.029, + 84.232, + -611.725, + 0.0, + 30.8, + -0.0 + ], + [ + 23.029, + 84.232, + -611.725, + 0.0, + 5.8, + -0.0 + ], + [ + 23.029, + 84.232, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 141.887, + 42.841, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 260.745, + 1.45, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 379.603, + -39.941, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 498.462, + -81.332, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 498.462, + -81.332, + -611.725, + 0.0, + -19.2, + 0.0 + ] + ], + "Rationale": [ + "Scanning this hung wall, the framed portrait of a woman's head sits far to my right, almost at the edge of what I can see. I will turn right so that painting comes into the middle of my view before I commit to walking toward it.", + "The portrait of the woman's face now hangs ahead and slightly right, still small and far down the gallery wall. The parquet floor in front of me is clear of stanchions, so I will walk forward to close the distance.", + "The woman's portrait has grown noticeably and stays ahead on the right side of my view, so my heading is still good. I will keep walking forward to shorten the remaining distance to it.", + "Advancing has pushed the woman's portrait off toward the right half of my view rather than straight ahead. I will turn right to bring that painting back into the center of my heading before continuing.", + "The portrait of the woman's head is now framed near the middle of my view, with the columned end of the hall beyond it. The floor ahead is open, so I will step forward toward that painting.", + "The woman's face fills much more of my view now, so I am getting close to that stretch of wall. I will walk forward again to bring myself right up in front of it.", + "The portrait now dominates the upper left of my view and the rope stanchions in front of the wall are close ahead. One more step forward should place me directly at that painting.", + "I am standing right beneath the painting, so close that only the woman's chin, neck and gilt frame fall inside my view. I will look up so the whole head is visible and I can confirm this is the portrait I came for.", + "The gilt framed portrait of a woman's head fills my view from just beyond the rope, close enough that the brushwork and the frame carving read clearly. I have arrived at this portrait. I mark reaching it before setting off toward the brown leather bench.", + "Standing this close, the picture wall fills almost everything and no seating is visible from this heading. I will turn left to swing my view off the canvases toward the open gallery floor, where a bench would stand.", + "I still face frames and the rope stanchions, so I have not come around far enough to see into the room. Another left turn should keep carrying my heading away from this wall.", + "Another gilded painting and the red rope still occupy my whole view, so the open part of the hall lies further around to my left. I continue rotating left to bring the length of the gallery into sight.", + "The wall is now angling away from me and the frames are sliding toward the edge of my view, a sign the sweep is nearly bringing the room around. I will turn left again to open up the floor ahead.", + "The hall finally opens out, showing columns, the far staircase and a low dark seat on the floor over to my left. My heading is still slanted along the picture wall, so another left turn should bring that seat nearer the center of my path.", + "The brown leather bench is plainly visible on the open floor, but it sits left of where I am pointed. One more left turn should line my heading up with it.", + "The brown leather bench now lies almost straight ahead down the middle of the hall, with unobstructed parquet between us. I will walk forward to close that distance.", + "The long leather bench sits ahead of me in the open center of the hall, still several paces off between the columned bays. My heading lines up with it, so I will walk straight forward to close that gap.", + "The bench has grown noticeably larger and its red seat and dark armrest are now clearly readable just ahead of me. Nothing blocks the floor between us, so another step forward should bring me appreciably nearer.", + "The bench is close now, its curved wooden seat and rail filling the lower part of my view, but I am not yet standing at it. One more step forward should place me right beside the bench.", + "The brown leather bench is directly in front of me, filling the near view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x000338_y-000444_z-000612_t3_b/infos.json b/dataset/trajectory/Museum/task_x000338_y-000444_z-000612_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9555eb868b81361990cc2ec0da288fd7a892e61d --- /dev/null +++ b/dataset/trajectory/Museum/task_x000338_y-000444_z-000612_t3_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Head toward the large gold-framed painting with two figures, then approach the bench.", + "Type": 3, + "Start_Pose": [ + 338.283, + -443.8, + -611.725, + 0.0, + 80.8, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 338.283, + -443.8, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 358.405, + -319.56, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 378.528, + -195.32, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 398.65, + -71.08, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 418.773, + 53.16, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 437.523, + 125.652, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 437.523, + 125.652, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 437.523, + 125.652, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 437.523, + 125.652, + -611.725, + 0.0, + 55.8, + -0.0 + ], + [ + 437.523, + 125.652, + -611.725, + 0.0, + 30.8, + -0.0 + ], + [ + 437.523, + 125.652, + -611.725, + 0.0, + 5.8, + -0.0 + ], + [ + 437.523, + 125.652, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 556.381, + 84.262, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 556.381, + 84.262, + -611.725, + 0.0, + -44.2, + 0.0 + ], + [ + 646.611, + -3.483, + -611.725, + 0.0, + -44.2, + 0.0 + ], + [ + 646.611, + -3.483, + -611.725, + 0.0, + -44.2, + 0.0 + ] + ], + "Rationale": [ + "Ahead on the teal wall hangs the tall gold-framed canvas with two figures standing side by side, clearly the larger of the works in that stretch. It is still far across the parquet floor, so I will walk straight toward it to close the distance.", + "The gold-framed painting of the two figures now sits near the middle of my view and has grown noticeably larger. My heading is already good, so another step forward should keep shrinking the gap without any turn.", + "The two figures in the ornate gold frame are much bigger now, and the stanchions with their red ropes are still several paces off. Nothing blocks my line, so I continue walking straight at the painting.", + "The gold frame and its two figures now tower over the smaller canvases beside it, and the rope line lies just a short walk ahead. I will step forward again to bring myself right up to the barrier in front of that painting.", + "Only the lower half of the huge gold frame and the boots of the two figures remain in view, with the rope posts directly in front of me. A last short step should place me as close to this painting as the barrier allows.", + "Standing this close, my view is filled mostly by bare wall and the carved underside of the gold frame, so the two figures are cut off above me. I will look up to bring the whole canvas into view and confirm I am at the right painting.", + "Raising my gaze brings the whole canvas into view, the two coated figures walking side by side inside the heavy carved gold frame, right in front of me. I have reached this painting. I mark arriving here before setting off toward the bench.", + "With this painting reached, the wall directly ahead offers nothing more for me. The open floor of the gallery runs off to my left, so I will turn that way to bring the seating area back into view.", + "My view is still filled by the gallery wall and its small framed canvases, with only a sliver of floor and rope posts at the lower left. No seating is visible from this heading, so I will turn further left to swing my gaze off the wall and open up the room.", + "The turn has brought the long colonnaded hall into the left side of my view, with columns, a staircase and open parquet floor beyond the rope line. The bench I need is not yet in frame, so I will keep turning left to bring more of that open floor in front of me.", + "A long red bench has appeared at the far left edge of my view, along the opposite wall of the hall. It sits too far to the side for a straight walk, so another left turn should carry it toward the centre of my view before I set off.", + "The pair of red benches now sits clearly ahead and slightly to my left, with clear parquet floor between us and no rope in the way. I will walk forward to close that distance before making any final adjustment to my heading.", + "Walking ahead has brought the benches noticeably closer, but they now lie off to my left while my heading points down the hall toward the staircase. A left turn should square me up with the bench so my next step goes straight to it.", + "The long red bench is now centred in front of me, seen end on across a short stretch of open floor. Nothing blocks the way, so I will step forward to bring myself right up beside it.", + "The red bench is directly in front of me, filling the near foreground within arm's reach. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/Museum/task_x000338_y-000444_z-000612_t5_a_pd/infos.json b/dataset/trajectory/Museum/task_x000338_y-000444_z-000612_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eaacc45abf999c9cfed6708cc2f03eb91c06439c --- /dev/null +++ b/dataset/trajectory/Museum/task_x000338_y-000444_z-000612_t5_a_pd/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Grab the ceramic vase at the large gold-framed painting with two figures, then place it near the bench.", + "Type": 5, + "Start_Pose": [ + 338.283, + -443.8, + -611.725, + 0, + 80.8, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 354.84, + 76.781, + -685.725, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 338.283, + -443.8, + -611.725, + 0, + 80.8, + 0 + ], + [ + 358.405, + -319.56, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 378.528, + -195.32, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 398.65, + -71.08, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 398.65, + -71.08, + -611.725, + 0.0, + 80.8, + -0.0 + ], + [ + 398.65, + -71.08, + -611.725, + 0.0, + 55.8, + -0.0 + ], + [ + 398.65, + -71.08, + -611.725, + 0.0, + 30.8, + -0.0 + ], + [ + 398.65, + -71.08, + -611.725, + 0.0, + 5.8, + -0.0 + ], + [ + 523.865, + -58.36, + -611.725, + 0.0, + 5.8, + -0.0 + ], + [ + 523.865, + -58.36, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 593.035, + -89.053, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 525.039, + -65.376, + -611.725, + 0.0, + -19.2, + 0.0 + ], + [ + 525.039, + -65.376, + -611.725, + 0.0, + -19.2, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 354.84, + 76.781, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 354.84, + 76.781, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 354.84, + 76.781, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 354.84, + 76.781, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 377.474, + -68.268, + -641.619, + -28.202, + 130.945, + 1.862 + ], + [ + 381.431, + -60.122, + -641.346, + -28.189, + 105.957, + 1.872 + ], + [ + 388.455, + -53.671, + -642.013, + -28.215, + 80.928, + 1.849 + ], + [ + 401.324, + -43.698, + -641.832, + -14.175, + 47.993, + 6.959 + ], + [ + 520.982, + -37.188, + -641.393, + -28.198, + 55.946, + 1.865 + ], + [ + 530.123, + -38.84, + -641.522, + -28.189, + 30.958, + 1.869 + ], + [ + 599.184, + -68.579, + -641.084, + -28.19, + 30.955, + 1.873 + ], + [ + 591.145, + -88.397, + -671.725, + 0.0, + -19.2, + 0.0 + ], + [ + 591.145, + -88.397, + -671.725, + 0.0, + -19.2, + 0.0 + ] + ], + "PD_Dist_2D": [ + 520.8, + 396.4, + 273.1, + 154.2, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 20.5, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The large gold-framed painting with two standing figures is straight ahead on the teal wall, and the white ceramic vase stands on the floor just beneath it. It is still far across the gallery hall, so I will walk forward to close that gap before any grasp is possible.", + "The two-figure painting and the vase beneath it now fill more of my view, confirming my heading is correct. The vase is still several paces beyond the rope stanchions, so I will keep walking straight toward it.", + "The ceramic vase is now clearly to my front right, slightly past the stanchion row, and its floral pattern is fully legible. One more step forward should bring it within arm's reach for a grasp.", + "I am standing right beside the tall ceramic vase at the large gold-framed painting of the two figures, with its rim close at my side and nothing blocking my hands. This is the target the task names, so I will attempt to pick it up now.", + "The grasp worked, and the vase is now held in my hands rather than resting on the gallery floor. Ahead of me is only the painting wall, so I need to turn away from it to find the bench for the placement. I will rotate left to begin scanning the room.", + "Carrying the vase, I still face rope stanchions and framed paintings, with only columns appearing at the far left edge and no bench in sight. I will keep turning left to sweep more of the hall into view.", + "A long red bench has now come into view at the lower left, near the columns and the open floor by the staircase. It sits well off to my side rather than in front of me, so another left turn should place it squarely ahead for a straight walk.", + "The red bench is now centered directly ahead in the open aisle between the columns, and the floor toward it is clear of stanchions. Still holding the vase, I will walk forward to bring myself alongside the bench for the placement.", + "The vase is in my hands and the long red bench now lies close along my left front, cutting diagonally out of view. I will turn left so the bench sits squarely ahead of me, which should give me a clean line to step in and set the vase beside it.", + "The bench is now centered in front of me, its near rail still a short gap away with open floor between us. Carrying the vase, I will step forward to close that gap so the release point falls right at the bench.", + "I am standing right at the bench, its rail filling the near foreground directly under my heading, and the vase is still in my hands. This is close enough to satisfy the placement request, so I will release the vase here beside the bench.", + "The ceramic vase now stands upright on the floor at the bench, and my hands are empty. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Museum/task_x000502_y000126_z-000612_t3_a/infos.json b/dataset/trajectory/Museum/task_x000502_y000126_z-000612_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fb5918316d3cb1422af4658d11c868cd086157ed --- /dev/null +++ b/dataset/trajectory/Museum/task_x000502_y000126_z-000612_t3_a/infos.json @@ -0,0 +1,366 @@ +{ + "Instruction": "Approach the white columns, then move to the painting with a window scene.", + "Type": 3, + "Start_Pose": [ + 502.145, + 125.706, + -611.725, + 0.0, + -122.72, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 502.145, + 125.706, + -611.725, + 0.0, + -122.72, + 0.0 + ], + [ + 434.114, + 19.818, + -611.725, + 0.0, + -122.72, + 0.0 + ], + [ + 366.083, + -86.07, + -611.725, + 0.0, + -122.72, + 0.0 + ], + [ + 366.083, + -86.07, + -611.725, + 0.0, + -147.72, + 0.0 + ], + [ + 259.676, + -153.286, + -611.725, + 0.0, + -147.72, + 0.0 + ], + [ + 153.268, + -220.502, + -611.725, + 0.0, + -147.72, + 0.0 + ], + [ + 46.861, + -287.718, + -611.725, + 0.0, + -147.72, + 0.0 + ], + [ + -59.546, + -354.934, + -611.725, + 0.0, + -147.72, + 0.0 + ], + [ + -165.954, + -422.15, + -611.725, + 0.0, + -147.72, + 0.0 + ], + [ + -165.954, + -422.15, + -611.725, + 0.0, + -172.72, + 0.0 + ], + [ + -290.798, + -438.098, + -611.725, + 0.0, + -172.72, + 0.0 + ], + [ + -415.477, + -443.886, + -611.725, + 0.0, + -172.72, + 0.0 + ], + [ + -526.439, + -422.386, + -611.725, + 0.0, + -172.72, + 0.0 + ], + [ + -643.383, + -420.042, + -611.725, + 0.0, + -172.72, + 0.0 + ], + [ + -768.227, + -435.991, + -611.725, + 0.0, + -172.72, + 0.0 + ], + [ + -768.227, + -435.991, + -611.725, + 0.0, + -172.72, + 0.0 + ], + [ + -676.572, + -424.282, + -611.725, + 0.0, + -172.72, + 0.0 + ], + [ + -676.572, + -424.282, + -611.725, + 0.0, + -147.72, + 0.0 + ], + [ + -676.572, + -424.282, + -611.725, + 0.0, + -122.72, + 0.0 + ], + [ + -676.572, + -424.282, + -611.725, + 0.0, + -97.72, + 0.0 + ], + [ + -676.572, + -424.282, + -611.725, + 0.0, + -72.72, + 0.0 + ], + [ + -676.572, + -424.282, + -611.725, + 0.0, + -47.72, + 0.0 + ], + [ + -676.572, + -424.282, + -611.725, + 0.0, + -22.72, + 0.0 + ], + [ + -676.572, + -424.282, + -611.725, + 0.0, + 2.28, + -0.0 + ], + [ + -555.685, + -410.438, + -611.725, + 0.0, + 2.28, + -0.0 + ], + [ + -429.926, + -405.431, + -611.725, + 0.0, + 2.28, + -0.0 + ], + [ + -304.167, + -400.424, + -611.725, + 0.0, + 2.28, + -0.0 + ], + [ + -178.407, + -395.417, + -611.725, + 0.0, + 2.28, + -0.0 + ], + [ + -52.648, + -390.41, + -611.725, + 0.0, + 2.28, + -0.0 + ], + [ + 73.111, + -385.403, + -611.725, + 0.0, + 2.28, + -0.0 + ], + [ + 198.871, + -380.396, + -611.725, + 0.0, + 2.28, + -0.0 + ], + [ + 198.871, + -380.396, + -611.725, + 0.0, + -22.72, + 0.0 + ], + [ + 198.871, + -380.396, + -611.725, + 0.0, + -47.72, + 0.0 + ], + [ + 280.583, + -443.806, + -611.725, + 0.0, + -47.72, + 0.0 + ], + [ + 280.583, + -443.806, + -611.725, + 0.0, + -47.72, + 0.0 + ] + ], + "Rationale": [ + "The pale columns stand at the far left end of this hall, well beyond the roped-off portraits along the right wall. The floor ahead is clear, so I will walk forward to cut down that distance before adjusting my heading.", + "The columns have grown slightly and the bench in front of them is closer, confirming my heading is carrying me toward that end of the gallery. I will step forward again to keep closing before I swing my view onto them.", + "The columns are drifting off the left edge of my view while the portrait wall fills most of what I see. Turning left should bring the pale columns back in front of me so I can walk straight at them.", + "The turn worked: the white columns and the yellow field painting beside them now sit clearly in the left half of my view. With open floor and only benches off to the side, I will walk forward toward that columned corner.", + "The column shafts and their bases are visibly larger and the bench along that wall is nearer, so my line of travel is good. I will keep walking forward to close on them.", + "Two tall white columns now rise clearly ahead and left of me, with the marble plinth beneath them coming into detail. Nothing blocks the parquet between us, so another step forward should bring me nearer.", + "The columns fill more of my view and their gilded capitals are readable now, so I am within a few strides of them. I will advance again to stand close beside that pale colonnade.", + "The white columns now loom large at the upper left, close enough that only their shafts and dark alcove fill that side. One more step forward should bring me right up alongside them.", + "The pale fluted columns have slid to the far left edge of my view while a framed canvas and the roped wall crowd the right. Walking straight now would carry me along the wall instead of toward them. I will turn left to bring the columns into the center of my heading.", + "The turn has placed the row of white columns squarely ahead, across the open floor with benches beneath them. Nothing blocks the parquet between me and that colonnade. I will walk forward to close the gap.", + "The columns now rise larger just left of center and their marble plinth is clearly visible. I am still several paces short of them. Another step forward should keep shrinking that distance.", + "The white columns and the metal door beside them now fill much of the frame, so I am getting close. The floor between us is still clear of stanchions on my line. I will keep walking toward the columns.", + "The banded column bases and the marble plinth beneath them now sit large in front of me, close enough to read the stone veining. A little more ground remains before I am right at them. I will step forward again.", + "The three column bases and the dark wooden ledge now dominate my view, with the wall paintings pushed to the far left. One more pace should bring me right up against the colonnade. I will move forward.", + "The banded base of a pale column and the polished ledge fill my view at arm's length. I have come right up to the white columns. I mark reaching them, and now I head for the painting that shows a window scene.", + "I am pressed so close to the columns that their bases and the plinth block almost everything else from sight. With the colonnade already reached, I need room and a wider view before choosing a heading toward the window scene painting. I will back up a step to open that space.", + "Backing off has given me room, and the pale columns on their marble plinth now fill the space directly ahead of me. Since I have already reached them, I need to swing my heading away from this wall and back toward the open gallery on my right to look for the painting showing a window scene. I will turn right to begin that sweep.", + "My heading has come off the column bases, but I am still facing the corner wall with the metal service door edging into sight. There is no picture worth examining in this direction, so I keep rotating clockwise toward the open gallery. I will turn right again.", + "Now the plain metal door dominates my view, a blank stretch of wall with nothing hung on it. The paintings I need to search lie further around, so I continue rotating clockwise. I will turn right once more.", + "I am squared onto the closed metal door with the green exit sign above it, which offers nothing to approach. Turning further clockwise should bring the picture wall and the length of the hall into my heading. I will turn right again.", + "The door has slid to my left and a gilded frame with red and blue drapery has come into the edge of my heading, along with the rope barrier. That tells me the hung wall is opening up as I keep rotating. I will turn right to bring more of that gallery run in front of me.", + "A row of framed portraits and the roped-off wall now stretch away ahead of me, but I am still angled steeply into the wall rather than down the gallery. Turning a little further clockwise should line me up with the open floor of the hall. I will turn right again.", + "The long hall has opened up with the far staircase visible down its length and paintings lining both sides. My heading is still biased toward the left wall, so one more clockwise step should center the corridor for a clean walk. I will turn right.", + "The corridor now runs straight ahead of me with pictures on both walls and clear floor between the benches and the ropes. To find the one depicting a window scene I need to get closer and examine these frames from nearer. I will walk forward down the hall.", + "The long hall opens ahead of me with canvases hung along both walls, but at this distance none of them clearly shows an interior lit by windows. Walking further up the middle of the floor should bring the larger paintings on the left wall close enough to read.", + "The nearest works on my left are dark portrait heads, not the window scene I am after. I keep advancing along the open floor so the canvases further down the left wall come into clearer view.", + "Past the portraits, a larger canvas further along the left wall is starting to show pale light and standing figures rather than a plain bust. I step forward again to close on it and confirm whether those bright shapes are windows.", + "Ahead on the left wall I can now make out dark figures silhouetted against tall glowing windows, which matches the painting I am looking for. Another step forward should bring me alongside it.", + "The window scene with the group of figures in front of the bright panes is clearly visible at the left edge of my view, still a little ahead of my position. I continue walking so I draw level with its section of wall.", + "The window-lit painting now fills the far left of my view, so I am nearly abreast of it but not yet standing in front of it. One more step along the floor should place me level with its rope barrier.", + "Walking up the hall has carried me level with the window scene, so it now sits off the left edge of my forward view. Turning left should swing the painting back into the middle of my sight.", + "The canvas of dark figures before the bright windows has come back into view, but it is still off to my left rather than squarely in front of me. A second turn left should line my heading up with it before I step in.", + "The large canvas of figures standing before tall sunlit windows now fills the left of my view, just past the rope line. I am still a stride or two short of standing squarely in front of it, so I will walk forward to close that last gap.", + "The painting of figures before bright windows is directly beside me at the barrier. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t2_a/infos.json b/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..72442d15ac5f3665bbf72e7db0e574eec37d92f7 --- /dev/null +++ b/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t2_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Approach the left pillar at the bottom of the staircase.", + "Type": 2, + "Start_Pose": [ + 1417.888, + -59.001, + -611.725, + 0.0, + -9.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1417.888, + -59.001, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1541.984, + -79.99, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1666.081, + -100.98, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1790.177, + -121.969, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1914.274, + -142.958, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 2038.37, + -163.948, + -610.707, + 0.0, + -9.6, + 0.0 + ], + [ + 2162.467, + -184.937, + -610.707, + 0.0, + -9.6, + 0.0 + ], + [ + 2162.467, + -184.937, + -610.707, + 0.0, + -34.6, + 0.0 + ], + [ + 2266.066, + -256.405, + -610.707, + 0.0, + -34.6, + 0.0 + ], + [ + 2266.066, + -256.405, + -610.707, + 0.0, + -34.6, + 0.0 + ] + ], + "Rationale": [ + "From the hall entrance I can see the staircase straight ahead, with a pale pillar rising from a square plinth on each side of its lowest steps. I choose the one on the left of the flight, the pillar standing on the same side as the dark service door and the green exit sign. I walk forward down the open floor toward the stair base.", + "The stair base and the two flanking pillars have grown larger, so my heading is still carrying me toward the foot of the flight. The pillar I want, the one on the left of the steps beside the dark door, remains clearly in view. I keep walking forward to close more distance.", + "I now stand on the smooth stone floor of the stair hall, with the banners hanging overhead and the two plinths at the foot of the steps ahead of me. My pillar is the left one, and it is still too far for me to be beside it. I continue straight forward.", + "The two plinths at the bottom of the staircase now fill much of my view, and the left one sits just off my path on that side. I am still several paces short of standing beside it. Walking forward again should bring me level with the stair base.", + "The lowest steps are close now and the left pillar with its carved plinth stands clearly to my left front. A little more forward travel should put me alongside it rather than out in the middle of the floor. I step ahead again.", + "I am nearly at the bottom step, and the left pillar's plinth now looms large on my left side. One more forward pace should bring me flush with the stair base so that only a small heading change is needed. I move forward.", + "I have arrived at the foot of the flight, but my body is still aimed up the steps while the pillar I want stands off to my left. Turning left should put that pillar and its plinth in front of me instead of the staircase. I rotate left to face it.", + "The turn worked, and the pillar on the left side of the stair base now stands squarely ahead of me with its molded plinth and dark shaft. Only a short gap of floor separates me from it. I step forward to close that gap and stand right at it.", + "The left pillar's plinth fills my view at arm's length. I am at it, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t2_b/infos.json b/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23429b7a0cc5a12ebf5916d8e052cbb1cbd7a6ae --- /dev/null +++ b/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the right pillar at the staircase base.", + "Type": 2, + "Start_Pose": [ + 1417.888, + -59.001, + -611.725, + 0.0, + -9.6, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1417.888, + -59.001, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1541.984, + -79.99, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1541.984, + -79.99, + -611.725, + 0.0, + 15.4, + -0.0 + ], + [ + 1663.325, + -46.568, + -611.725, + 0.0, + 15.4, + -0.0 + ], + [ + 1784.665, + -13.145, + -611.725, + 0.0, + 15.4, + -0.0 + ], + [ + 1906.005, + 20.278, + -611.725, + 0.0, + 15.4, + -0.0 + ], + [ + 2027.345, + 53.7, + -610.637, + 0.0, + 15.4, + -0.0 + ], + [ + 2148.685, + 87.123, + -610.637, + 0.0, + 15.4, + -0.0 + ], + [ + 2148.685, + 87.123, + -610.637, + 0.0, + -9.6, + 0.0 + ], + [ + 2272.781, + 66.133, + -610.637, + 0.0, + -9.6, + 0.0 + ], + [ + 2272.781, + 66.133, + -610.637, + 0.0, + -9.6, + 0.0 + ] + ], + "Rationale": [ + "Two matching pillars flank the foot of the staircase, and since they look alike I fix my target as the one on the right side of that stair mouth. It stands far off across the open parquet hall, so I walk straight forward to close some of that distance first.", + "From here the staircase base sits slightly left of my heading, but the pillar I want stands on its right side, offset toward the right-hand wall with the paintings. Turning right should swing me onto a line that leads to that pillar rather than up the middle of the steps.", + "The pillar pair now lies ahead and a little to my left, with my target the nearer, right-hand one beside the roped-off gallery wall. The floor between us is clear, so I walk forward on this heading to close the gap.", + "The right-hand pillar and its square plinth are noticeably larger now, still ahead and slightly left of my heading. Nothing blocks the open stone floor, so I keep walking forward toward it.", + "The banners and the rope line on my right frame a clear lane straight toward the stair base, and my pillar sits at the end of it. I am still several strides short, so I continue forward.", + "The pillar's carved plinth now stands out plainly ahead and left, and its partner across the steps has slipped out of my view as I closed in. That does not change which one I am following, so I keep advancing on this same pillar.", + "The plinth of my pillar now fills much of the left side of my view, but I am still a stride or two short of standing beside it. The floor in front stays clear, so I step forward again.", + "Closing in has pushed the pillar out toward the left edge of my view, while my heading now points down the roped corridor past it. Turning left should bring the pillar and its plinth back in front of me for a final approach.", + "The pillar and its plinth now sit squarely in front of me, with the lowest steps rising to its left and the rope line running past on its right. One more stride should bring me right up against the base rather than leaving me short of it.", + "The plinth of the right-hand pillar fills my view at arm's length. I have reached it, so the task is done and there is nothing further to close." + ] +} diff --git a/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t2_c/infos.json b/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..81c40abb34cfb01274a1f9c9ee17755e6ca7ba6b --- /dev/null +++ b/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t2_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Move to the dark framed painting on the right wall.", + "Type": 2, + "Start_Pose": [ + 1417.888, + -59.001, + -611.725, + 0.0, + -9.6, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1417.888, + -59.001, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1417.888, + -59.001, + -611.725, + 0.0, + 15.4, + -0.0 + ], + [ + 1539.228, + -25.578, + -611.725, + 0.0, + 15.4, + -0.0 + ], + [ + 1660.568, + 7.844, + -611.725, + 0.0, + 15.4, + -0.0 + ], + [ + 1781.908, + 41.267, + -611.725, + 0.0, + 15.4, + -0.0 + ], + [ + 1903.248, + 74.69, + -611.725, + 0.0, + 15.4, + -0.0 + ], + [ + 2024.588, + 108.112, + -610.611, + 0.0, + 15.4, + -0.0 + ], + [ + 2024.588, + 108.112, + -610.611, + 0.0, + 40.4, + -0.0 + ], + [ + 2024.588, + 108.112, + -610.611, + 0.0, + 65.4, + -0.0 + ], + [ + 2072.527, + 165.766, + -610.611, + 0.0, + 65.4, + -0.0 + ], + [ + 2072.527, + 165.766, + -610.611, + 0.0, + 65.4, + -0.0 + ] + ], + "Rationale": [ + "Straight ahead lies the staircase, while the wall to my right holds paintings, including a portrait in a dark, almost black frame set apart from the bright gilded one. Turning right should bring that wall and its dark framed portrait into the middle of my view so I can head along it.", + "The right wall now runs away ahead of me, with the big ornate gilt canvas close by and the dark framed portrait hanging further down past it. The floor between the rope stanchions is clear, so I will walk forward to close on that dark framed painting.", + "The dark framed portrait is still well down the wall, only slightly larger in my view. Nothing blocks the aisle beside the stanchions, so I keep walking forward toward it.", + "The gilt canvas has slid to the very edge of my view, leaving the dark framed portrait as the picture squarely ahead on my right. I will continue forward to keep shortening the gap to it.", + "The dark framed portrait is noticeably bigger now, its label plate on the wall beside it becoming legible as a small white card. I am still short of it, so another step forward should bring me alongside.", + "The dark framed portrait has grown large and is drifting toward the right edge as I draw level with it. One more step forward should place me directly in front of that stretch of wall.", + "I am beside the painting now, but it has slipped almost entirely off the right edge of my view while the corridor and staircase fill the centre. Turning right should swing the dark framed portrait back into open view in front of me.", + "The dark framed portrait is back in view but still sits high on the right side, so I am not yet square to the wall it hangs on. A further turn right should centre that painting directly ahead of me.", + "The dark framed portrait now hangs squarely ahead of me with its little white label card beside it, and only the rope barrier and a short stretch of floor separate us. Stepping forward should close that last gap and put me right at the painting.", + "The dark framed portrait fills my view from just beyond the rope barrier. I have arrived at it, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t5_a_p/infos.json b/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..95c0dc5537489141f1f174f5a1c48d9ce6b029ca --- /dev/null +++ b/dataset/trajectory/Museum/task_x001418_y-000059_z-000612_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Grab the ceramic vase near the left pillar at the bottom of the staircase.", + "Type": 5, + "Start_Pose": [ + 1417.888, + -59.001, + -611.725, + 0, + -9.6, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2177.439, + -333.987, + -680.611, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1417.888, + -59.001, + -611.725, + 0, + -9.6, + 0 + ], + [ + 1541.984, + -79.99, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1666.081, + -100.98, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1790.177, + -121.969, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1914.274, + -142.958, + -611.725, + 0.0, + -9.6, + 0.0 + ], + [ + 1914.274, + -142.958, + -611.725, + 0.0, + -34.6, + 0.0 + ], + [ + 2017.873, + -214.427, + -610.848, + 0.0, + -34.6, + 0.0 + ], + [ + 2017.873, + -214.427, + -610.848, + 0.0, + -34.6, + 0.0 + ], + [ + 2017.873, + -214.427, + -610.848, + 0.0, + -34.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2177.439, + -333.987, + -680.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.439, + -333.987, + -680.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.439, + -333.987, + -680.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.439, + -333.987, + -680.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.439, + -333.987, + -680.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.439, + -333.987, + -680.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.439, + -333.987, + -680.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2029.496, + -196.503, + -640.505, + -28.202, + 15.544, + 1.862 + ], + [ + 2029.496, + -196.503, + -640.505, + -28.202, + 15.544, + 1.862 + ] + ], + "PD_Dist_2D": [ + 807.8, + 684.3, + 561.9, + 441.5, + 325.2, + 325.2, + 199.4, + 21.4, + 21.4 + ], + "Rationale": [ + "From the hall entrance I can see the grand staircase ahead, with a pale ceramic vase standing beside the left pillar at its base. It is still far off across the parquet and stone floor, so I will walk straight forward to close that distance.", + "The staircase and its pillars now fill more of my view, and the vase near the left pillar is clearer but still several strides away. My path over the open floor stays free of ropes and stanchions, so I continue walking forward.", + "I have crossed onto the stone floor and the vase at the left pillar base is noticeably nearer, though still beyond arm's reach. Nothing blocks the straight line toward it, so I keep advancing.", + "The vase stands prominently at the left of my view near the pillar, but it is still off to the side and too distant to grasp. One more forward stride should bring me level with the stair base before I turn toward it.", + "I am now at the foot of the staircase, but the ceramic vase sits off to my left beside the pillar rather than in front of me. I will turn left to bring it into the center of my view for a clean approach.", + "The turn has centered the vase in my view beside the pillar at the stair base. It is still a stride away, so I will step forward to bring it within reach before attempting the grasp.", + "The ceramic vase now stands directly in front of me, close and unobstructed beside the pillar. This is within grasping range, so I will reach out and try to pick it up.", + "The ceramic vase is now held in my hands and no longer resting on the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t2_a/infos.json b/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6498b25b94342ac5952bf9462d2f4da278d64a2e --- /dev/null +++ b/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t2_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Walk to the dark bust sculpture on the left.", + "Type": 2, + "Start_Pose": [ + 1513.997, + -130.029, + 98.275, + 0.0, + 11.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1513.997, + -130.029, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1637.321, + -104.894, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1760.644, + -79.758, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1883.968, + -54.623, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1883.968, + -54.623, + 98.275, + 0.0, + -13.48, + 0.0 + ], + [ + 1883.968, + -54.623, + 98.275, + 0.0, + -38.48, + 0.0 + ], + [ + 1982.493, + -132.938, + 101.36, + 0.0, + -38.48, + 0.0 + ], + [ + 2081.019, + -211.252, + 99.862, + 0.0, + -38.48, + 0.0 + ], + [ + 2179.545, + -289.567, + 99.862, + 0.0, + -38.48, + 0.0 + ], + [ + 2179.545, + -289.567, + 99.862, + 0.0, + -13.48, + 0.0 + ], + [ + 2301.936, + -318.906, + 99.862, + 0.0, + -13.48, + 0.0 + ], + [ + 2301.936, + -318.906, + 99.862, + 0.0, + -13.48, + 0.0 + ] + ], + "Rationale": [ + "From the doorway I can see two busts on pedestals flanking the raised recess at the far end, and mine is the dark one standing on the left side of that platform. It is far off across the empty parquet, so I will walk straight ahead to close the distance before committing to a heading.", + "The hall has opened up and the dark bust on the left of the raised platform is now clearly separated from its counterpart across the recess. The floor between us is still clear, so I will keep walking forward to shorten the gap.", + "The bust I want has grown noticeably and now sits toward the left edge of my view, its pedestal set against the yellow banner. I am still several strides short of it, so I will advance again before turning to line up.", + "My target bust has drifted almost to the left margin of my view while my heading still points down the middle of the hall toward the recess. I will turn left to swing that bust back toward the center of my path.", + "The turn brought the bust inward, but it still sits well left of straight ahead, with the central windows dominating my forward direction. Another left turn should put its pedestal close enough to my heading that I can simply walk at it.", + "Now the dark bust and its tall pedestal stand just right of my heading, with open floor and no rope stanchions in between. The rest of the hall has swung out of view, so I will walk forward and let the pedestal grow ahead of me.", + "The bust's carved head and its plinth are much larger now, still a little to my right and clearly reachable in a few more strides. Nothing blocks the floor ahead, so I will keep advancing toward it.", + "The pedestal now fills much of the right side of my view and the bust looms above it, but I am still standing back from its base. I will step forward once more to draw level with the sculpture.", + "Standing this close, the plinth has slid to the right edge of my view and the carved head is clipped off above it, so I am no longer facing what I am walking to. Turning right should bring the pedestal and the bust back to the middle of my heading.", + "The turn has set the pedestal squarely ahead with the bust rising above its cornice, and the banner and railing frame it on either side. Only a short stretch of floor separates me from its base, so one more stride should put me right at the sculpture.", + "The pedestal now fills my view at arm's length with the bust directly overhead. I have reached the sculpture, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t2_b/infos.json b/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca6917015ee0078945ea68a08c100aab08a68df --- /dev/null +++ b/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the bust sculpture on the right.", + "Type": 2, + "Start_Pose": [ + 1513.997, + -130.029, + 98.275, + 0.0, + 11.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1513.997, + -130.029, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1637.321, + -104.894, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1760.644, + -79.758, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1883.968, + -54.623, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 2007.291, + -29.488, + 99.917, + 0.0, + 11.52, + -0.0 + ], + [ + 2130.615, + -4.353, + 99.917, + 0.0, + 11.52, + -0.0 + ], + [ + 2253.938, + 20.783, + 99.917, + 0.0, + 11.52, + -0.0 + ], + [ + 2253.938, + 20.783, + 99.917, + 0.0, + 11.52, + -0.0 + ] + ], + "Rationale": [ + "Two matching busts on pedestals flank the raised alcove at the far end of the gallery, so I fix on the one standing on the right side, next to the tall pilaster and yellow banner there. It is still far off across the parquet and stone floor, with open space ahead. I will walk forward toward it.", + "The alcove and its two flanking pedestals now fill more of my view, and the bust I chose on the right side stays just off my heading. Nothing blocks the stretch of floor ahead. I will keep walking forward to close the distance.", + "The right-hand bust on its pedestal is clearly separated now, standing before the banner near the column on that side of the platform. I am still several strides short of it. Another step forward should bring me closer.", + "The bust I am heading for sits on its pedestal ahead and slightly right, with the balustrade and platform edge to its left. The floor between us is still open. I will continue walking toward it.", + "The pedestal and its carved bust now dominate the right of my view, close enough that I can read the molding on the base. I am not yet within arm's reach of it. Another step forward should place me right at it.", + "The bust and its tall pedestal are now directly in front of me, filling much of my view with the draped shoulders above the plinth. A final short step should bring me right up against the base. I will move forward once more.", + "The right-hand bust's pedestal stands immediately in front of me, its base filling my view at arm's length. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t2_c/infos.json b/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..47ceebc6b04bed8fa6a1cf0ae382294203af3d17 --- /dev/null +++ b/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t2_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Proceed to the rightmost orange banner beside the far sculptures.", + "Type": 2, + "Start_Pose": [ + 1513.997, + -130.029, + 98.275, + 0.0, + 11.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1513.997, + -130.029, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1637.321, + -104.894, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1760.644, + -79.758, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1883.968, + -54.623, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 2007.291, + -29.488, + 99.917, + 0.0, + 11.52, + -0.0 + ], + [ + 2007.291, + -29.488, + 99.917, + 0.0, + 36.52, + -0.0 + ], + [ + 2108.438, + 45.411, + 99.917, + 0.0, + 36.52, + -0.0 + ], + [ + 2209.584, + 120.31, + 99.917, + 0.0, + 36.52, + -0.0 + ], + [ + 2310.731, + 195.21, + 99.917, + 0.0, + 36.52, + -0.0 + ], + [ + 2310.731, + 195.21, + 99.917, + 0.0, + 11.52, + -0.0 + ], + [ + 2434.054, + 220.345, + 99.917, + 0.0, + 11.52, + -0.0 + ], + [ + 2520.321, + 202.407, + 99.862, + 0.0, + 11.52, + -0.0 + ], + [ + 2520.321, + 202.407, + 99.862, + 0.0, + 11.52, + -0.0 + ] + ], + "Rationale": [ + "From the entrance the hall stretches away to the arch, with orange banners on both side walls near the busts on their pedestals. They all look alike, so I settle on the rightmost one now and hold it as the banner on the right-hand wall beside that far bust. I walk forward to close the long empty span.", + "The far arch and the flanking pedestals have grown noticeably, and the banner I am heading for still hangs on the right wall beside the bust. Nothing stands in the open floor between me and it, so I keep walking straight ahead.", + "The busts on their pedestals now read clearly on either side of the raised platform, and my banner hangs on the right wall next to the near pedestal. I am still too far back to stand beside it, so I continue straight forward.", + "The right-hand pedestal with its bust is close now, and the banner I want hangs on the wall just beyond it. Another straight step should bring me level with that stretch of wall before I need to swing toward it.", + "I am level with the raised platform, and the banner beside the bust sits off to my right rather than along my current heading. I turn right to put that stretch of the right-hand wall in front of me so I can walk straight at it.", + "Facing along the right-hand wall now, the orange banner hangs just past the column ahead of me. The floor between is open, so I step forward to draw nearer to it.", + "The banner is nearer, its lower point now hanging clear beside the column shaft ahead. I keep walking forward along the wall to come up alongside it.", + "The column edge cuts across much of the banner from this angle, leaving only its yellow cloth showing beyond. Another step forward should carry me past the column and bring me level with the banner itself.", + "The column shaft now fills the middle of my view and pushes the banner's yellow cloth off to my left, with only blank wall to my right. I turn left to swing the banner and the wall it hangs on back in front of me so I can close the last of the gap on a clean heading.", + "With the heading corrected, the banner hangs clearly ahead against the wall past the column base, and the alcove with its dark standing figure opens up on my left. The floor ahead is clear, so I walk on to bring myself under the banner.", + "The banner's pointed lower edge and its yellow field now hang large just off my right shoulder, no longer cut by the column. A short step more should put me level with it rather than still short of it.", + "The orange banner hangs right beside me, its lettering readable at arm's length above the wall's gold molding. I am at my target, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t5_a_p/infos.json b/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..514254673d31b8354f80ff3b4d4f30e8c16652c5 --- /dev/null +++ b/dataset/trajectory/Museum/task_x001514_y-000130_z000098_t5_a_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the candelabra beside the dark bust sculpture on the left.", + "Type": 5, + "Start_Pose": [ + 1513.997, + -130.029, + 98.275, + 0, + 11.52, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 2246.75, + -272.096, + 24.862, + 0, + 70, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1513.997, + -130.029, + 98.275, + 0, + 11.52, + 0 + ], + [ + 1637.321, + -104.894, + 98.275, + 0.0, + 11.52, + -0.0 + ], + [ + 1637.321, + -104.894, + 98.275, + 0.0, + -13.48, + 0.0 + ], + [ + 1759.712, + -134.232, + 98.275, + 0.0, + -13.48, + 0.0 + ], + [ + 1882.104, + -163.571, + 98.275, + 0.0, + -13.48, + 0.0 + ], + [ + 2004.496, + -192.909, + 99.988, + 0.0, + -13.48, + 0.0 + ], + [ + 2126.888, + -222.248, + 99.988, + 0.0, + -13.48, + 0.0 + ], + [ + 2126.888, + -222.248, + 99.988, + 0.0, + -13.48, + 0.0 + ], + [ + 2126.888, + -222.248, + 99.988, + 0.0, + -13.48, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2246.75, + -272.096, + 24.862, + 0.0, + 70.0, + -0.0 + ], + [ + 2246.75, + -272.096, + 24.862, + 0.0, + 70.0, + -0.0 + ], + [ + 2246.75, + -272.096, + 24.862, + 0.0, + 70.0, + -0.0 + ], + [ + 2246.75, + -272.096, + 24.862, + 0.0, + 70.0, + -0.0 + ], + [ + 2246.75, + -272.096, + 24.862, + 0.0, + 70.0, + -0.0 + ], + [ + 2246.75, + -272.096, + 24.862, + 0.0, + 70.0, + -0.0 + ], + [ + 2246.75, + -272.096, + 24.862, + 0.0, + 70.0, + -0.0 + ], + [ + 2131.272, + -201.34, + 69.968, + -28.202, + 36.664, + 1.862 + ], + [ + 2131.272, + -201.34, + 69.968, + -28.202, + 36.664, + 1.862 + ] + ], + "PD_Dist_2D": [ + 746.4, + 631.9, + 631.9, + 506.2, + 380.5, + 254.9, + 129.8, + 21.4, + 21.4 + ], + "Rationale": [ + "The candelabra I need sits far ahead at the end of the gallery, near the pedestals and the dark bust on the raised platform. From this doorway distance nothing is reachable, so I will walk straight ahead down the hall to close the gap.", + "The candelabra with its pale candles stands slightly left of my heading, beside the pedestal on that side of the platform. Continuing straight would carry me past it toward the center of the hall, so I will turn left to put it in front of me.", + "After the turn the candelabra sits near the middle of my view, in front of the left pedestal that carries the bust. The heading now points at it, so I will keep walking forward to shorten the remaining distance.", + "The candelabra has grown larger and its three candles are clearly visible ahead of the left pedestal, but it is still well beyond arm's reach. My path across the open floor is clear, so I will step forward again.", + "The candelabra now stands close in the lower center of my view, just in front of the pedestal with the bust. It is still slightly too far to grasp comfortably, so I will advance one more stride.", + "The candelabra fills the lower part of my view with the bust pedestal directly behind it, so only a short gap remains. I will take one more step forward to bring it within reach before attempting the lift.", + "The candelabra's candles are right at the bottom edge of my view, immediately in front of me beside the pedestal bearing the dark bust. This is the closest useful standing position, so I will attempt to grasp and lift it now.", + "The candelabra is now held in my hands, lifted clear of the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x001873_y000051_z000098_t1_a/infos.json b/dataset/trajectory/Museum/task_x001873_y000051_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cfb32461ea4d7c30e52ada162fae546088ee2941 --- /dev/null +++ b/dataset/trajectory/Museum/task_x001873_y000051_z000098_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Explore the nearby area until you find the double chairs near the gallery's large columns, then head to that location.", + "Type": 1, + "Start_Pose": [ + 1873.381, + 51.258, + 98.275, + 0.0, + 27.04, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1873.381, + 51.258, + 98.275, + 0.0, + 27.04, + -0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + 2.04, + -0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + -22.96, + 0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + -47.96, + 0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + -72.96, + 0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + -97.96, + 0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + -122.96, + 0.0 + ], + [ + 1804.907, + -54.344, + 98.275, + 0.0, + -122.96, + 0.0 + ], + [ + 1736.433, + -159.946, + 98.275, + 0.0, + -122.96, + 0.0 + ], + [ + 1736.433, + -159.946, + 98.275, + 0.0, + -147.96, + 0.0 + ], + [ + 1629.745, + -226.716, + 98.275, + 0.0, + -147.96, + 0.0 + ], + [ + 1523.057, + -293.485, + 98.275, + 0.0, + -147.96, + 0.0 + ], + [ + 1523.057, + -293.485, + 98.275, + 0.0, + -147.96, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a roped-off wall painting close on my right, a marble bust on its plinth and the vaulted corridor ahead, with no columns paired with chairs anywhere in view. To find the double chairs by the large columns I need to sweep my gaze across the rest of the hall, so I will turn left to open up the part of the gallery currently behind my shoulder.", + "The rotation has brought the far end of this hall into view, with two busts on plinths, yellow banners and a railed platform, but still no columns with seating beside them. This direction offers no match for the target, so I will keep turning left to continue scanning the room.", + "Now a large costumed-figures painting and a line of rope stanchions along the left wall have come into view, together with the same platform and busts on the right. There is still nothing resembling a pair of chairs set against big columns, so I will continue rotating left to uncover more of the gallery.", + "The view now shows a stanchion-lined wall with paintings and, at the lower left, a wooden parquet floor beginning where this grey-floored hall ends. That adjoining space is the most promising unexplored direction, so I will turn left again to bring it in front of me.", + "Facing this way I see the feathered-headdress portrait at the far left, another costumed-figures painting ahead, a marble bust on its plinth and yellow banners, but no columns and no chairs at all. The parquet floor stretching to the left suggests the gallery continues that way, so I will turn left once more to look further into it.", + "At the left edge of my view I can now make out tall pale columns rising from a marble base, with two grey chairs standing against it, which matches the double chairs near the gallery's large columns I was told to find. They sit well off to my left, so I will turn left again to bring them in front of me before walking over.", + "The cluster of large columns on their marble pedestal is now roughly ahead of me, with the two grey chairs clearly set against its base. The floor between us is open parquet with nothing blocking the way, so I will walk forward to close that distance.", + "The columns and the two chairs at their base have grown noticeably larger, confirming I am closing on them along an unobstructed stretch of floor. They are still some way off, so I will keep walking forward toward that spot.", + "The pair of grey chairs tucked against the marble base of the clustered columns is now clearly in view, but it sits off to my left while the column block crowds the center of my sight. I will turn left to swing my heading onto the chairs and open up the aisle in front of them so I can walk in cleanly.", + "The two grey chairs at the foot of the large columns are now framed ahead of me with clear parquet floor between us. Since the target is identified and the path is unobstructed, I will walk forward to close the remaining distance.", + "The chairs and the marble base of the columns have grown noticeably larger and sit just ahead to my right, so I am still a short stretch away. I will step forward again to arrive right beside the double chairs at the columns.", + "The two grey chairs stand directly in front of me at the base of the gallery's large columns. The task location is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x001873_y000051_z000098_t1_b/infos.json b/dataset/trajectory/Museum/task_x001873_y000051_z000098_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f477c7f62a4f1c4740247a09f643c10a49fc69aa --- /dev/null +++ b/dataset/trajectory/Museum/task_x001873_y000051_z000098_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Scan the surroundings to locate the painting depicting a Native American figure, then move to that location.", + "Type": 1, + "Start_Pose": [ + 1873.381, + 51.258, + 98.275, + 0.0, + 27.04, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1873.381, + 51.258, + 98.275, + 0.0, + 27.04, + -0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + 2.04, + -0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + -22.96, + 0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + -47.96, + 0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + -72.96, + 0.0 + ], + [ + 1873.381, + 51.258, + 98.275, + 0.0, + -97.96, + 0.0 + ], + [ + 1855.952, + -73.388, + 98.275, + 0.0, + -97.96, + 0.0 + ], + [ + 1838.523, + -198.035, + 98.275, + 0.0, + -97.96, + 0.0 + ], + [ + 1821.093, + -322.681, + 98.275, + 0.0, + -97.96, + 0.0 + ], + [ + 1803.664, + -447.327, + 98.275, + 0.0, + -97.96, + 0.0 + ], + [ + 1803.664, + -447.327, + 98.275, + 0.0, + -97.96, + 0.0 + ], + [ + 1803.664, + -447.327, + 98.275, + 0.0, + -97.96, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, the only artwork clearly in view is a dark gold framed canvas on the wall to my right and a marble bust ahead, with nothing resembling a portrait of a Native American figure. I will turn left to swing my view across the unseen part of this hall and begin the scan for the target painting.", + "The rotation has brought the central hall with its busts, columns and yellow banners into view, but still no portrait matching the target description. I will keep turning left to continue sweeping toward the walls that remain outside my field of view.", + "A large framed painting of figures in a red interior has come into view on the wall to my left, but its subject is a formal ballroom scene, not a Native American figure. I will continue turning left, since the wall beyond that canvas is still hidden and likely holds more paintings to check.", + "The ballroom painting is now well inside my view and clearly is not the target, while the parquet floored gallery section on the left continues past the frame. I will turn left again to expose that adjoining wall and keep the search moving in one consistent direction.", + "A large portrait of a Native American figure in a feathered headdress and beaded garment has appeared at the far left of my view, which matches the target. I will turn left once more so the painting sits closer to the center of my heading before I commit to walking toward it.", + "The target portrait now hangs ahead of me on the wall, framed between the columns and the doorway trim, and my heading points down the open parquet floor toward it. With the search resolved, I will walk forward to close the distance to that painting.", + "The portrait has grown noticeably larger and the rope stanchions along its wall are now clearly separated, so I am still some distance from the display. I will step forward again to continue the direct approach toward the painting.", + "The Native American portrait now dominates the top of my view and the barrier ropes in front of it are close, but I am not yet standing at the display. I will move forward once more to reach the viewing position directly in front of the painting.", + "The beaded and feathered regalia of the Native American portrait now fills the upper part of my view, so I am clearly closing on the right painting. The stanchion rope still sits a short distance ahead of me, so one more step should bring me right up to the viewing line in front of the work.", + "I am now standing at the rope line directly beneath the painting, and only its ornate lower frame and a sliver of the beaded garment remain in my view. Tilting my gaze upward should bring the figure's face back into sight so I can confirm this is the Native American portrait.", + "The Native American figure in feathered headdress and beaded regalia is framed directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002060_y000178_z000100_t3_a/infos.json b/dataset/trajectory/Museum/task_x002060_y000178_z000100_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5400aa11733a81f9edc1cbc5e189c85462187236 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002060_y000178_z000100_t3_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Walk to the Native American portrait, then head toward the interior scene painting.", + "Type": 3, + "Start_Pose": [ + 2059.576, + 178.155, + 99.862, + 0.0, + -82.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2059.576, + 178.155, + 99.862, + 0.0, + -82.4, + 0.0 + ], + [ + 2059.576, + 178.155, + 99.862, + 0.0, + -107.4, + 0.0 + ], + [ + 2021.939, + 58.055, + 99.862, + 0.0, + -107.4, + 0.0 + ], + [ + 1984.302, + -62.044, + 101.349, + 0.0, + -107.4, + 0.0 + ], + [ + 1946.665, + -182.144, + 98.674, + 0.0, + -107.4, + 0.0 + ], + [ + 1909.028, + -302.244, + 98.275, + 0.0, + -107.4, + 0.0 + ], + [ + 1871.391, + -422.344, + 98.275, + 0.0, + -107.4, + 0.0 + ], + [ + 1871.391, + -422.344, + 98.275, + 0.0, + -132.4, + 0.0 + ], + [ + 1787.024, + -497.771, + 98.275, + 0.0, + -132.4, + 0.0 + ], + [ + 1787.024, + -497.771, + 98.275, + 0.0, + -132.4, + 0.0 + ], + [ + 1787.024, + -497.771, + 98.275, + 0.0, + -132.4, + 0.0 + ], + [ + 1849.329, + -429.537, + 98.275, + 0.0, + -132.4, + 0.0 + ], + [ + 1849.329, + -429.537, + 98.275, + 0.0, + -107.4, + 0.0 + ], + [ + 1849.329, + -429.537, + 98.275, + 0.0, + -82.4, + 0.0 + ], + [ + 1849.329, + -429.537, + 98.275, + 0.0, + -57.4, + 0.0 + ], + [ + 1849.329, + -429.537, + 98.275, + 0.0, + -32.4, + 0.0 + ], + [ + 1849.329, + -429.537, + 98.275, + 0.0, + -7.4, + 0.0 + ], + [ + 1974.14, + -445.747, + 101.368, + 0.0, + -7.4, + 0.0 + ], + [ + 2098.951, + -461.957, + 99.862, + 0.0, + -7.4, + 0.0 + ], + [ + 2223.762, + -478.168, + 99.862, + 0.0, + -7.4, + 0.0 + ], + [ + 2223.762, + -478.168, + 99.862, + 0.0, + -32.4, + 0.0 + ], + [ + 2223.762, + -478.168, + 99.862, + 0.0, + -57.4, + 0.0 + ], + [ + 2223.762, + -478.168, + 99.862, + 0.0, + -57.4, + 0.0 + ], + [ + 2223.762, + -478.168, + 99.862, + 0.0, + -57.4, + 0.0 + ] + ], + "Rationale": [ + "The feathered Native American portrait hangs on the wall well off to my left, while the interior scene with the woman in the blue gown sits nearer the middle. Since the portrait is my first destination, I will turn left so it comes toward the center of my view and I can walk straight at it.", + "The chief portrait now sits ahead of me along the gray wall, with the roped stanchions running below it. Nothing blocks the open floor between us, so I will walk forward to close the distance.", + "The framed chief has grown noticeably larger and the parquet floor and marble ledge on my left are drawing nearer. I am still several paces short of the painting, so I will keep walking forward.", + "The portrait now dominates the upper part of my view and the red rope barrier ahead is clearly resolved. The path remains unobstructed, so another step forward should bring me closer to standing before it.", + "The frame has climbed high in my view as I near the wall, and the stanchion line marks how far I can go. I will advance again to reach viewing distance in front of the portrait.", + "Only the lower portion of the chief's beaded regalia and its heavy frame remain in view, with the wall label and the ropes close in front of me. One more step should place me right at the barrier before this painting.", + "I am right up against the rope in front of the chief portrait, but the frame is drifting off to my upper left while the doorway trim fills the right of my view. Turning left should square me onto the painting rather than the blank wall beside it.", + "The turn has brought the chief's frame back across the top of my view, with the corner of the room and the marble ledge now on my left. A short step forward should bring me fully in front of this portrait.", + "I am now standing close under the framed canvas, and at this level I only catch its lower moulding above the roped-off wall. I will look up to bring the portrait of the man in the feathered headdress properly into view and confirm I am at it.", + "Raised toward the wall, my view fills with the beaded blue and red regalia and feathered headdress of the Native American portrait, close overhead behind its rope line. I have reached it, so I mark arriving here before setting off toward the painting of the interior room with the figures in the blue gown.", + "I am pressed right up against the barrier under the portrait, with nothing but wall and rope ahead of me. Stepping back should open enough space to swing around and pick up the gallery floor again on my way to the interior scene painting.", + "With a little clearance regained, the headdress portrait still hangs above me and the wall runs off to my left. Turning right should start swinging my heading back along the gallery toward the painting of the interior room with the seated figures.", + "The sweep so far only brings more blank wall, ropes and the portrait's label plaque into view, with no sign yet of the interior scene canvas. I will keep turning right to carry my heading further around toward the far side of the room.", + "The gilded pilaster and doorway trim are entering from the right, which tells me the corner of this wall is coming around. Another turn right should bring the neighbouring canvases past that trim into my view.", + "Past the gilded trim I can now see a framed painting with red and deep blue drapery hanging off to my right, which matches the interior room scene I am heading for. Turning right again should bring it and the floor beneath it toward the middle of my view.", + "The interior scene canvas hangs on the wall to my left now, and the roped walkway alongside it stretches ahead toward the bust and the arched hall. One more turn right should line my heading up with that open walkway so I can walk down it to the painting.", + "Having come back around, the large canvas of the interior scene with its red and blue drapery hangs on the wall to my left, still ahead of me. The floor between the stanchions and the bust is clear, so I walk forward to close that gap.", + "The interior scene canvas has grown larger and shifted further to my left edge, confirming I am drawing level with it. I keep walking forward along the open floor to reach a position beneath it.", + "Only the near corner of the interior scene canvas still shows at my upper left, so I am not yet standing squarely under it. One more step forward should place me alongside the wall where it hangs.", + "I have walked far enough that the interior scene canvas is now off to my left rather than ahead, with the stairwell and statue filling my heading. I turn left to bring the wall carrying that painting back in front of me.", + "The ornate gilt edge of the interior scene painting sits high in my upper left, so I am still angled away from the wall. A second left turn should square me up beneath the canvas.", + "I now stand right at the wall, but only the carved lower edge of the large canvas shows near the top while the blank wall and rope fill the rest ahead. Tilting my gaze upward should bring the interior scene itself into sight.", + "The interior scene painting with the blue gowned figure now fills the space directly above me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002060_y000178_z000100_t3_b/infos.json b/dataset/trajectory/Museum/task_x002060_y000178_z000100_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dfeac180723a25ab82de52c07f9b1e74c0dbf97c --- /dev/null +++ b/dataset/trajectory/Museum/task_x002060_y000178_z000100_t3_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Approach the Native American portrait, then move to the white bust sculpture.", + "Type": 3, + "Start_Pose": [ + 2059.576, + 178.155, + 99.862, + 0.0, + -82.4, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2059.576, + 178.155, + 99.862, + 0.0, + -82.4, + 0.0 + ], + [ + 2059.576, + 178.155, + 99.862, + 0.0, + -107.4, + 0.0 + ], + [ + 2021.939, + 58.055, + 99.862, + 0.0, + -107.4, + 0.0 + ], + [ + 1984.302, + -62.044, + 101.349, + 0.0, + -107.4, + 0.0 + ], + [ + 1946.665, + -182.144, + 98.674, + 0.0, + -107.4, + 0.0 + ], + [ + 1909.028, + -302.244, + 98.275, + 0.0, + -107.4, + 0.0 + ], + [ + 1871.391, + -422.344, + 98.275, + 0.0, + -107.4, + 0.0 + ], + [ + 1835.982, + -497.811, + 98.275, + 0.0, + -107.4, + 0.0 + ], + [ + 1835.982, + -497.811, + 98.275, + 0.0, + -107.4, + 0.0 + ], + [ + 1835.982, + -497.811, + 98.275, + 0.0, + -107.4, + 0.0 + ], + [ + 1835.982, + -497.811, + 98.275, + 0.0, + -82.4, + 0.0 + ], + [ + 1835.982, + -497.811, + 98.275, + 0.0, + -57.4, + 0.0 + ], + [ + 1835.982, + -497.811, + 98.275, + 0.0, + -32.4, + 0.0 + ], + [ + 1835.982, + -497.811, + 98.275, + 0.0, + -7.4, + 0.0 + ], + [ + 1835.982, + -497.811, + 98.275, + 0.0, + 17.6, + -0.0 + ], + [ + 1955.949, + -459.756, + 100.932, + 0.0, + 17.6, + -0.0 + ], + [ + 2075.917, + -421.7, + 99.862, + 0.0, + 17.6, + -0.0 + ], + [ + 2195.885, + -383.644, + 99.862, + 0.0, + 17.6, + -0.0 + ], + [ + 2313.485, + -345.755, + 99.862, + 0.0, + 17.6, + -0.0 + ], + [ + 2313.485, + -345.755, + 99.862, + 0.0, + 17.6, + -0.0 + ], + [ + 2313.485, + -345.755, + 99.862, + 0.0, + 17.6, + -0.0 + ] + ], + "Rationale": [ + "The framed portrait of the Native American man in feathered headdress hangs on the wall to my left, while my body faces the open floor ahead. I will turn left so that painting sits nearer the center of my view and I can walk straight at it.", + "The headdress portrait now sits comfortably in front of me with clear floor between us. I will walk forward along this heading to close the long gap toward it.", + "The portrait has grown larger and the rope stanchions in front of it are becoming distinct, so I am still well short of it. I will keep walking forward on the same line.", + "The painted face and beadwork are clearly readable now, but the frame still occupies only part of my view. Another step forward should bring me properly close to it.", + "The portrait fills the upper left of my view and the roped barrier ahead is close, so I am nearly at the wall. I will advance again to stand directly before the painting.", + "Only the lower part of the beaded headdress and the ornate frame remain in view, meaning I am right up against the display wall. One more step should place me at the painting itself.", + "The wall and rope posts dominate my view with the frame edge just above, so the portrait is directly overhead of my position. I will take a short step forward to settle right at it.", + "Standing this close, my gaze falls on bare wall and the tops of the rope posts, with the painting hanging above my line of sight. I will look up to bring the headdress portrait back into view and confirm I am right in front of it.", + "The carved frame corner and the feathered headdress of the Native American portrait now fill my view at arm's length, so I am standing right at it. I have reached this painting. I mark reaching it, then turn my attention toward the white bust on its pedestal across the hall.", + "Pressed this close to the painting, the frame blocks nearly everything and the white bust is nowhere in this narrow field. I will turn right to swing my heading off the picture wall and start bringing the open hall back into view.", + "Only bare wall and a small label plaque are in front of me now, so I am still facing the display side of the gallery. Another right turn should carry my heading further around toward the open floor where the bust stands.", + "The gilded doorway edge and a rope stanchion have entered the right side of my view, a sign the hall opens that way. I will keep turning right so that open space, and the sculpture I want, come around in front of me.", + "The long gallery now opens on my right, with columns, windows and the roped walkway stretching away, while the wall still crowds my left. One more right turn should place that far end of the hall squarely ahead of me.", + "The white bust on its tall pedestal is now visible under the arch, but it sits right of my center with the picture wall still cutting into my left. Turning right once more should center it for a straight walk.", + "The white bust on its pedestal now stands ahead beneath the arched end of the hall, with clear open floor between us and no rope in my path. I will walk forward to close that distance.", + "The bust and its pedestal have grown noticeably larger and remain straight ahead, so my heading is good and the gap is shrinking. I will keep walking forward toward it.", + "The white marble bust on its tall pedestal now dominates the center of my view, but a few paces of open floor still separate me from its base. I will keep walking straight ahead to close that remaining gap.", + "The pedestal fills much of my view now and the bust's head has risen above my sightline, so I am nearly at its base. One more step forward should bring me right up against the sculpture's plinth.", + "I am standing right at the plinth and the stone base blocks most of my view, leaving only the railing and a banner visible at the edge. I will look up so the white bust itself comes back into sight above me.", + "The white bust stands directly above me at arm's reach on its pedestal. Both destinations are reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002060_y000178_z000100_t3_c/infos.json b/dataset/trajectory/Museum/task_x002060_y000178_z000100_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..22e86717d79198c704b33bb2ff063226702689a1 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002060_y000178_z000100_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the white bust sculpture, then reach the Native American portrait.", + "Type": 3, + "Start_Pose": [ + 2059.576, + 178.155, + 99.862, + 0.0, + -82.4, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2059.576, + 178.155, + 99.862, + 0.0, + -82.4, + 0.0 + ], + [ + 2076.222, + 53.402, + 99.862, + 0.0, + -82.4, + 0.0 + ], + [ + 2076.222, + 53.402, + 99.862, + 0.0, + -57.4, + 0.0 + ], + [ + 2144.031, + -52.629, + 99.862, + 0.0, + -57.4, + 0.0 + ], + [ + 2211.84, + -158.659, + 99.862, + 0.0, + -57.4, + 0.0 + ], + [ + 2279.649, + -264.689, + 99.862, + 0.0, + -57.4, + 0.0 + ], + [ + 2279.649, + -264.689, + 99.862, + 0.0, + -57.4, + 0.0 + ], + [ + 2279.649, + -264.689, + 99.862, + 0.0, + -82.4, + 0.0 + ], + [ + 2279.649, + -264.689, + 99.862, + 0.0, + -107.4, + 0.0 + ], + [ + 2279.649, + -264.689, + 99.862, + 0.0, + -132.4, + 0.0 + ], + [ + 2279.649, + -264.689, + 99.862, + 0.0, + -157.4, + 0.0 + ], + [ + 2163.455, + -313.056, + 99.862, + 0.0, + -157.4, + 0.0 + ], + [ + 2047.26, + -361.423, + 99.862, + 0.0, + -157.4, + 0.0 + ], + [ + 1931.066, + -409.79, + 98.523, + 0.0, + -157.4, + 0.0 + ], + [ + 1814.872, + -458.157, + 98.523, + 0.0, + -157.4, + 0.0 + ], + [ + 1814.872, + -458.157, + 98.523, + 0.0, + -132.4, + 0.0 + ], + [ + 1814.872, + -458.157, + 98.523, + 0.0, + -132.4, + 0.0 + ], + [ + 1814.872, + -458.157, + 98.523, + 0.0, + -132.4, + 0.0 + ] + ], + "Rationale": [ + "The white marble bust sits on its pedestal ahead and to my right, near the railing, while the portrait of the man in the feathered headdress hangs on the wall to my left. The open floor between us is clear, so I will walk forward to cut down that distance first.", + "Facing straight on, my heading runs along the wall of framed paintings, while the marble bust and its tall pedestal sit off to my right beside the balustrade. A modest turn to the right should bring the sculpture toward the middle of my view so I can walk straight at it.", + "The bust on its pedestal now stands ahead of me, framed between the columns and the ironwork railing. The floor in front is clear of the rope stanchions along the wall, so I will step forward to close on the sculpture.", + "The bust and its carved pedestal have grown larger and now sit clearly ahead on my right, but I am still several paces short of them. The path stays open, so I will keep walking forward toward the sculpture.", + "The pedestal now dominates the right half of my view and the marble head rises well above me, yet I am still not standing beside it. One more step forward should bring me right up alongside the sculpture.", + "The carved pedestal fills my right side and the pale marble head rises directly above it, near enough to touch. I have arrived at the white bust sculpture. I mark reaching it and now set off for the portrait of the man in the feathered headdress on the far wall.", + "Standing right at the bust, my view is taken up by its pedestal and the blank wall beside it, and the headdress portrait lies well around behind my left shoulder. I will turn left to begin swinging my heading back toward that painting.", + "The turn has brought the roped-off gallery wall in front of me, but only the ballroom painting and the stanchion line are in sight. The portrait with the feathered headdress must lie further around to my left, so I will keep turning that way.", + "With the white bust behind me, my heading now points at the ballroom painting, while only a sliver of the feathered-headdress portrait shows at the far left edge of my view. I will turn left to swing that framed chief portrait into the center of my view before advancing.", + "The portrait of the man in the feathered headdress is now clearly ahead, but it hangs on the wall to my right side and a rope barrier runs along the near floor. Another left turn should put the open gallery corridor squarely in front of me so I can walk down it toward that painting.", + "The long gallery now stretches straight ahead with clear parquet floor, and the headdress portrait hangs on the wall to my right further along. I will step forward down this open lane to close the remaining distance to that painting.", + "The gilded frame of the chief portrait has grown noticeably larger on the right wall, so my heading is carrying me along it. I will keep walking forward to draw level with the painting.", + "The portrait now fills much of the upper right of my view, but I am still slightly short of standing beneath it. Another step forward should bring me even with the roped section directly in front of the painting.", + "Only the lower part of the ornate frame and the beaded chest of the figure still show at the top right, meaning I am nearly alongside the painting. I will take one more step forward to settle right in front of it.", + "I am standing beside the wall that holds the feathered-headdress portrait, but my heading runs down the gallery so the painting sits off at the top right edge. Turning right should square me up to face the wall the portrait hangs on.", + "Facing the wall now, I can see only the carved bottom edge of the portrait's frame high above the rope barrier, since the painting hangs well above eye level. I will look up to bring the whole chief portrait into my view.", + "The framed portrait of the feathered Native American chief fills my view directly overhead at arm's reach. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Museum/task_x002168_y000164_z000100_t1_a/infos.json b/dataset/trajectory/Museum/task_x002168_y000164_z000100_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fb4ea456a9ad4d89edf60cb1380a3cc2aa5cf64c --- /dev/null +++ b/dataset/trajectory/Museum/task_x002168_y000164_z000100_t1_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Discover the dark bronze sculpture of a draped female figure standing on a tiered pedestal in the staircase hall; once found, reach the base of its pedestal.", + "Type": 1, + "Start_Pose": [ + 2168.004, + 164.425, + 99.862, + 0.0, + -92.96, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2168.004, + 164.425, + 99.862, + 0.0, + -92.96, + 0.0 + ], + [ + 2168.004, + 164.425, + 99.862, + 0.0, + -67.96, + 0.0 + ], + [ + 2168.004, + 164.425, + 99.862, + 0.0, + -42.96, + 0.0 + ], + [ + 2168.004, + 164.425, + 99.862, + 0.0, + -17.96, + 0.0 + ], + [ + 2168.004, + 164.425, + 99.862, + 0.0, + 7.04, + -0.0 + ], + [ + 2292.914, + 179.851, + 99.862, + 0.0, + 7.04, + -0.0 + ], + [ + 2417.824, + 195.276, + 99.862, + 0.0, + 7.04, + -0.0 + ], + [ + 2541.752, + 205.153, + 98.984, + 0.0, + 7.04, + -0.0 + ], + [ + 2666.662, + 220.579, + 47.589, + 0.0, + 7.04, + -0.0 + ], + [ + 2791.451, + 231.606, + -22.314, + 0.0, + 7.04, + -0.0 + ], + [ + 2915.89, + 231.51, + -84.63, + 0.0, + 7.04, + -0.0 + ], + [ + 3040.637, + 237.851, + -125.647, + 0.0, + 7.04, + -0.0 + ], + [ + 3040.637, + 237.851, + -125.647, + 0.0, + -17.96, + 0.0 + ], + [ + 3132.504, + 185.266, + -196.949, + 0.0, + -17.96, + 0.0 + ], + [ + 3252.23, + 146.457, + -236.959, + 0.0, + -17.96, + 0.0 + ], + [ + 3371.956, + 107.648, + -236.959, + 0.0, + -17.96, + 0.0 + ], + [ + 3371.956, + 107.648, + -236.959, + 0.0, + -42.96, + 0.0 + ], + [ + 3464.063, + 21.877, + -240.512, + 0.0, + -42.96, + 0.0 + ], + [ + 3512.445, + -34.216, + -240.512, + 0.0, + -42.96, + 0.0 + ], + [ + 3512.445, + -34.216, + -240.512, + 0.0, + -42.96, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see framed paintings on the gallery wall and a roped-off floor, with no dark bronze draped figure anywhere in sight. The room seems to open toward the balustrade and pale bust on my right, which suggests a staircase hall in that direction. I will turn right to sweep my view toward that opening.", + "The turn brought the carved balustrade and hanging banners into view, but the only sculpture I can make out is a pale marble bust, not the dark bronze figure I need. The railing suggests a stairwell continuing further to my right. I will keep turning right to bring more of that stair area into view.", + "A large marble bust on a heavy pedestal now dominates my view and blocks much of the stairwell beyond it, and it is clearly not the dark draped female figure. Past its right edge I can glimpse tall windows and a lighter opening that likely belongs to the staircase hall. I will continue turning right to see around this pedestal.", + "Beyond the balustrade I can now make out a dark standing figure near the windows across the stairwell, which matches the bronze sculpture described. The railing lies directly between us, so I need to face the open floor running along the wall on my right instead of the drop. I will turn right once more to line up with that walkable passage.", + "The corridor along the right-hand wall is now open in front of me, and the dark draped figure on its pedestal stands ahead on the left beside the stair windows. Searching is finished, so I should commit to closing the distance. I will step forward along this clear stretch of floor.", + "The bronze draped figure has grown larger on its tiered pedestal ahead to my left, confirming I am tracking the right target. The floor beside the balustrade is still unobstructed in my heading. I will keep walking forward to shorten the gap.", + "The dark sculpture and its stepped pedestal are now plainly framed between the columns to my left, still several paces off. Nothing blocks the passage between me and that corner of the hall. I will advance again to continue the approach.", + "The bronze figure is noticeably closer and I can see the detail of its drapery and the base blocks beneath it, but I am not yet at the pedestal. My path along the wall remains clear, so more forward motion is the efficient choice. I will step forward once more.", + "The dark bronze draped figure on its tiered stone pedestal is clearly in view ahead to my left, so the search part of this task is settled and I only need to close the distance. The floor along this wall is open and unobstructed, so I will keep walking forward toward the alcove where it stands.", + "The statue and its stepped base now fill more of my left view, confirming I am steadily closing on the target rather than drifting past it. Nothing blocks the walkway between me and the columned alcove, so another step forward should shorten the remaining gap.", + "I am close enough now that the pedestal sits well to my left and a column edge is beginning to cut across it, which is expected as I come alongside the alcove. Continuing straight should carry me past this wall projection and level with the statue's base before I turn in.", + "The broad column and wall face now dominate my view and only a sliver of the bronze figure remains at the far left edge, so walking straight ahead would take me away from the pedestal. I will turn left to swing my heading back onto the statue and its base.", + "The turn has brought the draped bronze figure and its tiered pedestal back into clear view slightly left of center. The floor between me and the alcove is clear, so I will walk forward to close on the base.", + "The pedestal's molded steps now occupy the left foreground and the figure rises above them, so I am only a short distance from the target base. I will step forward again to keep tightening that gap.", + "I am nearly beside the monument, with the carved plinth and the statue's feet filling the left side of my view. One more step forward should bring me right up against the base of the pedestal.", + "At this range the pilaster and alcove wall take up my forward view while the pedestal has slid to my left side. I will turn left to face the base of the monument directly rather than walking into the wall.", + "The tiered pedestal with the dark bronze draped figure now fills the center of my view, its stepped base only a couple of paces ahead on the floor in front of me. My heading is squared onto that base, so I will step forward to close the last of the gap toward it.", + "The pedestal's molded corner and the bronze drapery above it now dominate my view, showing I am nearly against the base. One more short step forward should bring me right to the foot of the pedestal as the task requires.", + "The tiered pedestal of the draped bronze figure fills my view at arm's length, with its base directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t3_a/infos.json b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..531bf41265c6a34fc0ef46ccdead5d2721bdc93d --- /dev/null +++ b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t3_a/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Walk to the gold-framed painting, then head toward the gray doorway.", + "Type": 3, + "Start_Pose": [ + 2169.424, + 165.856, + -610.611, + 0.0, + -99.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2169.424, + 165.856, + -610.611, + 0.0, + -99.68, + 0.0 + ], + [ + 2169.424, + 165.856, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 2097.811, + 62.357, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 2026.198, + -41.142, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 1954.586, + -144.642, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 1882.973, + -248.141, + -611.662, + 0.0, + -124.68, + 0.0 + ], + [ + 1811.36, + -351.64, + -611.662, + 0.0, + -124.68, + 0.0 + ], + [ + 1739.884, + -453.279, + -611.725, + 0.0, + -124.68, + 0.0 + ], + [ + 1739.884, + -453.279, + -611.725, + 0.0, + -124.68, + 0.0 + ], + [ + 1739.884, + -453.279, + -611.725, + 0.0, + -124.68, + 0.0 + ], + [ + 1739.884, + -453.279, + -611.725, + 0.0, + -99.68, + 0.0 + ], + [ + 1739.884, + -453.279, + -611.725, + 0.0, + -74.68, + 0.0 + ], + [ + 1739.884, + -453.279, + -611.725, + 0.0, + -49.68, + 0.0 + ], + [ + 1739.884, + -453.279, + -611.725, + 0.0, + -24.68, + 0.0 + ], + [ + 1739.884, + -453.279, + -611.725, + 0.0, + 0.32, + -0.0 + ], + [ + 1865.741, + -452.576, + -611.725, + 0.0, + 0.32, + -0.0 + ], + [ + 1991.598, + -451.873, + -610.696, + 0.0, + 0.32, + -0.0 + ], + [ + 2117.455, + -451.17, + -610.696, + 0.0, + 0.32, + -0.0 + ], + [ + 2117.455, + -451.17, + -610.696, + 0.0, + -24.68, + 0.0 + ], + [ + 2228.863, + -453.316, + -610.611, + 0.0, + -24.68, + 0.0 + ], + [ + 2228.863, + -453.316, + -610.611, + 0.0, + -49.68, + 0.0 + ], + [ + 2228.863, + -453.316, + -610.611, + 0.0, + -49.68, + 0.0 + ] + ], + "Rationale": [ + "The gold-framed painting hangs on the teal wall well off to my left, while my body faces the open gray floor and the doorway beyond. I will turn left so that painting sits ahead of me and gives me a straight walking line toward it.", + "The large gold-framed painting now sits near the middle of my view down the long gallery wall, but it is still far off. I will walk forward along the open floor to close that distance.", + "The gilded frame has grown noticeably and the rope stanchions beside it are becoming distinct, so my heading is carrying me straight at it. I will keep walking forward since plenty of clear floor remains between me and that wall.", + "The gold-framed canvas now dominates the upper right of my view and the barrier ropes below it are close enough to read individually. I am still several paces short of standing before it, so I will continue forward.", + "The ornate gold frame is much nearer, with the figures in the painting clearly visible and the wall label appearing to its right. Another step forward should bring me right up to the viewing position in front of it.", + "The frame now occupies the whole upper portion of my view and the ropes are only a stride or two away. I will step forward again to stand directly beneath the painting.", + "I am nearly at the barrier, with the carved gold frame looming overhead and the wall itself filling most of my view. One more short step forward should place me right at the painting's viewing spot.", + "Standing this close, I can only see the underside of the gilded frame and the bare wall beneath it, so the picture itself is above my line of sight. I will look up to bring the whole gold-framed painting into view and confirm I am at it.", + "The heavy gilt frame and its dim interior scene now fill my view from close range, with the wall and its label just beside me. I have come right up to the gold-framed painting, so I mark reaching it and turn my attention to the gray doorway at the far end of the hall.", + "Standing this close, the gilded frame blocks nearly everything and the gray doorway lies well off to my right along the hall. I will turn right to begin swinging my heading away from this wall and back toward that end of the gallery.", + "Only the lower edge of the frame and blank teal wall are in front of me, so I still have no line on the doorway. I will keep turning right to bring more of the hall into view.", + "The frame has slid to the upper left and a small wall placard is all that fills the space ahead, so the far end of the gallery is still out of sight. Another turn right should carry my view past this wall section toward the doorway.", + "At the right edge I can now make out the pale pilaster, the yellow banners and the dark gray door with its green exit sign. I will turn right again to bring that doorway further into the middle of my view.", + "The gray door stands ahead along the wall, but the rope stanchions run right across the line I am facing. One more turn right should point me down the open gray floor beside those ropes, which is the walkable approach to that door.", + "The wide gray floor now runs straight ahead of me past the stanchions, with the dark doorway and its green exit sign on the left wall. I will walk forward along this open lane to close the distance to that door.", + "The gray door has grown larger on my left and the exit sign above it is clearly readable, so I am gaining ground. The lane ahead stays clear of the ropes, so I will step forward again to draw nearer.", + "The gray door with the green exit sign above it is now close on my left, but I am still short of being level with it. I will step forward again along the open gray floor beside the stanchions to draw even with the doorway.", + "I have drawn level with the gray door, which has slipped to the very edge of my view on the left while my heading still runs down the corridor toward the stairs. Turning left should swing the doorway back into the center of my view so I can face it directly.", + "The gray door now fills the left of my view with its handle and exit sign clearly visible, yet it sits slightly behind my forward line rather than right in front of me. A step forward should bring me alongside it and close the last of the gap.", + "I am beside the gray door now, so it has slid off to my far left and only the dark wall edge shows there while I face down the corridor. Turning left should square me up with the doorway itself.", + "The gray door stands directly before me, its handle and lock within arm's reach. Both destinations are reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t3_b/infos.json b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bb10714bb494161963ea5c1b3abd6847cc3d6f2e --- /dev/null +++ b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t3_b/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Head toward the gray doorway, then walk to the gold-framed painting.", + "Type": 3, + "Start_Pose": [ + 2169.424, + 165.856, + -610.611, + 0.0, + -99.68, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2169.424, + 165.856, + -610.611, + 0.0, + -99.68, + 0.0 + ], + [ + 2148.261, + 41.789, + -610.611, + 0.0, + -99.68, + 0.0 + ], + [ + 2148.261, + 41.789, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2181.515, + -79.598, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2214.768, + -200.984, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2248.021, + -322.371, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2281.274, + -443.758, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2281.274, + -443.758, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2256.861, + -354.641, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2256.861, + -354.641, + -610.611, + 0.0, + -99.68, + 0.0 + ], + [ + 2256.861, + -354.641, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 2256.861, + -354.641, + -610.611, + 0.0, + -149.68, + 0.0 + ], + [ + 2256.861, + -354.641, + -610.611, + 0.0, + -174.68, + 0.0 + ], + [ + 2131.544, + -366.31, + -610.611, + 0.0, + -174.68, + 0.0 + ], + [ + 2006.227, + -377.98, + -610.611, + 0.0, + -174.68, + 0.0 + ], + [ + 1880.911, + -389.649, + -611.725, + 0.0, + -174.68, + 0.0 + ], + [ + 1880.911, + -389.649, + -611.725, + 0.0, + -149.68, + 0.0 + ], + [ + 1880.911, + -389.649, + -611.725, + 0.0, + -124.68, + 0.0 + ], + [ + 1812.283, + -453.262, + -611.725, + 0.0, + -124.68, + 0.0 + ], + [ + 1812.283, + -453.262, + -611.725, + 0.0, + -124.68, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the gray service door with its green exit sign ahead on the far teal wall, and the gold-framed painting hangs on the same wall to my left. The door is my nearer destination, so I will walk forward across the open floor to close the gap.", + "The gray door now sits noticeably right of my heading, with the banners and column crowding that side of my view. I will turn right to bring the doorway toward the center of my path before continuing.", + "The gray door is now roughly ahead of me, framed between the pale pilaster and the pedestal of the staircase column. The floor between us is clear, so I will walk forward to keep closing on it.", + "The door and its exit sign have grown larger and the rope stanchions along the wall are becoming distinct, so my heading is still good. I will keep walking forward toward it.", + "The gray door now dominates the wall in front of me, with its handle and vent slats clearly visible. A few more steps should put me right at it, so I will advance again.", + "I am nearly at the wall now, the door filling most of my view above the low red rope. One more step forward should bring me directly to the doorway.", + "The gray door is right against me, its handle and keyhole within arm's reach and the teal wall beside it filling the rest of my view. I have reached the gray doorway. I mark arriving here, and next I am heading back to the gold-framed painting on the gallery wall.", + "Pressed this close to the gray door, the wall fills nearly everything and I have no room to swing around. I will step back from it to open up space before turning toward the gold-framed painting.", + "The gray door and its exit sign now sit at a comfortable distance ahead, so I have the clearance I need to swing my heading. The gold-framed painting hangs further along this wall to my left, back toward the lit gallery. I will turn left to begin bringing that direction into view.", + "The door has slid toward the right side of my view, confirming my heading is rotating away from it. Nothing of the painted wall is visible yet, only bare teal panelling and rope barriers. I will turn left again to keep sweeping toward the gallery side.", + "The gold-framed painting has just come into the upper left corner of my view, with the door now pushed to the far right. It is still too far off-axis for me to walk straight at it. Another left turn should carry it toward the middle of my view.", + "The long gallery with its columns and hung canvases is opening up ahead on my left, and the gold-framed painting sits on the wall to my right. I still need my heading pointed down the length of that hall before advancing. One more left turn should line me up with the walkway.", + "I am now facing straight down the gallery, with clear parquet floor ahead and the gold-framed painting hanging on the wall to my right. The rope stanchions leave an open lane along the middle of the hall. I will step forward to close the gap toward that painting.", + "The gold frame on my right has grown noticeably larger, so my advance is closing the distance. The lane between the stanchions and the columns is still clear. I will keep walking forward to draw level with the painting.", + "The gold frame now fills the upper right of my view but its figures are still angled away from me, meaning I am not yet abreast of it. The floor ahead remains open past the columns. One more step forward should bring me alongside the painting.", + "I have drawn level with the gold-framed painting, which is now at the far right edge of my view while I still face down the hall. To stand before it properly I need my heading turned toward that wall. I will turn right to bring the frame back into the center of my view.", + "The gold-framed painting hangs high on the wall to my right, still cut off at the edge of my view. Another turn to the right should bring the frame near the center of my view so I can walk straight at it.", + "The gold-framed painting is now squarely ahead of me on the teal wall, with its label plaque beside it and only a short stretch of floor between us. I will step forward to close the last of that distance and stand before it.", + "The gold frame fills my view directly overhead at the barrier. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t3_c/infos.json b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..675e4b0846a6bb75e8b0a3c8cb9a50f1353a8bab --- /dev/null +++ b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t3_c/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Move to the nearest stanchion post on the right, then reach the base of the white column group on the left.", + "Type": 3, + "Start_Pose": [ + 2169.424, + 165.856, + -610.611, + 0.0, + -99.68, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2169.424, + 165.856, + -610.611, + 0.0, + -99.68, + 0.0 + ], + [ + 2169.424, + 165.856, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2202.677, + 44.469, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2235.93, + -76.917, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2269.184, + -198.304, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2269.184, + -198.304, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2269.184, + -198.304, + -610.611, + 0.0, + -99.68, + 0.0 + ], + [ + 2269.184, + -198.304, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 2269.184, + -198.304, + -610.611, + 0.0, + -149.68, + 0.0 + ], + [ + 2160.54, + -261.841, + -610.611, + 0.0, + -149.68, + 0.0 + ], + [ + 2051.896, + -325.378, + -610.611, + 0.0, + -149.68, + 0.0 + ], + [ + 1943.252, + -388.916, + -611.477, + 0.0, + -149.68, + 0.0 + ], + [ + 1943.252, + -388.916, + -611.477, + 0.0, + -174.68, + 0.0 + ], + [ + 1817.935, + -400.585, + -611.477, + 0.0, + -174.68, + 0.0 + ], + [ + 1692.618, + -412.255, + -611.477, + 0.0, + -174.68, + 0.0 + ], + [ + 1567.301, + -423.924, + -611.477, + 0.0, + -174.68, + 0.0 + ], + [ + 1567.301, + -423.924, + -611.477, + 0.0, + -174.68, + 0.0 + ] + ], + "Rationale": [ + "The line of black rope posts runs across the teal wall ahead, and its nearest end lies toward my right, near the grey service door and the stair pedestal. My body is aimed too far left, at the picture and the columned hall. I turn right so that closest post sits ahead of me for a straight approach.", + "The nearest rope post now stands close to the center of my view, with the barrier line stretching left toward the exit sign. The open grey floor between us is clear of furniture. I step forward to cut down that distance.", + "The posts and their red ropes have grown larger, but the nearest one is still several paces off across the bare floor. Nothing blocks my line to it. I keep walking straight ahead.", + "The barrier posts now fill much of the lower left of my view and the grey door behind them is close enough to show its handle. A little more ground remains before I stand beside the nearest post. I advance again.", + "The nearest black stanchion post and its slack red rope stand directly before me, close enough that its base and the skirting behind it fill the near ground. I have arrived at that post on the right. I mark reaching it and set off for the group of white columns over on the left side of the hall.", + "Facing the door and the barrier posts leaves the tall white columns outside my view, off to my left where the gilded picture frame hangs. I need my heading swung that way before I can walk to them. I turn left to begin bringing them into sight.", + "The sweep has brought a gilded frame and a pale plinth edge into the far left margin, so the columned part of the hall lies further round in that direction. My heading still points mostly at the doorway wall. I turn left again to keep rotating toward the columns.", + "The cluster of fluted white columns above the dark plinth is now visible, but sits over on the left of my view with the exit sign and door still ahead. To walk straight at those columns I need them centered. I turn left once more.", + "With the roped posts behind me, the long picture hall now opens ahead and I can see the cluster of pale columns rising from their marble plinth partway down it on the left. Nothing blocks the smooth floor in front of me, so I walk forward to cut that distance.", + "The paired white columns and the dark plinth they stand on have grown noticeably larger, confirming my heading runs toward them. The stanchion line stays to my right along the wall, leaving the parquet strip open, so I keep walking forward.", + "The column shafts now fill a good part of the view and their plinth base sits just ahead on my left, still several strides off. The floor between us is clear, so I advance again to close on that base.", + "The column group and its plinth have drifted to the left edge of my view while my heading points down the hall past them. I turn left to swing the base back into the center of my path so a straight walk should bring me right up to it.", + "The pair of white columns and the marble plinth beneath them now sit squarely ahead of me. The parquet between us is clear of benches and ropes, so I step forward to close the remaining gap to their base.", + "The plinth's dark marble body and the column bases above it are much closer and fill the right half of my view. I am not yet at the base itself, so I walk forward again.", + "The ringed column bases and the wooden ledge of their plinth are now only a stride or two away, with a rope stanchion off to my left. One more step forward should put me directly at the foot of this column group.", + "The plinth ledge and the ringed bases of the white columns are directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t5_a_pd/infos.json b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c661e20e7dfb1ecb7adf94604f11e9ed16207f96 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t5_a_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Lift the ceramic vase beside the gold-framed painting, then drop it near the gray doorway.", + "Type": 5, + "Start_Pose": [ + 2169.424, + 165.856, + -610.611, + 0, + -99.68, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1753.098, + -429.014, + -685.725, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2169.424, + 165.856, + -610.611, + 0, + -99.68, + 0 + ], + [ + 2148.261, + 41.789, + -610.611, + 0.0, + -99.68, + 0.0 + ], + [ + 2148.261, + 41.789, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 2076.649, + -61.71, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 2005.036, + -165.21, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 1933.423, + -268.709, + -611.632, + 0.0, + -124.68, + 0.0 + ], + [ + 1933.423, + -268.709, + -611.632, + 0.0, + -124.68, + 0.0 + ], + [ + 1861.81, + -372.208, + -611.632, + 0.0, + -124.68, + 0.0 + ], + [ + 1861.81, + -372.208, + -611.632, + 0.0, + -124.68, + 0.0 + ], + [ + 1861.81, + -372.208, + -611.632, + 0.0, + -99.68, + 0.0 + ], + [ + 1861.81, + -372.208, + -611.632, + 0.0, + -74.68, + 0.0 + ], + [ + 1861.81, + -372.208, + -611.632, + 0.0, + -49.68, + 0.0 + ], + [ + 1861.81, + -372.208, + -611.632, + 0.0, + -24.68, + 0.0 + ], + [ + 1976.172, + -424.761, + -610.612, + 0.0, + -24.68, + 0.0 + ], + [ + 2088.945, + -453.32, + -610.611, + 0.0, + -24.68, + 0.0 + ], + [ + 2200.073, + -453.306, + -610.611, + 0.0, + -24.68, + 0.0 + ], + [ + 2200.073, + -453.306, + -610.611, + 0.0, + -49.68, + 0.0 + ], + [ + 2272.082, + -453.306, + -610.611, + 0.0, + -49.68, + 0.0 + ], + [ + 2272.082, + -453.306, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2253.059, + -383.864, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2253.059, + -383.864, + -610.611, + 0.0, + -74.68, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1753.098, + -429.014, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 1753.098, + -429.014, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 1753.098, + -429.014, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 1753.098, + -429.014, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 1753.098, + -429.014, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 1753.098, + -429.014, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 1753.098, + -429.014, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 1753.098, + -429.014, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 1879.718, + -383.856, + -641.619, + -28.202, + -74.536, + 1.862 + ], + [ + 1883.908, + -375.351, + -641.346, + -28.189, + -49.523, + 1.872 + ], + [ + 1883.574, + -366.405, + -642.013, + -28.215, + -24.553, + 1.849 + ], + [ + 1885.585, + -359.202, + -641.959, + -14.092, + -7.336, + 6.87 + ], + [ + 1870.377, + -352.52, + -641.943, + -28.208, + 25.462, + 1.851 + ], + [ + 1984.457, + -405.06, + -640.408, + -28.189, + 25.478, + 1.869 + ], + [ + 2096.938, + -433.49, + -639.921, + -28.193, + 25.468, + 1.872 + ], + [ + 2208.274, + -433.578, + -640.208, + -28.209, + 25.457, + 1.857 + ], + [ + 2215.42, + -439.672, + -640.471, + -28.186, + 0.478, + 1.873 + ], + [ + 2287.846, + -438.879, + -640.166, + -28.199, + 0.465, + 1.866 + ], + [ + 2291.773, + -447.443, + -640.51, + -28.194, + -24.533, + 1.866 + ], + [ + 2271.554, + -451.377, + -670.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2271.554, + -451.377, + -670.611, + 0.0, + -74.68, + 0.0 + ] + ], + "PD_Dist_2D": [ + 726.1, + 614.7, + 614.7, + 489.5, + 364.8, + 241.3, + 241.3, + 122.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 20.5, + 21.4, + 20.5, + 70.0, + 70.0 + ], + "Rationale": [ + "The gold-framed painting hangs on the teal wall ahead to my left, and the pale ceramic vase stands on the floor just below it behind the rope stanchions. It is still far across this hall, too distant to reach. I will walk forward to close that gap before worrying about fine alignment.", + "After advancing, the framed painting and the vase beneath it sit noticeably left of my heading, while the gray doorway and banners fill the center and right. Continuing straight would carry me past them along the open floor. I will turn left so the vase lies ahead of my path.", + "The turn brought the parquet gallery aisle and the gold-framed painting into view ahead, with the slim ceramic vase standing on the floor just to the painting's left. The vase is still small in view and several strides away. I will keep walking forward along this aisle to close on it.", + "The vase now reads clearly as a tall white ceramic piece with reddish floral marks, set on the wooden floor beneath the gold-framed painting. My heading still points along the aisle toward it and nothing blocks the way. Another step forward should bring me appreciably nearer.", + "The ceramic vase is close now, standing beside the rope stanchions directly under the gold-framed painting, but it is still beyond comfortable arm's reach. My path along the parquet remains clear of the posts. I will step forward again to get within grasping range.", + "The tall ceramic vase stands directly ahead below the gold-framed painting, centered in my view, so I will reach out and try to lift it. My hands are still empty, and this is the target the task names. If the reach is still too long from here, the grasp may not close on it.", + "My hands are empty, so the previous grasp did not take hold. The most likely reason is that I was still a stride too far from the vase, behind the rope line. I will step forward to close that gap before trying again.", + "The vase now fills the near left of my view, its rim just below me and clearly within reach after that extra step. The earlier attempt from farther back left my hands empty, so distance was the limiting factor. I will attempt the grasp again from this closer stance.", + "The vase is now in my hands, lifted clear of the floor, so the grasp succeeded this time. I am still facing the gallery wall and the painting, while the gray doorway lies well off to my right. I will turn right to begin swinging my heading toward it.", + "I still hold the vase, and my view shows only the painting edge, the wall label and the marble pier, with no sign of the gray doorway yet. One turn was not enough to bring the far side of the hall into view. I will keep rotating right toward the doorway side.", + "The vase is secure in my hands, so the remaining job is to carry it to the gray doorway, which is not yet in front of me; I only see wall panels, a label and a marble pilaster. Continuing to swing right should bring the door side of the hall into view so I can set a heading.", + "The gray door with the green exit sign above it has now come into view, but it sits right of my heading with stanchions and the banners crowding that side. One more turn to the right should place the doorway near the middle of my view so I can walk straight at it while carrying the vase.", + "The gray door is now roughly ahead of me with clear gray floor between us and the rope stanchions kept to my left. Holding the vase, I step forward to close the long gap toward that doorway.", + "The doorway has grown noticeably larger and stays slightly left of my path, so my heading is still usable. I keep walking forward with the vase to shorten the remaining distance to the drop area.", + "The gray door now fills much of my left side, so I am close but not yet level with it, and the rope line still separates me from the wall. Another step forward should bring me alongside the doorway with the vase still in hand.", + "The vase is still in my hands and the gray service door has slid to the left edge of my view as I walked along this roped corridor. Continuing straight would carry me past it, so I turn left to bring the doorway back in front of me before setting the vase down.", + "The gray door now fills the left portion of my view and the wall panel beside it is directly ahead, so I am nearly at the release area but still a step off. I walk forward to close that last gap and stand within dropping range of the doorway.", + "I am now right up against the wall beside the doorway, but the door itself sits at the left margin while blank teal panelling dominates the center. I turn left once more so the vase in my hands is squared on the doorway rather than the plain wall before I release it.", + "The gray door panel with its handle and lock now fills my view at close range, so I am standing right at the doorway with the vase still in my hands. This is the intended release spot, so I drop the vase here and it should come to rest beside the doorway.", + "The ceramic vase stands on the floor directly beside the gray doorway and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t5_b_pd/infos.json b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7038d10cad9021503b4c72b16581c28204b5f60d --- /dev/null +++ b/dataset/trajectory/Museum/task_x002169_y000166_z-000611_t5_b_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Grab the trash bag at the gray doorway, then leave it near the gold-framed painting.", + "Type": 5, + "Start_Pose": [ + 2169.424, + 165.856, + -610.611, + 0, + -99.68, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 2284.241, + -449.864, + -699.611, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2169.424, + 165.856, + -610.611, + 0, + -99.68, + 0 + ], + [ + 2148.261, + 41.789, + -610.611, + 0.0, + -99.68, + 0.0 + ], + [ + 2148.261, + 41.789, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2181.515, + -79.598, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2214.768, + -200.984, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2248.021, + -322.371, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2248.021, + -322.371, + -610.611, + 0.0, + -74.68, + 0.0 + ], + [ + 2248.021, + -322.371, + -610.611, + 0.0, + -99.68, + 0.0 + ], + [ + 2248.021, + -322.371, + -610.611, + 0.0, + -124.68, + 0.0 + ], + [ + 2248.021, + -322.371, + -610.611, + 0.0, + -149.68, + 0.0 + ], + [ + 2139.377, + -385.908, + -610.611, + 0.0, + -149.68, + 0.0 + ], + [ + 2030.733, + -449.446, + -610.611, + 0.0, + -149.68, + 0.0 + ], + [ + 1927.437, + -453.302, + -611.725, + 0.0, + -149.68, + 0.0 + ], + [ + 1823.317, + -453.311, + -611.725, + 0.0, + -149.68, + 0.0 + ], + [ + 1719.333, + -453.206, + -611.725, + 0.0, + -149.68, + 0.0 + ], + [ + 1719.333, + -453.206, + -611.725, + 0.0, + -124.68, + 0.0 + ], + [ + 1719.333, + -453.206, + -611.725, + 0.0, + -99.68, + 0.0 + ], + [ + 1719.333, + -453.206, + -611.725, + 0.0, + -74.68, + 0.0 + ], + [ + 1700.31, + -383.765, + -611.725, + 0.0, + -74.68, + 0.0 + ], + [ + 1700.31, + -383.765, + -611.725, + 0.0, + -74.68, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2284.241, + -449.864, + -699.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2284.241, + -449.864, + -699.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2284.241, + -449.864, + -699.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2284.241, + -449.864, + -699.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2284.241, + -449.864, + -699.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2284.241, + -449.864, + -699.611, + 0.0, + 0.0, + 0.0 + ], + [ + 2268.455, + -316.14, + -640.505, + -28.202, + -24.535, + 1.862 + ], + [ + 2268.236, + -325.195, + -640.232, + -28.189, + -49.523, + 1.872 + ], + [ + 2264.522, + -333.979, + -640.899, + -28.215, + -74.553, + 1.849 + ], + [ + 2256.952, + -348.393, + -640.718, + -14.175, + -107.488, + 6.959 + ], + [ + 2150.787, + -403.974, + -640.279, + -28.198, + -99.535, + 1.865 + ], + [ + 2041.889, + -467.663, + -640.817, + -28.191, + -99.521, + 1.871 + ], + [ + 1938.612, + -471.503, + -641.915, + -28.207, + -99.541, + 1.854 + ], + [ + 1834.958, + -471.243, + -641.07, + -28.193, + -99.53, + 1.873 + ], + [ + 1730.73, + -471.286, + -641.414, + -28.192, + -99.53, + 1.866 + ], + [ + 1737.921, + -465.429, + -641.504, + -28.189, + -74.521, + 1.865 + ], + [ + 1741.679, + -457.162, + -641.828, + -28.187, + -49.527, + 1.871 + ], + [ + 1746.378, + -451.467, + -641.959, + -14.092, + -32.336, + 6.87 + ], + [ + 1718.805, + -451.278, + -651.725, + 0.0, + -74.68, + 0.0 + ], + [ + 1718.805, + -451.278, + -651.725, + 0.0, + -74.68, + 0.0 + ] + ], + "PD_Dist_2D": [ + 626.3, + 510.1, + 510.1, + 384.3, + 258.4, + 132.5, + 21.4, + 20.4, + 20.2, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 22.2, + 22.7, + 27.1, + 70.0, + 70.0 + ], + "Rationale": [ + "From this doorway-facing spot I can see the dark trash bag sitting on the floor beside the gray service door to my right, while the gold-framed painting hangs on the wall to my left. The bag is far too distant to reach, so I step forward to close the gap before refining my heading.", + "The trash bag now sits well off to the right of my heading, near the gray door, so walking straight ahead would carry me past it. I turn right to bring the bag closer to the center of my view before advancing again.", + "After the turn the trash bag and the gray door sit near the middle of my view, with clear floor between us. With the heading now usable, I walk forward to shorten the remaining distance toward the bag.", + "The bag has grown larger in front of me and the stanchion rope line beside the door is now clearly resolved, but I am still several paces short of grasping range. I continue walking forward along the same heading toward it.", + "I see the trash bag filling the lower middle of my view just in front of the gray door, so I am nearly within reach of it. I take one more step forward to bring the bag close enough for a grasp attempt.", + "The trash bag is directly in front of me at the base of the gray doorway, close enough that it dominates the near foreground of my view. Rather than step closer and risk pushing past it, I attempt to pick it up now so I can carry it toward the gold-framed painting.", + "The grasp worked and the bag is no longer resting on the floor by the doorway; it is held with me. The gold-framed painting hangs back along the wall to my left, so I begin rotating left to face the delivery direction.", + "I still hold the trash bag, and my view is filled by the gray service door and exit sign rather than the destination. The gold-framed painting lies further around to my left, so I keep turning left to bring it into view.", + "The trash bag is in my hands, so the remaining job is to carry it to the gold-framed painting, which is currently off at the left edge of my view behind the columns. One more turn to the left should swing my heading away from the service door and line me up with the open gallery floor leading toward that painting.", + "My heading now runs down the long gallery, with the gold-framed painting hanging on the wall ahead to my right. Carrying the bag, I will walk forward to close that distance instead of turning again.", + "The gold-framed painting has grown larger on the wall to my right, confirming this heading is carrying me toward it. I will step forward again to draw level with the wall beneath the frame.", + "The ornate gold frame now fills much of the upper right of my view, but I am not yet beside the wall panel below it. Another forward step with the bag should bring me closer to a spot directly under the painting.", + "I am close along the right-hand wall, with the framed painting angled above and slightly behind the direction I face. Continuing forward should place me squarely at the wall section beneath the frame before I turn to set the bag down.", + "Only the lower corner of the gold frame is still visible at the top right, so I am nearly abreast of the painting. One more short step forward should settle me at the drop position beside that wall.", + "I am standing at the wall section under the gold-framed painting, but my body still faces down the gallery with the frame off to my right. Turning right should begin swinging my view onto the wall space below the painting where the bag belongs.", + "The gold frame has moved further into the center-right of my view, so my facing is closer to the painting wall but not yet square to it. Another right turn should center the space beneath the frame for placing the bag.", + "The gold frame now hangs high across the top of my view, so I am standing right beside the painting wall while still carrying the bag. One more turn to the right should bring the wall and the floor space under the painting squarely in front of me for setting the bag down.", + "I am now squared up with the gold-framed painting directly ahead and the wall space beneath it clear, with the bag still in my hands. This is the release point the task asks for, so I will drop the bag here next to the painting.", + "The trash bag now rests on the floor directly beneath the gold-framed painting, out of my hands. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/Museum/task_x002220_y000186_z000100_t1_a/infos.json b/dataset/trajectory/Museum/task_x002220_y000186_z000100_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f4c83d22fdc80394ff67f4c829a7c8ae95331bd8 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002220_y000186_z000100_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search nearby for the large painting depicting a Native American figure, then approach that location once found.", + "Type": 1, + "Start_Pose": [ + 2219.806, + 186.391, + 99.862, + 0.0, + 171.04, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2219.806, + 186.391, + 99.862, + 0.0, + 171.04, + -0.0 + ], + [ + 2219.806, + 186.391, + 99.862, + 0.0, + -163.96, + 0.0 + ], + [ + 2219.806, + 186.391, + 99.862, + 0.0, + -138.96, + 0.0 + ], + [ + 2124.877, + 103.754, + 99.862, + 0.0, + -138.96, + 0.0 + ], + [ + 2029.947, + 21.117, + 99.862, + 0.0, + -138.96, + 0.0 + ], + [ + 1935.018, + -61.521, + 98.275, + 0.0, + -138.96, + 0.0 + ], + [ + 1935.018, + -61.521, + 98.275, + 0.0, + -113.96, + 0.0 + ], + [ + 1883.907, + -176.534, + 98.275, + 0.0, + -113.96, + 0.0 + ], + [ + 1832.795, + -291.548, + 98.275, + 0.0, + -113.96, + 0.0 + ], + [ + 1781.684, + -406.562, + 98.275, + 0.0, + -113.96, + 0.0 + ], + [ + 1731.275, + -497.694, + 98.275, + 0.0, + -113.96, + 0.0 + ], + [ + 1731.275, + -497.694, + 98.275, + 0.0, + -113.96, + 0.0 + ], + [ + 1731.275, + -497.694, + 98.275, + 0.0, + -113.96, + 0.0 + ] + ], + "Rationale": [ + "From here my view is mostly filled by the near wall and its framed works on the left, so I cannot yet tell where a large Native American portrait hangs. The open gallery hall extends off to my right, which is the promising direction to scan. I will turn right to sweep that side of the room into view.", + "A large framed portrait of a figure in a feathered headdress has just appeared at the far right edge of my view, but it is clipped by the border of my field of vision. Turning right again should bring that candidate painting fully into the center of my view for a clearer look.", + "The large portrait of a Native American figure in a beaded, feathered headdress is now clearly in view on the wall to my right, so the search target is identified. It still sits well down the hall behind a rope barrier, so I will walk forward along the open floor to close the distance.", + "The headdress portrait has grown noticeably larger on the wall to my right, confirming I am closing on it. The floor ahead remains clear of benches and stanchions, so I will keep walking forward to reduce the remaining gap.", + "The portrait now dominates the right side of my view, but I am still level with the columns and short of the wall it hangs on. I will advance again to bring myself alongside the painting before squaring up to it.", + "I am now roughly abreast of the large headdress portrait, but it sits off to my right rather than in front of me. Turning right should put the painting near the center of my view so I can walk straight in toward it.", + "The Native American portrait is now centered ahead of me on the wall, with the rope barrier and clear floor between us. I will step forward to close that remaining distance and stand directly before the painting.", + "The framed portrait fills the upper part of my view and the wall is close, so only a short gap remains before I reach the barrier line. I will walk forward once more to bring myself right up to the painting's location.", + "The large framed portrait of the Native American figure now fills the upper part of my view, with its beaded blue garment clearly visible directly ahead of me. The velvet rope stanchions in front of the wall still sit a short distance away, so I will keep walking straight to close the remaining gap to the painting.", + "I am now very close to the wall, with only the lower edge of the ornate frame and the rope barrier in front of me. One more short step should bring me right up against the barrier at the painting's location.", + "I have stopped right beneath the painting, and from this close standing height only bare wall and the frame's lower moulding remain in view. I will tilt my gaze upward to bring the portrait itself back into sight and confirm I am at the correct artwork.", + "The large gilded frame and the Native American figure's beaded regalia are directly overhead at arm's reach. The target is found and reached, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002389_y000223_z000100_t0_a/infos.json b/dataset/trajectory/Museum/task_x002389_y000223_z000100_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d829497c15d4146d297b32add4dcb16e9113a8ca --- /dev/null +++ b/dataset/trajectory/Museum/task_x002389_y000223_z000100_t0_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the base of the dark bronze statue.", + "Type": 0, + "Start_Pose": [ + 2388.542, + 223.487, + 99.842, + 0.0, + -15.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2388.542, + 223.487, + 99.842, + 0.0, + -15.36, + 0.0 + ], + [ + 2509.905, + 190.149, + 99.862, + 0.0, + -15.36, + 0.0 + ], + [ + 2631.269, + 156.811, + 66.896, + 0.0, + -15.36, + 0.0 + ], + [ + 2752.632, + 123.473, + -3.467, + 0.0, + -15.36, + 0.0 + ], + [ + 2873.334, + 111.159, + -64.282, + 0.0, + -15.36, + 0.0 + ], + [ + 2993.465, + 111.165, + -123.827, + 0.0, + -15.36, + 0.0 + ], + [ + 3112.99, + 111.321, + -184.057, + 0.0, + -15.36, + 0.0 + ], + [ + 3213.662, + 122.038, + -236.959, + 0.0, + -15.36, + 0.0 + ], + [ + 3335.06, + 88.887, + -236.959, + 0.0, + -15.36, + 0.0 + ], + [ + 3335.06, + 88.887, + -236.959, + 0.0, + -40.36, + 0.0 + ], + [ + 3430.963, + 7.382, + -240.512, + 0.0, + -40.36, + 0.0 + ], + [ + 3510.775, + -38.077, + -240.512, + 0.0, + -40.36, + 0.0 + ], + [ + 3510.775, + -38.077, + -240.512, + 0.0, + -40.36, + 0.0 + ] + ], + "Rationale": [ + "The dark bronze statue on its pale stone pedestal stands ahead in the alcove between the two columns, slightly right of my view center but close enough to my heading to approach directly. The landing floor between me and it looks clear, so I will move forward to begin closing the distance.", + "The statue and its pedestal now sit larger in my view, confirming my heading is carrying me toward it. Nothing blocks the floor ahead, so I will keep advancing.", + "The bronze figure remains nearly straight ahead and the flanking columns are widening at the edges of my view, which tells me I am still on a good line. There is still a stretch of open floor to cross, so I will continue forward without changing heading.", + "The pedestal base is now clearly visible and the curved balustrade has dropped below my view, so the way to the statue is open. I will move forward again to shorten the remaining gap.", + "The statue now fills much of the upper view and its pedestal steps sit only a short way ahead, slightly left of center. I will keep moving forward to reach the base rather than adjusting heading yet.", + "I am close enough that the bronze figure is cut off at the top of my view and the pedestal's molded steps dominate the foreground. Since I need to stand at the base itself, I will advance again.", + "Only the statue's lower drapery and the pedestal block remain visible, with the base drifting toward the left side of my view as I close in. A little more forward motion should bring me right up against the base.", + "The pedestal now occupies the left portion of my view at very close range, with the column and teal wall filling the right. I will take one more step forward to finish closing on the base before correcting my heading toward it.", + "The dark bronze figure and its stepped pedestal have slid to the far left edge of my view, with the plain teal wall and a pale column filling the center ahead of me. I will turn left to bring the statue's base back into the middle of my view so my heading points straight at it.", + "The stepped pedestal supporting the dark bronze figure now sits centered in my view, so my heading is lined up with the target. I will move forward to close the remaining short gap to its base.", + "The carved pedestal now fills most of my view with the bronze drapery rising directly above it, so I am nearly at the statue's base. One more short forward step should place me right at the base, close enough to stop.", + "The dark bronze statue's stone base fills my view directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002389_y000223_z000100_t5_a_p/infos.json b/dataset/trajectory/Museum/task_x002389_y000223_z000100_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ae37c2d4d7b9c20305024994b8be8273c8e08063 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002389_y000223_z000100_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the jerry can from the base of the dark bronze statue.", + "Type": 5, + "Start_Pose": [ + 2388.542, + 223.487, + 99.842, + 0, + -15.36, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 3362.821, + -82.569, + -323.561, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2388.542, + 223.487, + 99.842, + 0, + -15.36, + 0 + ], + [ + 2509.905, + 190.149, + 99.862, + 0.0, + -15.36, + 0.0 + ], + [ + 2631.269, + 156.811, + 66.896, + 0.0, + -15.36, + 0.0 + ], + [ + 2752.632, + 123.473, + -3.467, + 0.0, + -15.36, + 0.0 + ], + [ + 2873.334, + 111.159, + -64.282, + 0.0, + -15.36, + 0.0 + ], + [ + 2993.465, + 111.165, + -123.827, + 0.0, + -15.36, + 0.0 + ], + [ + 3112.99, + 111.321, + -184.057, + 0.0, + -15.36, + 0.0 + ], + [ + 3213.662, + 122.038, + -236.959, + 0.0, + -15.36, + 0.0 + ], + [ + 3213.662, + 122.038, + -236.959, + 0.0, + -40.36, + 0.0 + ], + [ + 3311.561, + 49.838, + -236.959, + 0.0, + -40.36, + 0.0 + ], + [ + 3311.561, + 49.838, + -236.959, + 0.0, + -40.36, + 0.0 + ], + [ + 3311.561, + 49.838, + -236.959, + 0.0, + -40.36, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3362.821, + -82.569, + -323.561, + 0.0, + 0.0, + 0.0 + ], + [ + 3324.924, + 66.505, + -266.852, + -28.202, + 9.785, + 1.862 + ], + [ + 3324.924, + 66.505, + -266.852, + -28.202, + 9.785, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1021.2, + 895.5, + 769.7, + 644.0, + 526.4, + 417.1, + 316.2, + 253.2, + 253.2, + 142.0, + 21.4, + 21.4 + ], + "Rationale": [ + "From this landing I can see the dark bronze statue on its pedestal across the hall, with a small red jerry can sitting on the floor at its base. It is far too distant to reach, and my heading already points straight at it. I will walk forward to close that gap.", + "The statue and the red jerry can at its base now sit slightly larger and lower in view, confirming my last step carried me toward them. Nothing blocks the open floor between us. I will keep walking forward on this same heading.", + "The pedestal and the red can ahead continue to grow as I advance, so this heading remains correct. The jerry can is still well beyond arm's reach at the far side of the rotunda floor. I will continue stepping forward.", + "The statue now fills much more of my view and the red jerry can at its base is clearly resolved on the floor ahead. I am still several strides short of a distance where I could grasp it. I will advance again.", + "The pedestal steps and the red can are close enough now to see their detail, but the can still sits well below and ahead of me across open floor. My path stays clear of the low blocks to either side. I will step forward again to shorten the remaining distance.", + "The red jerry can now sits low and slightly left of center at the pedestal base, close but still outside grasping range. Continuing straight keeps me clear of the pale block on my left. I will move forward once more.", + "The jerry can has drifted toward the lower left of my view as I close in, sitting right against the base steps. I am still a short distance away from a comfortable grasp. I will take another step forward before adjusting my heading.", + "The red jerry can is now cut off at the left edge of my view while my heading points at the pedestal columns instead. To reach for it I need it centered in front of me. I will turn left so the can comes into the middle of my view.", + "The red jerry can now sits clearly in front of me at the foot of the dark bronze statue's pedestal, slightly left of my heading. It is still a couple of paces away, too far to grasp. I will step forward to close that remaining gap and bring it within reach.", + "The jerry can is now at the very near edge of my view, right beside the statue's base and within arm's length. Nothing stands between me and it, so no further stepping is needed. I will attempt to pick it up now.", + "The red jerry can is held in my hands and no longer resting at the statue base. The task's objective is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002804_y000128_z-000612_t1_a/infos.json b/dataset/trajectory/Museum/task_x002804_y000128_z-000612_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d02923fb77ae5e4267964b57d55970911314395 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002804_y000128_z-000612_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Locate a box situated near an emergency exit door and navigate to it.", + "Type": 1, + "Start_Pose": [ + 2804.065, + 128.497, + -611.725, + 0.0, + -92.96, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -92.96, + 0.0 + ], + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -67.96, + 0.0 + ], + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -42.96, + 0.0 + ], + [ + 2896.172, + 42.726, + -611.725, + 0.0, + -42.96, + 0.0 + ], + [ + 2986.347, + -13.759, + -611.725, + 0.0, + -42.96, + 0.0 + ], + [ + 3078.455, + -99.53, + -611.725, + 0.0, + -42.96, + 0.0 + ], + [ + 3078.455, + -99.53, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3198.181, + -138.339, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3317.907, + -177.148, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3437.633, + -215.957, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3437.633, + -215.957, + -611.725, + 0.0, + -17.96, + 0.0 + ] + ], + "Rationale": [ + "My view is almost entirely filled by stacked black flight cases and the underside of a stairway, so I cannot see any door or exit signage from here. I need to sweep my heading toward the open part of the room, so I will turn right to bring more of the floor and walls into view.", + "Turning has opened up a lit hall with a wooden floor and a rope barrier, and I can make out a dark case standing against the far wall to my right. The cases beside me still block much of the right side, so I will continue turning right to bring that wall and any exit door fully into view.", + "I can now see a green emergency exit sign above a grey metal door across the room, with a dark box sitting on the floor right beside it. That matches the target description, so I will stop scanning and walk forward to close the distance toward that door and box.", + "The exit door and the box beside it are larger and more centered now, and the path ahead is clear floor with only the rope barrier off to the left. I will keep walking forward to shorten the remaining distance to the box.", + "The grey exit door with its green sign and the black box at its base are now well within reach of a few more strides, drifting toward the right of my view as I advance. Nothing blocks the open parquet floor in between, so I will continue walking forward.", + "My forward motion has pushed the exit door and the box beside it toward the right edge of my view, so my heading no longer points at the target. I will turn right to bring the box and its door back to the center before continuing my approach.", + "The turn has re-centered the emergency exit door with its green sign, and the dark box now sits just left of the door directly ahead of me. With clear floor in between, I will walk forward to close in on that box.", + "The box beside the emergency exit door now fills a large part of my view, so only a short distance remains. I will step forward again to bring myself right up beside it.", + "The black case sits directly beside the grey emergency exit door with its green exit sign, and both fill much of my view now, so the target is confirmed and centred slightly left of my heading. A short gap of floor still separates me from the case, so I will step forward again to close that remaining distance and stand right at it.", + "The box beside the emergency exit door now fills the near foreground, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002804_y000128_z-000612_t1_b/infos.json b/dataset/trajectory/Museum/task_x002804_y000128_z-000612_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..737516a47d1fcb94996633de41c4b94e65e8c073 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002804_y000128_z-000612_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for a padded chair placed in the vicinity of an emergency exit, then make your way over to it.", + "Type": 1, + "Start_Pose": [ + 2804.065, + 128.497, + -611.725, + 0.0, + -92.96, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -92.96, + 0.0 + ], + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -67.96, + 0.0 + ], + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -42.96, + 0.0 + ], + [ + 2896.172, + 42.726, + -611.725, + 0.0, + -42.96, + 0.0 + ], + [ + 2896.172, + 42.726, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3015.898, + 3.917, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3135.625, + -34.892, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3255.351, + -73.701, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3375.077, + -112.51, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3375.077, + -112.51, + -611.725, + 0.0, + 7.04, + -0.0 + ], + [ + 3499.987, + -97.085, + -611.725, + 0.0, + 7.04, + -0.0 + ], + [ + 3499.987, + -97.085, + -611.725, + 0.0, + 7.04, + -0.0 + ] + ], + "Rationale": [ + "My view is almost entirely blocked by dark flight cases and the underside of a staircase, so I cannot see any wall signage or seating from here. I will turn right to swing my sight line away from this clutter and open up the brighter part of the room where an emergency exit and a padded chair could be.", + "Turning has revealed a teal-walled hall with a wooden floor and rope barriers, but the cases in front of me still hide the middle of that wall and I see only another crate in the distance. I will keep turning right to sweep further along the wall, since an emergency exit door and its nearby chair should be somewhere along that surface.", + "The sweep has paid off: a green emergency exit sign glows above a grey door across the room, and a small chair with a padded seat stands right beside that door. The target is identified, so I will stop searching and walk forward to close the long distance across the hall toward it.", + "After advancing, the tall flight case now crowds the left of my view while the exit door and its chair sit off toward the right side. I will turn right to bring that door and chair into the center of my path so my next steps carry me straight at them.", + "The grey exit door with its green sign is now centered ahead, with the padded chair just to its right and a black crate to its left, and the floor between us is clear apart from rope stands to either side. I will walk forward along this heading to cut down the remaining distance to the chair.", + "The door, sign and the chair beside it have grown noticeably larger, confirming I am closing on the correct spot along the teal wall. Nothing blocks the lane in front of me, so I will keep walking forward toward the chair.", + "I can now make out the chair's grey padded seat and back and its metal legs standing right against the wall next to the exit door. There is still open floor between us, so I will continue forward to bring myself up beside it.", + "The exit door and the padded chair beside it now dominate the wall in front of me, with only a short stretch of parquet left to cover. I will step forward again to reach arm's length of the chair rather than stopping short of it.", + "The grey emergency door with its green exit sign is directly ahead of me, and the padded grey chair I am looking for stands against the wall at the right edge of my view, partly cut off. I will turn right to bring that chair into the center of my heading so my remaining steps carry me straight to it rather than into the door or the flight case on the left.", + "The padded chair beside the emergency door is now squarely in front of me, no longer clipped at the edge of my view, so the search part of the task is settled and I can commit to the approach. I will step forward to close the last short gap of floor between me and the chair at the wall.", + "The padded chair by the emergency exit is now at my side, the door panel filling my view ahead. I have arrived, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/Museum/task_x002804_y000128_z-000612_t1_c/infos.json b/dataset/trajectory/Museum/task_x002804_y000128_z-000612_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ad7e760904af428e063db7fcaa417f447b378ce4 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002804_y000128_z-000612_t1_c/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Determine where the emergency exit with a green sign is, specifically the one flanked by a box and a padded chair, and proceed to that door.", + "Type": 1, + "Start_Pose": [ + 2804.065, + 128.497, + -611.725, + 0.0, + -92.96, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -92.96, + 0.0 + ], + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -67.96, + 0.0 + ], + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -42.96, + 0.0 + ], + [ + 2804.065, + 128.497, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 2923.791, + 89.688, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3043.517, + 50.879, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3163.243, + 12.07, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3282.97, + -26.739, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3402.696, + -65.548, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3516.707, + -104.578, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3563.635, + -152.426, + -611.725, + 0.0, + -17.96, + 0.0 + ], + [ + 3563.635, + -152.426, + -611.725, + 0.0, + -17.96, + 0.0 + ] + ], + "Rationale": [ + "My view is almost entirely blocked by stacked flight cases and the underside of a staircase, so I cannot see any wall that might carry a green emergency exit sign. Turning right should swing my gaze away from this clutter and open up the room beyond. I will turn right to begin scanning for the exit door.", + "The rotation has opened part of the hall, showing a teal wall, roped stanchions and a small black case on the floor to the right, but no green exit sign yet. The stacked cases still occupy the center of my view, so more of the room lies further right. I will keep turning right to continue the sweep.", + "I can now see a grey door on the teal wall with a green exit sign above it, flanked by a dark box on one side and a padded chair on the other, which matches the described target. It sits toward the right of my view, still partly edged by the stacked cases on my left. One more turn right should center that door before I walk toward it.", + "The exit door with its green sign is now near the center of my view, with the box on its left and the padded chair on its right, confirming it as the target. The floor ahead is clear apart from rope stanchions well off to either side. I will walk forward to close the distance to that door.", + "The exit door, its green sign, the flanking box and chair have grown larger and remain straight ahead, so my heading is still correct. Nothing blocks the open floor between me and the wall. I will continue walking forward toward the door.", + "The target door stays centered in my view and the green exit sign above it is clearly legible, with the box and padded chair still on either side. I am closer but not yet at the doorway. I will keep advancing along this straight line.", + "The doorway now fills a large part of my view with the handle visible, and the flanking box and chair confirm this is the correct exit. There is still some distance before I stand directly at the door. I will step forward again to close that remaining gap.", + "I am close to the exit door, with the green sign directly overhead, the black box on my left and the padded chair on my right. A little more distance remains before I am standing right at the door face. I will take another step forward toward it.", + "The grey emergency door with its green exit sign directly overhead now fills most of my view, with the dark equipment box on its left and the padded grey chair on its right, matching the described target exactly. Since it is centered in front of me, I will keep walking straight to close the remaining gap to the doorway.", + "I am now close enough that the door panel and its lever handle and lock fill my view, with only a narrow strip of wall visible at the sides. One more short step forward should bring me right up to the door as the task requires.", + "I am standing right at the metal emergency door panel, close enough that its surface fills my view. The task is complete, so no further movement is needed." + ] +} diff --git a/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t0_a/infos.json b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6bf7955f26a57d6436459ead9a11fdf014ed4825 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t0_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the gray door with the green exit sign above it.", + "Type": 0, + "Start_Pose": [ + 2901.011, + 81.425, + -611.734, + 0.0, + -15.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2901.011, + 81.425, + -611.734, + 0.0, + -15.36, + 0.0 + ], + [ + 3022.374, + 48.087, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3143.738, + 14.749, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3265.101, + -18.589, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3386.465, + -51.927, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3507.828, + -85.265, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3507.828, + -85.265, + -611.725, + 0.0, + -15.36, + 0.0 + ] + ], + "Rationale": [ + "I can see the gray door with the glowing green exit sign directly ahead of me across the open wooden floor, roughly centered in my view. My heading already lines up with it, so I will move forward to begin closing the long distance.", + "The door and its green exit sign are noticeably larger now and still sit near the center of my view, so my heading remains correct. I will keep moving forward since a lot of floor still separates me from the doorway.", + "The gray door is clearly closer, with the black crate to its left and the chair to its right now distinct. Nothing blocks the straight lane in front of me, so another forward step should continue closing the gap.", + "The door now fills a large part of my view with the exit sign bright above it, and I can make out the handle and vents. I am still a couple of steps short of standing at the doorway, so I will advance again.", + "The door panel now dominates the left of my view and the exit sign has passed above my line of sight, meaning I am nearly at the wall. One more forward step should bring me right up to the door for a final stopping position.", + "The gray door's handle and panel are directly in front of me at arm's length. The task is complete, so I stop here at the door." + ] +} diff --git a/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t0_b/infos.json b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8adaba0d608d0d202e916da5e4ffbc78299d6ea --- /dev/null +++ b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t0_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the dark cabinet beside the door.", + "Type": 0, + "Start_Pose": [ + 2901.011, + 81.425, + -611.734, + 0.0, + -15.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2901.011, + 81.425, + -611.734, + 0.0, + -15.36, + 0.0 + ], + [ + 3022.374, + 48.087, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3143.738, + 14.749, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3143.738, + 14.749, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3239.641, + -66.756, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3335.545, + -148.26, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3431.448, + -229.765, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3431.448, + -229.765, + -611.725, + 0.0, + -40.36, + 0.0 + ] + ], + "Rationale": [ + "Across the room I can see the grey door under the green exit sign, with a dark boxy cabinet standing on the floor immediately to its left. That cabinet is my target and it is still far away, so I step forward along my current heading to begin closing the gap.", + "The door and the dark cabinet beside it now appear larger, confirming my heading is carrying me toward them. The floor ahead is clear of the rope barriers on either side, so I continue straight forward to keep reducing the distance.", + "The dark cabinet sits noticeably left of straight ahead, offset from the door that is nearer my forward line. Going straight would take me to the door instead of the cabinet, so I turn left to bring the cabinet onto my path of travel.", + "After the turn the dark cabinet sits close to the middle of my view, just left of the grey door, so my heading now lines up with it. I step forward to close the remaining distance across the open floor.", + "The cabinet is clearly bigger now and still ahead of me beside the door, so my alignment is holding. I take another step forward, since I am not yet close enough to count as standing beside it.", + "The dark cabinet now dominates the lower middle of my view with the door panel right beside it, so only a short gap remains. I move forward once more to bring myself directly up to it.", + "The dark cabinet's top edge is right in front of me at arm's length, beside the door wall. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t0_c/infos.json b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2706523ab8394bf31918db6ce73eba2704dc6898 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t0_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the chair next to the gray door.", + "Type": 0, + "Start_Pose": [ + 2901.011, + 81.425, + -611.734, + 0.0, + -15.36, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2901.011, + 81.425, + -611.734, + 0.0, + -15.36, + 0.0 + ], + [ + 3022.374, + 48.087, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3143.738, + 14.749, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3265.101, + -18.589, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3386.465, + -51.927, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3386.465, + -51.927, + -611.725, + 0.0, + 9.64, + -0.0 + ], + [ + 3510.546, + -30.851, + -611.725, + 0.0, + 9.64, + -0.0 + ], + [ + 3510.546, + -30.851, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3510.546, + -30.851, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3510.546, + -30.851, + -611.725, + 0.0, + -15.36, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the gray metal door set in the far teal wall, with a gray chair standing immediately to its right beside a black case. That chair is my target, and it lies well across the open floor ahead of me, roughly in line with my current heading. I will step forward to begin closing that distance.", + "The door and the chair beside it now appear larger and lower in my view, so my previous step did bring me nearer. The stanchions and ropes stay off to either side, leaving the floor straight ahead unobstructed. I will keep walking forward toward the chair.", + "The exit sign, the door, and the chair against the baseboard are clearly resolved now, and the chair still sits slightly right of my heading. There is still several body lengths of bare floor between me and that wall. Another forward step should keep shrinking that gap.", + "The wall fills most of my view and the chair beside the gray door is close, though not yet within arm's reach. Nothing stands between me and it apart from open floorboards. I will advance once more to finish closing on the chair.", + "I am nearly at the wall, but the chair sits off to the right of my heading while the door and the black case dominate the center and left. To finish standing next to the chair rather than in front of the door, I need my body pointed at it. I will turn right to bring the chair toward the middle of my view.", + "After the turn the chair sits near the center of my view against the wall, with the gray door now at my left. There is still a short stretch of floor between me and the chair. One more forward step should place me right beside it.", + "I am now very close to the wall, and the chair has slid to the far lower left edge of my view while plain paneling fills the rest. Turning left should bring the chair and the adjacent gray door back into the middle of my view so I can confirm I am standing beside the right object.", + "The gray door edge is right at my left and the top of the chair back rises just below center, so I am standing immediately next to it. My gaze is still level with the wall, hiding the chair seat and the floor at my feet. I will tilt my gaze downward to see the whole chair and confirm my arrival position.", + "The gray door and the chair beside it are directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t5_a_p/infos.json b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dee625a635960c7ed3d370456149b753c26dbfcb --- /dev/null +++ b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the ceramic vase at the gray door beneath the green exit sign.", + "Type": 5, + "Start_Pose": [ + 2901.011, + 81.425, + -611.734, + 0, + -15.36, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3495.221, + -172.463, + -685.725, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2901.011, + 81.425, + -611.734, + 0, + -15.36, + 0 + ], + [ + 3022.374, + 48.087, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3143.738, + 14.749, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3265.101, + -18.589, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3265.101, + -18.589, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3386.465, + -51.927, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3386.465, + -51.927, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3386.465, + -51.927, + -611.725, + 0.0, + -15.36, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3495.221, + -172.463, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3495.221, + -172.463, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3495.221, + -172.463, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3495.221, + -172.463, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3495.221, + -172.463, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3495.221, + -172.463, + -685.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3391.532, + -31.174, + -641.619, + -28.202, + 34.784, + 1.862 + ], + [ + 3391.532, + -31.174, + -641.619, + -28.202, + 34.784, + 1.862 + ] + ], + "PD_Dist_2D": [ + 646.2, + 521.8, + 398.2, + 276.8, + 276.8, + 162.3, + 21.4, + 21.4 + ], + "Rationale": [ + "The gray door under the green exit sign is straight ahead across the room, and the tall ceramic vase stands right beside it. It is far too distant to reach from here, so I will walk forward along this heading to close the gap.", + "The door and the vase now fill more of my view, so my straight approach is working. The vase is still several strides away and out of arm's reach, so I will keep walking forward without changing heading.", + "The vase now stands clearly at the left edge of the gray door with its floral pattern visible, confirming it is my target. It remains beyond grasping range, so another step forward should bring me close enough to attempt a pick.", + "The ceramic vase now stands large in front of me beside the gray door beneath the exit sign, and it looks close enough to handle. I will attempt to grasp it here rather than crowd the door and the chair beside it.", + "My hands are empty, so that grasp attempt did not connect. I must have reached from beyond grabbing range, so I will step forward to shorten the distance before trying again.", + "My earlier reach for the ceramic vase beside the gray door left it standing untouched and my hands empty, so I closed the remaining gap. The vase now fills the near left of my view at arm's length, under the green exit sign. I will attempt the grasp again from this closer stance.", + "The ceramic vase is now held in my hands, no longer resting by the gray door. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t5_b_p/infos.json b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d835a6c7c36d69250fffe174dd66ff73574b5836 --- /dev/null +++ b/dataset/trajectory/Museum/task_x002901_y000081_z-000612_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Lift the metal bucket near the dark cabinet beside the door.", + "Type": 5, + "Start_Pose": [ + 2901.011, + 81.425, + -611.734, + 0, + -15.36, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 3469.763, + -347.877, + -691.725, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2901.011, + 81.425, + -611.734, + 0, + -15.36, + 0 + ], + [ + 3022.374, + 48.087, + -611.725, + 0.0, + -15.36, + 0.0 + ], + [ + 3022.374, + 48.087, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3118.278, + -33.418, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3214.181, + -114.922, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3310.085, + -196.427, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3310.085, + -196.427, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3405.988, + -277.932, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3405.988, + -277.932, + -611.725, + 0.0, + -40.36, + 0.0 + ], + [ + 3405.988, + -277.932, + -611.725, + 0.0, + -40.36, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 3469.763, + -347.877, + -691.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3469.763, + -347.877, + -691.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3469.763, + -347.877, + -691.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3469.763, + -347.877, + -691.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3469.763, + -347.877, + -691.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3469.763, + -347.877, + -691.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3469.763, + -347.877, + -691.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3469.763, + -347.877, + -691.725, + 0.0, + 0.0, + 0.0 + ], + [ + 3419.351, + -261.265, + -641.619, + -28.202, + 9.785, + 1.862 + ], + [ + 3419.351, + -261.265, + -641.619, + -28.202, + 9.785, + 1.862 + ] + ], + "PD_Dist_2D": [ + 712.6, + 597.4, + 597.4, + 471.6, + 345.8, + 220.1, + 220.1, + 94.7, + 21.4, + 21.4 + ], + "Rationale": [ + "From here the metal bucket sits far across the room, next to the dark cabinet beside the closed door with the exit sign. Nothing blocks the open floor between us, so I will walk straight ahead to cut down that distance before worrying about fine alignment.", + "The bucket now sits well left of my heading, while my current facing points at the door and the wall panels. Turning left should bring the bucket closer to the center of my view so a straight walk leads to it rather than to the door.", + "The bucket is now near the middle of my view, standing on the floor between the rope stanchions and the dark cabinet. With my heading pointed at it and clear floor in between, I will walk forward to close the remaining gap.", + "The bucket has grown larger and stays centered in front of me, with the black cabinet and door just to its right. It is still several paces away, too far to reach, so I will keep walking straight toward it.", + "The bucket's open rim is clearly visible slightly left of center and the cabinet stands beside it, but it still sits beyond arm's reach. One more step forward should place me close enough to attempt a grasp.", + "The metal bucket now stands clearly in front of me on the floor beside the dark case and the door wall, centered in my view. Since it appears to be within reach of my approach line, I will attempt to grasp and lift it now rather than step closer.", + "My hands are still empty, so that grasp attempt did not take hold. The most likely reason is that I stopped short of true reaching range. I will walk one step further toward the bucket by the dark case.", + "After this step the bucket rim fills the bottom of my view, right against the dark case and the roped wall, much nearer than during my earlier unsuccessful attempt. At this range the bucket should be inside my grasping envelope, so I will try to take hold of it and lift.", + "The metal bucket is now held in my hands, lifted clear of the floor beside the dark case. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_a/001.jpg b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_a/001.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0815fb04c7d8f47d47047df30c6b57e76149b1a9 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_a/001.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f61728219275af89727f47ecf732e387375b0995e4481c668d88cb015cb505a +size 99165 diff --git a/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_a/002.jpg b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_a/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..04b543ecab7ab69713e43343a61d5890743b9c08 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-001883_y002579_z000087_t2_a/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid 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0000000000000000000000000000000000000000..967daa323b0fedd2e71fcb4259c0a2606db066a5 --- /dev/null +++ b/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Pick up the plate from the ground near the base of the white pillar with the cluster of lanterns.", + "Type": 5, + "Start_Pose": [ + -680.303, + 9490.281, + 198.15, + 0, + 0, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -270.646, + 9318.273, + 148.15, + 90, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -680.303, + 9490.281, + 198.15, + 0, + 0, + 0 + ], + [ + -680.303, + 9490.281, + 198.15, + 0.0, + -25.0, + 0.0 + ], + [ + -566.236, + 9437.091, + 198.15, + 0.0, + -25.0, + 0.0 + ], + [ + -452.169, + 9383.901, + 198.15, + 0.0, + -25.0, + 0.0 + ], + [ + -338.102, + 9330.71, + 198.15, + 0.0, + -25.0, + 0.0 + ], + [ + -338.102, + 9330.71, + 198.15, + 0.0, + -25.001, + 0.0 + ], + [ + -338.102, + 9330.71, + 198.15, + 0.0, + -25.001, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -270.646, + 9318.273, + 148.15, + 90.0, + 0.0, + 0.0 + ], + [ + -270.646, + 9318.273, + 148.15, + 90.0, + 0.0, + 0.0 + ], + [ + -270.646, + 9318.273, + 148.15, + 90.0, + 0.0, + 0.0 + ], + [ + -270.646, + 9318.273, + 148.15, + 90.0, + 0.0, + 0.0 + ], + [ + -270.646, + 9318.273, + 148.15, + 90.0, + 0.0, + 0.0 + ], + [ + -329.63, + 9350.321, + 168.256, + -28.202, + 25.144, + 1.862 + ], + [ + -329.63, + 9350.321, + 168.256, + -28.202, + 25.144, + 1.862 + ] + ], + "PD_Dist_2D": [ + 444.3, + 444.3, + 318.6, + 193.0, + 68.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The white plate is resting on the pavement at the foot of the pale pillar hung with lanterns, but it sits left of my heading rather than straight ahead. I will turn left so the pillar and the plate move toward the center of my view, giving me a clean line to walk in.", + "The plate and its pillar are now roughly centered in front of me, but they are still far down the covered arcade. I will walk forward along the paving to close that distance.", + "The plate has grown noticeably larger and stays centered against the pillar, so my heading needs no correction. The gap is still too wide for a grasp, so I will keep stepping forward.", + "The plate now fills a large part of the lower view and the pillar looms close, yet the dish is still a couple of paces out of reach. One more forward step should bring it directly at my feet for a grasp.", + "The plate is right at my feet, its rim filling the bottom of my view beside the pillar base, and nothing blocks my hands. This is close enough to attempt the grasp, so I will reach for the plate and try to lift it.", + "The white plate is now held in my hands rather than lying on the pavement. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_a_pd/infos.json b/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1301104eb336199678072873ea8e163518083f6f --- /dev/null +++ b/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_a_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Pick up the tomato from the stone-paved ground near the white column with hanging lanterns, then place it near the rightmost wooden doorway of the building.", + "Type": 5, + "Start_Pose": [ + -680.303, + 9490.281, + 198.15, + 0, + 0, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -198.277, + 9310.174, + 168.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -680.303, + 9490.281, + 198.15, + 0, + 0, + 0 + ], + [ + -680.303, + 9490.281, + 198.15, + 0.0, + -25.0, + 0.0 + ], + [ + -566.236, + 9437.091, + 198.15, + 0.0, + -25.0, + 0.0 + ], + [ + -452.169, + 9383.901, + 198.15, + 0.0, + -25.0, + 0.0 + ], + [ + -338.102, + 9330.71, + 198.15, + 0.0, + -25.0, + 0.0 + ], + [ + -338.102, + 9330.71, + 198.15, + 0.0, + -25.001, + 0.0 + ], + [ + -338.102, + 9330.71, + 198.15, + 0.0, + -0.001, + 0.0 + ], + [ + -338.102, + 9330.71, + 198.15, + 0.0, + 24.999, + -0.0 + ], + [ + -338.102, + 9330.71, + 198.15, + 0.0, + 49.999, + -0.0 + ], + [ + -338.102, + 9330.71, + 198.15, + 0.0, + 74.999, + -0.0 + ], + [ + -305.526, + 9452.28, + 198.15, + 0.0, + 74.999, + -0.0 + ], + [ + -272.95, + 9573.851, + 198.15, + 0.0, + 74.999, + -0.0 + ], + [ + -240.374, + 9695.421, + 198.15, + 0.0, + 74.999, + -0.0 + ], + [ + -219.559, + 9816.641, + 198.15, + 0.0, + 74.999, + -0.0 + ], + [ + -219.559, + 9816.641, + 198.15, + 0.0, + 49.999, + -0.0 + ], + [ + -219.584, + 9902.951, + 198.15, + 0.0, + 49.999, + -0.0 + ], + [ + -219.584, + 9902.951, + 198.15, + 0.0, + 24.999, + -0.0 + ], + [ + -284.838, + 9872.523, + 198.15, + 0.0, + 24.999, + -0.0 + ], + [ + -284.838, + 9872.523, + 198.15, + 0.0, + 24.999, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -198.277, + 9310.174, + 168.15, + 0.0, + 0.0, + 0.0 + ], + [ + -198.277, + 9310.174, + 168.15, + 0.0, + 0.0, + 0.0 + ], + [ + -198.277, + 9310.174, + 168.15, + 0.0, + 0.0, + 0.0 + ], + [ + -198.277, + 9310.174, + 168.15, + 0.0, + 0.0, + 0.0 + ], + [ + -198.277, + 9310.174, + 168.15, + 0.0, + 0.0, + 0.0 + ], + [ + -329.63, + 9350.321, + 168.256, + -28.202, + 25.144, + 1.862 + ], + [ + -338.719, + 9353.023, + 168.529, + -28.189, + 50.156, + 1.872 + ], + [ + -347.482, + 9351.188, + 167.862, + -28.215, + 75.127, + 1.849 + ], + [ + -354.921, + 9351.96, + 167.916, + -14.092, + 92.343, + 6.87 + ], + [ + -358.95, + 9335.844, + 167.932, + -28.208, + 125.142, + 1.851 + ], + [ + -326.339, + 9457.135, + 168.353, + -28.189, + 125.157, + 1.869 + ], + [ + -293.825, + 9578.436, + 168.736, + -28.205, + 125.135, + 1.859 + ], + [ + -261.269, + 9699.964, + 168.889, + -28.191, + 125.149, + 1.872 + ], + [ + -240.395, + 9821.377, + 168.621, + -28.202, + 125.142, + 1.866 + ], + [ + -235.587, + 9829.509, + 168.223, + -28.202, + 100.138, + 1.862 + ], + [ + -236.549, + 9915.957, + 168.809, + -28.192, + 100.154, + 1.873 + ], + [ + -228.596, + 9921.544, + 167.987, + -28.207, + 75.136, + 1.854 + ], + [ + -221.396, + 9902.105, + 213.15, + 0.0, + 24.999, + -0.0 + ], + [ + -221.396, + 9902.105, + 213.15, + 0.0, + 24.999, + -0.0 + ] + ], + "PD_Dist_2D": [ + 514.6, + 514.6, + 389.2, + 264.4, + 141.3, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 21.4, + 21.4, + 21.4, + 20.6, + 21.4, + 20.7, + 70.0, + 70.0 + ], + "Rationale": [ + "The red tomato sits on the stone paving at the foot of the white column with hanging lanterns, but it is offset to the left of my current heading. I will turn left so my facing lines up with it before walking in. That should give me a straight approach path.", + "The tomato now sits near the middle of my view against the white column, so my heading is usable. It is still far across the open paving, well beyond reach. I will walk forward to close that gap.", + "The tomato has grown noticeably larger and stays just right of center, confirming I am tracking straight toward it. It remains several paces away on the paving. Another step forward should keep shrinking the distance without needing a course change.", + "The tomato now fills a good part of the lower view beside the white column, so I am close but likely still short of grasping range. Nothing blocks the last stretch of paving. I will step forward once more to bring it within reach.", + "The tomato is right at my feet at the corner of the white column, dominating the lower edge of my view. This is as close as I can usefully get on this approach line. I will attempt to pick it up now.", + "The tomato is gripped in my hands, so the pick succeeded and it is no longer resting on the stones. The delivery point is the rightmost wooden doorway of this building, which lies further along the facade to my right. I will turn right to begin swinging my heading that way.", + "I am carrying the tomato and now face the white column and a stretch of latticed wall, not yet the open route along the shopfronts. The doorways I need continue further to my right. I will keep rotating right to bring that stretch of facade into view.", + "The facade with its wooden panels and lanterns now runs off to my right and I can see paving opening in that direction. My heading still points too much into the wall to walk cleanly along it. One more right turn should put the street line ahead of me.", + "The tomato is in my hands, so the pickup part of the task is behind me and I now need a route toward the doorway row. My heading still points along the near wall, with the open paved lane only just entering the right edge of my view. I will turn right once more to swing my facing onto that open lane so I can walk it freely.", + "My facing now runs straight down the open stone lane, with the lantern-hung facade and its wooden doorways lining my left side. Nothing blocks the paving ahead, so this is a clean transport corridor while carrying the tomato. I will step forward along it to close distance toward the far end of the doorway row.", + "The lantern pairs on the left have grown larger, confirming the last step carried me further along the lane while still holding the tomato. The doorways I need are still further ahead down this same wall. I will keep walking straight rather than turning early toward a nearer panel.", + "I am moving well along the covered walkway with the carved wooden panels sliding past on my left and the courtyard opening on the right. The stretch of doorways I want lies further down this stretch, so I have not yet reached a good drop position. Another forward step should bring me nearer that end of the facade.", + "The doorway bays on my left are now close and clearly detailed, so I am nearly beside the section where the tomato belongs. A little more distance along the walkway should place me level with the far doorway rather than an earlier one. I will take one more step forward before turning to face the wall.", + "I have advanced far enough along the lane that the wooden doorways sit beside me on the left instead of ahead. To set the tomato down near one of them I must face the facade rather than keep looking down the corridor. I will turn left to bring the doorway wall into the front of my view.", + "Turning has brought the carved doorway panels and their hanging lanterns across the front of my view, but I am still out on the walkway rather than right at the threshold. A short step forward should close that remaining gap so the tomato can be released near the doorway. I will move forward.", + "I am now close against the facade, but the doorway leaves sit angled off to my left while lanterns crowd the right of my view. Squaring onto the door panels should give a clean spot directly in front of the doorway for setting the tomato down. I will turn left to face it straight on.", + "The carved wooden door panels of the rightmost doorway fill my view at arm's length, and the tomato is still held in my hands. This is the intended placement spot, so I will release it here and expect it to come to rest beside the doorway.", + "The tomato now rests on the ground in front of the wooden doorway and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_b_p/infos.json b/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96c7e696b3e500aa4bf5d54e3170e7f59089ec1b --- /dev/null +++ b/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the metal bucket near the brick-paved ground in front of the rightmost wooden panel door.", + "Type": 5, + "Start_Pose": [ + -680.303, + 9490.281, + 198.15, + 0, + 0, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -219.168, + 9852.672, + 118.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -680.303, + 9490.281, + 198.15, + 0, + 0, + 0 + ], + [ + -680.303, + 9490.281, + 198.15, + 0.0, + 25.0, + -0.0 + ], + [ + -566.236, + 9543.472, + 198.15, + 0.0, + 25.0, + -0.0 + ], + [ + -452.169, + 9596.662, + 198.15, + 0.0, + 25.0, + -0.0 + ], + [ + -452.169, + 9596.662, + 198.15, + 0.0, + 50.0, + -0.0 + ], + [ + -371.268, + 9693.075, + 198.15, + 0.0, + 50.0, + -0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + 50.0, + -0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + 50.0, + -0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + 50.0, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -219.168, + 9852.672, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -219.168, + 9852.672, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -219.168, + 9852.672, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -219.168, + 9852.672, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -219.168, + 9852.672, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -219.168, + 9852.672, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -219.168, + 9852.672, + 118.15, + 0.0, + 0.0, + 0.0 + ], + [ + -307.118, + 9802.747, + 168.256, + -28.202, + 100.145, + 1.862 + ], + [ + -307.118, + 9802.747, + 168.256, + -28.202, + 100.145, + 1.862 + ] + ], + "PD_Dist_2D": [ + 586.5, + 586.5, + 464.8, + 346.2, + 346.2, + 220.5, + 95.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The metal bucket sits far off near the right end of the wooden panel doors, close to the edge of my view. I will turn right to bring it toward the center of my heading before I start walking.", + "The bucket now sits ahead of me against the wall of panel doors, but it is still a long way off across the paved ground. I will walk forward to close that distance.", + "The bucket has grown larger and stays roughly ahead of me along the door frontage, so my heading is still useful. I will keep walking forward to shorten the remaining gap.", + "From here the bucket sits right of my centerline, near the paved strip in front of the doors. I will turn right so it lines up with my walking direction before advancing further.", + "The bucket is now squarely in front of me beside the wooden panel doors, though still several paces away. I will step forward to bring it within reach.", + "The bucket fills the lower part of my view and its handle is clearly visible, but it is still slightly too far to grasp comfortably. One more step forward should place me right beside it.", + "The metal bucket is directly at my feet, its rim spanning the bottom of my view beside the wooden panel doors. I will attempt to pick it up now that nothing stands between me and it.", + "The metal bucket is now held in my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_b_pd/infos.json b/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..08cb5d65240ab1a76878d91e715c6b974abba408 --- /dev/null +++ b/dataset/trajectory/chineseWaterTown_Ver1/task_x-000680_y009490_z000198_t5_b_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Pick up the ceramic pot from the ground in front of the rightmost wooden panel door, then place it at the base of the white pillar with the cluster of lanterns.", + "Type": 5, + "Start_Pose": [ + -680.303, + 9490.281, + 198.15, + 0, + 0, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -163.695, + 9932.81, + 113.15, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -680.303, + 9490.281, + 198.15, + 0, + 0, + 0 + ], + [ + -680.303, + 9490.281, + 198.15, + 0.0, + 25.0, + -0.0 + ], + [ + -566.236, + 9543.472, + 198.15, + 0.0, + 25.0, + -0.0 + ], + [ + -452.169, + 9596.662, + 198.15, + 0.0, + 25.0, + -0.0 + ], + [ + -452.169, + 9596.662, + 198.15, + 0.0, + 50.0, + -0.0 + ], + [ + -371.268, + 9693.075, + 198.15, + 0.0, + 50.0, + -0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + 50.0, + -0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + 50.0, + -0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + 25.0, + -0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + 0.0, + -0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + -25.0, + 0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + -50.0, + 0.0 + ], + [ + -290.368, + 9789.489, + 198.15, + 0.0, + -75.0, + 0.0 + ], + [ + -257.792, + 9667.919, + 198.15, + 0.0, + -75.0, + 0.0 + ], + [ + -225.216, + 9546.349, + 198.15, + 0.0, + -75.0, + 0.0 + ], + [ + -219.532, + 9430.415, + 198.15, + 0.0, + -75.0, + 0.0 + ], + [ + -219.531, + 9310.106, + 198.15, + 0.0, + -75.0, + 0.0 + ], + [ + -219.531, + 9310.106, + 198.15, + 0.0, + -50.0, + 0.0 + ], + [ + -265.812, + 9365.261, + 198.15, + 0.0, + -50.0, + 0.0 + ], + [ + -265.812, + 9365.261, + 198.15, + 0.0, + -50.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -163.695, + 9932.81, + 113.15, + 0.0, + 0.0, + 0.0 + ], + [ + -163.695, + 9932.81, + 113.15, + 0.0, + 0.0, + 0.0 + ], + [ + -163.695, + 9932.81, + 113.15, + 0.0, + 0.0, + 0.0 + ], + [ + -163.695, + 9932.81, + 113.15, + 0.0, + 0.0, + 0.0 + ], + [ + -163.695, + 9932.81, + 113.15, + 0.0, + 0.0, + 0.0 + ], + [ + -163.695, + 9932.81, + 113.15, + 0.0, + 0.0, + 0.0 + ], + [ + -163.695, + 9932.81, + 113.15, + 0.0, + 0.0, + 0.0 + ], + [ + -307.118, + 9802.747, + 168.256, + -28.202, + 100.145, + 1.862 + ], + [ + -299.548, + 9807.719, + 168.529, + -28.189, + 75.157, + 1.872 + ], + [ + -290.211, + 9809.663, + 167.862, + -28.215, + 50.128, + 1.849 + ], + [ + -274.051, + 9811.64, + 168.043, + -14.175, + 17.193, + 6.959 + ], + [ + -274.543, + 9803.283, + 167.932, + -28.208, + 0.143, + 1.851 + ], + [ + -271.253, + 9794.949, + 168.6, + -28.198, + -24.853, + 1.867 + ], + [ + -237.296, + 9673.941, + 168.07, + -28.198, + -24.854, + 1.862 + ], + [ + -204.67, + 9552.174, + 167.683, + -28.202, + -24.858, + 1.86 + ], + [ + -199.024, + 9436.382, + 167.956, + -28.207, + -24.86, + 1.854 + ], + [ + -199.106, + 9316.407, + 168.494, + -28.193, + -24.845, + 1.864 + ], + [ + -202.835, + 9324.471, + 167.901, + -28.201, + 0.142, + 1.861 + ], + [ + -220.817, + 9311.638, + 178.15, + 0.0, + -50.0, + 0.0 + ], + [ + -220.817, + 9311.638, + 178.15, + 0.0, + -50.0, + 0.0 + ] + ], + "PD_Dist_2D": [ + 680.2, + 680.2, + 560.0, + 443.0, + 443.0, + 317.1, + 191.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 21.4, + 21.4, + 22.0, + 70.0, + 70.0 + ], + "Rationale": [ + "The ceramic pot sits far to my right, close to the wooden panel doors at the edge of my view, while I currently face the facade straight on. I will turn right so the pot and the stretch of paving leading to it come into the center of my view before I start walking.", + "The pot now sits ahead of me along the covered walkway, still a long way off beside the panel doors. The paving between us is open, so I will walk forward to close that distance.", + "The pot has grown noticeably larger against the wooden panels, confirming my heading is good but the gap is still too wide to reach it. I will keep walking forward along the open paving.", + "From here the pot has drifted toward the right side of my view as I have come nearer to the facade. I will turn right to bring it back in front of me so my next steps carry me straight to it rather than past it.", + "The pot is now roughly centered ahead of me at the base of the wooden panel doors with clear paving in between. I will step forward to shorten the remaining distance for a grasp.", + "The pot is close now, low in my view and just left of center against the door base, but not yet within arm's reach. I will take one more step forward so it sits directly in front of me for picking up.", + "The ceramic pot is directly in front of me at the foot of the wooden panel door, filling the lower part of my view at arm's length. Nothing stands between me and it, so I will attempt to pick it up now.", + "The grasp worked, since the pot is now held in my hands and no longer resting on the paving. Facing the panel wall gives me no route, and the white pillar with the lantern cluster lies well behind my left shoulder, so I will turn left to begin swinging around toward it.", + "The pot is secure in my hands, yet I am still turned in close against the carved wooden panels with no walking route ahead. I will keep turning left to swing my heading off this shopfront and back toward the open street where the lantern-hung white pillar stands.", + "The pot is still in my grip, but my view is filled head-on by a panelled door, so I am pointed at nothing I can walk toward. Another left turn should continue sweeping my heading away from the wall and toward the open paving.", + "The corridor is beginning to appear at the left edge of my view while the panelled wall still dominates the center. Holding the pot, I will turn left again to bring the walkway and the whitewashed pillars into the middle of my heading.", + "The paved street and the row of white pillars are now open on my left, but my heading is still angled into the shopfront rather than along the corridor. One more left turn should line me up so I can carry the pot straight down it.", + "My heading now runs down the open walkway with the whitewashed pillars and their lanterns lining my right side. With the pot still held, I will step forward to start carrying it toward the pillar bearing the lantern cluster.", + "The corridor stays clear ahead and the lantern-hung white pillar on my right has grown noticeably nearer. I will keep walking forward to close the remaining gap while the pot rides in my hands.", + "The white pillar with its cluster of lanterns now fills the near right of my view, though I am not yet level with its base. Another forward step should bring me alongside it while I keep hold of the pot.", + "I am nearly abreast of the whitewashed pillar, its stone face passing close along my right shoulder. One more step forward should put me level with its base, near enough to set the carried pot down beside it.", + "I am carrying the ceramic pot along the arcade and the white pillar hung with its cluster of lanterns now stands immediately to my right, its base just off my current heading. Walking further ahead would carry me past it, so I turn right to face the pillar squarely before releasing the pot.", + "The turn has brought the white lantern-hung pillar directly in front of me, with its stone base within arm's reach on the paving. Since the pot is still in my hands and I am standing at the intended placement spot, I will release it here so it should come to rest against the pillar base.", + "The ceramic pot now rests on the paving at the base of the white lantern-hung pillar, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_a_p/infos.json b/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eb161625756bf5cdea82ff628d24a06c55beaaad --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_a_p/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the metal bucket.", + "Type": 5, + "Start_Pose": [ + 9684.997, + -7325.564, + 98.149, + 0, + -120, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 8687.051, + -7920.159, + 18.149, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9684.997, + -7325.564, + 98.149, + 0, + -120, + 0 + ], + [ + 9622.068, + -7434.561, + 98.149, + 0.0, + -120.0, + 0.0 + ], + [ + 9622.068, + -7434.561, + 98.149, + 0.0, + -145.0, + 0.0 + ], + [ + 9518.97, + -7506.751, + 98.149, + 0.0, + -145.0, + 0.0 + ], + [ + 9415.872, + -7578.941, + 98.149, + 0.0, + -145.0, + 0.0 + ], + [ + 9312.775, + -7651.13, + 98.149, + 0.0, + -145.0, + 0.0 + ], + [ + 9209.677, + -7723.32, + 98.149, + 0.0, + -145.0, + 0.0 + ], + [ + 9106.579, + -7795.51, + 98.149, + 0.0, + -145.0, + 0.0 + ], + [ + 9003.482, + -7867.7, + 98.149, + 0.0, + -145.0, + 0.0 + ], + [ + 8900.384, + -7939.889, + 98.149, + 0.0, + -145.0, + 0.0 + ], + [ + 8900.384, + -7939.889, + 98.149, + 0.0, + -170.0, + 0.0 + ], + [ + 8900.384, + -7939.889, + 98.149, + 0.0, + -170.0, + 0.0 + ], + [ + 8776.437, + -7961.745, + 98.149, + 0.0, + -170.0, + 0.0 + ], + [ + 8776.437, + -7961.745, + 98.149, + 0.0, + -169.999, + 0.0 + ], + [ + 8776.437, + -7961.745, + 98.149, + 0.0, + -169.999, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8687.051, + -7920.159, + 18.149, + 0.0, + 0.0, + 0.0 + ], + [ + 8780.746, + -7982.668, + 68.256, + -28.202, + -119.855, + 1.862 + ], + [ + 8780.746, + -7982.668, + 68.256, + -28.202, + -119.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1161.7, + 1053.6, + 1053.6, + 929.0, + 804.7, + 681.1, + 558.5, + 437.7, + 320.7, + 214.2, + 214.2, + 214.2, + 98.6, + 21.4, + 21.4 + ], + "Rationale": [ + "The metal bucket sits far ahead on the open red ground, left of my heading and still small at this distance. Nothing blocks the flat terrain between us, so I will walk straight forward to cut down that gap before worrying about fine alignment.", + "The bucket now sits well off to the left side of my view rather than in front of me, so continuing straight would carry me past it. I will turn left to bring the target closer to the center of my heading before advancing further.", + "After the turn the bucket sits near the middle of my view, roughly along my heading. The ground ahead is flat and open, so I will step forward to close the remaining distance toward it.", + "The bucket has grown slightly larger and stays just left of center, confirming my heading is still usable. It remains far too distant for any grasp, so I will keep walking forward rather than adjust my facing now.", + "The bucket is clearly recognizable now, sitting a little left of center on the open dirt with nothing between us. It is still several strides away, so I will advance again to keep shrinking the gap toward a reachable position.", + "The metal bucket stands slightly left of center on the open red ground, still several strides away and too far to reach. My heading points almost straight at it with clear, flat terrain between us, so I will keep walking forward to close the gap.", + "The bucket now looks noticeably larger and sits left of my center line, confirming that my line of travel is bringing me steadily nearer. It is still beyond arm's reach, so another forward step should continue shrinking the distance before I commit to a grasp.", + "The bucket has grown clearly in view, its handle and mesh band now distinguishable on the left side of my path. I am not yet close enough to reach it, so I will advance again rather than stop short and attempt a hopeless grasp.", + "The bucket is large in the lower left of my view and only a short distance remains before it is beside me. One more step forward should bring me level with it, close enough that a grasp becomes plausible.", + "My forward walking has carried me alongside the bucket, which is now clipped at the far left edge of my view with most of it out of sight. Facing this way I cannot properly aim a grasp, so I will turn left to bring the bucket back in front of me.", + "The metal bucket now sits just ahead on my left, framed clearly in front of me after my turn. It looks near enough that a grasp may already reach it, so I will try to pick it up rather than take another step first.", + "My hands are empty, so that grasp attempt did not take hold. The gap to the bucket was evidently still too wide for my reach. I will step forward to close the remaining distance before trying again.", + "The bucket's dark rim is now at the very bottom edge of my view, directly against my position, far closer than when my earlier grasp came up empty. From this contact range the handle should be within reach, so I will attempt the pick again.", + "The metal bucket is now held in my hands, lifted off the ground. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_a_pd/infos.json b/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ed1c3bb713fb687963f3142a50156743eb79af5c --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_a_pd/infos.json @@ -0,0 +1,810 @@ +{ + "Instruction": "Pick up the jerry can, then place it near the large tree on the left.", + "Type": 5, + "Start_Pose": [ + 9684.997, + -7325.564, + 98.149, + 0, + -120, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 9545.503, + -8116.676, + 18.149, + 0, + 80, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "MoveForward", + "TurnLeft", + 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Nothing blocks the flat stretch between us, so I will walk straight forward to close that distance before refining my heading.", + "The jerry can is noticeably larger now, but it sits off to the right of my heading rather than straight ahead. I will turn right to bring it toward the center of my view so a straight walk leads directly onto it.", + "The turn has placed the jerry can near the middle of my view, so my heading now points at it. The ground between us is bare and level, so I will step forward to keep closing on the can.", + "The jerry can holds its position just left of center and has grown as I close on it, confirming my heading is good. It is still too far to reach, so I will continue walking forward.", + "The can now stands clearly in the lower middle of my view with its handle and ribbed side visible, but it remains beyond arm's reach. Another forward step should bring me close enough to attempt a grasp.", + "The jerry can fills much more of my lower view and sits just left of my line of travel, so I am nearly on top of it. I will take one more step forward to stand directly over it before reaching.", + "The jerry can is now immediately in front of me at the bottom of my view, close enough that its handle and body dominate the frame. This is the grasp position, so I will attempt to pick it up.", + "The grasp worked and the jerry can is in my hands rather than resting on the ground. The task now sends me to the large tree standing to the left, so I will turn left to swing my heading toward that side of the clearing.", + "The jerry can is in my hands and no longer sitting on the ground, so the pickup part of the task is done. My heading now faces open, flat dirt with the tree line stretching ahead and to the left, and nothing blocks the way. I will walk forward to begin carrying the can toward the large tree.", + "I am still holding the can, and the tall trees I want to reach sit off to my left rather than straight down my current heading. Turning left should swing that group toward the center of my view so I can walk a straight line to it.", + "The turn has placed the broad, tall tree near the middle of my view, with flat red ground running unobstructed toward it. With the can still in hand, walking straight forward is the direct way to close that gap.", + "The large tree stays centered in my view and has grown slightly, confirming my heading points at it. Carrying the can, I will take another step forward rather than adjust my direction.", + "Nothing stands between me and the tall tree ahead except bare, cracked dirt. My alignment still looks good, so I continue walking forward with the can to shorten the remaining distance.", + "The big tree ahead is slowly filling more of my view, so the previous steps are steadily closing the distance. I keep the can in hand and step forward again on the same line.", + "I am still some way out from the tall tree, which remains centered above the low scrub. No turn is needed yet, so another forward step is the efficient way to keep carrying the can toward it.", + "The scrub patch under the target tree is becoming clearer, which tells me the gap is shrinking with each stride. Holding the can, I will advance again along this same heading.", + "The jerry can stays with me as I carry it, so I only need to close distance on the delivery site. The big tree with the broad canopy sits slightly left of center ahead and is still well away across the open red ground. I will keep walking forward on this heading to shorten that gap.", + "The target tree is growing larger in view, confirming my heading is carrying me toward it. Nothing blocks the bare ground between me and its trunk. Another forward step should continue the approach.", + "I am still holding the can and the wide tree ahead keeps expanding in my view as I close in. The low scrub between us is sparse and easy to walk through. I will step forward again to keep shrinking the distance.", + "The trunk of the target tree is now clearly ahead and slightly left, so my current heading remains usable. I am still far enough that dropping here would not count as near the tree. I will continue advancing.", + "The large tree's branches now spread across much of the upper view, showing steady progress toward the placement spot. The ground ahead is open cracked earth with only scattered leaf litter. Another step forward should bring me closer to its base.", + "I still carry the jerry can and the target tree keeps growing ahead of me. Its trunk remains a bit left of my heading, but the offset is small enough to correct later. I will keep walking forward for now.", + "The tree's base and lower branches are now clearly resolved, so I am within the final stretch of the approach. The scattered stones and dry leaves underfoot pose no barrier. I will advance again to reduce the remaining gap.", + "The target tree dominates the view ahead, but its trunk is still some distance off and left of my line. Dropping the can from here would leave it out in the open rather than beside the tree. I will step forward once more to keep closing in.", + "The jerry can is still carried with me, so I only need to keep closing on the big tree pair ahead. The larger trunk on the left of that pair is still some distance off across the open ground, so I will keep walking straight toward it.", + "The tall tree ahead has grown noticeably in my view, confirming my heading is carrying me toward it with the can in hand. Nothing blocks the stony ground between me and its trunk, so another step forward is the direct way to shorten the distance.", + "I am still several strides short of the big trunk that anchors this stand of trees. Since my heading remains lined up on it and the ground is passable, I continue advancing rather than adjusting course.", + "The two trunks ahead are becoming distinct and the ground beneath them is now visible, so I am approaching the intended drop area with the can. I will step forward again to reach a position close beside the large tree.", + "The larger tree still sits ahead and a bit to my left, and I am not yet near enough for a placement that would count as beside it. Only scattered scrub lies in my path, so I keep walking straight ahead.", + "The pale trunk now rises well above my view and its root zone is clearly visible, showing I am closing in with the can still in hand. I will advance again to bring myself within placing distance of that trunk.", + "I am nearly under the canopy, but the thick trunk on the left is still a few paces beyond me. Stepping forward should place me close enough alongside it that setting the can down would satisfy the near-the-tree requirement.", + "The large trunk stands just to my left front and the ground around its base is open. I will take another step so I end up right beside that trunk before releasing the can.", + "The jerry can is still held with me, so I keep carrying it toward the stand of trees ahead. Two large trunks now fill much of my view, but the ground between them is open, so I step forward again to close the remaining gap.", + "The heavy trunk I want to deposit beside now sits toward the right-forward part of my view, while a broad open lane opens on my left side. I turn left to swing my heading onto that clear approach line so the tree base sits ahead of me rather than off to one side.", + "After the turn, the large tree with the thick pale trunk is now centered in front of me with clear ground leading to its base. I step forward with the can to reduce the remaining distance to that trunk.", + "The trunk has grown noticeably wider in view, so my heading onto it is holding. I advance another step to bring the carried can within setting distance of the tree base.", + "The base of the big tree now dominates the lower center of my view, but I am still a little short of a comfortable placement spot beside it. I keep walking forward with the can.", + "The trunk fills much of the frame, showing I am nearly beside the large tree on the left of this stand. One more step should put me close enough that the can can be set down right at its base.", + "The wide trunk of the large tree is directly beside me, filling my view at arm's reach, and I am still carrying the jerry can. This is the placement the task asks for, so I release the can here so it should come to rest right against the tree base.", + "The jerry can now rests on the ground right against the base of the large tree. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_b_p/infos.json b/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ff4de887a26d3027cd6a11f9399ad1ebeb533d8d --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_b_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Pick up the candelabra.", + "Type": 5, + "Start_Pose": [ + 9684.997, + -7325.564, + 98.149, + 0, + -120, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 9272.003, + -7942.985, + 23.149, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 9684.997, + -7325.564, + 98.149, + 0, + -120, + 0 + ], + [ + 9622.068, + -7434.561, + 98.149, + 0.0, + -120.0, + 0.0 + ], + [ + 9559.138, + -7543.558, + 98.149, + 0.0, + -120.0, + 0.0 + ], + [ + 9496.209, + -7652.555, + 98.149, + 0.0, + -120.0, + 0.0 + ], + [ + 9433.279, + -7761.552, + 98.149, + 0.0, + -120.0, + 0.0 + ], + [ + 9370.35, + -7870.549, + 98.149, + 0.0, + -120.0, + 0.0 + ], + [ + 9370.35, + -7870.549, + 98.149, + 0.0, + -120.0, + 0.0 + ], + [ + 9370.35, + -7870.549, + 98.149, + 0.0, + -120.0, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 9272.003, + -7942.985, + 23.149, + 0.0, + 0.0, + 0.0 + ], + [ + 9272.003, + -7942.985, + 23.149, + 0.0, + 0.0, + 0.0 + ], + [ + 9272.003, + -7942.985, + 23.149, + 0.0, + 0.0, + 0.0 + ], + [ + 9272.003, + -7942.985, + 23.149, + 0.0, + 0.0, + 0.0 + ], + [ + 9272.003, + -7942.985, + 23.149, + 0.0, + 0.0, + 0.0 + ], + [ + 9272.003, + -7942.985, + 23.149, + 0.0, + 0.0, + 0.0 + ], + [ + 9389.148, + -7880.698, + 68.256, + -28.202, + -69.855, + 1.862 + ], + [ + 9389.148, + -7880.698, + 68.256, + -28.202, + -69.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 742.8, + 617.3, + 491.9, + 366.9, + 242.8, + 122.1, + 21.4, + 21.4 + ], + "Rationale": [ + "The candelabra stands on the open red ground ahead of me, small and centered in my view, so it is far too distant to grasp. My heading already points straight at it, so I will walk forward to close the gap without any turn.", + "The candelabra now reads slightly larger and sits a bit lower in my view, confirming my straight-line approach is shortening the distance. It remains well beyond arm's reach, so I will keep walking forward on the same heading.", + "The three candle arms are now clearly resolved, but the candelabra still sits several strides out on the open dirt. My path stays clear and centered, so another forward step should continue closing on it.", + "The candelabra is noticeably closer, filling more of the lower center of my view, yet it is still ahead of my reach envelope. I will advance again on the same straight heading rather than adjust direction.", + "The candelabra now looms large in my lower field of view, close but still a stride short of a comfortable grasp. One more forward step should bring it directly within reach in front of me.", + "Only the pale candle tips of the candelabra remain visible at the very bottom edge of my view, meaning it is now immediately in front of me and within reach. My hands are still empty, so I will attempt the grasp from this position.", + "The candelabra is now held in my hands, lifted clear of the ground. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_b_pd/infos.json b/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..febe573c98d8cbe28cf9757bd75bf48a5d45814d --- /dev/null +++ b/dataset/trajectory/ruralAustralia_Example_03/task_x009685_y-007326_z000098_t5_b_pd/infos.json @@ -0,0 +1,715 @@ +{ + "Instruction": "Pick up the trash bag, then drop it near the large tree on the right.", + "Type": 5, + "Start_Pose": [ + 9684.997, + -7325.564, + 98.149, + 0, + -120, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 9080.212, + -8276.563, + 15.521, + -0.078, + -80.479, + -22.667 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + 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It is far out of reach, so I will walk straight toward it to begin closing that distance before any grasp is possible.", + "The bag has grown slightly larger and stays near the middle of my view, so my heading is still good. I will keep stepping forward, since the gap is far too wide for a pickup attempt.", + "The bag is now clearly resolved as a rounded black sack directly ahead of me. Nothing blocks the flat ground between us, so another forward step should continue shrinking the distance.", + "The trash bag remains slightly left of center and still several strides away, too far to reach. I will continue walking forward on this heading to bring it into grasping range.", + "The bag now occupies a noticeably larger part of my view and sits just left of my heading, but it is still beyond arm's reach. I will step forward again to close the remaining gap before attempting a grasp.", + "The trash bag sits clearly ahead of me on the open red ground, still several paces off and too far to grasp. My heading already points straight at it, so I will keep walking forward to close the gap.", + "The bag now fills a noticeably larger part of the lower view, confirming I am closing on it along a straight line. It is still a stride or two beyond comfortable reach, so I will advance once more before attempting a grasp.", + "The trash bag is directly in front of me, large in the lower part of my view and apparently within arm's length. Since my heading is centered on it, I will try to pick it up now rather than step closer.", + "My hands are still empty, so that grasp attempt did not take hold. I judge that I stopped slightly short of true reaching range. I will step forward once to close that remaining gap before trying again.", + "The bag now sits right at the bottom edge of my view, much nearer than when my earlier grasp failed to take hold. From this contact distance I will attempt the pick again, and it should now be within reach.", + "That last grasp took hold and the trash bag is now in my hands, unlike the earlier attempt that left it sitting on the dirt. The large tree I must carry it to lies off to my right, so I will turn right to bring that direction into my path.", + "The bag is still secured with me, and the turn has opened a clear view of the scattered trees across the flat red ground. The larger tree I want stands ahead in this direction, so I will walk forward to begin closing that distance.", + "I am still carrying the bag and the broad tree ahead has grown slightly larger since my last step. Nothing interrupts the bare ground between us, so another stride forward continues the transport toward it.", + "With the bag in hand, I notice the large tree now sits to the right of where I am pointed rather than straight ahead. Turning right should swing my heading onto it so the remaining walk goes directly to its base.", + "The turn has brought the large tree close to the middle of my view while the bag remains in my hands. The stretch of open dirt between us is passable, so I will walk forward to shorten that gap.", + "The trash bag is still in my hands, so I only need to carry it to the drop site. The large tree on the right side of this open ground stands ahead of me, its canopy now filling the upper left of my view but its trunk still far off. I walk forward to close that distance.", + "With the bag secured in my hands, the transport is the only thing left before dropping it. The broad tree ahead keeps growing in my view, and its base is still several strides beyond the scrub in front of me. Another step forward should bring me nearer to its trunk.", + "I still hold the trash bag, and the big tree remains centered slightly left in my heading with clear dirt between us. Nothing blocks the path, so continuing straight is the most direct way to reach its base. I step forward again.", + "The bag stays in my grip as I cross this bare stretch toward the large tree. Its trunk and lower branches now read clearly ahead, but I am not yet close enough for the drop to count as beside it. I keep walking straight.", + "I am still carrying the trash bag and the large tree ahead continues to loom bigger with each stride. The ground between us is flat and clear, so no detour is needed. I advance again to shorten the remaining gap to its base.", + "The trash bag is in my hands, so I am now in the transport stage of the task. The broad tree I selected as the drop site stands ahead and slightly left, still several strides off across the open red ground. I will keep walking straight to close that gap.", + "Its canopy now spreads wider across the upper left of my view, confirming the last stride shortened the distance to the target tree. The ground ahead is flat scrub with nothing blocking my line. I will step forward again while carrying the bag.", + "The pale trunk of the big tree is becoming distinct and its lower branches sit clearly above the horizon line, so I am steadily closing in with the bag still in hand. I am not yet near enough for the drop to count as beside it. Another forward step is the direct continuation.", + "The tree keeps growing in my view and its trunk now occupies the left of centre, meaning my heading remains usable without a turn. Loose branches and low scrub on the ground are shallow enough to walk over. I will continue advancing toward the base of the tree.", + "The trunk and its exposed roots now fill a large part of my forward view, so the drop site is close but the bag is still travelling with me. Nothing obstructs the last stretch of ground between me and the base. I will keep stepping forward to reach a spot right beside the tree.", + "The trash bag is still with me, so I only need to close the remaining ground to the big tree, whose pale trunk now stands large in the left half of my view. Its canopy and root litter grow steadily with each step, confirming I am closing in. I will keep walking forward toward it.", + "The tree's base and the fallen branches around it are now very close, filling the near foreground on my left, and the bag is still carried with me. I am not yet beside the trunk, so another step should bring me into the shaded ground where the drop belongs. I will advance again.", + "My forward heading has been carrying me past the target: the big trunk has slid to the far left edge and the ground straight ahead is empty red flat. Continuing on this line would take me alongside rather than to the tree. I will turn left to bring the trunk back toward the centre of my view before stepping in.", + "The turn worked: the large tree now sits squarely ahead with its trunk near the centre of my view and its branch litter spread in front of me. With the bag still in hand, walking straight should take me right up to the base. I will step forward along this corrected heading.", + "The trunk stays centred and keeps growing, and dry branches around its base are close under me, so my heading is good and the bag is still carried. I am still a couple of paces short of the spot where releasing it would count as near the tree. I will continue forward.", + "The big trunk I chose as the drop landmark now stands directly ahead of me and fills the center of my view, with the bag still carried along. I am close but not yet at its base, so I keep walking straight toward it. A few more steps should put me within dropping range.", + "The trunk has grown noticeably larger and its lower branches now spread across my view, so my heading onto the tree is still correct. I am carrying the bag and remain a step or two short of the base. I advance again to reach the ground right beside the trunk.", + "The trunk now dominates my view at close range and the cleared soil at its foot is just in front of me. I still hold the trash bag, so I take one more step to stand right at the base rather than releasing it short of the tree. That should place the bag clearly beside the trunk.", + "I am standing right against the large trunk, with its bark filling my view and the ground at its roots directly below me. The bag is still in my hands and this spot is as near the tree as I can get. I release it here so it should come to rest beside the trunk.", + "The trash bag now rests on the ground against the base of the large tree and my hands are empty. The task is complete, so I stop here." + ] +}