Add files using upload-large-folder tool

dataset/trajectory/Medieval_Castle/task_x-017464_y009354_z010408_t1_a/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Search for the stone archway door that leads outside to the grassy area; after locating it, proceed through to that exit.",
+    "Type": 1,
+    "Start_Pose": [
+        -17464.336,
+        9354.067,
+        10408.05,
+        0.0,
+        -169.6,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -17464.336,
+            9354.067,
+            10408.05,
+            0.0,
+            -169.6,
+            0.0
+        ],
+        [
+            -17464.336,
+            9354.067,
+            10408.05,
+            0.0,
+            165.4,
+            -0.0
+        ],
+        [
+            -17464.336,
+            9354.067,
+            10408.05,
+            0.0,
+            140.4,
+            -0.0
+        ],
+        [
+            -17464.336,
+            9354.067,
+            10408.05,
+            0.0,
+            115.4,
+            -0.0
+        ],
+        [
+            -17464.336,
+            9354.067,
+            10408.05,
+            0.0,
+            90.4,
+            -0.0
+        ],
+        [
+            -17465.215,
+            9479.923,
+            10408.05,
+            0.0,
+            90.4,
+            -0.0
+        ],
+        [
+            -17466.093,
+            9605.779,
+            10408.05,
+            0.0,
+            90.4,
+            -0.0
+        ],
+        [
+            -17466.972,
+            9731.635,
+            10408.05,
+            0.0,
+            90.4,
+            -0.0
+        ],
+        [
+            -17440.979,
+            9837.069,
+            10408.05,
+            0.0,
+            90.4,
+            -0.0
+        ],
+        [
+            -17440.979,
+            9837.069,
+            10408.05,
+            0.0,
+            115.4,
+            -0.0
+        ],
+        [
+            -17440.979,
+            9837.069,
+            10408.05,
+            0.0,
+            115.4,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I am standing inside a stone room whose visible walls are solid masonry except for one arched opening on the left, and its sill sits well above the floor, so it is a window rather than a doorway I could walk through. The wall ahead simply meets a corner, giving me no exit in my current heading. I will turn left to sweep more of the room and look for an arch that reaches the ground.",
+        "The rotation has carried that same high arched window from the left side of my heading to just right of it, and the masonry filling the left of my view is unbroken, so nothing passable has appeared yet. Its sill is still clearly above floor level, which rules it out as the exit I need. I will keep turning left to bring fresh wall sections into view.",
+        "I am now facing a long wall pierced by two arched openings, but both start at chest height above the stone floor, so neither is something I can step through. Daylight coming through them tells me the outside lies beyond this wall, which is encouraging for finding a real door along the same side. I will continue turning left to follow this wall and search for an arch that opens all the way to the floor.",
+        "Further along this wall I can now see an arch whose opening runs down to the paving, with sunlight spilling across the floor in front of it, unlike the raised-sill windows beside it. That floor-level archway on the left of my view is the passable exit the task describes. I will turn left to bring it toward the center of my heading before advancing.",
+        "The floor-level archway is now roughly ahead of me along this wall, its threshold lit by daylight, while the other openings remain raised windows. Nothing blocks the open stone floor between me and it. I will walk forward to close the distance to that archway.",
+        "The sunlit archway has grown larger and its jambs are clearer, confirming it is a full doorway rather than another window. I still have several paces of open floor before reaching its threshold. I will keep walking forward along the same heading.",
+        "I am close to the archway now and can see green foliage and outdoor light through it, which matches the grassy area I am looking for. The passage floor continues level through the opening with nothing in the way. I will step forward again to reach the threshold.",
+        "I am at the mouth of the stone archway, with the curved arch above and open ground, shrubs, and outdoor light directly beyond it. This is clearly the exit leading outside rather than one of the raised windows. I will walk forward through the opening to move out of the building.",
+        "I have stepped into the floor-level stone archway, and its jamb now fills the center of my view while open ground with trees and leafy plants lies to my right. Turning right should swing my heading off the pier and square me with the passage opening onto the grassy area outside.",
+        "Through the stone archway I now look directly out over the open grassy ground with trees and the outer wall beyond. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_a/infos.json

@@ -0,0 +1,286 @@
+{
+    "Instruction": "Walk to the third small opening in the far wall from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -18377.749,
+        13577.181,
+        10407.696,
+        0.0,
+        -6.72,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18377.749,
+            13577.181,
+            10407.696,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18377.748,
+            13577.181,
+            10407.653,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -18258.241,
+            13616.658,
+            10407.871,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -18138.733,
+            13656.135,
+            10408.206,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -18019.225,
+            13695.612,
+            10403.526,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17899.718,
+            13735.089,
+            10404.188,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17780.21,
+            13774.566,
+            10410.517,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17660.703,
+            13814.043,
+            10413.655,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17541.195,
+            13853.52,
+            10418.424,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17541.195,
+            13853.52,
+            10418.424,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -17449.568,
+            13939.805,
+            10422.409,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -17357.942,
+            14026.089,
+            10427.763,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -17266.315,
+            14112.373,
+            10428.178,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -17174.688,
+            14198.658,
+            10428.594,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -17083.061,
+            14284.942,
+            10429.009,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16991.434,
+            14371.227,
+            10431.065,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16899.807,
+            14457.511,
+            10430.121,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16808.18,
+            14543.796,
+            10419.798,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16716.553,
+            14630.08,
+            10408.009,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16624.926,
+            14716.364,
+            10399.926,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16533.3,
+            14802.649,
+            10393.706,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16441.673,
+            14888.933,
+            10394.993,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16350.046,
+            14975.218,
+            10394.993,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16258.419,
+            15061.502,
+            10394.993,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16166.792,
+            15147.787,
+            10394.993,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16075.165,
+            15234.071,
+            10394.993,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16075.165,
+            15234.071,
+            10394.993,
+            0.0,
+            43.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the long wall runs off to my right and I cannot see where it ends, so counting openings from the right is impossible in this view. I turn right to bring the right-hand end of the wall and the corner tower into sight and settle which opening is the third one in.",
+        "The round corner tower now marks the right end of this stretch, and counting inward from it the third opening is the dark one sunk in the shaded recess just left of that tower. The openings all look alike, so I hold it by the tower beside it rather than by its place in the row. I walk forward to close the wide gap of grass.",
+        "The shaded opening beside the corner tower sits ahead and a little right of my heading, with clear grass in between. I keep walking forward to cut down the remaining distance.",
+        "The wall and its battlements are noticeably larger now, confirming I am gaining on it. My target opening in the dark recess by the tower remains ahead on the right, so another stride forward is the useful move.",
+        "Only tree trunks stand near my path and none of them blocks the lane of grass in front of me. The dark opening beside the corner tower is still well off, so I continue advancing rather than turning yet.",
+        "The recessed opening under the shadowed wall section is clearer and slightly right of straight ahead. Distance is still the main thing between us, so I step forward again before worrying about facing it squarely.",
+        "The wall now fills most of my view and the opening beside the corner tower reads as a clear dark slot in the shade. I keep moving forward to bring myself close enough for a final adjustment of heading.",
+        "More openings along the sunlit wall have come into view on my left, but they do not change my aim; the one I want is the shadowed slot beside the corner tower, ahead and to my right. I walk forward again to close the last stretch of grass before squaring up on it.",
+        "My heading now runs along the wall rather than into it, and the shadowed opening beside the round tower sits well right of my center. I turn right to swing that recessed slot onto my line of travel so the remaining approach is a straight walk.",
+        "The dark recessed opening now sits close to the middle of my view with the round tower rising just beyond it, so my heading is good enough to travel on. Open grass lies between me and the wall, so I step forward.",
+        "The tower and the shaded stretch of wall have grown, so the ground is closing steadily. The opening I am after holds its place slightly left of the tower base, and nothing stands in my lane, so I keep walking.",
+        "I can now make out the lintel and sill of the recessed opening ahead of me, which tells me I am reading the right slot and not one of the pale ones further along the sunlit wall. I press forward across the remaining grass.",
+        "The shaded panel of wall now spans most of what I see and my target opening stays a little left of straight ahead, close enough to my line that no turn is worth spending. I advance again.",
+        "A narrow band of bare ground has appeared at the foot of the wall beneath the opening, so the grass I am crossing is nearly used up. I continue forward toward that recess.",
+        "From this range the wall no longer reads as a countable row at all, just stone, the tower, and the one arched slot I have been holding onto. That slot sits square ahead of me, so I keep stepping toward it.",
+        "The arched opening and its stone sill are plainly in front of me with the sky and greenery showing faintly through the gap. Only a short run of grass and the bare strip remain, so I walk on to reach it.",
+        "The arched slot sits just left of my center with its sill and the dark recess above it clearly resolved, and the bare strip at the wall's foot runs unobstructed across my path. My heading needs no correction at this range, so I walk on.",
+        "Stone now occupies almost everything I can see, with the tower's curved face crowding the right edge and the opening holding steady near the middle. Distance is all that separates me from it, so I take another stride.",
+        "The masonry courses around the recess are individually readable now and the pale sill stands out against the shadow. The gap between the grass edge and the wall is only a few paces wide, so I keep advancing toward that slot.",
+        "Through the slot I can pick out green leaves on the far side, which tells me it is a true passage through the wall rather than a shallow niche. It lies squarely in front of me, so I step closer.",
+        "The dirt apron along the base of the wall now stretches across the lower part of my view and the arch above the recess is fully shaped. A couple more strides should bring me right up to the sill, so I continue.",
+        "The recess has grown large enough that its side jambs and the shadowed vault over it fill a good part of my view, and small plants sit at its base just ahead. I press on to reach the wall itself.",
+        "I am nearly at the stone, with the sill roughly at waist height and the narrow light of the far side showing straight through. Only the last stretch of bare ground remains, so I keep walking into the recess.",
+        "The recess now surrounds my view entirely, its inner faces on both sides and the sill directly before me. A final step should put me inside the alcove at the opening, so I move forward.",
+        "Stone jambs stand close on either side of me and the ledge with the narrow slit of daylight is barely a stride off. One more step should set me right at that gap rather than short of it, so I move.",
+        "I stand within the arched opening itself, its sill and daylight gap directly beside me. The task is done, so there is nothing further to walk toward."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_b/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Head toward the trunk of the leftmost tree.",
+    "Type": 2,
+    "Start_Pose": [
+        -18377.749,
+        13577.181,
+        10407.696,
+        0.0,
+        -6.72,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18377.749,
+            13577.181,
+            10407.696,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18252.754,
+            13562.453,
+            10410.021,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18127.759,
+            13547.725,
+            10402.619,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18002.765,
+            13532.998,
+            10402.619,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17877.771,
+            13518.27,
+            10410.621,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17752.776,
+            13503.542,
+            10414.303,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17627.782,
+            13488.814,
+            10424.218,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17502.788,
+            13474.087,
+            10426.073,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17377.793,
+            13459.359,
+            10428.123,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17252.799,
+            13444.631,
+            10429.619,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17127.805,
+            13429.904,
+            10428.474,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17002.81,
+            13415.176,
+            10435.269,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17002.81,
+            13415.176,
+            10435.269,
+            0.0,
+            -6.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two trunks rise from the grass in front of the castle wall, and the leftmost of them is the pale slender one standing just beside the small arched doorway, so that is the trunk I am going to. The lawn between us is open and level. I walk straight ahead toward it.",
+        "The pale trunk beside the arched doorway is a little wider now and sits close to the middle of my view, so my heading is already good. No turn is needed yet, and another step forward should keep shrinking the distance.",
+        "The trunk by the arched doorway keeps growing against the stonework while the wall's crenellations rise higher in my view, both signs that I am closing in. My path stays clear grass. I keep walking straight at it.",
+        "My target trunk now shows its base and root flare clearly where it meets the grass, and it stays just left of the arched door. Nothing stands between me and it, so I continue forward.",
+        "The trunk beside the arched doorway is noticeably closer and its mottled bark is starting to read in detail. The other tree has drifted well off to my right, which confirms I am tracking the correct one. I walk on toward it.",
+        "My trunk stands slightly left of center with the arched door just beyond it, and the wall now fills most of my view, so I still have some ground to cover. The grass ahead is unobstructed. Another stride forward keeps me on line.",
+        "The other tree has now slid out of my view at the right edge, leaving only the trunk I chose standing tall in front of the arched doorway. It is close but still several strides away. I keep walking toward it.",
+        "Only my trunk remains in front of me, rising from the grass with the arched door just to its right. Its bark detail is sharp, yet I am not yet standing at its foot. I advance again to close the last of the gap.",
+        "The trunk fills a wide band of my view now and its base sits well below the arched door behind it, so a few strides still separate us. The grass in front of it is flat and open. I step forward again.",
+        "Bark texture is now coarse and life-sized in front of me, and the trunk's foot in the grass is only a short distance below my line of sight. That is close but not yet at its base. I keep walking in.",
+        "The trunk has swollen to fill the left half of my view and I can pick out individual scars in the bark, so I am nearly against it. One more stride should bring me right to its foot.",
+        "The pale trunk beside the arched doorway now fills the near left of my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_c/infos.json

@@ -0,0 +1,286 @@
+{
+    "Instruction": "Approach the second small opening in the far wall from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -18377.749,
+        13577.181,
+        10407.696,
+        0.0,
+        -6.72,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18377.749,
+            13577.181,
+            10407.696,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18252.754,
+            13562.453,
+            10410.021,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18127.759,
+            13547.725,
+            10402.619,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18002.765,
+            13532.998,
+            10402.619,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17877.771,
+            13518.27,
+            10410.621,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17752.776,
+            13503.542,
+            10414.303,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17627.782,
+            13488.814,
+            10424.218,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17627.782,
+            13488.814,
+            10424.218,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17508.274,
+            13528.292,
+            10426.245,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17388.767,
+            13567.769,
+            10431.558,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17269.259,
+            13607.246,
+            10436.417,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17149.752,
+            13646.723,
+            10445.552,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17030.244,
+            13686.2,
+            10454.199,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -16910.737,
+            13725.677,
+            10457.439,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -16791.229,
+            13765.154,
+            10457.121,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -16671.722,
+            13804.631,
+            10445.701,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -16552.214,
+            13844.108,
+            10428.652,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -16432.707,
+            13883.585,
+            10412.455,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -16313.199,
+            13923.062,
+            10399.882,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -16193.692,
+            13962.539,
+            10387.185,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -16074.184,
+            14002.016,
+            10387.185,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -15954.677,
+            14041.493,
+            10390.827,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -15835.169,
+            14080.97,
+            10394.968,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -15715.661,
+            14120.448,
+            10394.968,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -15596.154,
+            14159.925,
+            10394.968,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -15476.646,
+            14199.402,
+            10394.968,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -15476.646,
+            14199.402,
+            10394.968,
+            0.0,
+            18.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Ahead the fortified wall runs left to right, and at its right end sits a dark arch; the narrower opening immediately left of that one, close beside the nearer tree trunk, is my target. It lies well across the open grass, so I walk forward to begin closing the distance.",
+        "The battlements have grown slightly larger, but the opening I picked out is still a small dark slot far away beside the tree trunk. The lawn ahead stays clear, so I step forward again.",
+        "The arched opening I am tracking still reads clearly against the sunlit stone, and the two tree trunks stand to either side rather than across my line. Nothing calls for a change of heading yet, so I keep walking forward.",
+        "Stonework now fills more of my view and the recess I am heading for lies off to the right of the trunk in front of me. The ground stays open, so another step forward is the simplest way to gain on it.",
+        "From here I can start to make out a pale stone pedestal standing inside the recess I chose, which reassures me I am still on the right one. The grass between the trunks remains free. I advance again.",
+        "The wall now dominates my view, yet the recess holding the pale pedestal sits noticeably right of where I am facing. Distance is still the larger part of the problem, so I take another step forward before correcting my facing.",
+        "The recess with the pale pedestal sits well to the right of my heading, while a tree trunk crowds the middle of my view. Continuing straight would carry me past it on the left, so I turn right to bring it in front of me.",
+        "The turn has placed the recess with the pale pedestal near the middle of my view, with the darker arch standing further along to its right. The grass between the two trunks is open, so I walk forward to close on it.",
+        "The recessed arch with the pale pedestal now sits squarely ahead of me, its shape clear against the shadowed masonry. The trunks stand off to either side and leave the strip of grass in front of me clear, so I keep walking straight at it.",
+        "A further dark opening has come into view on the right where the wall runs into shadow, but it is not the one I chose; the pedestal in its arch still marks my target dead ahead. I walk on toward it.",
+        "My heading holds true: the arch with the pedestal stays at the centre of my view while the curved wall grows taller on either side. There is nothing between me and it, so another step forward is all this needs.",
+        "The pedestal inside the arch is resolving into a slender shaft with a wide top, which confirms I am closing on the right recess. Still a fair stretch of overgrown grass separates me from the wall, so I press ahead.",
+        "The stonework of the arch and the base of the pedestal are crisper now, and my line runs straight into that opening. Nothing about my facing needs adjusting, so I continue on foot.",
+        "The wall now rises past the top of my view, yet the arched niche with its pedestal remains framed straight ahead at the base. Distance is the only thing left to remove, so I step forward again.",
+        "The neighbouring opening on the left has drifted almost to the edge of my view and the shadowed one on the right has slipped out entirely, so the row is no longer something I can read from here. I keep to the arch with the pedestal in front of me and advance.",
+        "Only the arch I am walking into and a sliver of its neighbour remain in sight, and the grass thins toward a bare margin at the foot of the wall. A few more paces should bring me right up to the opening, so I move ahead.",
+        "The arch with its pale pedestal sits centred just above the grass line, and the wall's curve now fills nearly everything else. The bare strip at its foot is still a good way off, so I walk straight on.",
+        "My line runs cleanly into the niche, its pedestal and shadowed hood growing steadily larger as the masonry courses sharpen. No adjustment of heading is needed, so I take another pace toward it.",
+        "Almost the whole view is now bare wall with the recess and its pedestal held dead centre. The band of trodden earth at the base is drawing nearer, so I keep advancing.",
+        "The opening reads as a proper embrasure now, with daylight showing in the slit behind the pedestal. I am still a few paces out from the earth margin, so I walk on.",
+        "The recess is squarely framed in front of me and the vegetation has given way to bare ground right below it. Closing that last stretch keeps me lined up, so I step forward again.",
+        "I can now see the sill and the inner jambs of the opening clearly, still centred on my path. A couple more paces should bring me to the wall itself, so I continue.",
+        "The arch and its shadowed vault dominate my view, with the sill sitting near chest height straight ahead. I press on across the last of the bare ground.",
+        "The stonework around the opening is close enough to pick out individual blocks, and the recessed sill lies just beyond arm's reach. One more step should put me right at the mouth of it.",
+        "The niche now fills the wall before me, its sill and side jambs within touching distance and the narrow slit of daylight visible at the back. One last pace should set me right at its threshold rather than a stride short of it.",
+        "I stand at the mouth of the arched opening, its sill and jambs immediately before me. The approach is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_d/infos.json

@@ -0,0 +1,296 @@
+{
+    "Instruction": "Move to the rightmost small opening in the far wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -18377.749,
+        13577.181,
+        10407.696,
+        0.0,
+        -6.72,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18377.749,
+            13577.181,
+            10407.696,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18377.748,
+            13577.181,
+            10407.653,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -18258.241,
+            13616.658,
+            10407.871,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -18138.733,
+            13656.135,
+            10408.206,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -18019.225,
+            13695.612,
+            10403.526,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17899.718,
+            13735.089,
+            10404.188,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17780.21,
+            13774.566,
+            10410.517,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17660.703,
+            13814.043,
+            10413.655,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17541.195,
+            13853.52,
+            10418.424,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17421.688,
+            13892.997,
+            10424.7,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17302.18,
+            13932.474,
+            10434.005,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17182.673,
+            13971.951,
+            10443.368,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17182.673,
+            13971.951,
+            10443.368,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -17091.046,
+            14058.236,
+            10445.12,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16999.419,
+            14144.52,
+            10441.676,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16907.792,
+            14230.805,
+            10438.793,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16816.165,
+            14317.089,
+            10430.01,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16724.538,
+            14403.374,
+            10424.243,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16632.911,
+            14489.658,
+            10410.44,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16541.285,
+            14575.942,
+            10400.782,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16449.658,
+            14662.227,
+            10396.299,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16358.031,
+            14748.511,
+            10394.79,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16266.404,
+            14834.796,
+            10394.79,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16174.777,
+            14921.08,
+            10394.79,
+            0.0,
+            43.28,
+            -0.0
+        ],
+        [
+            -16174.777,
+            14921.08,
+            10394.79,
+            0.0,
+            68.28,
+            -0.0
+        ],
+        [
+            -16128.2,
+            15038.004,
+            10394.79,
+            0.0,
+            68.28,
+            -0.0
+        ],
+        [
+            -16081.623,
+            15154.927,
+            10394.79,
+            0.0,
+            68.28,
+            -0.0
+        ],
+        [
+            -16081.623,
+            15154.927,
+            10394.79,
+            0.0,
+            68.28,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Looking along the far wall, I count the small openings in it and choose the rightmost, the dark one set deep in the shadowed stretch beside the round corner tower. That end of the wall sits off to my right, past the tree trunks. I turn right so my heading lines up with it.",
+        "The turn brought the right end of the wall in front of me, and the deep-set opening against the round tower now sits ahead and slightly right. Only open grass lies between us, so I walk forward to close the distance.",
+        "The opening beside the round tower is still far off across the meadow, only marginally larger than before. The tree trunks stand to my left and do not sit on my line, so I keep stepping forward.",
+        "The shadowed opening under the tower's flank is slowly growing in my view, which tells me the heading is still good. The ground ahead remains clear grass, so another step forward should keep shrinking the gap.",
+        "The dark opening in the recessed, shaded part of the wall next to the round tower is clearly resolved now and holds its place just right of center. Nothing blocks the approach, so I continue walking straight at it.",
+        "More of the wall to my left has swung into view, showing another small opening there, but my target remains the deep one pressed against the round tower. I keep advancing toward it over the open grass.",
+        "The wall now fills much of my view and the opening beside the round tower stands out as a black gap in the shaded stonework. Grass still separates me from the wall face, so I step forward again.",
+        "Three similar arched openings now line the wall in front of me and they look much alike from here, so I hold to the one recessed in the shadow right beside the round tower. Several strides of grass remain, so I keep moving forward.",
+        "The three openings are all plainly lit or shaded now, and mine is the one sunk in the dark stretch where the wall meets the round tower, sitting right of center. Open grass runs unbroken to the wall base, so I walk on toward it.",
+        "The wall spreads wider across my view with each stride, and the shadowed opening under the tower keeps its place off to the right of my heading. Nothing stands between me and it, so I take another step forward.",
+        "Close enough now that a pale slot of light shows inside the dark recess beside the tower, confirming it is a true opening and not just shadow on stone. The gap is still several strides of grass, so I keep walking.",
+        "Straight walking has let my target slide well over to the right side of my view while the wall's left run swallows the middle of it. A turn to the right should bring the shadowed opening beside the round tower back onto my line of travel.",
+        "The turn set the deep opening almost straight ahead with the round tower rising just beyond its right edge. The far left end of the wall has dropped out of my view, but I no longer need it since I am holding to this opening pressed against the tower. I advance.",
+        "Only two openings remain in front of me, the pale one out at the left edge and mine in the shaded recess at the tower's base. My heading holds on the latter, and the grass ahead is clear, so I step on.",
+        "The arched lintel and sill of the opening beside the tower are now distinct, and it stands squarely on my line. A short stretch of meadow is all that remains, so I keep walking into it.",
+        "A strip of bare earth has appeared along the foot of the wall, so the grass is nearly behind me. The shadowed opening under the tower sits just ahead and slightly left, and I continue toward it.",
+        "The arched hood and pale sill of the opening at the tower's base are now clearly modelled, sitting just right of my path. A band of bare earth runs along the wall foot with nothing on it, so I keep walking in.",
+        "The pale opening that stood off at the left has slipped out of sight, so there is no row left to count along; the one I am going to is the dark arch in the shaded recess in front of me. It sits close to my line, and I advance again.",
+        "The shaded stonework now spreads across almost everything ahead, with the arch and its light stone sill standing out near the middle. The earth strip at the wall foot lies just past the grass edge, so I step on toward the recess.",
+        "From here I can make out the inner jamb inside the archway, so the recess really does cut into the wall. It holds steady near the middle of my heading, and the ground between us is bare and level, so I keep going.",
+        "Daylight shows through the far side of the passage behind the arch, confirming it pierces the wall rather than ending in a niche. Still a few strides of earth and grass short of it, so I walk on.",
+        "The archway is broad now and its sill sits about waist height above the ledge at the wall foot. My heading still runs at it, so I close the last of the distance with another stride.",
+        "Individual blocks around the arch and the weeds sprouting at its base are distinct, so I am nearly at the stonework. One more stride should put me right up against the recess.",
+        "Standing this close, my heading runs into the plain stone beside the archway rather than into the recess itself. Turning right should swing my line onto the opening's mouth so the last steps can carry me into it.",
+        "The turn opened up the recess so I can see straight through the arched embrasure to daylight and greenery on the other side. Only a short span of the ledge along the wall foot still separates me from its mouth, so I step forward into it.",
+        "I am close enough that the splayed inner jambs and the worn sill of the embrasure fill the left of my view, with the slit of sky and trees beyond it. One more stride should bring me right into the mouth of the recess.",
+        "I stand inside the recess of the shadowed opening beside the round tower, its sill and outer slit right beside me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_e/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Proceed to the base of the tree on the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -18377.749,
+        13577.181,
+        10407.696,
+        0.0,
+        -6.72,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18377.749,
+            13577.181,
+            10407.696,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18252.754,
+            13562.453,
+            10410.021,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -18252.754,
+            13562.453,
+            10410.021,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -18133.246,
+            13601.93,
+            10405.61,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -18013.739,
+            13641.407,
+            10402.627,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17894.231,
+            13680.884,
+            10403.136,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17774.724,
+            13720.361,
+            10410.736,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17655.216,
+            13759.838,
+            10414.126,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17535.709,
+            13799.315,
+            10418.268,
+            0.0,
+            18.28,
+            -0.0
+        ],
+        [
+            -17535.709,
+            13799.315,
+            10418.268,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17410.714,
+            13784.588,
+            10426.709,
+            0.0,
+            -6.72,
+            0.0
+        ],
+        [
+            -17410.714,
+            13784.588,
+            10426.709,
+            0.0,
+            -6.72,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two trunks rise from the grass in front of the castle wall, and the right one, thick and pale with a flared base, is where I am headed. It stands well back across the open lawn, so I step forward to close the distance before worrying about heading.",
+        "The thick, flared-base trunk sits right of my current heading, with the gate tower beyond it further right still. A turn to the right should put that trunk closer to the center of my path so I can walk straight at it.",
+        "After the turn, the thick trunk with the flared base sits near the middle of my view with clear grass between us. Nothing blocks the lane, so I walk straight ahead to shorten the gap.",
+        "The flared trunk has grown noticeably wider in front of me and its base is now visible above the grass. I keep walking forward along the same line to reach it.",
+        "The mossy base of the target trunk is still several strides off, sitting just left of the dark gate recess in the wall. My path across the grass stays clear, so another step forward continues the approach.",
+        "The trunk I am heading for now fills a good part of my view, though its root flare is still a few paces beyond reach. I advance again to keep closing on it.",
+        "The lichen-marked trunk is close enough that its bark texture is sharp, but the swollen base still sits ahead of my feet. I step forward once more to arrive beside it.",
+        "As I close in, the trunk I am after has drifted to the left side of my view while its mossy base stays slightly forward of me. I take another step ahead to draw level with that base before correcting my facing.",
+        "The lichen-blotched trunk has slid to the far left edge of my view and is half cut off, so I can no longer judge where its base lies relative to my feet. Swinging left should bring it back toward the middle for the last short approach.",
+        "The trunk I am after now stands squarely ahead, its mossy flare only a stride away, while the other tree sits clearly off to the left. Open grass lies between us, so I walk in to stand right against that base.",
+        "The mossy, flared base of the lichen-blotched trunk fills my view right at my feet. I am at the base, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_a/infos.json

@@ -0,0 +1,346 @@
+{
+    "Instruction": "Walk to the ground-floor doorway on the stone building, then head toward the base of the round tower.",
+    "Type": 3,
+    "Start_Pose": [
+        -18450.328,
+        10604.572,
+        10394.955,
+        0.0,
+        -9.6,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18450.328,
+            10604.572,
+            10394.955,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18326.232,
+            10583.583,
+            10394.956,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18326.232,
+            10583.583,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18222.633,
+            10512.115,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18119.033,
+            10440.646,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18015.434,
+            10369.178,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17911.835,
+            10297.71,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17808.236,
+            10226.242,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17704.637,
+            10154.773,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17601.038,
+            10083.305,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17601.038,
+            10083.305,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17677.096,
+            10135.774,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17677.096,
+            10135.774,
+            10394.956,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17677.096,
+            10135.774,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17677.096,
+            10135.774,
+            10394.956,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17581.249,
+            10217.346,
+            10393.732,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17485.403,
+            10298.917,
+            10388.651,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17485.403,
+            10298.917,
+            10388.651,
+            0.0,
+            65.4,
+            -0.0
+        ],
+        [
+            -17433.01,
+            10413.353,
+            10392.803,
+            0.0,
+            65.4,
+            -0.0
+        ],
+        [
+            -17380.617,
+            10527.788,
+            10388.654,
+            0.0,
+            65.4,
+            -0.0
+        ],
+        [
+            -17328.225,
+            10642.224,
+            10389.961,
+            0.0,
+            65.4,
+            -0.0
+        ],
+        [
+            -17328.225,
+            10642.224,
+            10389.961,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17232.378,
+            10723.796,
+            10392.786,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17136.532,
+            10805.367,
+            10394.933,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17040.685,
+            10886.939,
+            10394.933,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -16944.839,
+            10968.511,
+            10394.933,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -16848.992,
+            11050.083,
+            10394.933,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -16753.146,
+            11131.654,
+            10394.933,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -16657.299,
+            11213.226,
+            10394.933,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -16657.299,
+            11213.226,
+            10394.933,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16535.959,
+            11246.649,
+            10394.933,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16414.619,
+            11280.071,
+            10394.933,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16414.619,
+            11280.071,
+            10394.933,
+            0.0,
+            15.4,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The long stone building stands ahead with an arched ground-floor doorway visible in its wall to my left, and the round tower rises beyond its far end. I am still out on the open grass, far from both. I will walk forward to close the gap toward that doorway.",
+        "The arched doorway in the stone wall now sits well off to the left of my view while my heading points along the wall toward the tower. To walk straight at that opening I need my body squared onto it. I will turn left to bring the doorway into the center of my view.",
+        "The arched doorway is now centered in front of me, with the wall squared across my view. Nothing but open ground and low weeds lies between us. I will step forward along this heading to close on the opening.",
+        "The doorway has grown larger and stays centered, so my heading is still true to it. The stretch of weedy ground in front of me remains clear. I will keep walking forward to shorten the remaining distance.",
+        "The arch now shows its step and a sliver of the shadowed interior, meaning I am much nearer than a moment ago. My line is still straight onto the opening. Another stride forward should keep bringing me in.",
+        "The wall fills more of my view and the doorway's stone jambs are clearly resolved, so only a short span of bare dirt remains. My heading is still aimed squarely at the opening. I will advance again.",
+        "I can now see paving stones and an inner wall through the arch, which puts me within a few paces of the threshold. The route straight ahead is still clear. I will step forward once more to draw up to the doorway.",
+        "The arch towers over me now, its opening tall enough to show the flagstones and a far interior doorway beyond. I am close but not yet standing at the threshold. One more step forward should bring me right up to it.",
+        "The arched ground-floor opening now fills most of my view, with its threshold and the flagstones inside clearly visible just ahead. One more step forward should bring me right up against the doorway itself.",
+        "I am standing right in the mouth of the arched doorway in the stone building, close enough to see the flagstones and inner wall through it. I have reached this entrance. I mark reaching it, and now I turn my attention to the base of the round tower rising beside this building.",
+        "I am pressed right into the doorway arch, with stonework crowding both sides of my view. Backing up a short way should give me clear ground away from the wall so I can swing toward the round tower without scraping along the facade.",
+        "I now have open dirt in front of me and the whole doorway visible from a step back. The round tower stands off past the right-hand end of this long wall, so I turn right to begin bringing that side of the courtyard into view.",
+        "The wall is now sliding away to my right in perspective and a dark curved mass appears at the top right corner above the roofline. Another turn to the right should put the tower properly in front of me.",
+        "The round tower is now visible rising above the roof, but it still sits high and left of my heading with the building's flank blocking most of my forward path. Turning right once more should open the ground beside the building and set the tower where I can walk toward it.",
+        "The round tower now rises ahead on my left, and open dirt and grass run alongside the building straight in front of me. I walk forward along that clear ground to begin closing the distance to its base.",
+        "The tower shaft has grown larger ahead-left and the courtyard ahead is still open ground. I keep walking forward to bring myself nearer to where the tower meets the ground.",
+        "The long wall and its overhanging roof beam crowd my left side, and the building's corner sits close ahead of my current heading. Open dirt and grass run out to my right, so I turn right to swing my heading clear of that corner before working around toward the round tower.",
+        "With the building's corner now standing off to my left, the open yard ahead is unobstructed apart from the tree and the distant curtain wall. I step forward to carry myself past the building flank and gain room to swing back toward the tower.",
+        "The building's flank continues sliding past on my left as the open courtyard widens in front of me. Another step forward should take me fully clear of that wall line before I turn back toward the tower.",
+        "I am nearly abreast of the last of the building's corner, with grass and bare dirt still open straight ahead. One more step forward should put enough clearance behind that corner for a clean line back toward the round tower.",
+        "I have moved far enough into the yard that the building no longer sits across my path, and the heavy stonework I am heading for stands off to my left. I turn left to bring that side of the courtyard in front of me.",
+        "The turn has brought the tall stone mass of the tower and its adjoining wall into the left half of my view, with clear dirt between me and it. I walk forward to begin closing that gap toward its base.",
+        "The tower stonework is noticeably larger and its curve is becoming clear ahead on my left, but I am still out on the open grass well short of its footing. I keep walking forward to close the remaining distance.",
+        "The curved courses of the round tower now rise directly ahead of me and its foot is still hidden behind the strip of grass in between. I step forward again to bring myself up to where that curved wall meets the ground.",
+        "The round tower's curved stonework rises just off to my left, with open grass between me and its foot. Nothing blocks the ground ahead, so I will walk forward to keep shrinking that gap.",
+        "The tower's rounded base now fills more of the left side of my view, confirming I am closing on it. I will step forward again along this clear grass strip.",
+        "The curved wall of the tower is close enough that its lower courses and the grass meeting them are clearly visible. Another forward step should bring me nearer to its foot.",
+        "I am nearly beside the tower now, its curve dominating the left half of my view while the ground stays open. I will advance once more before squaring up to it.",
+        "The base of the round tower sits off to my left rather than straight ahead, so walking on would carry me past it. I will turn left to put its curved footing in front of me.",
+        "The tower's rounded stone base is now centered in front of me with only a short band of grass between us. I will walk straight in to close that remaining distance.",
+        "The curved masonry now fills most of my view and the grass at its footing is just a step away. One more forward step should place me right at the base of the tower.",
+        "The round tower's curved stone base fills my view at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_b/infos.json

@@ -0,0 +1,226 @@
+{
+    "Instruction": "Approach the wooden doorway on the building, then move to the rightmost window.",
+    "Type": 3,
+    "Start_Pose": [
+        -18450.328,
+        10604.572,
+        10394.955,
+        0.0,
+        -9.6,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18450.328,
+            10604.572,
+            10394.955,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18326.232,
+            10583.583,
+            10394.956,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18326.232,
+            10583.583,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18222.633,
+            10512.115,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18119.033,
+            10440.646,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18015.434,
+            10369.178,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17911.835,
+            10297.71,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17808.236,
+            10226.242,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17704.637,
+            10154.773,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17601.038,
+            10083.305,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17601.038,
+            10083.305,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17677.096,
+            10135.774,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17677.096,
+            10135.774,
+            10394.956,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17677.096,
+            10135.774,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17677.096,
+            10135.774,
+            10394.956,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17581.249,
+            10217.346,
+            10393.732,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17485.403,
+            10298.917,
+            10388.651,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17389.556,
+            10380.489,
+            10394.838,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17293.71,
+            10462.061,
+            10394.838,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17293.71,
+            10462.061,
+            10394.838,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17293.71,
+            10462.061,
+            10394.838,
+            0.0,
+            15.4,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the long stone building sits well ahead across the overgrown ground, and I can pick out an arched wooden doorway set into its wall to my left among the narrow slit windows. That doorway is where I need to get first, so I will walk forward to cut down the distance before refining my heading.",
+        "The wall is closer now, but my heading points past the doorway toward the round tower on the right, leaving the arch sitting off to my left. Turning left should swing that wooden doorway into the middle of my view so I can walk straight at it.",
+        "The wooden doorway now sits squarely in the center of my view with the slit windows spread evenly either side of it. With my heading right, I will walk straight ahead over the open ground to close on the arch.",
+        "The arch has grown noticeably and its stone step is visible, yet the wall still fills only part of my view, so I am not near enough to count as being at the doorway. My line stays true, so another stride forward should keep shrinking the gap.",
+        "I can now see through the opening into the shadowed interior, which tells me the arch is genuinely a passable doorway rather than a blind recess. Still several strides of bare ground remain, so I keep walking straight toward it.",
+        "The building now spans my whole view and the arch stands tall and centered, with its threshold clearly above the dirt in front of me. I will step forward again to bring myself right up against the doorway.",
+        "The archway is large in front of me and I can make out the flagstones and inner wall beyond it, but I am still a couple of paces short of standing at the entrance. Nothing blocks the ground ahead, so I continue straight in.",
+        "The doorway now towers over the lower half of my view with its sill just ahead and the interior clearly lit through the opening. One more step forward should put me right at the wooden doorway.",
+        "The arched wooden doorway now fills most of my view, with its stone threshold and the floor beyond clearly visible. One more step should bring me right up against the opening, close enough to count as standing at it.",
+        "The arched wooden doorway is right at my shoulder, its jamb and the flagstones inside filling my view at arm's length. I have arrived at this doorway. I mark reaching it, then turn my attention to the window at the far right end of the building's wall.",
+        "Standing this tight against the arch leaves the rest of the facade and its narrow windows out of my view. Backing straight away from the wall should open the stone front again and give me room to reorient toward the window at its far right end.",
+        "From this distance the doorway sits centered, and the wall stretching to my right is the side carrying the remaining narrow windows. I will swing right to bring that stretch of facade into the middle of my view.",
+        "The wall now runs away from me to the right with two slit windows on it, but the far end of the building is still off the edge of my view. Another turn to the right should carry my heading further along that facade.",
+        "The facade with its slit windows now runs off to my left and the round tower marks the building's far corner ahead. Turning right once more should line my heading up with the open ground beside the wall so I can walk down toward that end window.",
+        "I am now facing along the building's flank, with the windowed wall on my left and clear ground ahead toward the tower corner. Walking forward should carry me down the facade toward the last window at its far end.",
+        "The nearer window has slid behind me and the one closest to the tower corner is still ahead on my left. Another step along this wall should bring me level with that end window.",
+        "Walking along this flank of the building, the last arched window on my left is still slightly ahead of me and the wall's end corner is just beyond it. I will step forward to draw level with that final opening at the end of the row.",
+        "The last window now fills the left side of my view at close range, but I am still a bit short of the corner where the wall ends. One more step forward should bring me right up beside that final opening.",
+        "I have drawn up beside the end of the wall, and the last window has slipped behind the stonework on my left while my gaze runs past the corner. Turning left should swing my view back onto that final opening so I am squarely facing it.",
+        "The last window in the row stands directly before me at arm's reach on this wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_c/infos.json

@@ -0,0 +1,536 @@
+{
+    "Instruction": "Head toward the base of the round tower, then proceed to the small leftmost window.",
+    "Type": 3,
+    "Start_Pose": [
+        -18450.328,
+        10604.572,
+        10394.955,
+        0.0,
+        -9.6,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18450.328,
+            10604.572,
+            10394.955,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18450.328,
+            10604.572,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18328.988,
+            10637.995,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18207.648,
+            10671.418,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18086.308,
+            10704.84,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17964.968,
+            10738.263,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17843.628,
+            10771.685,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17722.288,
+            10805.108,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17600.947,
+            10838.531,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17479.607,
+            10871.953,
+            10394.324,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17358.267,
+            10905.376,
+            10389.624,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17236.927,
+            10938.799,
+            10389.754,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17115.587,
+            10972.221,
+            10394.452,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16994.247,
+            11005.644,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16872.907,
+            11039.066,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16751.567,
+            11072.489,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16630.227,
+            11105.912,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16508.887,
+            11139.334,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16387.547,
+            11172.757,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16266.207,
+            11206.18,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16266.207,
+            11206.18,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16355.289,
+            11181.642,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -84.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -16562.337,
+            11113.234,
+            10394.957,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -16680.302,
+            11069.363,
+            10395.001,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -16798.267,
+            11025.492,
+            10395.001,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -16916.233,
+            10981.621,
+            10395.001,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -17034.198,
+            10937.75,
+            10395.001,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -17034.198,
+            10937.75,
+            10395.001,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17122.571,
+            10848.135,
+            10395.001,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17210.943,
+            10758.52,
+            10394.231,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17299.315,
+            10668.905,
+            10389.903,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17387.687,
+            10579.291,
+            10388.116,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17476.06,
+            10489.676,
+            10393.036,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17564.432,
+            10400.061,
+            10393.785,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17652.804,
+            10310.446,
+            10395.117,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17652.804,
+            10310.446,
+            10395.117,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -17695.024,
+            10191.879,
+            10395.117,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -17737.243,
+            10073.313,
+            10395.117,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -17779.463,
+            9954.747,
+            10395.117,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -17779.463,
+            9954.747,
+            10395.117,
+            0.0,
+            -84.6,
+            0.0
+        ],
+        [
+            -17767.619,
+            9829.446,
+            10395.117,
+            0.0,
+            -84.6,
+            0.0
+        ],
+        [
+            -17767.619,
+            9829.446,
+            10395.117,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -17723.804,
+            9735.648,
+            10394.072,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -17723.804,
+            9735.648,
+            10394.072,
+            0.0,
+            -59.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The tall round tower sits at the far right edge of my view, cut off by the frame, while most of what I face is the long straight curtain wall. I will turn right so the tower stands ahead of me and I can walk a straight line to its base.",
+        "The round tower now rises near the middle of my view with open grass between me and it. I will walk forward across that clear ground to begin closing the distance to its base.",
+        "The tower's stonework is noticeably larger than a moment ago, so my heading is carrying me straight at it. The grass ahead stays open, so I will keep walking forward.",
+        "The tower still fills the upper centre of my view and the wall junction beside it is becoming distinct. Nothing blocks the meadow between us, so I continue forward toward its foot.",
+        "The base of the tower is now visible where the grass meets its stone, which is exactly the spot I am aiming for. I will step forward again to shorten the remaining gap.",
+        "The tower's shaft now reaches past the top of my view and the dirt strip at the wall's foot is clearly ahead. I keep walking forward, since the ground under the tower is still several paces off.",
+        "Individual stones on the tower are becoming readable and the doorway in the wall to my left has grown large, both signs that I am closing fast. I will advance again toward the tower's foot.",
+        "The tower now dominates the centre of my view, though a stretch of grass and packed earth still separates me from the stone at its base. I will continue walking straight ahead to reach it.",
+        "The round tower rises straight ahead of me, its curved stonework already filling the upper middle of my view, with the grassy strip and bare earth open between us. Nothing blocks the line, so I will keep walking to close the remaining gap to its base.",
+        "The tower's curved face now dominates the frame and the arched doorway on the left wall has grown noticeably, showing I am steadily gaining ground. I will step forward again to bring the tower base closer.",
+        "Ground detail at the foot of the tower is becoming clear and the masonry courses are resolving into individual blocks, so I still have distance left to cover. My heading remains true to the curved wall, so another stride forward is the direct move.",
+        "The tower now occupies the centre of my view with the darker lower stonework clearly separated from the pale wall on the left. The vegetated ground ahead is passable, so I will continue walking toward the base.",
+        "The tower's shadowed lower drum fills more of my view and its junction with the adjoining wall is close on my left. I am not yet at the foot of it, so I keep advancing.",
+        "Only the lower stonework of the round tower is left in frame, with the grass at its footing now visible just ahead of me. A few more strides should put me right at the base, so I move forward again.",
+        "The curved stones of the tower are close enough that I can pick out mortar joints, and the grass band at its foot lies just a short walk away. I will step forward to stand right against the base.",
+        "The tower wall now curves across nearly my whole view with its base cutting the lower frame, so I am almost at its footing. One more stride forward should bring me hard against the round tower's base.",
+        "The curved dark stonework of the round tower now fills most of my view, with only a narrow band of grass between me and its footing. I am close but not yet standing at the base, so I walk forward again to shrink that last gap.",
+        "The tower's curving courses now fill the frame and the pale wall beside it has slipped to the edge, so I am nearly against the round tower. A further step forward should put me right at its foot.",
+        "Only a sliver of grass and a corner of the lighter wall remain visible past the tower's dark curved blocks. One more step should bring me flush against the base of the round tower.",
+        "Nothing but the tower's rough curved blocks fills my view at arm's length, so I am standing right against the foot of the round tower. I have reached it. I mark arriving here before setting off for the small window at the leftmost end of the wall.",
+        "Pressed this close to the tower, the stone blocks block everything and I cannot see the walls that carry the small windows. I step back to open some distance so I can pick out the windowed wall before changing heading.",
+        "Backing off has let a strip of grass and a sunlit sliver of the adjoining wall reappear at the left, but the tower still dominates my view. Another step back should give me enough space to swing around toward the window-bearing wall.",
+        "With some distance regained, I can see the pale wall meeting the tower on my left, and that is the face where the small windows sit. I turn left to swing my heading off the tower and onto that wall.",
+        "The sunlit wall has come into the middle of my view and the tower is sliding to the right, but I still face the corner rather than the open wall face. I keep turning left to bring the run of wall and its small windows ahead of me.",
+        "Standing right at the round tower's foot, its dark curved stonework has slid to the right edge and only flat pale wall fills my view, so nothing useful is ahead of me. I will keep pivoting left to swing off this masonry and open up the courtyard side, where the small windows should be found.",
+        "A narrow arched opening has come into the left half of the pale wall, and a strip of open ground runs along its base. That is not yet the small window I want, so I will turn left again to keep sweeping toward the open side of this wall.",
+        "The arched opening now sits near the middle of my view and the wall still runs unbroken to the right, so I am hemmed against stone here. Turning left once more should carry my heading past this corner toward whatever stands out in the open.",
+        "The corner has come around and a grey gabled building with a low roof edge now shows on my left, with daylight and greenery beyond it. I will turn left again to bring that open ground squarely ahead instead of the tall wall crowding my right.",
+        "Ahead left the courtyard finally opens out, with trees, distant curtain walls and a gate tower, while the gabled roof now edges my right side. One more turn left should line me up with that clear ground so I can walk it and look over the low buildings for their small windows.",
+        "I now face open grass and packed earth with the stone gable of a building at my right shoulder and nothing blocking my path. I will walk forward along this open ground to get out from the tower's flank and see the building's wall face, where small windows should sit.",
+        "The gable corner is drifting rightward as I advance, and the ground ahead stays clear grass and bare soil. I will keep walking forward so the long side of this building comes into view rather than just its blank end.",
+        "More of the courtyard and the far curtain wall keep opening up as I move, and the near stone wall is still only showing its end face to my right. Another step forward should carry me far enough along to read the wall's window openings.",
+        "The round tower is behind me now and I am crossing the open yard with the low stone outbuilding on my right. Its long side is still edge-on, so I cannot yet pick out any small windows in it. I walk forward to clear its near corner and open that face up.",
+        "The outbuilding's gable corner is sliding further right as I advance, and more of the yard beside it is opening up. I still have no clear line on its window wall from here. Another step forward should bring me level with that corner.",
+        "I have walked far enough that the outbuilding's long flank now lies to my right rather than ahead of me, while my heading points across empty ground toward the curtain wall. Turning right should swing that stone face into the middle of my view where its small windows would be.",
+        "The turn worked: the long stone wall now runs down the right side of my view and I can make out small recessed openings in it. They are still far off along the wall, so I walk forward beside it to close that gap.",
+        "Walking beside the wall, two narrow arched windows have grown clearer in the stonework to my right. Neither is close enough yet to stand at, and more of the wall keeps appearing ahead. I continue forward along the dirt strip at its foot.",
+        "The window openings on my right are noticeably larger than a step ago, so my line along the wall is good. I want to reach the far end of this row rather than stop at the first opening. I keep stepping forward.",
+        "More of the building keeps unrolling on my right, with a deeper arched opening now showing beyond the small windows. I am not yet abreast of the near end of the row. Another walking step should carry me alongside it.",
+        "The wall face is close on my right and the small windows sit clearly in the shaded stonework, one of them near the corner at the leftmost end of the row. I am still short of standing in front of it. I walk on to draw level.",
+        "The round tower base is done with, so my heading now belongs to the low stone outbuilding on my right, whose wall carries the narrow openings I need. Only one small window is visible so far, near the shaded end of that wall. I walk forward along the dirt strip to draw level with more of the wall face.",
+        "The outbuilding's wall is growing on my right and a small deep-set opening is already beside me, but its far end and the openings there are still ahead. I keep walking along the clear earth strip to bring the whole window-bearing face within reach.",
+        "Walking straight would carry me past the outbuilding rather than up to it, since its window wall lies off to my right and is turning away in shadow. I turn right so that face comes square in front of me and the small openings along it become visible for a direct approach.",
+        "The turn worked: the outbuilding's long wall now faces me and I can pick out its slim arched openings, the smallest of them at the left end near the corner. I step forward across the packed earth to close the remaining gap to that wall.",
+        "The small slit window at the left end of this wall is clearer now, set lower and narrower than the deeper arch to its right. I am still a good stretch of open ground away, so I keep walking straight at the wall.",
+        "The stonework now fills much of my view and the leftmost small opening sits clearly apart from the wider arch beside it. Another step forward should put me close enough to work along the wall to that window.",
+        "I am close to the wall but my heading runs slightly across it, with the openings sitting off to one side rather than ahead. I turn right to swing onto the wall's line so the small windows come into the centre of my path.",
+        "The turn lined me up along the wall, and both openings are now in front of me, the small slit at the left and a deeper arched one nearer on the right. I walk forward to draw level with these windows on the wall face.",
+        "The narrow arched window opening now sits off to my right along this stone facade, while my heading still runs parallel to the wall. I will turn right so the small window comes square in front of me, which should let me walk straight into it.",
+        "The small arched window is now centered directly ahead, its sill and recess plainly framed in the stonework. Only a short gap of ground remains, so I will step forward to close it and bring myself right up to the opening.",
+        "I am pressed right into the recess of the small window, its sill and inner stonework filling my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_d/infos.json

@@ -0,0 +1,486 @@
+{
+    "Instruction": "Navigate to the base of the round tower, then walk to the ground-floor doorway.",
+    "Type": 3,
+    "Start_Pose": [
+        -18450.328,
+        10604.572,
+        10394.955,
+        0.0,
+        -9.6,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18450.328,
+            10604.572,
+            10394.955,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18450.328,
+            10604.572,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18328.988,
+            10637.995,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18207.648,
+            10671.418,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18086.308,
+            10704.84,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17964.968,
+            10738.263,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17843.628,
+            10771.685,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17722.288,
+            10805.108,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17600.947,
+            10838.531,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17479.607,
+            10871.953,
+            10394.324,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17358.267,
+            10905.376,
+            10389.624,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17236.927,
+            10938.799,
+            10389.754,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17115.587,
+            10972.221,
+            10394.452,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16994.247,
+            11005.644,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16872.907,
+            11039.066,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16751.567,
+            11072.489,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16630.227,
+            11105.912,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16508.887,
+            11139.334,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16387.547,
+            11172.757,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16266.207,
+            11206.18,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16266.207,
+            11206.18,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16355.289,
+            11181.642,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -84.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -16444.371,
+            11157.105,
+            10394.957,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -16562.337,
+            11113.234,
+            10394.957,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -16680.302,
+            11069.363,
+            10395.001,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -16798.267,
+            11025.492,
+            10395.001,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -16916.233,
+            10981.621,
+            10395.001,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -16916.233,
+            10981.621,
+            10395.001,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17004.605,
+            10892.006,
+            10395.286,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17092.977,
+            10802.391,
+            10395.335,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17181.35,
+            10712.776,
+            10395.384,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17269.722,
+            10623.161,
+            10395.062,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17358.094,
+            10533.547,
+            10390.565,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17446.467,
+            10443.932,
+            10389.854,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -17446.467,
+            10443.932,
+            10389.854,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -17488.686,
+            10325.365,
+            10388.635,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -17530.906,
+            10206.799,
+            10394.495,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -17530.906,
+            10206.799,
+            10394.495,
+            0.0,
+            -84.6,
+            0.0
+        ],
+        [
+            -17519.061,
+            10081.498,
+            10394.758,
+            0.0,
+            -84.6,
+            0.0
+        ],
+        [
+            -17519.061,
+            10081.498,
+            10394.758,
+            0.0,
+            -84.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The round tower stands off to my right, near the edge of my view, while the long battlemented wall fills the space straight ahead of me. Turning right should swing that tower toward the middle of my view so I can walk a straight line to its base.",
+        "The round tower now sits near the centre of my view with open grass running toward it. Nothing blocks that line, so I will walk straight ahead to close the distance to its base.",
+        "The tower's stonework has grown slightly larger and stays centred as I advance. The ground ahead is still level grass, so I will keep walking toward it.",
+        "I can now make out where the tower meets the adjoining wall and the strip of bare path at its foot. That foot is still well ahead of me, so another step forward keeps closing the gap.",
+        "The tower fills more of my view and its base is clearly the nearest part of the masonry ahead. My heading is still true to it, so I continue walking without adjusting direction.",
+        "The tower's curved stone now dominates the middle of my view and the dark opening in the wall to my left is resolving clearly. I am still several paces short of the tower's foot, so I keep advancing.",
+        "The tower rises directly in front of me and the grass gives way to worn earth near its foot. That footing is where I need to stand, so I take another step toward it.",
+        "The tower's lower courses are now close enough to read individual stones, and the ground at its foot is plainly in front of me. A few more paces should bring me right up against that base, so I keep walking.",
+        "The round tower stands just right of my heading, its curved stonework rising behind the straight wall and clearly nearer than before. The open ground of packed dirt and low growth in front of me is clear, so I will keep walking straight to close the remaining distance to its base.",
+        "The tower's cylindrical shaft now fills much more of my view and its shadowed masonry is resolving into individual blocks, confirming steady gain on it. The arched opening in the wall has slid further left as I pass along it, so my heading still points at the tower. I will continue advancing.",
+        "The tower shaft and the wall meeting it now dominate the middle of my view, and the flat ground between us is still short and open. Nothing blocks the direct line, so another step forward should bring me closer to the tower's footing.",
+        "I can now see where the tower's curved base meets the grass, which is the spot I am aiming for. The dark doorway has slipped to the far left of my view as I move past it, and the way ahead over the low plants remains clear, so I keep walking straight on.",
+        "The round tower's lower courses fill the center of my view with the grass at its foot plainly in sight, so only a short stretch of the plot separates us. My heading is already on that base, and I will step forward again rather than adjust.",
+        "The curve of the tower's dark base and the pale wall beside it now tower over the greenery just a few paces off. Since the base sits squarely in front of me, walking straight ahead should carry me right up against it.",
+        "The tower's stone drum now blocks most of my forward view and the grass running along its footing is close beneath it. I am nearly at the base, so I will take another step to bring myself right up to the wall of the tower.",
+        "Only the tower's dark curved masonry and the sunlit wall beside it remain in view, with the grassy strip at its foot immediately ahead. A further step should place me at the tower's base, which is where I mean to arrive first.",
+        "The curved dark masonry of the round tower now fills the centre of my view, with only a short strip of grass between me and its footing. I will keep walking straight ahead to close that last bit of ground at its base.",
+        "The tower's rounded wall has grown larger and its individual blocks are clearly resolved, so I am only a couple of paces from the stonework. Another step forward should bring me right up against the base.",
+        "Almost the whole view is now the curving stone of the tower, with just a thin band of grass along its foot. One more step forward should put me directly at the tower's base.",
+        "The curved blocks of the round tower fill my whole view at arm's length, so I am standing right at its base. I have reached the foot of the tower, and I mark that arrival before setting off for the ground-floor doorway in the adjoining wall.",
+        "Pressed this close to the tower, the stone blocks block everything and I cannot see the neighbouring wall where the ground-floor doorway sits. Backing up a step should open enough distance to take in the surroundings again.",
+        "The edge of the tower and a sliver of pale wall and grass have come back into view, but the masonry still crowds most of my sight. I will back up once more to gain the clearance I need before turning to search out the doorway.",
+        "With room regained I can see the tower's rounded face ahead and the lighter wall of the adjoining building off to my left. I will turn left to swing my view onto that wall, since a ground-floor doorway would open along it.",
+        "The corner where the tower meets the pale stone wall is now centred, with that wall running off to my left and no opening yet in sight. I will keep turning left to bring more of its length into view and look for the doorway.",
+        "Having reached the tower's base, I now stand so close that pale masonry fills nearly the whole view, with the tower's darker stonework only at my right edge. I turn left again to keep sweeping my view off this blank wall and find the ground-floor entrance and the ground I can walk on.",
+        "An arched opening has swung into view at the left of the pale wall, so continuing to rotate this way is uncovering the built face I want. I turn left once more to bring that opening and the strip of bare ground before it properly in front of me.",
+        "The arched opening sits ahead of me now, but I am pressed tight against the corner and thick vegetation with no clear line to walk. I turn left again to keep opening the view past this corner and see where the passable ground leads.",
+        "Swinging left has revealed a gabled stone building and open lawn beyond it, which is far more promising ground than the wall I was facing. I turn left again to bring that open courtyard fully in front of me.",
+        "Open lawn, scattered trees and the distant curtain wall now fill the left half of my view, with the gabled building close on my right. One more left turn should square me onto that open ground so I can move instead of standing hemmed in by masonry.",
+        "I am now facing open grass and a dirt lane running past the gabled building on my right, with nothing blocking my footing. I step forward to leave the crowded tower base and travel along this building's flank toward its ground-level entrance side.",
+        "The gabled wall on my right is sliding past as I advance and the lane of bare earth beside it stays open. I keep walking forward to close on the building's long side, where a ground-floor way in should lie.",
+        "More of the building's long flank is opening up on my right as I come level with its corner, and the ground ahead remains clear grass and packed earth. I continue forward to reach the front of that wall where a doorway at ground level should become visible.",
+        "Having marked the tower base behind me, I am crossing the open garden ground toward the long stone outbuilding whose gable end sits at my right. Nothing blocks the dirt strip ahead, so I walk on to bring its front face within reach before I look for the ground-floor entrance.",
+        "The building's corner now stands close on my right, and its long wall runs away out of my view on that side. Turning right should swing my heading along that wall so I can follow it and spot the doorway at ground level.",
+        "The turn placed the building's long face on my right, with the bare dirt strip running beside it into the distance. I step forward along that strip to work down the wall toward a ground-level opening.",
+        "The wall beside me shows only blank stone and a narrow slit so far, no entrance yet. I keep walking along the lane to bring more of the facade past me.",
+        "More of the facade has come into view on my right, but the openings I can see remain small windows set high in the stone. Another step forward should carry me farther along toward a full-height opening.",
+        "I am still tracking the same stone face, and the shaded lane beside it continues without obstruction. I walk on, since the doorway must lie farther down this wall than I can yet resolve.",
+        "The wall on my right keeps sliding past with its small recessed windows, and the ground ahead stays open. I continue forward to close on the far part of the facade where a taller opening may sit.",
+        "A darker, taller recess is beginning to show in the wall ahead on my right, unlike the small windows I have been passing. I step forward again to bring that opening properly into view.",
+        "The long stone building runs along my right, and an arched ground-floor opening is slipping past the right edge of my view. Walking straight would carry me along the wall instead of toward that entrance, so I turn right to bring the arched doorway into the middle of my view.",
+        "The arched opening in the ground floor of the stone building now sits ahead and slightly right, with open dirt ground between me and it. Nothing blocks that strip, so I walk forward to cut down the remaining distance to the entrance.",
+        "The arch has grown noticeably larger and its stone jambs and inner floor are becoming distinct, so my line of travel is good. I keep walking forward to close the last stretch of ground toward the doorway.",
+        "I am now beside the arch, and its opening lies off to my right rather than straight ahead, with the paved interior floor just visible through it. I turn right so the doorway sits square in front of me before stepping in.",
+        "The arched entrance is now centered ahead of me with its threshold and inner stone floor clearly open. One more step forward should place me at the doorway itself.",
+        "I stand in the arched ground-floor entrance with its jambs on either side and the paved interior right in front of me. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t5_a_pd/infos.json

@@ -0,0 +1,582 @@
+{
+    "Instruction": "Grab the trash bag at the ground-floor doorway of the stone building, then place it at the base of the round tower.",
+    "Type": 5,
+    "Start_Pose": [
+        -18450.328,
+        10604.572,
+        10394.955,
+        0,
+        -9.6,
+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -17718.758,
+        10141.012,
+        10314.951,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18450.328,
+            10604.572,
+            10394.955,
+            0,
+            -9.6,
+            0
+        ],
+        [
+            -18326.232,
+            10583.583,
+            10394.956,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18202.135,
+            10562.594,
+            10394.956,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18202.135,
+            10562.594,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18098.536,
+            10491.125,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17994.937,
+            10419.657,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17891.338,
+            10348.189,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17787.739,
+            10276.721,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17787.739,
+            10276.721,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17787.739,
+            10276.721,
+            10394.956,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17787.739,
+            10276.721,
+            10394.956,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17787.739,
+            10276.721,
+            10394.956,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17691.892,
+            10358.292,
+            10394.956,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17596.045,
+            10439.863,
+            10394.956,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17500.198,
+            10521.435,
+            10394.956,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17404.352,
+            10603.006,
+            10387.648,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17308.505,
+            10684.577,
+            10387.895,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17212.658,
+            10766.149,
+            10393.976,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17116.811,
+            10847.72,
+            10394.781,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -17020.964,
+            10929.291,
+            10394.781,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -16925.118,
+            11010.863,
+            10394.781,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -16829.271,
+            11092.434,
+            10394.781,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -16733.424,
+            11174.005,
+            10394.781,
+            0.0,
+            40.4,
+            -0.0
+        ],
+        [
+            -16733.424,
+            11174.005,
+            10394.781,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16612.084,
+            11207.427,
+            10394.781,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16490.744,
+            11240.849,
+            10394.781,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16369.403,
+            11274.272,
+            10394.781,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16438.818,
+            11255.152,
+            10394.781,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16438.818,
+            11255.152,
+            10394.781,
+            0.0,
+            15.4,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -17718.758,
+            10141.012,
+            10314.951,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17718.758,
+            10141.012,
+            10314.951,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17718.758,
+            10141.012,
+            10314.951,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17718.758,
+            10141.012,
+            10314.951,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17718.758,
+            10141.012,
+            10314.951,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17718.758,
+            10141.012,
+            10314.951,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17718.758,
+            10141.012,
+            10314.951,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17718.758,
+            10141.012,
+            10314.951,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17776.115,
+            10294.644,
+            10365.061,
+            -28.202,
+            15.544,
+            1.862
+        ],
+        [
+            -17784.626,
+            10298.823,
+            10365.333,
+            -28.189,
+            40.557,
+            1.872
+        ],
+        [
+            -17793.572,
+            10298.476,
+            10364.666,
+            -28.215,
+            65.527,
+            1.849
+        ],
+        [
+            -17800.778,
+            10300.478,
+            10364.72,
+            -14.092,
+            82.743,
+            6.87
+        ],
+        [
+            -17706.288,
+            10374.082,
+            10365.286,
+            -28.198,
+            90.545,
+            1.865
+        ],
+        [
+            -17610.217,
+            10455.847,
+            10364.749,
+            -28.191,
+            90.558,
+            1.871
+        ],
+        [
+            -17514.268,
+            10537.493,
+            10364.074,
+            -28.214,
+            90.53,
+            1.852
+        ],
+        [
+            -17418.494,
+            10619.011,
+            10356.975,
+            -28.203,
+            90.541,
+            1.856
+        ],
+        [
+            -17322.84,
+            10700.425,
+            10357.313,
+            -28.187,
+            90.557,
+            1.872
+        ],
+        [
+            -17227.207,
+            10781.804,
+            10363.396,
+            -28.2,
+            90.544,
+            1.866
+        ],
+        [
+            -17131.427,
+            10863.33,
+            10365.694,
+            -28.182,
+            90.56,
+            1.883
+        ],
+        [
+            -17035.486,
+            10944.965,
+            10365.525,
+            -28.21,
+            90.534,
+            1.857
+        ],
+        [
+            -16939.414,
+            11026.737,
+            10365.049,
+            -28.198,
+            90.547,
+            1.866
+        ],
+        [
+            -16843.378,
+            11108.478,
+            10364.566,
+            -28.192,
+            90.55,
+            1.864
+        ],
+        [
+            -16747.5,
+            11190.062,
+            10364.522,
+            -28.209,
+            90.538,
+            1.855
+        ],
+        [
+            -16739.519,
+            11193.313,
+            10365.637,
+            -28.199,
+            65.549,
+            1.867
+        ],
+        [
+            -16618.444,
+            11227.83,
+            10365.269,
+            -28.193,
+            65.549,
+            1.866
+        ],
+        [
+            -16496.829,
+            11261.325,
+            10364.732,
+            -28.195,
+            65.551,
+            1.867
+        ],
+        [
+            -16375.372,
+            11294.767,
+            10364.468,
+            -28.22,
+            65.525,
+            1.85
+        ],
+        [
+            -16371.331,
+            11273.741,
+            10354.781,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -16371.331,
+            11273.741,
+            10354.781,
+            0.0,
+            15.4,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        866.1,
+        751.6,
+        641.4,
+        641.4,
+        516.5,
+        392.3,
+        269.6,
+        152.2,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        20.2,
+        21.4,
+        21.4,
+        21.3,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "I can see the dark trash bag sitting on the ground just outside the arched doorway in the long stone building ahead and to my left. It is still far off across the overgrown ground, so I will walk forward to close that distance before worrying about fine alignment.",
+        "The building wall and the doorway have grown noticeably larger, so my heading is carrying me toward the bag. I will keep walking forward to cut the remaining distance before I correct my heading.",
+        "The trash bag now sits well off to the left of my heading, near the bottom left of my view, while I am pointed at the blank stretch of wall and the round tower. I will turn left to bring the bag and its doorway back into the centre of my path.",
+        "The turn has squared me up with the facade, and the trash bag now sits close to the middle of my view under the arched doorway. With the heading right, I will walk straight forward toward it.",
+        "The bag is clearly centred ahead of me and is growing as I close in, so my line is good. I will continue walking forward rather than adjust my heading.",
+        "The bag now fills a good part of the lower centre of my view, but it is still a couple of paces away from where I could reach it. I will step forward again to get within grabbing range.",
+        "The bag sits directly in front of me at the foot of the doorway, close enough that only a short gap remains. One more step forward should put it within arm's reach for the grab.",
+        "The trash bag is now right at my feet in the lower left of my view, close against the doorway threshold, with nothing between us. This is the reachable position I was aiming for, so I will attempt to pick it up now.",
+        "The grab worked, and the trash bag is now in my hands rather than resting on the ground by the doorway. Facing the building wall gives me no route to the round tower, so I will turn right to swing my heading away from the facade and start looking for the tower and open ground.",
+        "With the bag secured, I am still squared up against the long stone wall of the building and its narrow windows. That heading leads nowhere useful, so I will keep rotating right to bring the round tower and the open yard beside it into view.",
+        "The round tower now shows at the far corner of the building, but the wall and its roof still cut across my path. One more turn right should clear the facade from my heading and put the open yard leading toward the tower straight ahead.",
+        "The turns have opened the courtyard: bare ground and grass run ahead, with the tower rising close on my left and the curtain wall to the right. Carrying the bag, I will walk forward along this clear strip to close on the tower base.",
+        "The step advanced me into the yard, and the tower shaft looms larger just left of my path. The ground ahead stays open, so I will keep walking forward with the bag to reach the level of the tower base.",
+        "I am passing along the flank of the stone building with the tower still ahead on my left and the courtyard grass unobstructed. Another forward step should bring me alongside the tower before I need to angle toward its foot.",
+        "The tower base is not yet within dropping range, though its masonry now fills much of the left side of my view. The yard ahead remains clear, so I continue walking forward while holding the bag.",
+        "The building corner has fallen behind and the round tower stands directly beside my track, with the curtain wall beyond. I still need more ground before I am level with its foot, so I will take another step forward carrying the bag.",
+        "The trash bag is secured in my hands, so my only remaining job is to carry it to the round tower. Its curved stone shaft rises just left of my heading across the open grassy court, with nothing blocking the ground between us. I will keep walking forward to close that gap.",
+        "The tower's masonry now occupies more of the left side of my view, confirming the previous step shortened the distance while the bag stayed with me. The route across the weedy court is still open. I will step forward again to keep closing on the tower.",
+        "I am still several strides short of the tower, whose base is hidden behind the low weeds at the left of my path. The far curtain wall and buttress keep receding, which tells me my forward progress is real. Another step forward should bring the tower base within reach.",
+        "The round tower now looms close on my left and its dark lower courses are becoming visible above the grass. I have not yet reached a spot beside its foot where dropping the bag would count. I will continue advancing.",
+        "The tower's curved base and the grass meeting it are clearly in view just left of my heading. I am close but still not level with the foot of the tower. Walking forward once more should place me alongside it.",
+        "The tower's rounded masonry now fills much of my left field, so I am nearly beside it while my heading still points past it into the courtyard. One more step forward should bring me level with its base before I reorient. I will advance.",
+        "I am now beside the round tower, but its base sits to my left while my heading runs past it toward the far curtain wall. To set the bag at the tower's foot I need that base squarely in front of me. I will turn left to face it.",
+        "The turn worked, and the round tower's curved base with the grass strip at its foot now sits directly ahead of me. I am still a short distance from the wall, likely too far for a placement that counts as being at its base. I will step forward to close in.",
+        "The trash bag is still in my hands and the curved base of the round tower now fills most of my view directly ahead. I am not yet close enough for the bag to count as placed against it, so I will step forward again to close the remaining gap.",
+        "The tower's rounded stonework now dominates my view and the grassy footing at its base is just below me, but a short gap remains. I will take one more step so the bag can be set down right against the tower rather than out on the open ground.",
+        "The rough stone of the round tower is immediately in front of me, close enough that its blocks fill my whole view, and the bag is still in my hands. This is the placement spot the task calls for, so I will release the trash bag here at the tower's base.",
+        "The trash bag now rests on the ground against the round tower's stone base and my hands are empty. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t5_b_pd/infos.json

@@ -0,0 +1,506 @@
+{
+    "Instruction": "Pick up the trash bag by the wooden doorway, then set it down at the base of the rightmost window.",
+    "Type": 5,
+    "Start_Pose": [
+        -18450.328,
+        10604.572,
+        10394.955,
+        0,
+        -9.6,
+        0
+    ],
+    "PD_ID": 20,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -17763.688,
+        9994.89,
+        10314.955,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "TurnLeft",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18450.328,
+            10604.572,
+            10394.955,
+            0,
+            -9.6,
+            0
+        ],
+        [
+            -18326.232,
+            10583.583,
+            10394.956,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18326.232,
+            10583.583,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18222.633,
+            10512.115,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18119.033,
+            10440.646,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18015.434,
+            10369.178,
+            10394.956,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18015.434,
+            10369.178,
+            10394.956,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -17951.745,
+            10260.623,
+            10394.956,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -17888.056,
+            10152.068,
+            10394.956,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -17888.056,
+            10152.068,
+            10394.956,
+            0.0,
+            -59.599,
+            0.0
+        ],
+        [
+            -17888.056,
+            10152.068,
+            10394.956,
+            0.0,
+            -34.599,
+            0.0
+        ],
+        [
+            -17888.056,
+            10152.068,
+            10394.956,
+            0.0,
+            -9.599,
+            0.0
+        ],
+        [
+            -17888.056,
+            10152.068,
+            10394.956,
+            0.0,
+            15.401,
+            -0.0
+        ],
+        [
+            -17888.056,
+            10152.068,
+            10394.956,
+            0.0,
+            40.401,
+            -0.0
+        ],
+        [
+            -17792.211,
+            10233.641,
+            10394.956,
+            0.0,
+            40.401,
+            -0.0
+        ],
+        [
+            -17696.366,
+            10315.215,
+            10394.956,
+            0.0,
+            40.401,
+            -0.0
+        ],
+        [
+            -17600.521,
+            10396.788,
+            10394.956,
+            0.0,
+            40.401,
+            -0.0
+        ],
+        [
+            -17600.521,
+            10396.788,
+            10394.956,
+            0.0,
+            15.401,
+            -0.0
+        ],
+        [
+            -17479.182,
+            10430.213,
+            10390.948,
+            0.0,
+            15.401,
+            -0.0
+        ],
+        [
+            -17357.842,
+            10463.638,
+            10393.655,
+            0.0,
+            15.401,
+            -0.0
+        ],
+        [
+            -17236.503,
+            10497.062,
+            10394.763,
+            0.0,
+            15.401,
+            -0.0
+        ],
+        [
+            -17236.503,
+            10497.062,
+            10394.763,
+            0.0,
+            -9.599,
+            0.0
+        ],
+        [
+            -17236.503,
+            10497.062,
+            10394.763,
+            0.0,
+            -34.599,
+            0.0
+        ],
+        [
+            -17295.769,
+            10537.946,
+            10394.763,
+            0.0,
+            -34.599,
+            0.0
+        ],
+        [
+            -17295.769,
+            10537.946,
+            10394.763,
+            0.0,
+            -34.599,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -17763.688,
+            9994.89,
+            10314.955,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17763.688,
+            9994.89,
+            10314.955,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17763.688,
+            9994.89,
+            10314.955,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17763.688,
+            9994.89,
+            10314.955,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17763.688,
+            9994.89,
+            10314.955,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17763.688,
+            9994.89,
+            10314.955,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17763.688,
+            9994.89,
+            10314.955,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17763.688,
+            9994.89,
+            10314.955,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17763.688,
+            9994.89,
+            10314.955,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17869.947,
+            10163.4,
+            10365.061,
+            -28.202,
+            -9.454,
+            1.862
+        ],
+        [
+            -17875.895,
+            10170.785,
+            10365.333,
+            -28.189,
+            15.558,
+            1.872
+        ],
+        [
+            -17884.149,
+            10174.25,
+            10364.666,
+            -28.215,
+            40.528,
+            1.849
+        ],
+        [
+            -17889.835,
+            10179.11,
+            10364.72,
+            -14.092,
+            57.745,
+            6.87
+        ],
+        [
+            -17902.302,
+            10168.132,
+            10364.736,
+            -28.208,
+            90.543,
+            1.851
+        ],
+        [
+            -17806.587,
+            10249.455,
+            10365.157,
+            -28.189,
+            90.559,
+            1.869
+        ],
+        [
+            -17710.946,
+            10330.842,
+            10365.54,
+            -28.205,
+            90.536,
+            1.859
+        ],
+        [
+            -17615.141,
+            10412.392,
+            10365.511,
+            -28.191,
+            90.551,
+            1.872
+        ],
+        [
+            -17606.222,
+            10416.738,
+            10364.419,
+            -28.201,
+            65.546,
+            1.857
+        ],
+        [
+            -17485.429,
+            10450.639,
+            10360.768,
+            -28.206,
+            65.54,
+            1.858
+        ],
+        [
+            -17364.351,
+            10483.997,
+            10361.97,
+            -28.192,
+            65.552,
+            1.869
+        ],
+        [
+            -17243.18,
+            10517.37,
+            10365.672,
+            -28.203,
+            65.542,
+            1.863
+        ],
+        [
+            -17233.178,
+            10517.578,
+            10364.506,
+            -28.195,
+            40.549,
+            1.865
+        ],
+        [
+            -17225.657,
+            10513.003,
+            10365.654,
+            -28.193,
+            15.55,
+            1.871
+        ],
+        [
+            -17238.148,
+            10498.198,
+            10354.763,
+            0.0,
+            -34.599,
+            0.0
+        ],
+        [
+            -17238.148,
+            10498.198,
+            10354.763,
+            0.0,
+            -34.599,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        918.3,
+        814.3,
+        814.3,
+        691.5,
+        570.1,
+        451.1,
+        451.1,
+        325.5,
+        200.4,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.5,
+        21.4,
+        21.4,
+        21.4,
+        20.7,
+        21.4,
+        21.4,
+        21.4,
+        20.8,
+        19.3,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "I can see the dark trash bag sitting against the stone wall to the left of the wooden doorway, but it is still far across the overgrown yard. I will walk forward to close that distance before worrying about fine alignment.",
+        "The bag and its doorway sit well to my left while my heading points at the tower end of the wall. Turning left should swing the doorway toward the center of my view so I can walk straight at it.",
+        "The doorway and the trash bag beside it now sit near the middle of my view, so my heading is usable. I will step forward along this line to shorten the gap to the bag.",
+        "The wall is filling more of my view and the bag is clearly resting on the bare ground left of the arched doorway. Nothing blocks the open dirt between us, so I keep walking forward.",
+        "The bag is growing larger and remains slightly left of my forward line, but I am still several paces short of reaching it. I will advance again to get within grabbing range.",
+        "From here the bag sits off to my left rather than straight ahead, so walking on would carry me past it toward the doorway. A left turn should bring the bag onto my forward axis for a clean approach.",
+        "The trash bag is now roughly centered ahead against the wall with clear dirt in between. I will step forward to close the last part of the distance for a grasp.",
+        "The bag is large in front of me but still a step short of comfortable reach. One more forward step should place me directly over it so a pick attempt can work.",
+        "The trash bag now fills the lower center of my view, just beside the arched wooden doorway and within arm's reach. Nothing stands between me and it, so this is the moment to close my hands on it. I will attempt the grasp now.",
+        "The grasp worked: the bag is held right in front of me instead of resting on the dirt. The wall and doorway now fill my heading, so I need to swing around toward the open courtyard where the window wall lies. I will turn right to begin that reorientation.",
+        "The bag is still in my hands as I pivot, so the carry is secure. Directly ahead I only see the doorway and flat stone facade, not the open ground I need to cross. I will keep turning right to bring the courtyard side into view.",
+        "My heading has swung so the doorway is sliding off to the left and the wall stretches away ahead. That is still not the direction of the open yard with the window wall, so more rotation is needed. I will turn right again.",
+        "The round tower and the far rampart are coming into view on the right, with grass and open dirt ahead of them. The path I want runs along that open side, slightly further right than my current heading. One more right turn should place that corridor straight in front of me.",
+        "I am now facing down the open lane between the barn wall on my left and the courtyard grass ahead, with the bag still in hand. Nothing blocks this stretch of dirt. I will walk forward to carry the bag toward the window wall.",
+        "The tower and the wall with its narrow windows have grown larger, so my last step gained ground while the bag stayed with me. The lane ahead is still open dirt. I will continue forward along it.",
+        "I am still carrying the bag and the barn's window openings on my left are passing steadily by, confirming forward progress. The target wall is not yet close enough to set the bag beneath a window. I will take another step ahead.",
+        "The trash bag is still in my hands as I move across the open ground, and the stone outbuilding with its row of narrow windows stands off to my left. My heading is drifting toward the tower and the far curtain wall instead of that window wall, so I turn left to swing the windowed facade in front of me before closing in.",
+        "The outbuilding's near end with its narrow window now sits ahead and slightly left, and the ground between me and it is bare and open. Carrying the bag, I step forward to shorten that gap toward the window at this end of the wall.",
+        "The window opening and its stone sill have grown noticeably larger, so my approach line is good and the bag is still in hand. I advance again to bring myself within setting distance of the wall base beneath that window.",
+        "The masonry and the recessed window now fill the left side of my view, but I am still standing out from the wall face rather than beside its base. I step forward once more to reach the strip of ground directly under the opening.",
+        "I am right up against the corner of the stone wall, with bare masonry filling most of my view and the window no longer centered. I turn left to rotate my facing back along the wall so the window opening comes into the middle of my view before I set the bag down.",
+        "The turn brought the wall face square in front of me, and the window's stone jamb is now showing at the left edge rather than ahead of me. I turn left once more so the opening and its sill sit centered, giving me a clean spot at its base for the bag.",
+        "The recessed window and its projecting stone sill are now centered directly in front of me at arm's reach, with the wall base clear beneath it. This is the spot named in the task, so I release the bag here and it should come to rest against the footing of that window.",
+        "The trash bag is resting on the ground directly beneath the window's stone sill and is no longer in my hands. The task condition is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Walk to the leftmost small window on the wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -18648.023,
+        10275.172,
+        10394.815,
+        0.0,
+        -9.6,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18648.023,
+            10275.172,
+            10394.815,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18523.927,
+            10254.183,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18523.927,
+            10254.183,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18420.328,
+            10182.714,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18316.729,
+            10111.246,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18213.13,
+            10039.778,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18109.53,
+            9968.31,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18109.53,
+            9968.31,
+            10394.957,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -18045.842,
+            9859.754,
+            10394.957,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -17982.153,
+            9751.199,
+            10394.957,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -17918.464,
+            9642.644,
+            10391.282,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -17860.939,
+            9539.274,
+            10392.637,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -17860.939,
+            9539.274,
+            10392.637,
+            0.0,
+            -59.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The long wall ahead carries a row of small arched windows that all look alike, so I fix on the one at the far left end, beside the corner where the wall runs out of view. I walk forward to close the open ground before working along the wall.",
+        "My heading is aimed at the middle stretch of the wall, while the window I want sits off to my left, near the far end of the row. Turning left should point my path toward that end instead of the doorway in front of me.",
+        "The wall now faces me more squarely and its left portion is open ahead of me, with the window I chose beyond the nearer openings. I walk forward to cut the distance across the grass toward that side of the building.",
+        "The stonework and the arched openings have grown noticeably larger, so I am gaining on the wall but am still well short of it. I continue walking forward along this heading toward the left part of the facade.",
+        "The wall base and the strip of dirt in front of it are clearly closer now, and my heading still carries me toward its left portion. Another step forward should bring me near enough to work along the face toward my window.",
+        "I am close enough that the wall fills my view and its far left corner has slid out of sight past the edge, so I can no longer read the row from its end. I keep advancing toward the window that stands nearest that corner.",
+        "Straight ahead I only see the middle openings and the doorway, while the end of the building I am heading for lies past my left edge. I turn left to bring that corner and the window beside it back in front of me.",
+        "The turn brought the end of the wall back into view, and the arched window closest to that corner is now the one on my left with the tower rising behind it. I walk forward to close on it.",
+        "The arched window by the building's end corner sits just left of my heading, with the tower's pale masonry rising past the corner behind it. Only a short stretch of dirt separates me from that stretch of wall, so I step forward again.",
+        "Now a single arched opening dominates my view, its stone sill and jambs clearly readable, and the wall's end corner falls away at my left. This is the window I settled on beside that corner, so I keep walking straight in toward it.",
+        "The window's arch and sill loom large in the upper left and my own shadow falls on the blocks in front of me, so I am nearly against the stone. One more short step should place me right at the opening.",
+        "The masonry of the end wall fills my view at arm's length, right beside the arched opening's jamb. I am standing at that window, so the task is done."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Approach the first window right of the door.",
+    "Type": 2,
+    "Start_Pose": [
+        -18648.023,
+        10275.172,
+        10394.815,
+        0.0,
+        -9.6,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18648.023,
+            10275.172,
+            10394.815,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18523.927,
+            10254.183,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18523.927,
+            10254.183,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18402.587,
+            10287.605,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18281.247,
+            10321.028,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18159.907,
+            10354.45,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18038.567,
+            10387.873,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18038.567,
+            10387.873,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17914.47,
+            10366.884,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17790.374,
+            10345.894,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17666.277,
+            10324.905,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17542.181,
+            10303.916,
+            10390.773,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17542.181,
+            10303.916,
+            10390.773,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17438.582,
+            10232.447,
+            10394.959,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17438.582,
+            10232.447,
+            10394.959,
+            0.0,
+            -34.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The long stone wall ahead carries a pale doorway with narrow slit windows spaced along it, and my target is the slit immediately to the right of that doorway. The slits look alike, so I hold the target by its place beside the door's right edge. I step forward to begin closing the open ground.",
+        "My heading points at the left half of the wall, while the window I want lies on the door's right side, toward the round tower. I turn right so my path runs along the open ground leading to that stretch of the wall.",
+        "The tower and the right stretch of the wall now sit ahead of me, with clear dirt and low grass between. I walk forward to cut the remaining distance toward the section that holds the doorway and the window beside it.",
+        "The wall is noticeably larger and the arched doorway on my left is becoming clearer, so I am on a good line. I continue forward to keep closing on the window that sits just right of that arch.",
+        "I am still several strides short of the wall, and the ground in front of me stays open. Another step forward should bring me level with the part of the wall where my window sits.",
+        "The tower now looms close on my right and the wall's near corner is beside me, so I have nearly reached the stretch I want. I take one more step forward before turning to face the wall.",
+        "I have come far enough along the open ground, but the wall face is off to my left rather than in front of me. I turn left to square up with it so the arched doorway and the window next to it come into my forward path.",
+        "The arched doorway is now clearly ahead on my left with the first narrow window standing just to its right. I walk forward toward that window to close the last of the distance to the wall.",
+        "The arch has slid to my left edge, and the nearer of the two dark slits ahead is the one sitting immediately beside it. A stretch of bare dirt still separates me from the wall, so I keep walking toward that opening.",
+        "The stonework fills more of my view and the near slit has grown noticeably taller, yet I am still a few paces short of it. I advance again, holding to that opening rather than its neighbour further along the face.",
+        "The doorway has passed out of my view behind the wall's angle, so I now hold the target by the opening itself, the left of the two arched slits directly in front of me. Another step should bring me close under its sill.",
+        "The window I want sits off to my left while my heading still runs along the wall face rather than into it. I turn left to swing that arched opening into the centre of my view before the last step.",
+        "The arched slit now sits squarely in the middle of my view with plain stone filling the rest. One short stride should close the remaining gap and place me right at its sill.",
+        "The window's sill and its deep recess fill my view at arm's length. I have arrived at it, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_c/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Move to the rightmost window near the round tower.",
+    "Type": 2,
+    "Start_Pose": [
+        -18648.023,
+        10275.172,
+        10394.815,
+        0.0,
+        -9.6,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18648.023,
+            10275.172,
+            10394.815,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18648.023,
+            10275.172,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18526.683,
+            10308.595,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18405.343,
+            10342.017,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18284.003,
+            10375.44,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18162.663,
+            10408.862,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -18041.323,
+            10442.285,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17919.983,
+            10475.708,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17798.643,
+            10509.13,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17677.303,
+            10542.553,
+            10394.957,
+            0.0,
+            15.4,
+            -0.0
+        ],
+        [
+            -17677.303,
+            10542.553,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17553.206,
+            10521.564,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17429.11,
+            10500.574,
+            10389.805,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17305.013,
+            10479.585,
+            10394.953,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17208.048,
+            10474.2,
+            10394.955,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -17208.048,
+            10474.2,
+            10394.955,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17208.048,
+            10474.2,
+            10394.955,
+            0.0,
+            -34.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "A row of narrow arched windows runs along the long wall ahead, and the one at the right end of that run, sitting closest to the round tower's base, is my target. The tower currently sits off to my right edge, so I turn right to put it and the window beside it in front of me.",
+        "The round tower now sits near the middle of my view with the wall and its windows running away to my left. The window at the tower end of that wall is still far off across the grass, so I walk forward to close the gap.",
+        "The tower has grown a little and the wall's shaded windows are clearer, but I am still well out on the open ground. I continue forward toward the tower base, where the window I want meets the corner.",
+        "The junction where the long wall meets the round tower is becoming distinct ahead of me, and the window nearest that junction is my goal. Nothing blocks the grass between us, so I keep walking forward.",
+        "The tower fills more of my view and the wall's roofline is dropping as I get nearer. The window beside the tower is still a fair distance off to my left front, so I advance again.",
+        "Only a couple of the wall's arched windows remain visible now, the far end of the row having slid out of my view, but the one hard against the tower base is still the one I am following. I step forward to keep closing on it.",
+        "The tower now rises directly ahead and the wall beside it is close enough that its stonework and shadows read clearly. I am still short of the window at that corner, so I keep walking toward it.",
+        "The corner where the wall meets the round tower is only a short walk ahead, with the deep arched window sitting on the wall face just to my left. I move forward again to bring myself level with that window.",
+        "The tower base and the deep arched opening on the wall face to my left are now close, but I am still standing out on the dirt short of them. I keep walking forward to draw level with that window at the tower end of the wall.",
+        "I am now beside the tower, and the arched window I want sits on the wall face off to my left rather than ahead of me. I turn left so that window comes squarely into my path.",
+        "The wall face now runs across my view with the arched window under the low roofline and the tower stone at its right end. A few paces of bare ground still separate me from it, so I step forward.",
+        "The window against the tower corner now sits near the centre of my view, its sill and recess clearly cut into the pale stone. I am not yet within arm's reach of the wall, so I advance again.",
+        "The masonry courses and the deep reveal of the arch read at close range now, so only a short gap remains. I take another step toward the opening.",
+        "The arched opening and its projecting sill now dominate my view, with the wall almost within touch. I move forward once more to bring myself right up against it.",
+        "Standing this close, my view is filled with nothing but blank ashlar blocks and the opening has slid out of sight to my left. I turn left to bring the arched recess back in front of me.",
+        "The arched window's recess opens directly in front of me, its inner brick reveal filling my view. I have reached it, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_d/infos.json

@@ -0,0 +1,126 @@
+{
+    "Instruction": "Proceed to the first window left of the door.",
+    "Type": 2,
+    "Start_Pose": [
+        -18648.023,
+        10275.172,
+        10394.815,
+        0.0,
+        -9.6,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18648.023,
+            10275.172,
+            10394.815,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18523.927,
+            10254.183,
+            10394.957,
+            0.0,
+            -9.6,
+            0.0
+        ],
+        [
+            -18523.927,
+            10254.183,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18420.328,
+            10182.714,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18316.729,
+            10111.246,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18213.13,
+            10039.778,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18109.53,
+            9968.31,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18005.931,
+            9896.841,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17902.332,
+            9825.373,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17798.733,
+            9753.905,
+            10393.32,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -17798.733,
+            9753.905,
+            10393.32,
+            0.0,
+            -34.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The long stone wall ahead shows a dark doorway with a pale threshold slab at its foot, and the narrow arched slit immediately to its left is the window I want. The slits all look alike, so I fix on that one by its place right beside the doorway. I walk forward to close the open ground.",
+        "The facade still runs obliquely away toward my left, so the doorway and the window beside it sit off in that direction rather than ahead of me. I turn left to square my heading with the wall and bring that window nearer the centre of my view before advancing further.",
+        "Now the wall spreads squarely across my view, with the doorway and its pale slab plainly visible and the arched window just to its left. My heading points straight at that stretch of wall. I step forward to close on it.",
+        "The stonework is noticeably larger and the window beside the doorway is easy to keep in sight, but I am still out on the grass well short of the wall. Nothing blocks the ground between me and it, so I keep walking straight in.",
+        "The wall now dominates my view and the doorway sits to the right of centre with my window immediately left of it. The gap is still several paces of open dirt and grass. I advance again toward that window.",
+        "The far end of the facade has slipped out of my view, so I hold to the window standing next to the doorway rather than any count along the row. It is still a short distance off to my front left. I keep moving forward.",
+        "I am close enough now to see through the doorway on my right, and the arched window I chose sits just left of it, a little above the strip of weeds at the base. A couple more paces should put me in front of it. I step forward again.",
+        "The doorway has slid to the right edge of my view and the window beside it now stands near the middle, its arch and reveal clearly resolved. I am nearly against the wall. One more step forward should bring me squarely in front of that window.",
+        "The wall fills my view entirely now and only the one arched window remains framed in it, its reveal and inner shaft plainly lit, so there is nothing left to confuse it with. It sits just above and slightly ahead of me rather than at my own level. I take one more step in to stand at it.",
+        "The arched window's sill and reveal fill my view at arm's length. I am standing at it, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t5_a_p/infos.json

@@ -0,0 +1,278 @@
+{
+    "Instruction": "Pick up the plate near the leftmost small window on the wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -18648.023,
+        10275.172,
+        10394.815,
+        0,
+        -9.6,
+        0
+    ],
+    "PD_ID": 16,
+    "PD_Size": 3.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -17989.896,
+        9609.923,
+        10344.957,
+        -90,
+        0,
+        0
+    ],
+    "Action": [
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -18648.023,
+            10275.172,
+            10394.815,
+            0,
+            -9.6,
+            0
+        ],
+        [
+            -18648.023,
+            10275.172,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18544.424,
+            10203.704,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18440.825,
+            10132.235,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18337.226,
+            10060.767,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18233.627,
+            9989.299,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18130.028,
+            9917.831,
+            10394.957,
+            0.0,
+            -34.6,
+            0.0
+        ],
+        [
+            -18130.028,
+            9917.831,
+            10394.957,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -18066.339,
+            9809.276,
+            10394.957,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -18066.339,
+            9809.276,
+            10394.957,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -18003.525,
+            9714.555,
+            10394.959,
+            0.0,
+            -59.6,
+            0.0
+        ],
+        [
+            -18003.525,
+            9714.555,
+            10394.959,
+            0.0,
+            -59.599,
+            0.0
+        ],
+        [
+            -18003.525,
+            9714.555,
+            10394.959,
+            0.0,
+            -59.599,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17989.896,
+            9609.923,
+            10344.957,
+            -90.0,
+            0.0,
+            0.0
+        ],
+        [
+            -17985.416,
+            9725.888,
+            10365.061,
+            -28.202,
+            -9.455,
+            1.862
+        ],
+        [
+            -17985.416,
+            9725.888,
+            10365.061,
+            -28.202,
+            -9.455,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        935.8,
+        935.8,
+        812.5,
+        690.0,
+        569.1,
+        450.9,
+        338.3,
+        338.3,
+        213.5,
+        213.5,
+        105.5,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The white plate leans against the long stone wall far off on my left, close to the row of narrow windows named in the task. From my current heading it sits near the edge of my view, so a straight walk would drift past it. I will turn left to bring the plate and its wall toward the center of my view.",
+        "The plate now stands clearly in the left half of my view, propped against the wall beneath the small windows. Nothing but open grass and dirt lies between me and that wall, so a straight walk should shorten the gap. I will step forward to close distance on the target.",
+        "The wall and its narrow windows have grown larger, and the plate is still ahead and slightly left of my heading. I am clearly not near enough yet to reach it. I will keep walking forward across the open ground.",
+        "The plate is now noticeably bigger against the base of the wall, but it remains several strides away, too far to grasp. My heading still points at that stretch of masonry with the small windows. I will advance again to keep closing in.",
+        "The plate leaning on the wall now fills a good part of the left side of my view, and the leftmost small window is directly above it. The gap is smaller but still more than an arm's length. I will step forward once more before attempting any grasp.",
+        "The pale round plate is propped against the stone wall on my left, beside the leftmost narrow window, but it is still several strides away. I will walk forward again to close that gap before I can reach for it.",
+        "The plate has drifted to the far left edge of my view as I closed in, so continuing straight would carry me past it along the wall. Turning left should bring the plate back toward the center of my heading for a direct approach.",
+        "The plate now sits ahead of me, leaning on the wall just below the leftmost small window, and my heading points at it. It is still too far for my hands, so I will step forward to close the remaining distance.",
+        "The plate now fills the lower left of my view, resting against the wall under the narrow window, and nothing blocks the line between us. I will attempt a pick here, hoping it is already within grasping range.",
+        "My hands are still empty, so that grasp attempt did not take hold. It must still be beyond my reach, so I will step forward to stand closer to the wall before trying again.",
+        "My hands are still empty and the plate is still resting against the wall, so my earlier grasp attempt from farther back did not take hold. I have closed the remaining gap and the plate now sits right at the base of the wall beside the leftmost small window, within arm's reach. I will attempt the pick again from this closer stance.",
+        "The plate is now held in my hands. The task's goal is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t0_a/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Walk to the bottom of the wooden staircase.",
+    "Type": 0,
+    "Start_Pose": [
+        -20564.441,
+        19567.917,
+        10390.948,
+        0.0,
+        0.96,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -20564.441,
+            19567.917,
+            10390.948,
+            0.0,
+            0.96,
+            -0.0
+        ],
+        [
+            -20438.6,
+            19570.027,
+            10391.066,
+            0.0,
+            0.96,
+            -0.0
+        ],
+        [
+            -20438.6,
+            19570.027,
+            10391.066,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -20323.658,
+            19518.755,
+            10391.066,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -20208.716,
+            19467.483,
+            10391.066,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -20093.774,
+            19416.211,
+            10391.066,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -19978.831,
+            19364.94,
+            10391.066,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -19863.889,
+            19313.668,
+            10395.587,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -19863.889,
+            19313.668,
+            10395.587,
+            0.0,
+            -24.04,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the wooden staircase ahead on the left, climbing the stone keep wall with its lowest steps meeting the dirt at the base. The open leaf covered ground between us is clear, so I will walk forward to begin closing that distance.",
+        "The staircase and its bottom steps sit well to the left of my current heading, while straight ahead I only face the open courtyard and the far curtain wall. I will turn left to bring the foot of the stairs closer to the center of my path before continuing.",
+        "After turning, the keep and its wooden staircase now sit squarely in front of me, with the lowest steps landing on the bare dirt below. The ground between us is flat and unobstructed, so I will walk forward toward that base.",
+        "The staircase is noticeably larger now and its handrail and support post are clearly resolved, but the bottom steps are still several strides away. I will keep walking forward on this heading to shorten the gap.",
+        "My heading still leads straight to the foot of the stairs, and the lower treads with the stone block beneath them are plainly in front of me. Since nothing blocks the leafy ground, I will continue forward.",
+        "The staircase now fills much of my view, yet I am still standing a couple of paces out from where the bottom step meets the ground. Another step forward should bring me right up to that base.",
+        "I am close beside the lower flight, with the handrail and treads rising just to my left and the landing above visible. One more forward step should place me directly at the bottom of the staircase.",
+        "The lowest wooden step and its handrail are right beside me at arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t0_b/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Head toward the trunk of the tree.",
+    "Type": 0,
+    "Start_Pose": [
+        -20564.441,
+        19567.917,
+        10390.948,
+        0,
+        0.96,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -20564.441,
+            19567.917,
+            10390.948,
+            0,
+            0.96,
+            0
+        ],
+        [
+            -20564.441,
+            19567.918,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -20451.282,
+            19623.012,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -20338.122,
+            19678.106,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -20224.962,
+            19733.2,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -20111.802,
+            19788.294,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -20111.802,
+            19788.294,
+            10391.066,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -20032.528,
+            19886.049,
+            10391.066,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19953.254,
+            19983.805,
+            10391.066,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19873.98,
+            20081.56,
+            10384.825,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19794.707,
+            20179.316,
+            10377.147,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19715.433,
+            20277.071,
+            10357.926,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19636.159,
+            20374.827,
+            10340.742,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19636.159,
+            20374.827,
+            10340.742,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -19522.999,
+            20429.921,
+            10332.135,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -19409.839,
+            20485.015,
+            10329.777,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -19296.679,
+            20540.109,
+            10325.774,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -19183.519,
+            20595.203,
+            10329.085,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -19183.519,
+            20595.203,
+            10329.085,
+            0.0,
+            25.96,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The leafy tree I need to reach stands at the far right edge of my view, with its trunk rising out of the leaf litter near the courtyard wall, while the keep and its wooden stair fill the space straight ahead of me. Turning right should swing that trunk away from the edge and into the open middle of my view so I can walk a clean line toward it.",
+        "Now the courtyard opens ahead of me with the trees standing along the far wall, and the trunk of the nearest one sits well within my forward path. The ground is flat leaf-covered earth with nothing between me and it, so I will step forward to begin closing that distance.",
+        "The wall and tower ahead have grown slightly larger and the tree's trunk is a little thicker in my view, so my last step did carry me across the courtyard as intended. The route stays clear, so I will keep walking forward to shrink the remaining gap.",
+        "The trunk with its dark bark now stands clearly ahead and to my right, its base visible where the leaves meet the soil. Since my heading still points into that part of the courtyard, another step forward should bring me meaningfully closer.",
+        "The tree's canopy now spreads over the upper right of my view and its trunk is noticeably wider, confirming steady progress toward it. I will take another step forward while the ground between us stays open.",
+        "I have closed a good part of the distance, but the trunk I am heading for now sits off to the right of my straight-ahead direction, so walking on would drift me past it. A small turn to the right should bring that trunk back toward the center of my view and line up my heading with it.",
+        "After the turn the tree's trunk stands near the middle of my view with a second tree further to the right, so my heading is now pointed at the target. The stretch of leaf litter in front of me is clear, so I will walk forward to close in.",
+        "The trunk directly ahead has thickened and its foot on the ground is easier to make out, so my heading is holding well on the target. I will continue stepping forward, since there is still open courtyard between me and the base of the tree.",
+        "The nearer tree stands just left of my straight-ahead direction, its trunk rising clearly out of the leaf litter with open ground between us. My heading is close enough to that trunk that another step forward keeps closing the gap without any turn. I will walk forward to shorten the distance to it.",
+        "The target trunk now looks noticeably thicker and its base sits lower in my view, so my previous step brought me closer. The walking surface ahead is still just leaves and low growth with nothing blocking the line to the tree. I will step forward again to keep reducing the distance.",
+        "The trunk of the near tree keeps growing in my view and its root flare at the base is becoming distinct, confirming steady approach. It sits only slightly left of my heading, which is still a workable line for continued walking. I will move forward once more toward the trunk.",
+        "The tree's canopy now fills much of the upper part of my view and the trunk stands close on the left side of my path. The ground in front stays open, so one more walking step should bring me nearer to its base. I will continue forward.",
+        "As I have closed in, the trunk has drifted well left of my straight-ahead direction, so walking on this heading would carry me past it rather than up to it. Turning left should bring the trunk back near the middle of my view and put me on a direct line to its base. I will turn left to correct my heading.",
+        "After the turn, the trunk sits just right of center with clear ground running straight to it. This heading points at the tree, so forward walking should close the remaining distance rather than pass it. I will step forward toward the trunk.",
+        "The trunk has grown thicker and its bark texture is clearly readable, so my heading is taking me straight at it. There is still a stretch of leaf-covered ground between me and the base. I will keep walking forward to close that gap.",
+        "The trunk now dominates the right of my view, with its flared base and surrounding leaf litter only a short walk away. Since I am aimed at it and nothing lies between us, another step should bring me right up beside the trunk. I will move forward again.",
+        "The bark of the trunk now fills the right side of my view and its base sits just a short step ahead of me on the leaf litter. I will take one more step forward to close that last bit of distance so I am standing right at the trunk.",
+        "The tree trunk stands directly beside me at arm's length, filling the right of my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t5_a_p/infos.json

@@ -0,0 +1,221 @@
+{
+    "Instruction": "Pick up the ceramic pot at the bottom of the wooden staircase.",
+    "Type": 5,
+    "Start_Pose": [
+        -20564.441,
+        19567.917,
+        10390.948,
+        0,
+        0.96,
+        0
+    ],
+    "PD_ID": 8,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -19899.135,
+        19259.334,
+        10316.065,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -20564.441,
+            19567.917,
+            10390.948,
+            0,
+            0.96,
+            0
+        ],
+        [
+            -20438.6,
+            19570.027,
+            10391.066,
+            0.0,
+            0.96,
+            -0.0
+        ],
+        [
+            -20312.759,
+            19572.135,
+            10391.066,
+            0.0,
+            0.96,
+            -0.0
+        ],
+        [
+            -20312.759,
+            19572.135,
+            10391.066,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -20197.817,
+            19520.864,
+            10391.066,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -20082.874,
+            19469.592,
+            10391.066,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -19967.932,
+            19418.32,
+            10391.066,
+            0.0,
+            -24.04,
+            0.0
+        ],
+        [
+            -19967.932,
+            19418.32,
+            10391.066,
+            0.0,
+            -49.04,
+            0.0
+        ],
+        [
+            -19967.932,
+            19418.32,
+            10391.066,
+            0.0,
+            -49.04,
+            0.0
+        ],
+        [
+            -19967.932,
+            19418.32,
+            10391.066,
+            0.0,
+            -49.04,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -19899.135,
+            19259.334,
+            10316.065,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19899.135,
+            19259.334,
+            10316.065,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19899.135,
+            19259.334,
+            10316.065,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19899.135,
+            19259.334,
+            10316.065,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19899.135,
+            19259.334,
+            10316.065,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19899.135,
+            19259.334,
+            10316.065,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19899.135,
+            19259.334,
+            10316.065,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19899.135,
+            19259.334,
+            10316.065,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19952.718,
+            19432.097,
+            10361.175,
+            -28.202,
+            1.105,
+            1.862
+        ],
+        [
+            -19952.718,
+            19432.097,
+            10361.175,
+            -28.202,
+            1.105,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        733.4,
+        622.5,
+        518.6,
+        518.6,
+        397.0,
+        279.2,
+        173.2,
+        173.2,
+        20.5,
+        20.5
+    ],
+    "Rationale": [
+        "The wooden staircase rises against the stone keep ahead on my left, and a small reddish ceramic pot sits on the ground at its foot. It is still far across the leaf-covered yard, so I will walk forward to close that distance.",
+        "The staircase and the pot beneath it have grown larger, confirming my heading is carrying me toward the target. I remain well outside grasping range, so I will keep walking forward.",
+        "The pot at the foot of the stairs now sits far to the left edge of my view while my heading points across the courtyard. I will turn left to bring the staircase base into the center of my path before continuing.",
+        "The staircase and the ceramic pot beside its lowest step are now centered in front of me. The ground between us is open, so I will walk forward to close in on the pot.",
+        "The ceramic pot at the bottom of the stairs is clearly larger and lower in my view, so my approach line is good. It is still several paces off, and I will step forward again to get within reach.",
+        "The pot now sits close on the ground near the lower left of my view, just off the bottom step. One more step forward should place it directly within grasping distance.",
+        "I am right beside the staircase now, but the pot has slipped out of the lower left of my view as I closed in. I will turn left to bring it back squarely in front of me before reaching for it.",
+        "The ceramic pot now sits directly in front of me at the bottom of the wooden staircase, close and unobstructed on the open ground. My hands are empty, so I will attempt to pick it up from here.",
+        "The ceramic pot is now held in my hands rather than resting on the ground. The task condition is satisfied, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t5_b_p/infos.json

@@ -0,0 +1,335 @@
+{
+    "Instruction": "Grab the metal bucket at the trunk of the tree by the wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -20564.441,
+        19567.917,
+        10390.948,
+        0,
+        0.96,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -19414.238,
+        20368.98,
+        10295.513,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -20564.441,
+            19567.917,
+            10390.948,
+            0,
+            0.96,
+            0
+        ],
+        [
+            -20564.441,
+            19567.918,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -20451.282,
+            19623.012,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -20338.122,
+            19678.106,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -20224.962,
+            19733.2,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -20111.802,
+            19788.294,
+            10391.066,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -19998.642,
+            19843.388,
+            10391.128,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -19998.642,
+            19843.388,
+            10391.128,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19919.368,
+            19941.143,
+            10392.744,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19840.095,
+            20038.899,
+            10388.286,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19760.821,
+            20136.654,
+            10379.475,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19681.547,
+            20234.41,
+            10365.621,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19602.273,
+            20332.165,
+            10347.326,
+            0.0,
+            50.96,
+            -0.0
+        ],
+        [
+            -19602.273,
+            20332.165,
+            10347.326,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -19602.273,
+            20332.165,
+            10347.326,
+            0.0,
+            25.96,
+            -0.0
+        ],
+        [
+            -19602.273,
+            20332.165,
+            10347.326,
+            0.0,
+            25.96,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19414.238,
+            20368.98,
+            10295.513,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -19611.642,
+            20350.427,
+            10316.328,
+            -28.202,
+            76.104,
+            1.862
+        ],
+        [
+            -19611.642,
+            20350.427,
+            10316.328,
+            -28.202,
+            76.104,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1401.7,
+        1401.7,
+        1277.5,
+        1153.6,
+        1030.3,
+        907.6,
+        786.0,
+        786.0,
+        662.0,
+        538.8,
+        417.2,
+        299.3,
+        191.6,
+        191.6,
+        20.5,
+        20.5
+    ],
+    "Rationale": [
+        "The dark metal bucket sits at the foot of a tree against the far curtain wall, well off to my right beyond the stair structure. Facing this way my path would run along the keep instead of toward it. I turn right to bring the bucket and its tree into my forward heading.",
+        "The bucket now stands ahead of me at the base of the nearer tree by the wall, small at this distance. Nothing blocks the open leaf covered ground between us. I walk forward to close the gap.",
+        "The bucket by the tree trunk has grown slightly larger, so my heading is carrying me toward it. The ground ahead is still clear leaf litter. I keep walking forward.",
+        "The bucket remains just left of my forward line at the trunk of the tree by the wall, and it is clearly closer now. There is still a long stretch of open lawn to cover before I could reach it. I advance again.",
+        "The wall and the tree ahead fill more of my view, and the bucket at the trunk is more distinct. I am not yet near enough for any grasp attempt. I continue stepping forward along the same line.",
+        "The bucket at the tree trunk is now plainly readable as a dark cylinder, but still several strides away. My path across the leaf strewn ground stays clear. I walk forward once more.",
+        "The bucket and its tree now sit right of my forward line, so continuing straight would carry me past them toward the corner of the wall. I turn right to swing my heading onto the target side before covering the remaining distance.",
+        "After the turn the bucket at the trunk lies just ahead within my forward arc, with open ground and no branches in the way. It is still too distant to reach. I step forward to close in on it.",
+        "The dark metal bucket sits at the foot of the tree ahead of me, slightly left of my heading, but still too far for any grasp. My path across the leaf litter toward it is clear, so I will keep walking forward to close the gap.",
+        "The bucket by the tree trunk has grown noticeably larger and is drifting a little left in my view, confirming I am closing on it. Nothing blocks the ground in front of me, so I will step forward again rather than adjust heading yet.",
+        "The bucket now stands clearly on the left side of my view at the tree trunk by the wall, close enough that its rim and body are distinct. It is still several paces away, so I will advance again to bring it within reach.",
+        "The bucket fills a good part of my left foreground, meaning I am nearly beside it. One more step forward should place me right at the trunk and bring the bucket into grasping range.",
+        "I am now beside the tree, but the bucket has slid to the very left edge of my view and is partly cut off, so my heading is not aimed at it. I will turn left to bring the bucket back in front of me for a clean grasp.",
+        "The metal bucket now sits centered and close in front of me at the base of the tree by the wall, well within arm's reach. I will attempt to pick it up, which should place it in my hands.",
+        "The metal bucket is now held in my hands rather than resting at the trunk. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t3_a/infos.json

@@ -0,0 +1,306 @@
+{
+    "Instruction": "Walk to the gate entrance, then head toward the wooden ladder.",
+    "Type": 3,
+    "Start_Pose": [
+        -22286.92,
+        14656.335,
+        10394.713,
+        0.0,
+        154.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -22286.92,
+            14656.335,
+            10394.713,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22400.575,
+            14710.4,
+            10398.872,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22514.23,
+            14764.464,
+            10389.846,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22627.885,
+            14818.529,
+            10384.369,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22741.541,
+            14872.594,
+            10396.136,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22855.196,
+            14926.659,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22968.851,
+            14980.723,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23082.506,
+            15034.788,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23196.161,
+            15088.853,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23309.816,
+            15142.917,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23423.472,
+            15196.982,
+            10395.846,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23537.127,
+            15251.047,
+            10398.902,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23650.782,
+            15305.112,
+            10398.902,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23764.437,
+            15359.176,
+            10398.28,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23764.437,
+            15359.176,
+            10398.28,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23680.997,
+            15319.484,
+            10398.873,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23680.997,
+            15319.484,
+            10398.873,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23680.997,
+            15319.484,
+            10398.873,
+            0.0,
+            -155.44,
+            0.0
+        ],
+        [
+            -23680.997,
+            15319.484,
+            10398.873,
+            0.0,
+            -130.44,
+            0.0
+        ],
+        [
+            -23680.997,
+            15319.484,
+            10398.873,
+            0.0,
+            -105.44,
+            0.0
+        ],
+        [
+            -23680.997,
+            15319.484,
+            10398.873,
+            0.0,
+            -80.44,
+            0.0
+        ],
+        [
+            -23660.094,
+            15195.373,
+            10398.873,
+            0.0,
+            -80.44,
+            0.0
+        ],
+        [
+            -23639.191,
+            15071.262,
+            10398.873,
+            0.0,
+            -80.44,
+            0.0
+        ],
+        [
+            -23618.288,
+            14947.151,
+            10396.444,
+            0.0,
+            -80.44,
+            0.0
+        ],
+        [
+            -23597.386,
+            14823.04,
+            10390.929,
+            0.0,
+            -80.44,
+            0.0
+        ],
+        [
+            -23597.386,
+            14823.04,
+            10390.929,
+            0.0,
+            -105.44,
+            0.0
+        ],
+        [
+            -23630.413,
+            14702.203,
+            10391.072,
+            0.0,
+            -105.44,
+            0.0
+        ],
+        [
+            -23630.413,
+            14702.203,
+            10391.072,
+            0.0,
+            -130.44,
+            0.0
+        ],
+        [
+            -23630.413,
+            14702.203,
+            10391.072,
+            0.0,
+            -130.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The arched gateway in the stone curtain wall stands ahead of me, with a worn dirt track running from my feet straight toward it. That opening is where I need to arrive first, so I will walk forward along the track to close the distance.",
+        "The gate arch has grown slightly larger and stays near the middle of my view, so my heading is still good. Nothing blocks the open ground between me and the wall, so I will keep walking forward.",
+        "The gateway and its flanking tower now fill more of my view, confirming I am closing steadily on the entrance. My line still runs onto the packed track leading under the arch, so another step forward keeps me on it.",
+        "I can now make out the open door leaf and the shadowed passage inside the arch, so the entrance is clearly reachable straight ahead. I will continue walking toward it rather than adjusting my heading.",
+        "The wall now rises above my view and the archway sits close on my right of center, with the timber walkway overhead. The gateway is only a short walk off, so I press forward toward it.",
+        "The swung open gate leaf and the dark tunnel behind it are directly ahead of me, and the ground between us is bare and clear. I will keep advancing to bring myself right up to the entrance.",
+        "The stone arch and its braced wooden door now dominate my view, and I can see through into the courtyard beyond. A few more steps should place me at the entrance itself, so I walk on.",
+        "I am nearly at the threshold, with the arch mouth and the inner ramp visible just ahead of me. Stepping forward again should bring me squarely into the gate entrance.",
+        "The arched gateway now fills most of my view, with the open timber door leaf swung back to my right and the passage floor clear ahead. Nothing blocks the packed dirt between me and the threshold, so I will keep walking straight into the opening.",
+        "I am close under the stone arch now, with the cobbled floor of the passage visible just beyond the threshold. My heading is centered on the opening, so another step forward should carry me nearer the gate entrance itself.",
+        "The masonry arch and the open door leaf now tower on either side of my view, and the paved ground of the entrance runs unobstructed in front of me. I will step forward again to bring myself into the gate opening.",
+        "I am right at the threshold, with the heavy plank door pinned open on my right and the vaulted stone directly overhead. The gap between the door leaf and the inner wall is wide enough to pass, so I continue straight in.",
+        "Inside the passage now, I can see the courtyard beyond and a smaller arched doorway across it letting in daylight. One more step forward should place me squarely in the gate entrance rather than half under the door leaf.",
+        "I stand between the gate piers with the vault above me and the courtyard opening out toward the far arched doorway. I have reached the gate entrance. I mark reaching it, then turn my attention to the wooden ladder leaning against the wall outside.",
+        "The gate piers and the open plank door crowd me on both sides here, leaving little room to swing around toward the ladder that leans on the wall outside. Backing up along my current heading should put me out of the narrow passage with space to reorient.",
+        "I am back under the archway with open ground behind the door leaf on my right, where the tall wooden ladder rests against the outer wall. Turning right should begin swinging my heading off the gateway axis and toward that side of the wall.",
+        "The open gate leaf and the stone wall still fill most of my view, with only a sliver of daylight past them. I keep rotating right to swing my heading away from the gateway and toward the open ground beyond the wall where the ladder should stand.",
+        "Sunlit grass and a distant tower have appeared on the right edge while a blank stone face still blocks the center. Another right rotation should carry that open, sunlit side into the middle of my view so I can pick out the ladder.",
+        "The wooden ladder has come into the right half of my view, leaning against the wall above the hedge. I turn right again to bring it closer to the center of my heading before I start walking toward it.",
+        "The ladder now stands clearly ahead but still sits right of my centerline, with the stone corner crowding my left. One more right rotation should square my heading onto it so my next steps run straight along its line.",
+        "My heading is now settled with the leaning wooden ladder just ahead and open dirt ground under it. I step forward to close the remaining distance to it.",
+        "The ladder has grown larger and its foot is visible where it meets the ground a few paces off. I continue walking straight ahead to draw up beside it.",
+        "The rungs are now big in my view and the ladder leans just left of my path, so I still have a little ground to cover. I keep stepping forward to bring myself alongside it.",
+        "The ladder is close on my left, its lower rungs at arm's height, but its base is still slightly ahead of me. One more step forward should put me right at its foot.",
+        "The wooden ladder has slipped almost entirely off the left edge, with only one rail showing at the bottom corner of my view. I will turn left so it sits ahead of me again and I can judge how much ground is left to cover.",
+        "The leaning wooden ladder now stands clearly in the left of my view with open dirt ground between me and its foot. I will step forward to close that last stretch and come up beside it.",
+        "Having drawn level with the ladder, I can only see its lower pole at the very edge of my view while my heading points out across the field. I will turn left to square up on the ladder itself.",
+        "The wooden ladder fills the near left of my view, close enough to touch. The task is complete, so there is no reason to move further."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t3_b/infos.json

@@ -0,0 +1,266 @@
+{
+    "Instruction": "Head toward the wooden ladder, then proceed to the gate entrance.",
+    "Type": 3,
+    "Start_Pose": [
+        -22286.92,
+        14656.335,
+        10394.713,
+        0.0,
+        154.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -22286.92,
+            14656.335,
+            10394.713,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22400.575,
+            14710.4,
+            10398.872,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22400.575,
+            14710.4,
+            10398.872,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -22526.43,
+            14711.366,
+            10388.472,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -22652.286,
+            14712.333,
+            10376.728,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -22778.141,
+            14713.299,
+            10385.482,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -22903.996,
+            14714.266,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23029.852,
+            14715.232,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23155.707,
+            14716.199,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23281.562,
+            14717.165,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23281.562,
+            14717.165,
+            10390.853,
+            0.0,
+            -155.44,
+            0.0
+        ],
+        [
+            -23396.034,
+            14664.853,
+            10390.853,
+            0.0,
+            -155.44,
+            0.0
+        ],
+        [
+            -23510.506,
+            14612.54,
+            10390.853,
+            0.0,
+            -155.44,
+            0.0
+        ],
+        [
+            -23510.506,
+            14612.54,
+            10390.853,
+            0.0,
+            -155.44,
+            0.0
+        ],
+        [
+            -23510.506,
+            14612.54,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23510.506,
+            14612.54,
+            10390.853,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23510.506,
+            14612.54,
+            10390.853,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23590.664,
+            14709.572,
+            10390.853,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23670.822,
+            14806.604,
+            10390.853,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23750.98,
+            14903.636,
+            10398.738,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23831.138,
+            15000.668,
+            10398.738,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23831.138,
+            15000.668,
+            10398.738,
+            0.0,
+            104.56,
+            -0.0
+        ],
+        [
+            -23862.778,
+            15122.485,
+            10398.738,
+            0.0,
+            104.56,
+            -0.0
+        ],
+        [
+            -23892.923,
+            15229.921,
+            10398.888,
+            0.0,
+            104.56,
+            -0.0
+        ],
+        [
+            -23892.923,
+            15229.921,
+            10398.888,
+            0.0,
+            104.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The wooden ladder leans against the wall on the right side of the fortification, well ahead of me across the grass. Nothing blocks the open ground between us, so I will walk forward to cut down that distance before refining my heading.",
+        "The ladder still sits off to my right, while my heading points more at the middle of the wall and its archway. A turn to the right should swing the ladder nearer the center of my view so I can walk straight at it.",
+        "The wooden ladder now stands in the middle of my view, propped against the wall beside the timber walkway. With my heading set on it, I will step forward across the grass to close the remaining distance.",
+        "The ladder and the wall have grown noticeably larger, confirming my last step carried me toward them. My heading still lines up with the ladder's foot, so I keep walking forward.",
+        "The rungs of the ladder are becoming distinct and the wooden gate door beside it is now clearly visible on the left. I am still some way out on the grass, so another forward step is the direct way in.",
+        "The ladder's base rests on the bare earth strip at the foot of the wall, and that strip is drawing closer with each step. My path stays clear of the wall face, so I continue forward toward the ladder.",
+        "The ladder now rises across most of the wall's height in front of me, but its foot is still several paces off across the low weeds. Walking forward again should bring me alongside it.",
+        "I am close enough now to see the wear on the ladder's poles and the shadow it casts on the stonework. A further step forward should put me right at its base rather than short of it.",
+        "The wooden ladder leaning against the wall is now close ahead and slightly right, its lower rungs clearly resolved above the bare dirt strip. I will keep walking forward to close the last of the gap to its base.",
+        "I am nearly beneath the ladder, but it sits at the right edge of my view while the stone wall fills the left. Turning right should swing my heading onto the ladder foot and the open ground beside it.",
+        "The ladder now stands squarely in front of me with its feet planted on the packed earth just ahead. A short walk forward should bring me right up beside it.",
+        "The ladder rails are large in view and its feet are only a step or two away on the open dirt. I will step forward once more to stand alongside it.",
+        "The wooden ladder rises right beside me, its rails and lowest rungs within arm's reach against the wall. I have reached the ladder, so I mark arriving here before turning back along the wall toward the gate entrance.",
+        "Standing at the ladder, my heading points away along the outer wall toward open ground and distant towers, with no gateway in sight. Turning left should bring my view back around the wall face where the arched gate opening lies.",
+        "The ladder now fills the center of my view and the wall stretches right, but the gate opening is still off to my left. I will turn left again to keep swinging toward it.",
+        "The tall open gate leaf has come into the left of my view beyond the ladder, so my heading is close but not yet on it. One more turn left should bring the gate entrance in front of me.",
+        "With the ladder now behind my shoulder on the right, the open timber gate leaf and its stone archway stand ahead and slightly left across the packed dirt. I will walk forward to close the gap toward that entrance.",
+        "The gate leaf and the arched opening beside it have grown noticeably larger, so my heading is carrying me straight at the entrance. Another step forward should keep shrinking the remaining distance.",
+        "I am close enough now that the tall wooden door and the curve of the arch dominate the left of my view, with clear ground still between me and the threshold. I will step forward again to reach it.",
+        "The gate timbers now tower directly ahead-left while the plain stone wall runs off to my right, so I still have a short stretch to cover. Walking forward should bring me level with the entrance.",
+        "I am practically against the wall, and the gateway opening lies off to my left while only flat masonry faces me on the right. I will turn left so the entrance sits in front of me rather than beside me.",
+        "The turn has put the open gateway squarely ahead, with the field and outer wall visible through the gap beside the swung door leaf. I will walk forward to step up to that entrance.",
+        "The braced planks of the gate door now fill most of my view at arm's reach, so only a short pace separates me from the entrance itself. One more step forward should place me right at it.",
+        "The gate's timbers and cross braces fill my view at touching distance, placing me at the entrance. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t5_a_pd/infos.json

@@ -0,0 +1,468 @@
+{
+    "Instruction": "Lift the ceramic vase at the gate entrance, then leave it near the wooden ladder.",
+    "Type": 5,
+    "Start_Pose": [
+        -22286.92,
+        14656.335,
+        10394.713,
+        0,
+        154.56,
+        0
+    ],
+    "PD_ID": 14,
+    "PD_Size": 3.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -23653.348,
+        15284.437,
+        10328.779,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -22286.92,
+            14656.335,
+            10394.713,
+            0,
+            154.56,
+            0
+        ],
+        [
+            -22400.575,
+            14710.4,
+            10398.872,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22514.23,
+            14764.464,
+            10389.846,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22627.885,
+            14818.529,
+            10384.369,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22741.541,
+            14872.594,
+            10396.136,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22855.196,
+            14926.659,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22968.851,
+            14980.723,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23082.506,
+            15034.788,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23196.161,
+            15088.853,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23309.816,
+            15142.917,
+            10390.852,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23423.472,
+            15196.982,
+            10395.846,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23537.127,
+            15251.047,
+            10398.902,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23537.127,
+            15251.047,
+            10398.902,
+            0.0,
+            154.559,
+            -0.0
+        ],
+        [
+            -23537.127,
+            15251.047,
+            10398.902,
+            0.0,
+            179.559,
+            -0.0
+        ],
+        [
+            -23537.127,
+            15251.047,
+            10398.902,
+            0.0,
+            -155.441,
+            0.0
+        ],
+        [
+            -23537.127,
+            15251.047,
+            10398.902,
+            0.0,
+            -130.441,
+            0.0
+        ],
+        [
+            -23537.127,
+            15251.047,
+            10398.902,
+            0.0,
+            -105.441,
+            0.0
+        ],
+        [
+            -23570.635,
+            15129.73,
+            10398.902,
+            0.0,
+            -105.441,
+            0.0
+        ],
+        [
+            -23604.144,
+            15008.414,
+            10398.868,
+            0.0,
+            -105.441,
+            0.0
+        ],
+        [
+            -23637.652,
+            14887.098,
+            10393.357,
+            0.0,
+            -105.441,
+            0.0
+        ],
+        [
+            -23671.161,
+            14765.781,
+            10391.131,
+            0.0,
+            -105.441,
+            0.0
+        ],
+        [
+            -23651.992,
+            14835.183,
+            10391.131,
+            0.0,
+            -105.441,
+            0.0
+        ],
+        [
+            -23651.992,
+            14835.183,
+            10391.131,
+            0.0,
+            -105.441,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23653.348,
+            15284.437,
+            10328.779,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23545.749,
+            15231.501,
+            10368.998,
+            -28.202,
+            -155.296,
+            1.862
+        ],
+        [
+            -23536.681,
+            15228.731,
+            10369.271,
+            -28.189,
+            -130.284,
+            1.872
+        ],
+        [
+            -23527.905,
+            15230.497,
+            10368.604,
+            -28.215,
+            -105.313,
+            1.849
+        ],
+        [
+            -23520.472,
+            15229.668,
+            10368.657,
+            -14.092,
+            -88.097,
+            6.87
+        ],
+        [
+            -23516.319,
+            15245.753,
+            10368.673,
+            -28.208,
+            -55.298,
+            1.851
+        ],
+        [
+            -23549.86,
+            15124.716,
+            10368.544,
+            -28.189,
+            -55.283,
+            1.869
+        ],
+        [
+            -23583.305,
+            15003.669,
+            10368.936,
+            -28.205,
+            -55.305,
+            1.859
+        ],
+        [
+            -23616.793,
+            14882.394,
+            10362.617,
+            -28.191,
+            -55.291,
+            1.872
+        ],
+        [
+            -23650.357,
+            14760.919,
+            10361.585,
+            -28.206,
+            -55.303,
+            1.863
+        ],
+        [
+            -23670.629,
+            14767.71,
+            10331.131,
+            0.0,
+            -105.441,
+            0.0
+        ],
+        [
+            -23670.629,
+            14767.71,
+            10331.131,
+            0.0,
+            -105.441,
+            0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        1503.9,
+        1378.0,
+        1252.2,
+        1126.3,
+        1000.5,
+        874.7,
+        748.9,
+        623.0,
+        497.3,
+        371.5,
+        245.9,
+        120.9,
+        21.4,
+        22.3,
+        22.5,
+        27.1,
+        21.5,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The gate archway stands ahead across the open field, and a small pale vase is visible at its entrance, sitting beside the open door leaf. That vase is my pickup target, so I will walk forward along the dirt track toward the gate to close the large gap.",
+        "The gate and its wooden doors now fill more of my view, confirming I am heading correctly toward the vase at the entrance. Nothing blocks the track between me and the wall, so I will continue walking forward.",
+        "The pale vase remains at the base of the gateway, slightly right of my heading but still well within the archway I am walking toward. The distance is still large, so another forward step is the efficient move.",
+        "The stone wall and the ladder leaning against it are growing steadily, so my approach is on line with the gate entrance. The vase is still several strides away, and I will keep walking forward rather than adjust heading yet.",
+        "I can now make out the vase clearly standing on the ground just inside the gate, with the tall door leaf behind it. It is still too far to reach, so I continue advancing straight toward it.",
+        "The gate arch now towers over my view and the vase sits ahead near the threshold, slightly right of center. Since the ground in front is open packed dirt, I will step forward again to keep closing on the target.",
+        "The vase is now plainly in front of me at the gate entrance, but still a few paces beyond arm's reach. I will walk forward again to bring it close enough for a grasp attempt.",
+        "The ceramic vase is close and centered, its red floral pattern now readable, yet I am not yet standing within grasping range. Another forward step should place me right beside it before I try to lift it.",
+        "The pale ceramic vase stands clearly at the gate entrance, beside the open wooden door and still several paces off. The dirt track ahead is clear and my heading already points at it, so I keep walking straight forward to close the gap.",
+        "The vase has grown noticeably larger and its painted pattern is now readable, confirming I am steadily closing on it. It remains too far to reach, so I take another step forward along the same line.",
+        "The vase now stands tall in the lower center of my view, just short of arm's reach at the gate threshold. One more forward step should place me right beside it for the lift.",
+        "The ceramic vase is immediately in front of me at the gate entrance, its rim filling the lower part of my view at grasping range. This is the moment to reach for it, so I will attempt to lift it.",
+        "The vase is now in my hands and no longer resting on the ground at the gate, so the lift succeeded. The wooden ladder leaning on the wall lies off to my right, outside the gateway, so I start rotating right to bring that direction into view.",
+        "So far the rotation has only swept the inner archway and a blank stretch of stone wall into view, with no ladder yet. Carrying the vase, I keep turning right to continue swinging my heading toward the outer face of the wall.",
+        "The wall corner has now slipped to my left and open sunlit ground with the upper rungs of the wooden ladder is appearing at the right edge. I turn right again to bring the ladder further toward the center of my view.",
+        "The wooden ladder is now plainly in view, leaning against the building with its foot on the dirt just right of my heading. One more right rotation should set it squarely ahead so I can walk straight to it while carrying the vase.",
+        "The vase is in my hands and my heading now faces the open ground beside the wall, with the wooden ladder leaning ahead and slightly left of center. I will walk forward to carry the vase toward that ladder's base.",
+        "The ladder has grown larger in view and its lower end is clearly planted in the dirt just ahead of me. Carrying the vase, I will step forward again to close the remaining gap to the ladder's foot.",
+        "The ladder now dominates the center of my view, but its base still sits a couple of paces beyond me on the bare patch of ground. I will advance once more so the vase can be set down close beside it.",
+        "I am nearly beside the ladder, its lower rungs and planted end just in front of me. One more step should bring me within arm's reach of the ladder so the carried vase can be released right next to it.",
+        "The ladder's rails and rungs now fill the foreground directly in front of me, so I am standing at its base with the vase still in hand. This is the placement the task asks for, so I will release the vase here beside the wooden ladder.",
+        "The vase now rests on the ground at the foot of the wooden ladder, out of my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t5_b_pd/infos.json

@@ -0,0 +1,487 @@
+{
+    "Instruction": "Grab the green bell pepper beside the wooden ladder, then drop it near the gate entrance.",
+    "Type": 5,
+    "Start_Pose": [
+        -22286.92,
+        14656.335,
+        10394.713,
+        0,
+        154.56,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -23602.826,
+        14745.094,
+        10346.234,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -22286.92,
+            14656.335,
+            10394.713,
+            0,
+            154.56,
+            0
+        ],
+        [
+            -22400.575,
+            14710.4,
+            10398.872,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -22400.575,
+            14710.4,
+            10398.872,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -22526.43,
+            14711.366,
+            10388.472,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -22652.286,
+            14712.333,
+            10376.728,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -22778.141,
+            14713.299,
+            10385.482,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -22903.996,
+            14714.266,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23029.852,
+            14715.232,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23155.707,
+            14716.199,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23281.562,
+            14717.165,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23407.417,
+            14718.132,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23407.417,
+            14718.132,
+            10390.853,
+            0.0,
+            179.56,
+            -0.0
+        ],
+        [
+            -23407.417,
+            14718.132,
+            10390.853,
+            0.0,
+            154.56,
+            -0.0
+        ],
+        [
+            -23407.417,
+            14718.132,
+            10390.853,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23487.575,
+            14815.164,
+            10390.853,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23567.733,
+            14912.196,
+            10390.853,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23647.89,
+            15009.228,
+            10398.844,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23728.048,
+            15106.261,
+            10398.844,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23728.048,
+            15106.261,
+            10398.844,
+            0.0,
+            104.56,
+            -0.0
+        ],
+        [
+            -23759.688,
+            15228.078,
+            10398.844,
+            0.0,
+            104.56,
+            -0.0
+        ],
+        [
+            -23791.328,
+            15349.895,
+            10397.546,
+            0.0,
+            104.56,
+            -0.0
+        ],
+        [
+            -23791.328,
+            15349.895,
+            10397.546,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23745.472,
+            15294.386,
+            10399.054,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23745.472,
+            15294.386,
+            10399.054,
+            0.0,
+            129.56,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23602.826,
+            14745.094,
+            10346.234,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -23406.971,
+            14696.774,
+            10361.178,
+            -28.202,
+            -130.296,
+            1.862
+        ],
+        [
+            -23415.626,
+            14699.444,
+            10361.45,
+            -28.189,
+            -155.283,
+            1.872
+        ],
+        [
+            -23423.07,
+            14705.404,
+            10360.783,
+            -28.215,
+            179.687,
+            1.849
+        ],
+        [
+            -23503.853,
+            14801.339,
+            10360.597,
+            -28.202,
+            179.701,
+            1.858
+        ],
+        [
+            -23583.913,
+            14898.254,
+            10360.859,
+            -28.208,
+            179.702,
+            1.852
+        ],
+        [
+            -23663.911,
+            14995.081,
+            10369.101,
+            -28.189,
+            179.718,
+            1.867
+        ],
+        [
+            -23743.884,
+            15091.908,
+            10369.481,
+            -28.207,
+            179.695,
+            1.857
+        ],
+        [
+            -23748.116,
+            15100.878,
+            10368.422,
+            -28.202,
+            154.701,
+            1.859
+        ],
+        [
+            -23780.267,
+            15222.363,
+            10368.543,
+            -28.205,
+            154.701,
+            1.854
+        ],
+        [
+            -23811.841,
+            15343.944,
+            10367.345,
+            -28.207,
+            154.697,
+            1.858
+        ],
+        [
+            -23808.163,
+            15335.414,
+            10367.447,
+            -28.199,
+            179.704,
+            1.863
+        ],
+        [
+            -23790.055,
+            15348.354,
+            10389.054,
+            0.0,
+            129.56,
+            -0.0
+        ],
+        [
+            -23790.055,
+            15348.354,
+            10389.054,
+            0.0,
+            129.56,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        1318.9,
+        1202.8,
+        1202.8,
+        1076.9,
+        951.1,
+        825.3,
+        699.5,
+        573.8,
+        448.1,
+        322.5,
+        197.3,
+        21.4,
+        20.4,
+        20.2,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        20.8,
+        21.4,
+        21.4,
+        22.2,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "I can see the fortified gate ahead and a small green sphere resting at the foot of the wooden ladder that leans against the wall to the right of the archway. That pepper is far off across the grass, so I will walk forward to close the gap before worrying about fine alignment.",
+        "The pepper and its ladder sit right of my current heading, while my path is aimed at the gate arch itself. I will turn right to bring the ladder and the green target nearer the center of my view so a straight walk leads to it.",
+        "After the turn the ladder and the green pepper beneath it now sit comfortably in the middle of my view. With the heading matching the target, I will walk straight forward to cut down the remaining distance.",
+        "The pepper is holding its place just left of the ladder's base and is growing slightly larger, confirming my line is good. Nothing blocks the open grass between us, so I keep walking forward.",
+        "The wall and gate are filling more of my view and the green pepper is clearly resolving into a rounded shape at the ladder's foot. It is still well beyond reach, so another step forward is the right move.",
+        "The pepper now sits plainly on the bare ground strip in front of the wall, slightly left of the ladder rails and still centered in my path. I will continue walking forward since no turn is needed yet.",
+        "The green pepper is noticeably bigger and its stem is starting to show, but it remains several strides away from where I could reach down and grasp it. I will step forward again to keep closing in.",
+        "The pepper now dominates the lower center of my view against the dirt beside the ladder, yet it is still a bit ahead of my feet. Another forward step should bring it close enough for a grasp attempt.",
+        "The green bell pepper sits on the bare ground at the foot of the wooden ladder, still a few paces ahead and slightly left of my heading. It is too far for a grasp, so I will walk forward to close that gap while keeping it centered in view.",
+        "The pepper now fills a large part of my view just left of the ladder, but it is still low and short of comfortable arm's reach. One more step forward should bring it directly in front of me for a grasp.",
+        "The bell pepper is right at my feet, close enough that it dominates the near ground beside the ladder. Nothing blocks the approach, so I will attempt to pick it up now.",
+        "The grasp worked and the green pepper is now held in my hands rather than resting on the ground. The gate entrance lies off to my left from this heading, so I will turn left to begin facing the archway I must carry it to.",
+        "I am holding the pepper and now see the wall face with the open gate leaf toward the left edge of my view. Turning left again should put the gate passage more squarely ahead before I start walking.",
+        "The open gate leaf and the shaded archway are now ahead of me with clear packed ground leading toward them. Carrying the pepper, I will step forward to reach the entrance area where it needs to be set down.",
+        "The gate leaf has grown larger and the archway edge is closer, but I am not yet at the entrance itself. I will keep walking forward along this open ground to bring the pepper nearer the gate.",
+        "The heavy wooden gate leaf now looms directly beside my path and the passage beyond it is opening up to the left. Another step forward should place me right at the gate entrance where the pepper belongs.",
+        "The bell pepper is still secured in my grip, so I only need to carry it to the gate entrance. The open wooden leaf and the stone jamb frame the passage just ahead of me, with clear packed ground at their base. I step forward to close the last stretch toward the entrance.",
+        "The braced door leaf and the wall block now fill nearly the whole view straight ahead, leaving no usable ground in that direction. The open gateway ground and the courtyard beyond lie off to my left. I turn left to face that clear opening before continuing with the pepper.",
+        "Turning has opened a clear line along the gate opening, with bare ground and the far courtyard buildings visible ahead. The heavy leaf now sits to my right instead of blocking me. I walk forward to bring the carried pepper into the entrance area.",
+        "The gate pillar and hanging leaf are beside me on the right, and the ground straight ahead stays open. I am close to the threshold but not yet standing squarely in the entrance zone. Another step forward should place me where the pepper belongs.",
+        "I am now level with the gate leaf, but my heading points out across the open field rather than at the entrance itself. The gateway structure sits to my right. I turn right so I face the entrance ground before releasing the pepper.",
+        "Facing right has put the gate leaf, its stone jamb, and the archway of the entrance directly in front of me, with open packed ground at my feet. This is the spot the task calls for, and the pepper is still in my hands. I will drop it here near the gate entrance.",
+        "The green bell pepper now rests on the ground at the gate entrance and my hands are empty. The task is complete, so there is nothing further to do."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-022527_y014724_z010388_t1_a/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Locate the open double wooden gate positioned near the wooden ladder, then approach that specific doorway.",
+    "Type": 1,
+    "Start_Pose": [
+        -22526.628,
+        14723.986,
+        10388.208,
+        0.0,
+        -109.6,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -22526.628,
+            14723.986,
+            10388.208,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -22526.629,
+            14723.986,
+            10388.247,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -22526.629,
+            14723.986,
+            10388.247,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -22526.629,
+            14723.986,
+            10388.247,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -22652.083,
+            14734.08,
+            10376.003,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -22777.536,
+            14744.174,
+            10384.643,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -22777.536,
+            14744.174,
+            10384.643,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -22886.97,
+            14806.341,
+            10390.803,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -22996.404,
+            14868.508,
+            10391.07,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -23105.837,
+            14930.675,
+            10391.07,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -23215.271,
+            14992.842,
+            10391.07,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -23324.705,
+            15055.009,
+            10391.07,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -23434.139,
+            15117.176,
+            10392.975,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -23543.572,
+            15179.343,
+            10398.777,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -23653.006,
+            15241.51,
+            10398.777,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -23762.44,
+            15303.677,
+            10398.777,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -23858.544,
+            15372.769,
+            10396.074,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -23858.544,
+            15372.769,
+            10396.074,
+            0.0,
+            150.4,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot I only see a thatched cottage and a long stretch of curtain wall, with no gateway or wooden ladder anywhere in front of me. I will turn left to sweep the wall line toward the section I cannot yet see, hoping the double gate and its ladder appear there.",
+        "A wooden ladder leaning against the rampart has just edged into the far left of my view, which matches the landmark named in the task. I will keep turning left so that the wall beneath and beside that ladder comes fully into sight.",
+        "The ladder is now clearly on the wall ahead, and to its left I can make out a dark arched opening with heavy timber leaves at the edge of my view. Another left turn should bring that double wooden gate closer to the middle of my view before I commit to walking toward it.",
+        "The open double wooden gate now sits ahead of me with both leaves swung apart, and the ladder rises against the wall just to its right, confirming this is the doorway I was asked to find. With the target identified and roughly centered, I will stop scanning and walk forward across the grass toward it.",
+        "The gateway and the ladder have grown noticeably larger, so my heading is carrying me straight at the target. I will take another step forward to close more of the remaining distance across the open ground.",
+        "As I have closed in, the open gateway has drifted toward the left side of my view while the ladder and blank wall fill the right. I will turn left to put the arched opening back near the center so my remaining approach runs straight at the doorway.",
+        "The double gate with its open timber leaves is now framed ahead of me, with a worn dirt track running from the grass toward the arch. I will walk forward along that track to keep closing on the doorway.",
+        "The gate now fills much of my view and the open leaf on the right stands clear of the archway, so nothing blocks the direct line in. I will continue forward to bring myself right up to this doorway.",
+        "The open double wooden gate is clearly ahead of me, with one heavy leaf swung outward and the wooden ladder rising along the wall to my right. Since the target doorway is already identified and roughly centered, I will keep walking straight along the worn dirt track toward it to close the remaining distance.",
+        "The gate leaves now fill much more of my view, confirming the previous step brought me closer to the correct doorway. I will continue forward on this heading to keep shrinking the gap to the archway.",
+        "The arched opening between the two wooden leaves is directly in front of me and the ground ahead is clear packed earth. Another step forward should bring me closer to standing at the doorway itself.",
+        "I am close enough now that the gate frame towers above me and the cobbled passage under the arch is visible. I will keep advancing straight so I end up right at this doorway rather than stopping short of it.",
+        "The open leaf on the right and the stone jamb on the left now frame my view, so I am nearly at the threshold of this gateway. I will step forward again to bring myself right up to the opening.",
+        "The archway and its open wooden leaf are only a step or two away, with the interior paving clearly visible through the gap. I continue straight ahead to reach the doorway itself.",
+        "I am right at the mouth of the gateway, with the plank leaf beside me and the passage opening up beyond. One more step forward should carry me into the doorway itself.",
+        "I am now passing between the wooden leaf on my right and the stone jamb on my left, standing within the gate opening. A final short step forward should settle me at this doorway so the approach is properly completed.",
+        "The open wooden gate leaf stands right beside me at arm's length within its stone archway. The doorway has been reached, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-022527_y014724_z010388_t1_b/infos.json

@@ -0,0 +1,166 @@
+{
+    "Instruction": "Discover the wooden ladder leaning against the stone fortification wall; once found, reach it.",
+    "Type": 1,
+    "Start_Pose": [
+        -22526.628,
+        14723.986,
+        10388.208,
+        0.0,
+        -109.6,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -22526.628,
+            14723.986,
+            10388.208,
+            0.0,
+            -109.6,
+            0.0
+        ],
+        [
+            -22526.629,
+            14723.986,
+            10388.247,
+            0.0,
+            -134.6,
+            0.0
+        ],
+        [
+            -22526.629,
+            14723.986,
+            10388.247,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -22526.629,
+            14723.986,
+            10388.247,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -22652.083,
+            14734.08,
+            10376.003,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -22777.536,
+            14744.174,
+            10384.643,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -22902.99,
+            14754.268,
+            10390.865,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -23028.443,
+            14764.361,
+            10390.865,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -23153.897,
+            14774.455,
+            10390.865,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -23279.351,
+            14784.549,
+            10390.865,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -23404.804,
+            14794.643,
+            10390.865,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -23404.804,
+            14794.643,
+            10390.865,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -23522.769,
+            14750.772,
+            10390.865,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -23637.364,
+            14709.096,
+            10391.07,
+            0.0,
+            -159.6,
+            0.0
+        ],
+        [
+            -23637.364,
+            14709.096,
+            10391.07,
+            0.0,
+            -159.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I can see the long stone fortification wall with its towers and a small thatched outbuilding, but no wooden ladder is leaning anywhere along the visible stretch. The wall continues off to my left beyond the edge of my view, so I will turn left to open up that unseen section.",
+        "Swinging left has brought a taller gate structure into the far left of my view, and I can make out slanted wooden beams against it that could be the ladder I need. The shape is clipped by the edge of my view, so I will turn left again to bring that structure fully in front of me.",
+        "The wooden ladder is now clearly visible, leaning against the stone wall beside the arched gateway, though it still sits toward the left half of my view. One more turn to the left should center the gatehouse and ladder ahead of me so I can walk straight at them.",
+        "The ladder is found and now sits squarely ahead, propped against the wall to the right of the open gate arch, with clear grassy ground between us. Search is over, so I will commit and walk straight toward it.",
+        "The gatehouse and the leaning ladder have grown larger in front of me, confirming my heading is carrying me toward the target. The ground stays open, so I will keep walking forward.",
+        "The ladder's rungs and its base resting on the bare earth strip along the wall are now clearly resolved slightly right of center. I am still several strides away, so I will continue advancing.",
+        "The wall now fills much of my view and the ladder rises from the ground just ahead and to my right, running up to the timber walkway. Nothing blocks the remaining stretch of grass, so I will keep closing the distance.",
+        "I am close enough now to see the individual timbers of the ladder and the open gate leaf beside it, but its base is still a few paces beyond my reach. I will step forward again to bring myself right up to it.",
+        "The wooden ladder is clearly identified now, propped against the stone wall just right of the open gate, and it grows larger in my view with every step. Since the target is confirmed and the packed ground ahead is clear of obstacles, I will keep walking straight toward it. This should close more of the remaining distance to the base of the ladder.",
+        "The ladder now dominates the right side of my view with its rungs and side rails clearly resolved, so I am close but not yet at its foot. The stretch of dirt between me and the wall is still open, so continuing forward remains the direct way in. I will step ahead again to shorten the gap.",
+        "My forward heading has carried me so that the ladder now sits far over on the right edge of my view, with the blank stone wall filling the center. Turning right should bring the ladder and its base back into the middle of my view so I can walk straight at it. This is a heading correction rather than more distance-closing.",
+        "The turn worked, and the ladder is now centered in my view with its feet planted on the dirt just ahead of me. With a clean line to the target, I will walk forward to close the last stretch. A couple of steps should put me right at the ladder.",
+        "The ladder's rails and rungs now fill much of my view, so I am nearly within arm's reach of it. One more short step forward should bring me right up against the ladder at the wall. I will advance rather than adjust heading, since the target is already dead ahead.",
+        "The wooden ladder against the stone wall is directly in front of me at arm's length, filling my view. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-022888_y008889_z010521_t1_a/infos.json

@@ -0,0 +1,206 @@
+{
+    "Instruction": "Search for the door of the stone building standing in the middle of the grassy area; once found, proceed toward it.",
+    "Type": 1,
+    "Start_Pose": [
+        -22888.01,
+        8888.754,
+        10521.167,
+        0.0,
+        -129.6,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -22888.01,
+            8888.754,
+            10521.167,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -22888.01,
+            8888.754,
+            10521.178,
+            0.0,
+            -154.6,
+            0.0
+        ],
+        [
+            -22888.01,
+            8888.754,
+            10521.178,
+            0.0,
+            -179.6,
+            0.0
+        ],
+        [
+            -22888.01,
+            8888.754,
+            10521.178,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -23002.445,
+            8941.147,
+            10523.472,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -23116.881,
+            8993.539,
+            10522.023,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -23231.316,
+            9045.932,
+            10527.145,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -23345.752,
+            9098.325,
+            10535.189,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -23460.188,
+            9150.717,
+            10544.112,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -23574.623,
+            9203.11,
+            10550.18,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -23689.059,
+            9255.503,
+            10556.471,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -23803.494,
+            9307.895,
+            10562.353,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -23917.93,
+            9360.288,
+            10543.121,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -24032.365,
+            9412.681,
+            10523.918,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -24146.801,
+            9465.074,
+            10523.918,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -24261.236,
+            9517.466,
+            10529.139,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -24375.672,
+            9569.859,
+            10537.237,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -24490.107,
+            9622.252,
+            10535.128,
+            0.0,
+            155.4,
+            -0.0
+        ],
+        [
+            -24490.107,
+            9622.252,
+            10535.128,
+            0.0,
+            155.4,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Straight ahead I only see the tall fortified curtain wall and its arched gateway, which belongs to the castle rather than a separate stone building standing out in the grass. The open lawn continues off to my left, so I will turn left to sweep that unseen part of the field for the target building.",
+        "The turn has opened up more of the meadow, showing trees, a tower and a lower wall line on the left, but no clearly isolated stone building with a visible door yet. I will keep turning left to bring the remaining unscanned part of the grassy area into view.",
+        "A long stone building with a steep grey roof has come into view at the far left edge, sitting on the grass separate from the fortress wall, which matches the structure I am looking for. One more left turn should place that building squarely in front of me so I can look for its entrance.",
+        "The free-standing stone building with its pitched roof and row of narrow windows now fills the left half of my view, and the worn path across the grass runs directly toward its near side. Searching is done, so I will walk forward along that open ground to close the distance and get near enough to spot its doorway.",
+        "The building's long wall has grown noticeably larger and its stonework and small windows are clearer, confirming I am heading the right way. I will continue walking forward since the ground ahead is still open grass and path.",
+        "I am now close to the flank of the stone building, with its eaves and window slits looming on my left, but no entrance is visible on this stretch of wall yet. Another step forward along the path should carry me further down the facade where a door is likely to appear.",
+        "The wall of the stone building runs alongside me and the packed dirt strip beside it stays clear of obstacles. I will keep advancing beside the facade to bring more of its length, and any entrance in it, into view.",
+        "I am walking parallel to the building's side wall, which still shows only slim window openings along the section I can see. Continuing forward should carry me toward the far end of the facade where the entrance may become visible.",
+        "The long stone building runs away to my left and so far its face shows only narrow slit windows, with no entrance visible yet. The bare dirt path ahead is open and follows the wall, so I will walk forward to reveal more of this facade and look for the door.",
+        "More window openings have come into view along the wall on my left, but none of them is wide enough to be the entrance I need. The ground ahead is still clear grass and packed earth, so I will keep stepping forward to scan further along the building.",
+        "The wall on my left is now much closer and I can make out a darker, taller recess further along it among the smaller windows. That is my best candidate for the doorway, so I will continue walking forward to get a clearer look at it.",
+        "The tall dark recess in the wall ahead on my left is resolving into an arched opening rather than another window. My heading already points along the building toward it, so I will keep advancing to confirm it is the door.",
+        "I can now clearly see an arched doorway with a raised stone step set into the left wall of the stone building, which matches the target I am searching for. With the door identified, I will commit to walking straight toward it along the open ground.",
+        "The arched wooden door in the building's side wall is plainly visible ahead on my left and is growing larger as I close in. I will keep walking forward to shorten the remaining distance to it.",
+        "The doorway is close now, framed by its stone arch a short way ahead along the wall on my left. Nothing blocks the narrow strip of path in front of me, so I will continue stepping forward toward it.",
+        "The dark planked door with its arched stone surround now fills much of my left view, so I am nearly at the entrance. A couple more steps forward should place me directly in front of it, so I will keep advancing.",
+        "The arched wooden door of the stone building fills the left side of my view, close enough that I can make out its iron ring handles and stone threshold. Only a short gap of the gravel strip along the wall still separates me from it, so I will take one more step forward. This should bring me right up against the doorway.",
+        "The stone building's door is directly beside me, its planks and iron rings filling my view at arm's length. The task is complete, so further movement is unnecessary."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-023378_y013391_z010415_t0_a/infos.json

@@ -0,0 +1,286 @@
+{
+    "Instruction": "Head toward the wooden door of the thatched stone cottage.",
+    "Type": 0,
+    "Start_Pose": [
+        -23377.651,
+        13390.564,
+        10415.396,
+        0.0,
+        -129.6,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -23377.651,
+            13390.564,
+            10415.396,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -23457.876,
+            13293.588,
+            10422.26,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -23538.102,
+            13196.612,
+            10419.761,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -23618.327,
+            13099.636,
+            10418.382,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -23618.327,
+            13099.636,
+            10418.382,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23650.052,
+            12977.841,
+            10424.337,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23681.777,
+            12856.047,
+            10426.53,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23713.503,
+            12734.252,
+            10427.923,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23745.228,
+            12612.457,
+            10437.062,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23776.953,
+            12490.662,
+            10441.733,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23808.678,
+            12368.867,
+            10420.558,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23840.404,
+            12247.072,
+            10443.572,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23872.129,
+            12125.277,
+            10457.105,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23903.854,
+            12003.482,
+            10468.914,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23935.579,
+            11881.687,
+            10477.008,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -23935.579,
+            11881.687,
+            10477.008,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -24015.805,
+            11784.711,
+            10480.641,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -24096.03,
+            11687.735,
+            10478.159,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -24176.256,
+            11590.759,
+            10481.484,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -24256.481,
+            11493.783,
+            10483.169,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -24336.707,
+            11396.807,
+            10487.38,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -24416.933,
+            11299.831,
+            10488.831,
+            0.0,
+            -129.6,
+            0.0
+        ],
+        [
+            -24416.933,
+            11299.831,
+            10488.831,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -24448.658,
+            11178.036,
+            10512.827,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -24480.383,
+            11056.241,
+            10523.707,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -24512.108,
+            10934.446,
+            10531.897,
+            0.0,
+            -104.6,
+            0.0
+        ],
+        [
+            -24512.108,
+            10934.446,
+            10531.897,
+            0.0,
+            -104.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "From this overgrown meadow I can see the long thatched stone cottage ahead to my right, tucked against the castle wall. Its wooden door is still too distant to pick out, so I will walk forward across the grass to close the gap and get a clearer look at its front wall.",
+        "The cottage with its long thatched roof has grown slightly larger and its front wall with small windows is becoming clearer off to my right. The path across the grass stays open, so I will keep walking forward to reduce the distance before fine-tuning my heading.",
+        "I am still to the left of the cottage, with the big tree trunk standing between me and its near gable end. Walking forward again should bring me closer to the building before I swing my heading toward its entrance side.",
+        "The cottage now sits off to my right while my heading points past its near end toward the open wall and slope. I will turn right to bring the building's long front side, where the doorway should be, into the center of my path.",
+        "After the turn the cottage sits ahead of me and I can now make out a dark doorway set in the middle of its long whitewashed front. With the grass between us clear, I will walk forward to close distance on that entrance.",
+        "The cottage front is filling more of my view and the arched doorway remains slightly left of my heading but well within reach of a straight approach. I will continue walking forward over the open ground toward it.",
+        "I am steadily gaining on the thatched cottage, and its dark wooden door is clearly visible in the long front wall a little to my left. Another step forward should keep me converging on the entrance without needing to change heading yet.",
+        "The cottage wall and its doorway keep growing as I advance, and the ground in front of me is still open meadow. I will press forward to keep shrinking the remaining distance to the door.",
+        "The thatched stone cottage stands ahead of me across the overgrown field, and its dark wooden door is clearly visible in the long pale wall slightly left of my heading. Nothing blocks the ground in front of me, so I will keep walking forward to close the still considerable distance.",
+        "The cottage wall and its narrow windows now fill more of my view, confirming that my heading is carrying me steadily toward the building. The wooden door remains slightly left of straight ahead, so another step forward keeps shrinking the gap without needing a turn yet.",
+        "I can now make out the recessed doorway and the individual window slits along the cottage front, so I am well within a direct approach line. I will walk forward again since the target door stays near my heading and the ground ahead is open field.",
+        "The cottage front is growing wider in my view and a bare dirt strip runs along its base, which is where I want to arrive. Continuing straight forward should bring me onto that open ground near the wooden door.",
+        "I am close enough now that the arched wooden door and its dark timber show plainly in the middle of the cottage wall. The vegetable patch and packed earth ahead are walkable, so I will take another step forward to keep closing on the door.",
+        "The cottage wall is close and its thatched eave now rises high above me, with the wooden door standing to the left of my current heading. One more step forward should bring me nearer the building front before I refine my alignment.",
+        "From this close position the wooden door sits noticeably left of my heading while the wall stretches away to my right, so walking straight would carry me past it. I will turn left to bring the doorway back toward the center of my view for a straight final approach.",
+        "After the turn the arched wooden door is set much closer to the middle of my view, with clear dirt and low plants between me and the cottage wall. I will walk forward along this corrected heading to keep closing on the doorway.",
+        "The arched wooden door in the pale stone wall of the thatched cottage sits just left of my heading, with open bare ground and a low vegetable patch between me and it. Nothing blocks the direct line, so I will keep walking forward to shorten the remaining distance.",
+        "The doorway and its stone arch have grown larger and the dark opening inside is now clearer, so my current heading is carrying me toward it. I will step forward again to continue closing on the door.",
+        "The cottage wall now fills much of my view and the wooden door leaf inside the arch is distinct, showing I am steadily closing the gap. The ground ahead is flat dirt with only low leaves, so another forward step is safe.",
+        "I am close enough to see the door's plank texture and the threshold stones, but still several paces short of standing at it. I will continue forward along this line toward the opening.",
+        "The arched entrance is now nearly at the height of my view and I can see the lit floor inside past the open leaf, so a little more distance remains. I will walk forward again to draw nearer to the entry.",
+        "At this short range the arched doorway has drifted to the right side of my view while the blank wall and windows dominate the center. I will turn right to bring the opening back to the middle of my heading before advancing the last steps.",
+        "The turn has placed the arched wooden door squarely ahead of me, centered with its stone surround and the lit interior beyond. With alignment set, I will step forward to close the last stretch of dirt ground.",
+        "The doorway fills the middle of my view and the dark wooden leaf stands open just a couple of paces away. I will move forward once more to reach the threshold of the cottage door.",
+        "The arched stone doorway with its open wooden door now fills most of my view, just a step or two ahead of me. I will walk forward once more to close that last bit of ground and stand right at the threshold.",
+        "I am standing at the cottage's wooden door, its planks and iron ring handles within arm's reach. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-023931_y000435_z012208_t1_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Determine where the staircase with a wooden railing leads upward along the brick wall, then navigate to it.",
+    "Type": 1,
+    "Start_Pose": [
+        -23930.987,
+        435.196,
+        12208.05,
+        0,
+        50.4,
+        0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -23930.987,
+            435.196,
+            12208.05,
+            0,
+            50.4,
+            0
+        ],
+        [
+            -23930.986,
+            435.196,
+            12208.05,
+            0.0,
+            75.4,
+            -0.0
+        ],
+        [
+            -23930.986,
+            435.196,
+            12208.05,
+            0.0,
+            100.4,
+            -0.0
+        ],
+        [
+            -23930.986,
+            435.196,
+            12208.05,
+            0.0,
+            125.4,
+            -0.0
+        ],
+        [
+            -23930.986,
+            435.196,
+            12208.05,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -24040.42,
+            497.363,
+            12208.05,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -24149.854,
+            559.53,
+            12208.05,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -24259.288,
+            621.697,
+            12208.05,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -24368.721,
+            683.864,
+            12208.05,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -24478.155,
+            746.031,
+            12208.05,
+            0.0,
+            150.4,
+            -0.0
+        ],
+        [
+            -24478.155,
+            746.031,
+            12208.05,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -24603.609,
+            756.125,
+            12208.05,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -24729.062,
+            766.219,
+            12208.05,
+            0.0,
+            175.4,
+            -0.0
+        ],
+        [
+            -24729.062,
+            766.219,
+            12208.05,
+            0.0,
+            175.4,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I am facing almost directly into a rough stone wall, so nothing of the room and no staircase is visible from here. I will turn right to sweep my view off the wall and open up the floor space of the cellar.",
+        "Turning has pulled my view off the wall and I can now see the paved floor and a far brick wall, but no stairway yet. I will continue turning right to keep scanning the room for a staircase rising along a wall.",
+        "More of the cellar is exposed now, with a long brick wall ahead and a dim opening near its right end, but still no visible stair. I will keep rotating right to bring that brighter right-hand section of the room into view.",
+        "A wooden-railed staircase has just come into view at the right edge, climbing along the grey brick wall toward the ceiling. I will turn right once more to place that staircase and the wall it ascends closer to the centre of my heading before advancing.",
+        "The staircase with its wooden railing is now clearly framed ahead on the right, running up along the grey brick wall toward the upper floor. With the target identified, I will stop scanning and walk forward across the open flagstones to close the distance to it.",
+        "The stair and its railing have grown larger in my view, confirming I am closing on it rather than drifting sideways. I will keep walking forward across the open floor toward the base of the staircase.",
+        "The wooden railing now fills much of the right side of my view as the stair climbs the grey brick wall. Since the path across the flagstones is still clear, I will continue advancing to reach the foot of the stairs.",
+        "I am close enough now to see the individual treads and the lower end of the wooden railing where the stair meets the floor. I will step forward again to bring myself up to the staircase itself.",
+        "The wooden staircase climbing the grey brick wall is clearly visible on my right, so the search part of the task is settled and I only need to close distance. I will keep walking forward across the open flagstone floor to bring its lower steps within reach.",
+        "My forward heading now carries me past the staircase, which sits at the right edge of my view with its base almost out of sight. I will turn right to bring the stair and its wooden railing back to the center of my heading before continuing.",
+        "The staircase with its wooden railing now sits squarely ahead and slightly right, running up the brick wall with clear floor in between. I will step forward to commit to the approach and shorten the remaining distance to its base.",
+        "The stair now fills the right side of my view, its lower treads and railing posts close enough to make out individually. One more step forward should place me right at the foot of the staircase.",
+        "I stand at the foot of the wooden-railed staircase rising along the brick wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-024156_y019049_z010423_t1_a/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Search for the open wooden door set into the stone wall that leads outside; once you have located it, go to that doorway.",
+    "Type": 1,
+    "Start_Pose": [
+        -24156.357,
+        19048.684,
+        10423.12,
+        0.0,
+        110.4,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -24156.357,
+            19048.684,
+            10423.12,
+            0.0,
+            110.4,
+            -0.0
+        ],
+        [
+            -24156.357,
+            19048.684,
+            10423.15,
+            0.0,
+            85.4,
+            -0.0
+        ],
+        [
+            -24156.357,
+            19048.684,
+            10423.15,
+            0.0,
+            60.4,
+            -0.0
+        ],
+        [
+            -24156.357,
+            19048.684,
+            10423.15,
+            0.0,
+            35.4,
+            -0.0
+        ],
+        [
+            -24156.357,
+            19048.684,
+            10423.15,
+            0.0,
+            10.4,
+            -0.0
+        ],
+        [
+            -24032.566,
+            19071.404,
+            10408.05,
+            0.0,
+            10.4,
+            -0.0
+        ],
+        [
+            -23908.775,
+            19094.124,
+            10408.05,
+            0.0,
+            10.4,
+            -0.0
+        ],
+        [
+            -23784.983,
+            19116.843,
+            10408.05,
+            0.0,
+            10.4,
+            -0.0
+        ],
+        [
+            -23661.192,
+            19139.563,
+            10408.05,
+            0.0,
+            10.4,
+            -0.0
+        ],
+        [
+            -23537.401,
+            19162.283,
+            10408.05,
+            0.0,
+            10.4,
+            -0.0
+        ],
+        [
+            -23537.401,
+            19162.283,
+            10408.05,
+            0.0,
+            -14.6,
+            0.0
+        ],
+        [
+            -23415.606,
+            19130.558,
+            10408.05,
+            0.0,
+            -14.6,
+            0.0
+        ],
+        [
+            -23415.606,
+            19130.558,
+            10408.05,
+            0.0,
+            -14.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I am boxed into a dim stone alcove with masonry filling almost the whole view and only a narrow slit of daylight ahead, which is far too thin to be the wooden door I need. I will turn left to sweep this cramped corner and look for an opening into the larger interior where such a door could stand.",
+        "The new heading still shows a blank stone face with the daylight gap now off at the right edge, so nothing resembling an open wooden door is in front of me. I will keep rotating left to bring more of the surrounding space into view.",
+        "A wide flagstone floor and timber roof are now appearing along the left edge past this pillar, suggesting the main hall lies further in that direction. I will continue turning left so that open interior, and any door set into its walls, comes into full view.",
+        "The long hall is opening up on the left and I can make out a dark rectangular opening in its far stone wall that looks like a doorway. I will turn left once more to center that opening before committing to any approach.",
+        "The hall is now squarely ahead and a tall wooden door frame stands in the stone wall on the left side of the room, matching the target described in the task. I will walk forward along the hall to close distance and confirm it is the open doorway leading outside.",
+        "The doorway in the left wall is growing larger as I advance, and its wooden frame is clearly distinct from the small arched niches beside it. I will keep walking forward to bring myself alongside it.",
+        "I can now see light coming through the gap of the wooden door, confirming it is open and leads out of this stone hall. I will continue forward to reach it.",
+        "The open wooden door is close on my left, with the arched passage and outdoor ground clearly visible through it. I will step forward again to draw level with the threshold rather than stopping short of it.",
+        "The open wooden door set into the stone wall is now clearly visible ahead on my left, with daylight and grass showing through its arched opening. I will keep walking forward along the hall to close the remaining gap and draw level with that doorway.",
+        "I have advanced far enough that the open door has slid to the far left edge of my view and its outer arch is nearly out of sight. Turning left should swing my heading onto the doorway so I can face it directly before stepping in.",
+        "The open wooden door and its arched stone passage now sit squarely in front of me with the outdoor courtyard visible beyond. I will step forward to bring myself into the doorway itself, which is the position the task asks for.",
+        "I am standing in the open wooden doorway, with its stone arch beside me and the courtyard directly ahead. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-024162_y016242_z011008_t0_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Walk to the arched doorway in the stone wall.",
+    "Type": 0,
+    "Start_Pose": [
+        -24161.94,
+        16241.864,
+        11008.05,
+        0.0,
+        -159.36,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -24161.94,
+            16241.864,
+            11008.05,
+            0.0,
+            -159.36,
+            0.0
+        ],
+        [
+            -24279.72,
+            16197.5,
+            11008.05,
+            0.0,
+            -159.36,
+            0.0
+        ],
+        [
+            -24397.501,
+            16153.135,
+            11008.05,
+            0.0,
+            -159.36,
+            0.0
+        ],
+        [
+            -24515.281,
+            16108.77,
+            11008.05,
+            0.0,
+            -159.36,
+            0.0
+        ],
+        [
+            -24515.281,
+            16108.77,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -24640.776,
+            16118.338,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -24766.271,
+            16127.907,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -24891.766,
+            16137.475,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25017.26,
+            16147.043,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25142.755,
+            16156.611,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25268.25,
+            16166.179,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25393.745,
+            16175.747,
+            10998.15,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25519.239,
+            16185.316,
+            10998.15,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25519.239,
+            16185.316,
+            10998.15,
+            0.0,
+            175.64,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see the arched doorway set into the stone wall ahead of me at the far end of this wooden walkway, slightly left of my heading. The planked path runs straight toward it with nothing in the way, so I will step forward to begin closing that distance.",
+        "The arched opening has grown slightly larger and the stone wall on my right is passing by, so my previous step did move me along the walkway. The route ahead is still clear planking, so I will keep advancing toward the doorway.",
+        "The arch and its dark recess are clearer now, sitting to the left of my current heading while the buttressed stone wall crowds my right side. There is still open decking in front of me, so another forward step should bring me nearer the opening.",
+        "The heavy stone buttress on my right now fills much of my view, and the arched doorway has drifted well off to my left. I will turn left to bring the arch back in front of me so I can walk straight at it.",
+        "After turning, the arched doorway sits close to the middle of my view with the walkway running toward it. With my heading now aligned, I will move forward to close the remaining distance.",
+        "The arch is noticeably nearer and still holding near the center of my path, so my heading remains good. I will continue stepping forward rather than adjusting my direction.",
+        "The arched opening now shows its recessed stone jambs and a bright slit of light inside, and the wooden decking gives way to stone paving just ahead. I will keep walking forward to reach it.",
+        "The arch is close enough now that its curved head and threshold fill a good part of my view, straight along my line of travel. I will take another step forward to bring myself up to the doorway.",
+        "The arched doorway in the stone wall sits squarely ahead of me at the end of the walkway, with its dark recess and narrow bright slit clearly visible. My heading is already lined up with the opening, so no turn is needed and I will step forward again to close the remaining distance.",
+        "The arch has grown noticeably larger and remains centered, so my straight path toward it is working. I still have several paces of open stone floor before the wall, so I will keep advancing.",
+        "The stone wall now fills my view and the arched opening is directly in front of me, close enough to see the sill and the inner passage. I will continue forward to reach the threshold rather than stopping short of it.",
+        "I am right at the mouth of the arch, with its curved head above me and stone jambs on either side. One more step forward should bring me fully into the doorway recess, the position the task asks for.",
+        "I am standing inside the arched doorway, enclosed by its stone jambs and vaulted head. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-024162_y016242_z011008_t5_a_p/infos.json

@@ -0,0 +1,316 @@
+{
+    "Instruction": "Pick up the jerry can from the arched doorway in the stone wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -24161.94,
+        16241.864,
+        11008.05,
+        0,
+        -159.36,
+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -25586.094,
+        16167.164,
+        10938.236,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -24161.94,
+            16241.864,
+            11008.05,
+            0,
+            -159.36,
+            0
+        ],
+        [
+            -24279.72,
+            16197.5,
+            11008.05,
+            0.0,
+            -159.36,
+            0.0
+        ],
+        [
+            -24397.501,
+            16153.135,
+            11008.05,
+            0.0,
+            -159.36,
+            0.0
+        ],
+        [
+            -24397.501,
+            16153.135,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -24522.995,
+            16162.703,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -24648.49,
+            16172.271,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -24773.985,
+            16181.839,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -24899.48,
+            16191.408,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25024.975,
+            16200.976,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25150.469,
+            16210.544,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25275.964,
+            16220.112,
+            11008.05,
+            0.0,
+            175.64,
+            -0.0
+        ],
+        [
+            -25275.964,
+            16220.112,
+            11008.05,
+            0.0,
+            -159.36,
+            0.0
+        ],
+        [
+            -25393.745,
+            16175.747,
+            10998.15,
+            0.0,
+            -159.36,
+            0.0
+        ],
+        [
+            -25393.745,
+            16175.747,
+            10998.15,
+            0.0,
+            -159.36,
+            0.0
+        ],
+        [
+            -25393.745,
+            16175.747,
+            10998.15,
+            0.0,
+            -159.36,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25586.094,
+            16167.164,
+            10938.236,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -25385.647,
+            16155.979,
+            10968.257,
+            -28.202,
+            -109.216,
+            1.862
+        ],
+        [
+            -25385.647,
+            16155.979,
+            10968.257,
+            -28.202,
+            -109.216,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1426.1,
+        1306.7,
+        1188.7,
+        1188.7,
+        1063.1,
+        937.6,
+        812.2,
+        687.0,
+        562.1,
+        437.8,
+        314.6,
+        314.6,
+        192.5,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "From this end of the wooden rampart I can already see the small red jerry can sitting in the arched doorway far down the walkway. The path ahead along the parapet is clear and straight, so walking forward is the direct way to close that distance.",
+        "The arch and the red can have grown slightly larger, confirming the previous step carried me along the rampart toward them. Nothing blocks the boards ahead, so I continue walking to keep closing on the target.",
+        "The arched doorway with the jerry can now sits well to the left of my heading, while the massive stone block on my right fills much of the view. Turning left should swing the doorway back toward the center of my path so my next steps run straight at it.",
+        "After the turn the arched doorway and the red can are lined up near the middle of my view down the open walkway. With the heading corrected, I walk forward to shorten the remaining stretch.",
+        "The can in the arch is noticeably nearer and still sits close to the center of my heading, so no correction is needed yet. I keep stepping forward along the boards toward it.",
+        "The doorway now reads clearly as a recess in the far wall with the red can standing at its threshold. I am still too far to reach it, so I continue advancing.",
+        "The jerry can is much bigger in view and the stone landing in front of the arch is coming into reach of a few more strides. The route stays clear, so I walk forward again rather than adjust my heading.",
+        "The red can is now plainly framed in the arched opening, sitting slightly right of my line as the wall closes in around it. I still need several steps before it would be within grasping range, so I keep advancing.",
+        "The red jerry can is clearly visible sitting in the arched doorway straight ahead, and my heading already points down the open walkway toward it. Nothing blocks the stone floor between us, so I will keep walking forward to close the remaining distance.",
+        "The can now fills a noticeably larger part of the view under the arch, confirming my line of travel is correct. It is still several paces away and out of reach, so another step forward should bring me close enough to work with.",
+        "From this close position the jerry can sits slightly right of my centerline, resting against the right edge of the arched opening. A small turn to the right should place it squarely in front of me before I step in for the grasp.",
+        "The jerry can is now framed just ahead in the recessed archway with clear floor between us. It is still a step too far for my hands, so I will advance once more to bring it within reach.",
+        "The jerry can now dominates the lower left of my view, close enough that its handle and body are within arm's reach in the doorway recess. My hands are empty and nothing stands between us, so I will attempt to pick it up now.",
+        "The jerry can is now held in my hands rather than resting in the archway. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/Medieval_Castle/task_x-025008_y009071_z010583_t1_a/infos.json

@@ -0,0 +1,196 @@
+{
+    "Instruction": "Search for the arched stone entrance set into the brick wall atop the grassy slope; after locating it, proceed to that doorway.",
+    "Type": 1,
+    "Start_Pose": [
+        -25007.924,
+        9071.436,
+        10583.112,
+        0.0,
+        -149.6,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -25007.924,
+            9071.436,
+            10583.112,
+            0.0,
+            -149.6,
+            0.0
+        ],
+        [
+            -25007.924,
+            9071.436,
+            10583.266,
+            0.0,
+            -124.6,
+            0.0
+        ],
+        [
+            -25007.924,
+            9071.436,
+            10583.266,
+            0.0,
+            -99.6,
+            0.0
+        ],
+        [
+            -25007.924,
+            9071.436,
+            10583.266,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24974.501,
+            8950.095,
+            10609.996,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24941.079,
+            8828.755,
+            10637.452,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24907.656,
+            8707.415,
+            10664.772,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24874.233,
+            8586.075,
+            10691.575,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24840.811,
+            8464.735,
+            10721.735,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24807.388,
+            8343.395,
+            10752.336,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24773.966,
+            8222.055,
+            10785.194,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24740.543,
+            8100.715,
+            10777.456,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24707.12,
+            7979.375,
+            10744.538,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24673.698,
+            7858.035,
+            10782.61,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24640.275,
+            7736.695,
+            10901.205,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24606.852,
+            7615.354,
+            10998.398,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24573.43,
+            7494.014,
+            10998.15,
+            0.0,
+            -74.6,
+            0.0
+        ],
+        [
+            -24573.43,
+            7494.014,
+            10998.15,
+            0.0,
+            -74.6,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "I can see a long brick rampart above the grassy slope, but no arched opening is visible in the stretch of wall in front of me. I will turn right to sweep my view along the wall further and look for the arched stone entrance.",
+        "The wall face now fills more of my view, yet I still see only unbroken brickwork with no doorway. I will keep turning right to bring the unseen section of wall to my right into view.",
+        "An arched stone entrance with a raised grate has just come into view in the wall on my right side. I will turn right once more to bring that archway closer to the center of my heading before moving toward it.",
+        "The arched stone doorway now sits near the center of my view, set into the brick wall above the weedy slope. With the target located and my heading pointed at it, I will walk forward up the slope toward the entrance.",
+        "The archway has grown slightly larger and stays centered, confirming my heading is good. I will continue walking straight ahead across the overgrown slope toward the doorway.",
+        "The doorway remains squarely ahead and the wall detail is becoming clearer as I close distance. No correction of heading is needed, so I will keep stepping forward toward it.",
+        "The arch and its grated top are now clearly resolved directly ahead of me, with the dark passage visible inside. I will continue advancing along this line to reach the entrance.",
+        "The archway looms noticeably larger ahead, and I can make out the stone base of the wall below it. I will keep walking forward to close the remaining distance to the doorway.",
+        "The arched stone entrance is clearly framed ahead in the brick wall, centered slightly right of my heading, and the grassy slope in front of me is still open. Since the target is already located, I will keep walking straight toward it rather than scanning further. Each step should enlarge the archway and bring the base of the wall closer.",
+        "The archway now sits higher and larger in my view, and the broad stone steps beneath it have come into sight, confirming I am closing on the entrance. My heading still points at the opening, so no turn is needed. I will step forward again to reach the foot of those steps.",
+        "I am close enough that the tiers of stone stairs leading up to the arched doorway dominate the view, with the dark opening directly above them. The path up is unobstructed and aligned with my heading. I will continue forward onto the ascent toward the doorway.",
+        "The stairway now occupies most of my view and the archway is near the top edge, which means I am climbing steeply toward the entrance. Nothing blocks the line of ascent, so continued forward motion is the direct route. I will step up again toward the opening.",
+        "Only the upper sliver of the arched opening and sky beyond it remain visible above the rising steps, so I am very near the threshold. The stairs directly ahead are clear and climbable. I will keep advancing up them toward the doorway.",
+        "The steps in front of me are close enough that the wall face and treads fill my view, with only a small dark strip of the opening showing above. That strip tells me the entrance is just a step or two higher. I will move forward again to crest onto the doorway level.",
+        "From this position I can see through the arched opening to the shadowed passage and inner stairway beyond it, so the doorway is immediately ahead of me. The last step up is clear. I will advance to bring myself into the entrance itself.",
+        "I am now standing in the arched entrance with its stone jambs on either side and the passage stairs opening ahead. One more step should place me squarely inside the doorway rather than on its lip. I will move forward to settle at the threshold.",
+        "I stand inside the arched stone passage, flanked by its jambs with the inner stairway ahead. The doorway is reached, so the task is complete and I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000009_y001263_z000200_t5_a_p/infos.json

@@ -0,0 +1,221 @@
+{
+    "Instruction": "Pick up the jerry can at the parked sedan.",
+    "Type": 5,
+    "Start_Pose": [
+        -8.725,
+        1262.999,
+        200.086,
+        0,
+        -73.92,
+        0
+    ],
+    "PD_ID": 13,
+    "PD_Size": 1.5,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        307.019,
+        250.968,
+        117.086,
+        0,
+        -30,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -8.725,
+            1262.999,
+            200.086,
+            0,
+            -73.92,
+            0
+        ],
+        [
+            26.135,
+            1142.064,
+            200.086,
+            0.0,
+            -73.92,
+            0.0
+        ],
+        [
+            60.996,
+            1021.129,
+            200.086,
+            0.0,
+            -73.92,
+            0.0
+        ],
+        [
+            95.856,
+            900.194,
+            200.086,
+            0.0,
+            -73.92,
+            0.0
+        ],
+        [
+            130.716,
+            779.259,
+            200.086,
+            0.0,
+            -73.92,
+            0.0
+        ],
+        [
+            165.577,
+            658.325,
+            200.086,
+            0.0,
+            -73.92,
+            0.0
+        ],
+        [
+            200.437,
+            537.39,
+            200.086,
+            0.0,
+            -73.92,
+            0.0
+        ],
+        [
+            235.297,
+            416.455,
+            200.086,
+            0.0,
+            -73.92,
+            0.0
+        ],
+        [
+            235.297,
+            416.455,
+            200.086,
+            0.0,
+            -73.92,
+            0.0
+        ],
+        [
+            235.297,
+            416.455,
+            200.086,
+            0.0,
+            -73.92,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            307.019,
+            250.968,
+            117.086,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            307.019,
+            250.968,
+            117.086,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            307.019,
+            250.968,
+            117.086,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            307.019,
+            250.968,
+            117.086,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            307.019,
+            250.968,
+            117.086,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            307.019,
+            250.968,
+            117.086,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            307.019,
+            250.968,
+            117.086,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            307.019,
+            250.968,
+            117.086,
+            0.0,
+            -30.0,
+            0.0
+        ],
+        [
+            255.647,
+            422.956,
+            170.193,
+            -28.202,
+            -23.776,
+            1.862
+        ],
+        [
+            255.647,
+            422.956,
+            170.193,
+            -28.202,
+            -23.776,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        1060.1,
+        934.3,
+        808.5,
+        682.7,
+        556.9,
+        431.2,
+        305.6,
+        180.4,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the parked sedan far down the street on the right, with a small red jerry can standing beside its front wheel. The can is far too distant to reach, and my heading already points along the road toward it. I will walk forward to close that gap.",
+        "The sedan and the red jerry can beside it are noticeably larger now, so my forward heading is carrying me correctly toward the target. Nothing blocks the open roadway between me and the car. I will continue walking straight ahead.",
+        "The jerry can stays just right of my centerline as it grows in view, which tells me my current heading needs no correction. The distance is still far beyond arm's reach. I will keep advancing along the street.",
+        "The red can by the sedan's front bumper is now clearly resolved, but it is still several strides away. My path over the open pavement remains unobstructed. I will step forward again to shorten the remaining distance.",
+        "The sedan now fills much of the right side of my view and the jerry can sits plainly in front of it, still short of grabbing range. Holding this heading keeps the can nearly centered. I will advance further.",
+        "The jerry can is close and well centered, its handle and ribbed body clearly visible against the pavement. It is still a step or two beyond a comfortable grasp. I will move forward once more before attempting to take it.",
+        "The jerry can now dominates the lower center of my view, but it still appears set slightly ahead of me rather than directly underfoot. One more short step should place it firmly within arm's reach. I will walk forward before reaching for it.",
+        "The jerry can stands directly in front of me at the sedan's flank, filling the near foreground with its handle plainly within reach. Nothing separates me from it, so no further approach is needed. I will attempt to pick it up now.",
+        "The jerry can is now held in my hands and no longer standing beside the sedan. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000221_y003790_z000200_t5_a_p/infos.json

@@ -0,0 +1,221 @@
+{
+    "Instruction": "Grab the green bell pepper near the beige sedan in the driveway.",
+    "Type": 5,
+    "Start_Pose": [
+        -221.485,
+        3790.11,
+        200.085,
+        0,
+        -127.68,
+        0
+    ],
+    "PD_ID": 2,
+    "PD_Size": 5.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -686.462,
+        3043.464,
+        155.66,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -221.485,
+            3790.11,
+            200.085,
+            0,
+            -127.68,
+            0
+        ],
+        [
+            -298.416,
+            3690.501,
+            200.086,
+            0.0,
+            -127.68,
+            0.0
+        ],
+        [
+            -375.348,
+            3590.891,
+            200.086,
+            0.0,
+            -127.68,
+            0.0
+        ],
+        [
+            -452.279,
+            3491.282,
+            200.086,
+            0.0,
+            -127.68,
+            0.0
+        ],
+        [
+            -529.211,
+            3391.672,
+            200.086,
+            0.0,
+            -127.68,
+            0.0
+        ],
+        [
+            -529.211,
+            3391.672,
+            200.086,
+            0.0,
+            -102.68,
+            0.0
+        ],
+        [
+            -556.837,
+            3268.883,
+            200.086,
+            0.0,
+            -102.68,
+            0.0
+        ],
+        [
+            -584.464,
+            3146.093,
+            200.086,
+            0.0,
+            -102.68,
+            0.0
+        ],
+        [
+            -584.464,
+            3146.093,
+            200.086,
+            0.0,
+            -102.68,
+            0.0
+        ],
+        [
+            -584.464,
+            3146.093,
+            200.086,
+            0.0,
+            -102.68,
+            0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -686.462,
+            3043.464,
+            155.66,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -686.462,
+            3043.464,
+            155.66,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -686.462,
+            3043.464,
+            155.66,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -686.462,
+            3043.464,
+            155.66,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -686.462,
+            3043.464,
+            155.66,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -686.462,
+            3043.464,
+            155.66,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -686.462,
+            3043.464,
+            155.66,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -686.462,
+            3043.464,
+            155.66,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -563.497,
+            3142.001,
+            170.193,
+            -28.202,
+            -52.535,
+            1.862
+        ],
+        [
+            -563.497,
+            3142.001,
+            170.193,
+            -28.202,
+            -52.535,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        879.6,
+        754.5,
+        629.7,
+        505.4,
+        382.1,
+        382.1,
+        260.0,
+        144.7,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "I can see the beige sedan parked in the driveway ahead, with a small green bell pepper sitting on the pavement just past its front bumper. It is far too distant to reach from here, so I will walk straight forward to close the gap.",
+        "The sedan and the green pepper beside it now sit slightly larger in view, confirming my heading is carrying me toward the target. Nothing blocks the open driveway between us, so I will keep walking forward.",
+        "The pepper is clearly resolved on the pavement near the car's front corner, still several strides away and slightly right of my heading. The surface ahead stays flat and unobstructed, so another step forward is the simplest way to keep closing distance.",
+        "The bell pepper now reads plainly as a green pepper on the driveway just past the sedan's front end, but it is still beyond arm's reach. I will advance again to bring it into grasping range.",
+        "The pepper sits noticeably right of my forward heading, so walking straight would carry me past it toward the car instead. I will turn right to put the pepper closer to the center of my view before approaching further.",
+        "After the turn the green pepper sits low and near the middle of my view, with clear pavement between us. I will step forward along this corrected heading to close the remaining distance.",
+        "The pepper now fills a large part of the lower view, close but still slightly ahead of me and offset left of center. One more step should bring it directly at my feet where a grasp is feasible.",
+        "The green bell pepper is right at the lower left edge of my view, immediately beside me on the driveway pavement. This is close enough to reach it, so I will attempt to pick it up now.",
+        "The green bell pepper is now held in my hands. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Walk to the silver car parked on the left driveway.",
+    "Type": 2,
+    "Start_Pose": [
+        -250.837,
+        4177.165,
+        209.76,
+        0.0,
+        -91.2,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -250.837,
+            4177.165,
+            209.76,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -253.473,
+            4051.334,
+            209.76,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -256.109,
+            3925.502,
+            208.587,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -256.109,
+            3925.502,
+            208.587,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -311.676,
+            3812.574,
+            208.587,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -367.244,
+            3699.646,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -422.811,
+            3586.718,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -478.379,
+            3473.79,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -533.946,
+            3360.862,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -533.946,
+            3360.862,
+            200.086,
+            0.0,
+            -141.2,
+            0.0
+        ],
+        [
+            -632.033,
+            3281.998,
+            200.711,
+            0.0,
+            -141.2,
+            0.0
+        ],
+        [
+            -730.119,
+            3203.135,
+            212.313,
+            0.0,
+            -141.2,
+            0.0
+        ],
+        [
+            -818.336,
+            3129.15,
+            222.852,
+            0.0,
+            -141.2,
+            0.0
+        ],
+        [
+            -818.336,
+            3129.15,
+            222.852,
+            0.0,
+            -141.2,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two cars are in sight: a silver sedan sitting on the paved driveway to my left in front of the gray house, and a darker one parked along the street on my right. The driveway one matches my goal, so I fix on that pale sedan beside the wooden fence. I step forward along the road to close on the driveway entrance.",
+        "The silver sedan on the driveway is still off to my left, partly screened by the hedge and the pine, and the cobbled apron ahead of me widens toward that driveway. Nothing blocks the ground in front, so another step forward should bring me level with the entrance before I turn in.",
+        "I am now at the mouth of the paved driveway, but my heading still runs along the street, leaving the silver sedan far out at the left edge of my view. Turning left should swing that car and the open paving toward the center of my path.",
+        "The turn worked, and the silver sedan now sits clearly ahead-left on the open driveway with the house behind it. The paving between us is empty, so I walk forward to shorten the distance.",
+        "The silver sedan is growing larger ahead of me on the driveway, though still several strides off near the fence line. The surface underfoot stays flat and clear, so I keep advancing toward it.",
+        "I can now make out the sedan's windows and wheels distinctly, but it still lies too far left and ahead for me to count as arrived. I continue walking straight across the driveway toward it.",
+        "The silver sedan fills much of the left side of my view now, its front end angled toward me across the paving. A few more strides should put me alongside it, so I move forward again.",
+        "The sedan is close on my left, but my heading is carrying me past its nose rather than up to it, and there is still open driveway in front of me. I step forward once more to draw level with the car before adjusting.",
+        "My straight heading has pushed the silver sedan out to the far left margin, with only its front corner and hood still in view while empty paving stretches ahead. Turning left should bring the car back into the middle of my path so I can close the last stretch directly.",
+        "The turn has centered the silver sedan, its front end facing me across open paving with the garage bays behind it. Nothing stands between us, so I walk straight at the car.",
+        "The sedan's grille and headlights now dominate the middle of my view, yet a couple of strides of empty paving still separate me from its bumper. I keep walking straight in.",
+        "The sedan's nose is nearly at arm's length, its headlight and bumper filling most of my view with only a narrow band of paving left underfoot. One more short step should put me right at the car.",
+        "The silver sedan's hood fills my view at touching distance on the driveway. I have reached it, so there is nothing further to walk toward."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_b/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Approach the second tall evergreen tree from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -250.837,
+        4177.165,
+        209.76,
+        0.0,
+        -91.2,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -250.837,
+            4177.165,
+            209.76,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -253.473,
+            4051.334,
+            209.76,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -256.109,
+            3925.502,
+            208.587,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -258.744,
+            3799.671,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -261.38,
+            3673.839,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -264.016,
+            3548.008,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -266.652,
+            3422.177,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -269.288,
+            3296.345,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -271.923,
+            3170.514,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -274.559,
+            3044.682,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -277.195,
+            2918.851,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -279.831,
+            2793.02,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -282.466,
+            2667.188,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -285.102,
+            2541.357,
+            208.258,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -287.738,
+            2415.525,
+            208.258,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -287.738,
+            2415.525,
+            208.258,
+            0.0,
+            -91.2,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two tall evergreens line the left of this street: the near one against the fenced house, and beyond it the one whose bare exposed trunk rises from the curb strip. That bare trunk is the tree I want, still well down the road. I walk forward toward it.",
+        "The evergreen with the bare trunk at the curb still sits far down the street, only slightly left of where I am facing. Nothing blocks the roadway between us, so another forward step should keep closing the distance without any turn.",
+        "The bare trunk by the curb is growing a little taller in my view, which tells me my line of travel is right. The parked cars stay off to either side of the open lane, so I keep walking straight ahead.",
+        "My target evergreen, the one with the bare trunk standing on the grass strip at the curb, is still several house lengths away. My heading already runs down the street toward it, so I press on with another step.",
+        "More evergreens are coming into view along the left frontages, so counting the row from here would no longer land on the same tree. I stay locked on the one with the bare trunk at the curb and continue walking toward it.",
+        "The bare trunk at the curb now reads clearly against the sunlit road and is noticeably nearer. There is still a good stretch of pavement between us, so I take another step forward.",
+        "The tree that stood by the fenced house has slid off to my left side, so I judge by the trunk itself rather than by position in a row. That curbside trunk sits just left of center and is clearly closer now, so I keep advancing.",
+        "The bare trunk rising from the grass strip now fills a good part of my forward view, its lower bark plainly visible. I am not yet beside it, so I continue straight ahead to close the remaining distance.",
+        "The grass strip carrying my target trunk is now close enough that I can see the sidewalk running past its base. I am still a fair walk short of standing beside it, so I keep going straight.",
+        "The trunk has thickened noticeably and its rough bark reads clearly against the sunlit road behind it. My heading still runs straight at it with clear pavement between, so I take another step.",
+        "Its lower boughs now spread above me and the curb beside its grass patch is only a short stretch off. I am not yet level with the trunk, so I continue closing in.",
+        "The hedge and house wall on my left are sliding past quickly, a sign I am nearly abreast of the tree. A couple more paces should bring me right up to its base, so I press on.",
+        "The trunk now rises past the top of my view and its bark texture is plain at arm's length scale. A little more ground remains before I am truly beside it, so I step forward again.",
+        "Only a narrow band of grass separates me from the base of this trunk, which now blocks a good share of the street beyond. One last step should put me right alongside it.",
+        "The bare evergreen trunk fills my view at arm's reach, its bark spanning the frame from the grass to the canopy. I have arrived at it, so I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_c/infos.json

@@ -0,0 +1,146 @@
+{
+    "Instruction": "Head toward the silver car parked on the right side.",
+    "Type": 2,
+    "Start_Pose": [
+        -250.837,
+        4177.165,
+        209.76,
+        0.0,
+        -91.2,
+        0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -250.837,
+            4177.165,
+            209.76,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -250.837,
+            4177.165,
+            209.76,
+            0.0,
+            -66.2,
+            0.0
+        ],
+        [
+            -200.047,
+            4062.009,
+            200.086,
+            0.0,
+            -66.2,
+            0.0
+        ],
+        [
+            -149.257,
+            3946.853,
+            200.086,
+            0.0,
+            -66.2,
+            0.0
+        ],
+        [
+            -98.468,
+            3831.697,
+            200.086,
+            0.0,
+            -66.2,
+            0.0
+        ],
+        [
+            -47.678,
+            3716.541,
+            200.086,
+            0.0,
+            -66.2,
+            0.0
+        ],
+        [
+            3.112,
+            3601.385,
+            200.086,
+            0.0,
+            -66.2,
+            0.0
+        ],
+        [
+            53.902,
+            3486.23,
+            200.086,
+            0.0,
+            -66.2,
+            0.0
+        ],
+        [
+            53.902,
+            3486.23,
+            200.086,
+            0.0,
+            -41.2,
+            0.0
+        ],
+        [
+            148.6,
+            3403.328,
+            200.086,
+            0.0,
+            -41.2,
+            0.0
+        ],
+        [
+            243.298,
+            3320.426,
+            200.086,
+            0.0,
+            -41.2,
+            0.0
+        ],
+        [
+            337.732,
+            3237.5,
+            200.086,
+            0.0,
+            -41.2,
+            0.0
+        ],
+        [
+            337.732,
+            3237.5,
+            200.086,
+            0.0,
+            -41.2,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Two cars are in view: one sits in the driveway to my left by the house, while the silver sedan I want is parked along the right curb of the street ahead. My heading points down the sidewalk, so I will turn right to put that right-side sedan in front of me before walking.",
+        "The silver sedan at the right curb now sits roughly ahead of me across the open roadway. Nothing blocks the pavement between us, so I will step forward to close that distance.",
+        "The parked sedan has grown slightly larger and stays to my right front, confirming my heading is good. I will keep walking straight along the open street to gain more ground on it.",
+        "I can now make out the sedan's rear wheels and tail lights clearly against the curb on my right. It is still well ahead, so another forward step is the direct way to keep closing.",
+        "The parked sedan keeps filling more of the right half of my view as I advance up the street. The lane in front of me is clear, so I will continue walking toward it.",
+        "I am close enough now to see the sedan's door line and side mirror along the right curb. A few more paces should bring me alongside it, so I step forward again.",
+        "The silver sedan now dominates the right side of my view, but I am still level with its rear rather than beside it. I will advance once more to draw up close to the vehicle.",
+        "I have come up nearly abreast of the silver sedan, and it has slid far into the right edge of my view while the empty street stretches straight ahead. Turning right should swing my heading onto the car itself so my remaining steps carry me right up to it.",
+        "The turn worked: the silver sedan now sits centered in my view, its rear quarter and tail light square in front of me. Open asphalt lies between us, so I will walk straight in to shorten the gap.",
+        "The sedan's flank and wheels have grown noticeably and it still sits dead ahead of my heading. There is a little roadway left before I am beside it, so another step forward is the direct way to close in.",
+        "I am nearly at the car's side, with its rear door and wheel arch filling most of my view and only a short stretch of pavement left. One more step should bring me right up against the sedan.",
+        "The silver sedan's door handle and window fill my view at arm's length. I have reached the car, so there is nothing further to do."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_d/infos.json

@@ -0,0 +1,176 @@
+{
+    "Instruction": "Proceed to the first tall evergreen tree from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -250.837,
+        4177.165,
+        209.76,
+        0.0,
+        -91.2,
+        0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -250.837,
+            4177.165,
+            209.76,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -253.473,
+            4051.334,
+            209.76,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -256.109,
+            3925.502,
+            208.587,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -258.744,
+            3799.671,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -261.38,
+            3673.839,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -264.016,
+            3548.008,
+            200.086,
+            0.0,
+            -91.2,
+            0.0
+        ],
+        [
+            -264.016,
+            3548.008,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -319.583,
+            3435.08,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -375.151,
+            3322.152,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -430.718,
+            3209.224,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -486.286,
+            3096.296,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -541.853,
+            2983.368,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -597.421,
+            2870.44,
+            200.086,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -652.988,
+            2757.512,
+            206.088,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -708.556,
+            2644.584,
+            204.606,
+            0.0,
+            -116.2,
+            0.0
+        ],
+        [
+            -708.556,
+            2644.584,
+            204.606,
+            0.0,
+            -116.2,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "Scanning the row of conifers lining this street, the leftmost tall evergreen is the one rising over the picket fence and hedge of the gray house, with the parked sedan in its driveway. That house-side spruce is my target, and it lies well ahead down the road. I will walk forward to close the distance.",
+        "The spruce beside the fenced gray house has grown noticeably larger on my left, so my heading down the street is carrying me toward it. Nothing blocks the pavement in front of me. I will keep walking forward.",
+        "That house-side evergreen now stands clearly above the hedge on my left, still some way off. Continuing straight along the open roadway is the shortest way to bring it abreast of me. I will step forward again.",
+        "The evergreen by the picket fence and the parked sedan keeps swinging further to my left as I advance, which tells me I am drawing level with it but not yet past. A few more strides should put it close enough to turn in toward. I will move forward.",
+        "The tall spruce over the hedge is now large on my left with its trunk becoming visible, so I am nearly alongside it. One more forward step should bring me level with its lawn before I turn in. I will walk forward.",
+        "The evergreen beside the fenced gray house sits off to my left, while my current heading points straight on down the road and would carry me past it. Turning left should place that spruce ahead of me across the driveway. I will turn left to aim at it.",
+        "The turn worked, and the tall spruce by the picket fence and hedge now stands ahead of me, with the parked sedan on the driveway to its left. The paved apron between us is open. I will walk forward toward the tree.",
+        "The spruce ahead has grown larger and its trunk is now clear above the hedge, so my heading is holding on it. The cobbled and paved ground in front of me stays clear of the parked car. I will continue walking forward.",
+        "The spruce over the hedge fills more of my view and its lower branches now read separately from the hedge line, so my line on it is good. The paved apron ahead stays clear. I will keep walking toward it.",
+        "Its trunk now shows plainly where it rises out of the hedge, and the house behind has spread wide across my view, both signs of closing range. Still several strides short of the tree itself. I will advance again.",
+        "The spruce's crown has climbed out of the top of my view and the picket fence beside it is close enough to count the boards. A couple more strides should bring me to its base. I will step forward.",
+        "The trunk stands just beyond the hedge slightly right of my heading, with its boughs already overhanging where I stand. The remaining gap is short and unobstructed. I will keep moving in.",
+        "The bark of the trunk is now legible and the branches spread across nearly my whole view, so I am almost at the tree. A short step more should put me right at its foot. I will move forward.",
+        "The trunk rises directly in front of me with the grass at its base underfoot and the fence just past it. One last step should set me alongside the tree rather than a pace short. I will walk forward.",
+        "The evergreen's trunk stands within arm's reach, filling my view. I have arrived at it, so the task is complete and there is no reason to move further."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_c/infos.json

@@ -0,0 +1,376 @@
+{
+    "Instruction": "Head toward the garage door, then proceed to the red-brown trellis on the white building.",
+    "Type": 3,
+    "Start_Pose": [
+        -552.411,
+        -6751.185,
+        200.247,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MidwayTarget",
+        "MoveBackward",
+        "MoveBackward",
+        "MoveBackward",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -552.411,
+            -6751.185,
+            200.247,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -678.23,
+            -6748.022,
+            200.086,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -678.23,
+            -6748.022,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -790.925,
+            -6691.982,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -903.619,
+            -6635.942,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1016.313,
+            -6579.902,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1129.007,
+            -6523.862,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1241.702,
+            -6467.822,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1354.396,
+            -6411.782,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1467.09,
+            -6355.742,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1579.785,
+            -6299.702,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1686.935,
+            -6238.585,
+            200.247,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1799.629,
+            -6182.545,
+            199.382,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1799.629,
+            -6182.545,
+            199.382,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1716.894,
+            -6223.687,
+            200.159,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1634.159,
+            -6264.829,
+            200.159,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1551.424,
+            -6305.971,
+            200.159,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1551.424,
+            -6305.971,
+            200.159,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1551.424,
+            -6305.971,
+            200.159,
+            0.0,
+            -156.44,
+            0.0
+        ],
+        [
+            -1551.424,
+            -6305.971,
+            200.159,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -1551.424,
+            -6305.971,
+            200.159,
+            0.0,
+            -106.44,
+            0.0
+        ],
+        [
+            -1551.424,
+            -6305.971,
+            200.159,
+            0.0,
+            -81.44,
+            0.0
+        ],
+        [
+            -1532.69,
+            -6430.428,
+            200.159,
+            0.0,
+            -81.44,
+            0.0
+        ],
+        [
+            -1513.957,
+            -6554.885,
+            200.159,
+            0.0,
+            -81.44,
+            0.0
+        ],
+        [
+            -1513.957,
+            -6554.885,
+            200.159,
+            0.0,
+            -56.44,
+            0.0
+        ],
+        [
+            -1444.381,
+            -6659.764,
+            200.159,
+            0.0,
+            -56.44,
+            0.0
+        ],
+        [
+            -1444.381,
+            -6659.764,
+            200.159,
+            0.0,
+            -81.44,
+            0.0
+        ],
+        [
+            -1425.647,
+            -6784.221,
+            200.159,
+            0.0,
+            -81.44,
+            0.0
+        ],
+        [
+            -1406.914,
+            -6908.678,
+            199.342,
+            0.0,
+            -81.44,
+            0.0
+        ],
+        [
+            -1388.18,
+            -7033.135,
+            198.15,
+            0.0,
+            -81.44,
+            0.0
+        ],
+        [
+            -1388.18,
+            -7033.135,
+            198.15,
+            0.0,
+            -106.44,
+            0.0
+        ],
+        [
+            -1423.8,
+            -7153.849,
+            198.15,
+            0.0,
+            -106.44,
+            0.0
+        ],
+        [
+            -1459.419,
+            -7274.562,
+            198.15,
+            0.0,
+            -106.44,
+            0.0
+        ],
+        [
+            -1459.419,
+            -7274.562,
+            198.15,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -1542.717,
+            -7368.912,
+            198.15,
+            0.0,
+            -131.44,
+            0.0
+        ],
+        [
+            -1542.717,
+            -7368.912,
+            198.15,
+            0.0,
+            -131.44,
+            0.0
+        ]
+    ],
+    "Rationale": [
+        "The pale garage door sits under the covered bay at the left end of the house, well across a wide expanse of empty concrete. Nothing blocks the open driveway between us, so I will walk straight ahead to begin closing that gap toward it.",
+        "Walking ahead has brought the house nearer, but my heading still points at the open front doorway rather than the garage bay, which sits clearly to my left. I will turn left so the garage door lines up with my direction of travel.",
+        "The turn has swung the garage bay into the middle of my view, with the smooth driveway running unbroken toward it. I will walk forward along this heading to close distance on that door.",
+        "The garage door and its recessed frame have grown larger and stay roughly on my line of travel, so my heading is still good. There is plenty of open concrete left before I reach the bay, so I will keep walking forward.",
+        "The garage door now reads clearly ahead of me beneath the roof overhang, with the shaded carport opening beside it. Distance is still considerable, so I will continue walking straight toward it.",
+        "I am close enough now that the shadow of the overhang falls across the driveway just ahead, and the garage panel sits slightly left of center on my path. The route stays clear, so I will step forward again to keep closing in.",
+        "The garage door is well within reach of a few more strides, framed between the support post on my right and the neighboring wall on my left. The pavement between me and it is unobstructed, so I will keep walking toward it.",
+        "Under the deep shade of the carport the garage panel now dominates the view directly ahead, though I am not yet standing at it. I will walk forward again to draw right up to the door.",
+        "The pale sectional garage door sits under the carport roof straight ahead of me, still several strides off across the open concrete. My heading is already lined up on it, so I keep walking forward to close that gap.",
+        "The garage door now fills more of the shaded bay ahead and its frame is clearly resolved, so the gap is shrinking as expected. Nothing blocks the concrete between me and it, so I take another step forward.",
+        "The garage door and its dark surround now dominate the view, with only a short stretch of concrete left in front of me. I keep advancing to bring myself right up to the door.",
+        "I am close enough that the door panels and their seams are clearly readable, but a little concrete still separates me from the panel. One more step forward should put me directly at the garage door.",
+        "The wide sectional garage door fills my whole view, its seams and dents an arm's length away with the jamb at the edge. I am standing right at that garage door. I mark reaching it, then set off for the red-brown trellis on the white building.",
+        "Pressed this close, the garage door panel is all I can see, leaving me no view of the driveway or the white building I now want. I step back to open up space so I can swing my heading around without scraping the door.",
+        "The door frame and the siding beside it have come back into view, but I am still tucked tight against the bay with little room to turn. I back up another step to gain clearance before changing heading toward the white building.",
+        "The whole garage opening and a slice of bright driveway on the left are visible again, so I am pulling clear of the recess. I back up once more to reach open concrete where I can turn freely toward the trellised white building.",
+        "The garage door still fills the space ahead of me and I have already stood at it, so there is nothing more to gain facing this closed panel. My other destination, the white building with the red-brown trellis, lies somewhere behind this covered bay. I turn right to begin swinging my heading away from the door toward the open side of the carport.",
+        "The garage door has slid to my left, but ahead I now face only a post and the dark inner corner of the siding, which is no route anywhere. I keep turning right to continue sweeping my view toward the brighter opening on that side.",
+        "Directly in front of me is the boxed corner of the clapboard wall between two posts, still enclosed. To the right edge a lit opening and pale floor appear, suggesting the way out of this covered area. Another right turn should bring that opening in front of me.",
+        "The open white panel door and the passage beside it are now toward the right of my view, with daylight beyond. I turn right again to carry my heading past the wall and onto that daylit stretch of paving.",
+        "Past the open door I can now see outside: a large tree, a white picket fence and neighbouring roofs across the sunlit paving to my right. One more turn right should place that open ground squarely ahead so I can walk out of the covered bay toward the trellised white building.",
+        "My heading now points out of the sheltered bay, with the swung door on my left and clear paving running ahead toward the tree and fence. I walk forward to leave the garage side and get into the open where I can pick out the white building and its red-brown trellis.",
+        "The door panel has slipped to my left edge and the paved yard with the tree and hedge is fully open in front of me. I step forward again to clear the building corner completely and gain a wider view along the walls ahead.",
+        "The pale stucco flank with its windows now runs close along my left and its corner crowds my forward path. I turn right to face the open paving instead, which should give me the clearance to travel out along that wall rather than into it.",
+        "The paved area ahead is clear, with the pale stucco wall of the white building running along my left and the hedge and picket fence off to the right. I will walk forward to close the remaining distance along that wall, where the trellis should come into view.",
+        "My heading is carrying me past the white building, whose wall now sits only at the very edge of my left periphery. Turning left should swing that stucco facade into the center of my view so I can follow it toward the trellis.",
+        "The white stucco wall with its windows now fills my left side, and I can make out a dark lattice pattern set against it further along. The ground ahead is flat and open, so I will step forward to bring that latticework nearer.",
+        "The grid of thin reddish-brown slats over the white wall is clearer now on my left, confirming the trellis I am heading for. Nothing blocks the strip of ground between the wall and the shrubs, so I keep walking to shorten the gap.",
+        "The trellis on the white wall is closer and its slats are distinct, but I am still several paces short of standing beside it. I will continue forward along the grass beside the facade.",
+        "The trellis has drifted to the far left of my view while my heading points out toward the tree and the fence. A left turn should bring the latticed section of the white wall back in front of me so I can walk straight at it.",
+        "The red-brown trellis is now squarely in front of me on the white stucco, its wooden grid clearly readable. Walking forward should carry me the last stretch up to it.",
+        "The trellis fills much of my left view and its slats and the window behind it are sharply detailed, so I am nearly alongside it. I will take another step forward to bring myself right up beside the lattice.",
+        "The red-brown wooden lattice on the white stucco wall has slid to the left edge of my view as I walk along the house. Turning left should swing that trellis back to the center of my heading so I can close on it directly.",
+        "The red-brown trellis on the white stucco wall now sits squarely ahead of me, framed over the window. One more step forward should bring me right up against it.",
+        "The red-brown trellis on the white building's wall is directly in front of me, close enough to touch. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t5_a_pd/infos.json

@@ -0,0 +1,392 @@
+{
+    "Instruction": "Grab the ceramic pot at the dark front door, then set it down near the garage opening.",
+    "Type": 5,
+    "Start_Pose": [
+        -552.411,
+        -6751.185,
+        200.247,
+        0,
+        178.56,
+        0
+    ],
+    "PD_ID": 8,
+    "PD_Size": 1.5,
+    "PD_Type": "pd",
+    "PD_Start_Pose": [
+        -1399.43,
+        -6591.873,
+        125.247,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "Pick",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Drop",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -552.411,
+            -6751.185,
+            200.247,
+            0,
+            178.56,
+            0
+        ],
+        [
+            -678.23,
+            -6748.022,
+            200.086,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -804.05,
+            -6744.859,
+            200.086,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -929.869,
+            -6741.696,
+            200.086,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1055.688,
+            -6738.534,
+            200.086,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1181.507,
+            -6735.371,
+            200.086,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1181.507,
+            -6735.371,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1294.202,
+            -6679.331,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1294.202,
+            -6679.331,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1406.896,
+            -6623.291,
+            200.086,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1406.896,
+            -6623.291,
+            200.086,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1485.349,
+            -6524.875,
+            200.086,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1563.801,
+            -6426.459,
+            200.086,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1642.254,
+            -6328.044,
+            200.086,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1673.431,
+            -6235.855,
+            200.247,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1673.431,
+            -6235.855,
+            200.247,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1786.126,
+            -6179.815,
+            199.382,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1721.657,
+            -6211.873,
+            200.135,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1721.657,
+            -6211.873,
+            200.135,
+            0.0,
+            153.56,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -1399.43,
+            -6591.873,
+            125.247,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1399.43,
+            -6591.873,
+            125.247,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1399.43,
+            -6591.873,
+            125.247,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1399.43,
+            -6591.873,
+            125.247,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1399.43,
+            -6591.873,
+            125.247,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1399.43,
+            -6591.873,
+            125.247,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1399.43,
+            -6591.873,
+            125.247,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1399.43,
+            -6591.873,
+            125.247,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1303.163,
+            -6698.723,
+            170.354,
+            -28.202,
+            -156.295,
+            1.862
+        ],
+        [
+            -1416.091,
+            -6642.573,
+            169.866,
+            -28.195,
+            -156.292,
+            1.862
+        ],
+        [
+            -1422.228,
+            -6636.53,
+            170.937,
+            -28.193,
+            178.709,
+            1.872
+        ],
+        [
+            -1501.439,
+            -6538.946,
+            170.935,
+            -28.198,
+            178.71,
+            1.868
+        ],
+        [
+            -1580.051,
+            -6440.337,
+            170.572,
+            -28.196,
+            178.707,
+            1.865
+        ],
+        [
+            -1658.685,
+            -6341.694,
+            170.035,
+            -28.193,
+            178.716,
+            1.869
+        ],
+        [
+            -1689.854,
+            -6249.51,
+            170.03,
+            -28.208,
+            178.703,
+            1.851
+        ],
+        [
+            -1682.852,
+            -6256.139,
+            170.696,
+            -28.198,
+            -156.294,
+            1.867
+        ],
+        [
+            -1795.178,
+            -6199.165,
+            169.301,
+            -28.197,
+            -156.294,
+            1.862
+        ],
+        [
+            -1784.335,
+            -6180.705,
+            180.135,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1784.335,
+            -6180.705,
+            180.135,
+            0.0,
+            153.56,
+            -0.0
+        ]
+    ],
+    "PD_Dist_2D": [
+        861.9,
+        737.9,
+        614.7,
+        492.9,
+        373.7,
+        260.9,
+        260.9,
+        136.8,
+        21.4,
+        21.4,
+        20.3,
+        21.4,
+        21.4,
+        21.4,
+        21.4,
+        22.4,
+        21.4,
+        70.0,
+        70.0
+    ],
+    "Rationale": [
+        "The ceramic pot sits on the paving just left of the dark open front door, far across the wide driveway. Nothing blocks the straight run toward the house, so I will walk forward to close that distance.",
+        "The pot and the doorway have grown noticeably larger, confirming my heading is right. I still have a long stretch of open pavement ahead, so I will keep walking forward toward the pot.",
+        "The pot now reads clearly as a rounded terracotta vessel in front of the open door, but it remains well beyond arm's reach. I will continue advancing along the same clear line.",
+        "The porch, the open door, and the chair beside it fill more of my view, and the pot has drifted slightly left of center as I close in. It is still too distant to grasp, so I will step forward again.",
+        "The pot is now large in the lower left of my view, close to the house wall near the garage bays. A couple more paces should bring me into grabbing range, so I will keep walking forward.",
+        "The pot has slid to the far left edge of my view while my heading points at the open door and the chair. I will turn left to bring the pot back in front of me before closing the last distance.",
+        "After the turn the pot sits low and centered ahead of me on the open paving. It is still a step or two out of reach, so I will walk forward to stand right beside it.",
+        "The ceramic pot is now directly at my feet at the bottom of my view, its rim clearly within arm's reach beside the dark front doorway. This is the closest I can stand, so I will attempt to grasp and lift it.",
+        "The ceramic pot is now in my hands, so the grasp at the dark front door succeeded and it is no longer resting on the driveway. With the pot secured, I will step forward to leave the doorway area and begin carrying it toward the garage side of the house.",
+        "I am holding the pot and standing beside the open front doorway, which is not where it belongs. The paved bays of the garage sit off to my left, past the porch column, so I will turn left to bring that direction into my path of travel.",
+        "The turn has put the covered garage frontage and its doors along my right while the open driveway stretches ahead. Still carrying the pot, I will walk forward across the concrete to close the distance toward the garage opening.",
+        "The nearest garage bay door is now clearly visible ahead on my right, under the porch overhang. The route across the driveway remains clear, so I will keep walking forward with the pot to reach that bay.",
+        "The garage doors have grown much larger on my right, so I am close to the bays but still travelling alongside them rather than facing one. I will advance again to line myself up nearer the opening before setting the pot down.",
+        "The wide garage door now dominates my right side and the paved apron in front of it is open. Carrying the pot, I will take another step forward to reach the ground directly outside that bay.",
+        "I am standing on the apron with the garage door running along my right rather than in front of me. To place the pot near the opening I need to face it, so I will turn right to square up with the bay.",
+        "The garage door is now centred in front of me with its frame and the open threshold to my left. I will step forward to stand close against the bay so the pot can be set down right at the opening.",
+        "The ceramic pot is still carried with me, and I am now right up against the closed garage door panel at the opening. This is as close to the garage as I can place it, so I will release the pot here and expect it to settle on the driveway surface.",
+        "The ceramic pot now rests on the ground at the garage opening and my hands are empty. The task is complete, so no further action is needed."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000833_y-007684_z000198_t1_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Search for the wooden chair tucked behind the door; after locating it, head over to where it sits.",
+    "Type": 1,
+    "Start_Pose": [
+        -832.744,
+        -7684.096,
+        198.15,
+        0.0,
+        -121.44,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -832.744,
+            -7684.096,
+            198.15,
+            0.0,
+            -121.44,
+            0.0
+        ],
+        [
+            -832.744,
+            -7684.096,
+            198.15,
+            0.0,
+            -146.44,
+            0.0
+        ],
+        [
+            -832.744,
+            -7684.096,
+            198.15,
+            0.0,
+            -171.44,
+            0.0
+        ],
+        [
+            -832.744,
+            -7684.096,
+            198.15,
+            0.0,
+            163.56,
+            -0.0
+        ],
+        [
+            -832.744,
+            -7684.096,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -927.094,
+            -7600.798,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -1021.444,
+            -7517.5,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -1115.794,
+            -7434.202,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -1210.144,
+            -7350.904,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -1304.495,
+            -7267.606,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -1398.845,
+            -7184.309,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -1398.845,
+            -7184.309,
+            198.15,
+            0.0,
+            113.56,
+            -0.0
+        ],
+        [
+            -1449.152,
+            -7068.941,
+            198.15,
+            0.0,
+            113.56,
+            -0.0
+        ],
+        [
+            -1499.459,
+            -6953.573,
+            198.15,
+            0.0,
+            113.56,
+            -0.0
+        ],
+        [
+            -1499.459,
+            -6953.573,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -1556.352,
+            -6871.669,
+            200.247,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -1556.352,
+            -6871.669,
+            200.247,
+            0.0,
+            138.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From this spot I only see overgrown lawn, a white picket fence and trees, with no door or wooden chair anywhere in front of me. I will turn left to begin a steady scan of the surroundings for a doorway that could hide a chair behind it.",
+        "The turn has brought a pale house wall with windows into view, but I still see no entrance door and no chair beside it. I will keep rotating left in the same direction to follow this wall around toward a possible doorway.",
+        "Now the two-story building fills most of my view, but this face of it shows only windows and a trellis, no doorway. Continuing my left rotation should reveal the corner of the building where an entrance and any chair tucked behind its door would be.",
+        "Past the building corner I can now see a paved patio and a recessed dark doorway on the far side of the house, with a small dark object standing right beside it. One more left turn should center that doorway area so I can judge whether that object is the wooden chair.",
+        "The open doorway along the near wall of the house is now roughly ahead of me, with a small dark chair-like object sitting in the nook beside it. The lawn between us is clear, so I will walk forward across it toward that doorway.",
+        "The doorway and the small object beside it have grown slightly larger, confirming I am closing on the right part of the house. I will keep walking straight since the paved area ahead is open.",
+        "I am now close to the concrete patio, and the dark item beside the recessed door reads more clearly as a folding chair with slats. Another forward step should bring me near enough to see it fully behind the door.",
+        "From the patio I can clearly see the open door standing away from the siding with a small wooden folding chair in the nook beside it, which matches the target. I will continue forward along the wall to close the remaining distance to it.",
+        "Along this side of the house an open door stands ahead on the left, and a small dark folded object that looks like a wooden chair sits tucked in the corner beside it. That matches the chair described as hidden behind the door, so I will keep walking forward along the paved strip to close the distance and confirm it.",
+        "The object beside the open door now reads clearly as a slatted wooden folding chair standing in the nook. Nothing blocks the pavement between me and it, so I will continue forward to shorten the remaining distance.",
+        "As I have come closer, the open door and the wooden chair beside it have slid toward the left edge of my view while the stucco wall fills the right side. I will turn left to bring the chair and its doorway back toward the center of my heading before advancing further.",
+        "The turn has put the open door and the wooden chair tucked beside it back in front of me across open pavement. I will step forward along this heading to keep closing on the chair.",
+        "The wooden folding chair is now plainly visible in the recess just past the open door, only a short distance away. I will advance again to bring myself right up to where it sits.",
+        "At this range the chair sits to the right of the open door and near the right side of my view, partly against the siding. I will turn right so the chair is squarely ahead before making the last step toward it.",
+        "The wooden chair is now centered in the narrow nook between the open door and the siding, just a step or two away. I will move forward to finish arriving at the spot where it sits.",
+        "The wooden chair tucked behind the open door now fills the view directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000833_y-007684_z000198_t1_b/infos.json

@@ -0,0 +1,136 @@
+{
+    "Instruction": "Identify the metal grid guard mounted on the ground floor wall, then proceed to that structure.",
+    "Type": 1,
+    "Start_Pose": [
+        -832.744,
+        -7684.096,
+        198.15,
+        0.0,
+        -121.44,
+        0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -832.744,
+            -7684.096,
+            198.15,
+            0.0,
+            -121.44,
+            0.0
+        ],
+        [
+            -832.744,
+            -7684.096,
+            198.15,
+            0.0,
+            -146.44,
+            0.0
+        ],
+        [
+            -832.744,
+            -7684.096,
+            198.15,
+            0.0,
+            -171.44,
+            0.0
+        ],
+        [
+            -832.744,
+            -7684.096,
+            198.15,
+            0.0,
+            163.56,
+            -0.0
+        ],
+        [
+            -953.457,
+            -7648.477,
+            198.15,
+            0.0,
+            163.56,
+            -0.0
+        ],
+        [
+            -1074.171,
+            -7612.857,
+            198.15,
+            0.0,
+            163.56,
+            -0.0
+        ],
+        [
+            -1194.884,
+            -7577.238,
+            198.15,
+            0.0,
+            163.56,
+            -0.0
+        ],
+        [
+            -1315.598,
+            -7541.618,
+            198.15,
+            0.0,
+            163.56,
+            -0.0
+        ],
+        [
+            -1436.311,
+            -7505.999,
+            198.15,
+            0.0,
+            163.56,
+            -0.0
+        ],
+        [
+            -1545.583,
+            -7470.869,
+            198.15,
+            0.0,
+            163.56,
+            -0.0
+        ],
+        [
+            -1545.583,
+            -7470.869,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ],
+        [
+            -1545.583,
+            -7470.869,
+            198.15,
+            0.0,
+            138.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here I only see an open lawn, a white picket fence, trees, and distant houses, with no metal grid guard on any ground floor wall. I will turn left to begin a steady scan of the nearer building surfaces that are currently outside my view.",
+        "The turn has brought a nearby two story house into view on my left, but the pale ground floor wall I can see so far shows plain windows without any guard. I will continue turning left in the same direction to reveal more of that lower wall.",
+        "Now I can see a rusty metal grid mounted over a ground floor window on the white stucco wall of the house to my left, which matches the guard described in the task. I will turn left once more to bring that grid closer to the center of my heading before approaching.",
+        "The metal grid guard on the white ground floor wall is now roughly ahead of me, with open grass and a paved strip between us. I will walk forward to close the distance toward that structure.",
+        "The grid guard and its window are noticeably larger than before, confirming that my heading is carrying me toward the right part of the wall. I will keep walking forward since the lawn ahead stays clear.",
+        "The barred ground floor window now fills a good part of my view and the wall texture is clearly resolved, so I am still several steps short of the structure. I will advance again to shorten that remaining gap.",
+        "The metal grid over the ground floor window is close and clearly the target, though there is still grass between me and the base of the wall. I will step forward to bring myself right up to the guarded window.",
+        "The grid guard now dominates the left of my view at close range and the wall stands directly in front of me. One more step forward should place me immediately at the structure.",
+        "The metal grid guard over the ground floor window now fills the left half of my view, with the stucco wall close on the right. I still have a little open ground in front of me, so I will take one more step forward to close the remaining gap to the guarded window.",
+        "I am now right up against the wall, and only the edge of the grid frame and window jamb is clipped at the left of my view while blank stucco dominates the rest. I will turn left to bring the metal grid guard back into the center of my view for a clear confirmation.",
+        "The metal grid guard over the ground floor window is centered directly in front of me at arm's length. The task is complete, so I stop here at the structure."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_a/infos.json

@@ -0,0 +1,156 @@
+{
+    "Instruction": "Walk to the leftmost ground-floor window on the white wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -873.864,
+        -7703.966,
+        198.15,
+        0.0,
+        164.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -873.864,
+            -7703.966,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -994.944,
+            -7669.612,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -994.944,
+            -7669.612,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1090.161,
+            -7587.307,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1185.378,
+            -7505.002,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1280.596,
+            -7422.696,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1375.813,
+            -7340.391,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1375.813,
+            -7340.391,
+            198.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1427.325,
+            -7225.556,
+            198.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1478.837,
+            -7110.722,
+            198.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1478.837,
+            -7110.722,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1478.837,
+            -7110.722,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1545.708,
+            -7079.844,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1545.708,
+            -7079.844,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "From here the whole ground-floor run of windows on the white stucco wall is visible, and the leftmost one sits hard against the wall's left corner beside the covered porch with the dark door, so I will hold onto that porch-corner pairing as my target. I am still standing out in the tall grass, well short of the house. I will walk forward to close that distance.",
+        "The wall now fills much of my view, but the window at the porch-corner end lies off to the left of my current heading, while I am aimed at the middle of the stucco face. Turning left should bring that end of the wall toward the center of my path before I keep walking.",
+        "The turn has swung the porch end of the white wall, with its dark door, into the left half of my view, and the window I want sits at that corner. Open grass and then paving lie between me and it. I will step forward along this heading.",
+        "The corner where the stucco meets the porch keeps growing in my view, and the small windows beside it are still some way off. Nothing blocks the grass and paving in front of me, so I will keep walking toward that end of the wall.",
+        "The dark porch door and the two small windows next to it are noticeably closer, but I am still out on the grass edge rather than on the paving beside the wall. Continuing straight should carry me nearer the window at that corner.",
+        "I am now onto the paved apron with the stucco face steeply angled away on my right and the porch door ahead on the left. The window nearest that corner is still a few strides off, so I will keep advancing.",
+        "My heading is angling into the stucco face, which now crowds the right side of my view, while the open walkway toward the porch corner runs off to the left. I will turn left to line up with that walkway instead of the wall itself.",
+        "The turn has opened the paved strip running alongside the wall toward the porch and its dark door, with the windows now on my right. Walking forward along this strip should bring me level with the window at the porch-corner end.",
+        "The dark porch door with its little folding chair is close on my left, and the corner window on the stucco is now just ahead on my right rather than far down the wall. One more stride along this paving should bring me level with it.",
+        "I am beside the porch corner now, and the window I came for hangs at the right edge of my view while my heading still runs on past it across the open paving. Turning right should bring the stucco face and that window around in front of me.",
+        "The wall still runs away from me at a slant, so the window sits skewed high in my view instead of squarely in front. A second turn right should put my heading perpendicular to the stucco so I can step straight in to the window at the porch corner.",
+        "I am square to the stucco at last, with the window by the porch corner on the left of my view and another one further along the wall to the right. Only a short stretch of paving remains, so I will step up to that corner window.",
+        "The white sill and frame of the corner window fill my view at arm's length. I am standing at it, so the task is done and I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_b/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Approach the second ground-floor window from the right.",
+    "Type": 2,
+    "Start_Pose": [
+        -873.864,
+        -7703.966,
+        198.15,
+        0.0,
+        164.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -873.864,
+            -7703.966,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -994.944,
+            -7669.612,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1116.024,
+            -7635.259,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1116.024,
+            -7635.259,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1240.278,
+            -7655.295,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1364.532,
+            -7675.33,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1488.786,
+            -7695.366,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1488.786,
+            -7695.366,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1488.786,
+            -7695.366,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "The white ground floor in front of me carries five windows, and counting in from the right edge of that wall my target is the left one of the right-hand pair, standing just right of the barred window under the trellis. It is far off across the grass, so I will walk forward to close the distance.",
+        "The facade fills more of my view, yet I am still out on the grass well short of the wall. The window I want, the left member of the right-hand pair, lies ahead and off to my right. Another stride forward keeps shrinking that gap.",
+        "Walking straight has carried me toward the middle of the wall, and the pair of windows I care about now sits off to my right. Turning right should swing my heading onto that pair so the left one of them, my target, comes into the center of my path.",
+        "My heading now points at the two windows nearest the corner of the white wall, with the barred trellis window pushed to my left edge. The left one of those two is the window I am going to. Several strides of grass remain, so I walk forward.",
+        "The stucco wall is noticeably nearer and the two right-side windows are now large in front of me, the darker left one being the window I am heading for. I am still a few paces out from the wall, so I keep walking forward.",
+        "The wall now dominates my view and the paved strip along its base is visible just ahead of me. My target window sits slightly left of center, close but not yet within reach. One more step forward should bring me right up to it.",
+        "I am right up against the stucco now, close enough that the wall's corner and the rest of the row have dropped out of my view, so I hold to the window I have been tracking, which is clipped at my left edge. Turning left should bring that window squarely in front of me.",
+        "The window I have been tracking stands whole and centered directly before me, within arm's reach of the wall. The approach is complete, so I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_c/infos.json

@@ -0,0 +1,116 @@
+{
+    "Instruction": "Head toward the second ground-floor window from the left.",
+    "Type": 2,
+    "Start_Pose": [
+        -873.864,
+        -7703.966,
+        198.15,
+        0.0,
+        164.16,
+        -0.0
+    ],
+    "Action": [
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -873.864,
+            -7703.966,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -994.944,
+            -7669.612,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1116.024,
+            -7635.259,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1116.024,
+            -7635.259,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1211.241,
+            -7552.954,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1306.458,
+            -7470.648,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1401.675,
+            -7388.343,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1496.893,
+            -7306.037,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1545.787,
+            -7228.429,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1545.787,
+            -7228.429,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Counting the ground-floor windows along the white stucco from the left, my target is the second one, the small pane standing just left of the barred window with the metal trellis. It is still far off across the grass, so I will walk straight ahead to close that distance.",
+        "The wall now fills more of my view and the window beside the leftmost one, next to the trellis, is clearly readable. I am still out on the grass, so another step forward should bring me nearer to it.",
+        "My heading points at the middle of the wall, while the window I want sits off to my left with the trellis window between us. I will turn left so my path lines up with that window rather than the center of the facade.",
+        "The turn has brought the left part of the wall and the paved strip in front of it into my path. The window next to the trellis one is ahead and slightly left, so I will walk forward along this line toward it.",
+        "The trellis window has swung to my right edge and the pair of small windows ahead is growing larger, confirming I am closing on the correct stretch of wall. I will keep walking forward toward the window that sits beside the leftmost one.",
+        "From this oblique angle the facade no longer reads as a countable row, but I am still holding to the window immediately beside the leftmost one, now the nearer of the two panes ahead. Continuing forward should bring me up to it.",
+        "The two small windows are close on my left and the wall face is steeply angled, so I am nearly alongside my target. I will step forward again to draw level with it.",
+        "I am right against the stucco with the window I chose immediately ahead at my left shoulder. One more short step should place me directly at its sill.",
+        "The sill and frame of the window beside the leftmost one fill my view at arm's length. I have arrived at it, so there is nothing further to walk toward."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_d/infos.json

@@ -0,0 +1,106 @@
+{
+    "Instruction": "Move to the rightmost ground-floor window on the white wall.",
+    "Type": 2,
+    "Start_Pose": [
+        -873.864,
+        -7703.966,
+        198.15,
+        0.0,
+        164.16,
+        -0.0
+    ],
+    "Action": [
+        "TurnRight",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -873.864,
+            -7703.966,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -873.864,
+            -7703.966,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -998.118,
+            -7724.002,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1122.372,
+            -7744.037,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1246.626,
+            -7764.073,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1370.88,
+            -7784.109,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1495.134,
+            -7804.145,
+            198.15,
+            0.0,
+            -170.84,
+            0.0
+        ],
+        [
+            -1495.134,
+            -7804.145,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -1495.134,
+            -7804.145,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Scanning the white stucco ground floor, I count four windows in the row, and the one I want is the last before the building's right corner, standing beside the picket fence and the bare tree. It sits well right of my heading, so I will turn right to bring it toward the center of my view.",
+        "The corner window beside the fence and tree now sits ahead of me rather than off to one side. The tall grass between us is open, so I will walk straight forward to close the distance.",
+        "The white wall and its last window before the corner have grown noticeably larger, confirming my heading is good. Nothing blocks the lawn ahead, so I keep walking forward.",
+        "The window next to the building's corner is clearly framed ahead and still some paces away. I will step forward again to bring myself up close to it.",
+        "Only two windows remain in sight now, and the one nearer the corner and the fence is my target. The ground in front is clear, so another forward step should bring me almost to the wall.",
+        "I am close enough that the stucco fills most of my view, with the corner window and the drainpipe edge just to the left and right. One more step should place me right at the wall beneath that window.",
+        "I am now standing at the wall, but the window has slid to the left edge of my view while blank stucco takes the center. Turning left should square me up with the window itself.",
+        "The window beside the building's right corner is centered directly in front of me at arm's length. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t5_a_p/infos.json

@@ -0,0 +1,259 @@
+{
+    "Instruction": "Grab the metal bucket near the leftmost ground-floor window on the white wall.",
+    "Type": 5,
+    "Start_Pose": [
+        -873.864,
+        -7703.966,
+        198.15,
+        0,
+        164.16,
+        0
+    ],
+    "PD_ID": 18,
+    "PD_Size": 2.0,
+    "PD_Type": "p",
+    "PD_Start_Pose": [
+        -1462.976,
+        -7120.941,
+        122.15,
+        0,
+        0,
+        0
+    ],
+    "Action": [
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "Pick",
+        "TurnLeft",
+        "MoveForward",
+        "Pick",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -873.864,
+            -7703.966,
+            198.15,
+            0,
+            164.16,
+            0
+        ],
+        [
+            -994.944,
+            -7669.612,
+            198.15,
+            0.0,
+            164.16,
+            -0.0
+        ],
+        [
+            -994.944,
+            -7669.612,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1090.161,
+            -7587.307,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1185.378,
+            -7505.002,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1280.596,
+            -7422.696,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1375.813,
+            -7340.391,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1375.813,
+            -7340.391,
+            198.15,
+            0.0,
+            139.16,
+            -0.0
+        ],
+        [
+            -1375.813,
+            -7340.391,
+            198.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1427.325,
+            -7225.556,
+            198.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1427.325,
+            -7225.556,
+            198.15,
+            0.0,
+            114.16,
+            -0.0
+        ],
+        [
+            -1427.325,
+            -7225.556,
+            198.15,
+            0.0,
+            114.16,
+            -0.0
+        ]
+    ],
+    "PD_Pose_Trajectory": [
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1462.976,
+            -7120.941,
+            122.15,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            -1446.559,
+            -7234.853,
+            168.256,
+            -28.202,
+            164.304,
+            1.862
+        ],
+        [
+            -1446.559,
+            -7234.853,
+            168.256,
+            -28.202,
+            164.304,
+            1.862
+        ]
+    ],
+    "PD_Dist_2D": [
+        828.8,
+        721.2,
+        721.2,
+        597.1,
+        473.9,
+        352.6,
+        236.1,
+        236.1,
+        236.1,
+        110.5,
+        21.4,
+        21.4
+    ],
+    "Rationale": [
+        "The white wall with its row of ground-floor windows is ahead, and the dark metal bucket stands on the concrete at the far left end of that wall. It is still far off across the tall grass, so nothing can be grasped from here. I will walk forward to close the gap.",
+        "The wall now fills much of my view, but the bucket sits well off to my left near the corner where the concrete begins, so walking straight would carry me past it into the wall. I will turn left to place the bucket and its stretch of pavement ahead of me. That should give me a clean approach line.",
+        "With the heading shifted, the bucket now sits ahead of me beside the leftmost ground-floor window, with open grass and then concrete between us. Nothing blocks that line. I will step forward to shorten the distance toward it.",
+        "The bucket is noticeably larger and lower in my view now, sitting on the pavement by the corner of the white wall. I am still several strides short of reaching distance. I will keep walking forward along this heading.",
+        "The bucket now stands clearly on the concrete just left of the ground-floor windows, close enough that its handle is visible. It is still slightly beyond comfortable reach and a bit left of center. I will advance another step to bring it within grabbing range.",
+        "The dark metal bucket now stands clearly on the walkway beside the leftmost ground-floor window of the white wall, close on my left. It is still a few paces off, too far to reach from here, so I will step forward again to close that gap before attempting a grasp.",
+        "The bucket is now large in my view at the lower left, right beside the white wall under the leftmost window. It looks near enough to seize, so I will reach out and try to grab it by the rim.",
+        "My hands are still empty, so that reach did not take hold. The bucket was sitting off to the left edge of my facing rather than in front of me, which likely kept it out of grasp range. I will turn left to put it squarely ahead.",
+        "The bucket is now centered ahead of me against the white wall, but there is still open pavement between us, and my previous reach from this distance came up empty. Stepping forward should bring me close enough for my hands to actually meet the rim.",
+        "The bucket's rim now fills the lower portion of my view, directly in front of me against the white wall below the leftmost window. This is far closer than my earlier unsuccessful reach, so I will grab it now.",
+        "The metal bucket is now held in my hands, lifted from its spot by the white wall. The task is complete, so I stop here."
+    ]
+}

dataset/trajectory/ModularNeighborhood/task_x-001252_y-013404_z000198_t1_a/infos.json

@@ -0,0 +1,186 @@
+{
+    "Instruction": "Identify the staircase leading up to the raised porch of the building with railings; after locating it, proceed to the base of those stairs.",
+    "Type": 1,
+    "Start_Pose": [
+        -1251.769,
+        -13404.371,
+        198.15,
+        0.0,
+        178.56,
+        -0.0
+    ],
+    "Action": [
+        "TurnLeft",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnLeft",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "TurnRight",
+        "MoveForward",
+        "Finish"
+    ],
+    "Pose_Trajectory": [
+        [
+            -1251.769,
+            -13404.371,
+            198.15,
+            0.0,
+            178.56,
+            -0.0
+        ],
+        [
+            -1251.769,
+            -13404.371,
+            198.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1251.769,
+            -13404.371,
+            198.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1330.221,
+            -13305.955,
+            198.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1408.673,
+            -13207.539,
+            198.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1487.126,
+            -13109.123,
+            198.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1565.578,
+            -13010.706,
+            198.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1565.578,
+            -13010.706,
+            198.15,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -1595.087,
+            -12888.356,
+            198.15,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -1624.596,
+            -12766.005,
+            198.15,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -1654.106,
+            -12643.654,
+            198.15,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -1683.615,
+            -12521.304,
+            198.15,
+            0.0,
+            103.56,
+            -0.0
+        ],
+        [
+            -1683.615,
+            -12521.304,
+            198.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1707.484,
+            -12430.336,
+            198.15,
+            0.0,
+            128.56,
+            -0.0
+        ],
+        [
+            -1707.484,
+            -12430.336,
+            198.15,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1820.178,
+            -12374.296,
+            205.217,
+            0.0,
+            153.56,
+            -0.0
+        ],
+        [
+            -1820.178,
+            -12374.296,
+            205.217,
+            0.0,
+            153.56,
+            -0.0
+        ]
+    ],
+    "Rationale": [
+        "Straight ahead I only see the underside of the raised porch, its white railing and the lattice skirting, with no step or stair opening anywhere along this face. Since the porch clearly continues off to my left past the corner post, I will turn left to scan along its length for the staircase.",
+        "The porch face now stretches away across the view, but every section still shows continuous railing above and lattice below, so the stairs are not in this part of the frontage. I will keep turning the same way to bring the open lawn lane beside the porch into view, which should reveal how far the deck runs and where an access point may be.",
+        "Now the porch runs diagonally away to my right and there is clear grass along its base, but the near sections are still all lattice with no stair opening. I will walk forward along this lawn lane to inspect the farther stretch of the porch where a staircase is most likely to be.",
+        "Moving along the lawn has brought me nearer the posts, yet the visible skirting beside me is still solid lattice with no steps. I will continue forward to reach the part of the porch that is still hidden behind the support columns ahead.",
+        "The porch railing and skirting continue past me on the right without any break that would mark a stair, so the target must lie farther along this side of the building. I will step forward again to keep uncovering the deck edge ahead.",
+        "From here the porch corner and its posts are close on my right, and the lawn still runs freely forward toward the far end of the deck. I will advance again to reach that end, where a break in the lattice for steps is most plausible.",
+        "The porch structure and its posts now crowd the right side of my view, and I cannot yet see what lies along the deck beyond them. Turning left should swing my heading onto the open grass lane running parallel to the porch, so I can keep advancing beside it and see farther along the building's flank.",
+        "With this heading the lawn opens up ahead and I can see paving beginning near the porch on my right, which suggests a prepared access area rather than more plain skirting. I will walk forward along this lane to reach that area and check it for the staircase.",
+        "Following the railed porch along its lattice skirt, I can now see a paved area opening ahead on the right where the deck edge breaks, which is where an access stair would sit. I will keep walking forward along the grass strip to bring that gap and the porch corner closer.",
+        "The paved patio beside the porch is clearly wider now and I can make out pale steps and a railing post tucked under the porch roof to my right. Continuing forward should carry me level with that stair area instead of stopping short in the grass.",
+        "I am now beside the porch columns with the stone paving spreading to my right, and the stair structure appears to be just past the next column. One more step forward should place me alongside that opening so I can turn in toward it.",
+        "The paved patio under the porch overhang now lies to my right, and the railed deck with its lattice skirt runs along that side. I will turn right so my heading faces into that paved area where the stairs should be, rather than continuing past the building.",
+        "Facing into the covered paved area, the walkway ahead is clear and leads under the porch roof toward the railed deck. I will step forward onto the paving to get near the deck edge where the access stair should be.",
+        "From this spot on the paving I can see a white railing with angled handrails rising at the right side of the view, which reads as the stair up to the raised porch. I will turn right to face that stair directly before closing the last distance.",
+        "The staircase with its white railings and pale treads is now plainly in front of me, leading up to the railed porch. I will walk forward a step to stand at the base of those stairs.",
+        "The porch staircase with its railings and treads is directly beside me at its lowest step. The task is complete, so I stop here at the stair base."
+    ]
+}