diff --git a/dataset/trajectory/Medieval_Castle/task_x-017464_y009354_z010408_t1_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-017464_y009354_z010408_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ed890a125c55c032f994f72f9b42a6fb33d6d57 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..95f7e3484a2c9667b421051d27a71bdcece8dfcf --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_b/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4da9f72430090def8e484ff61741a527c19a1124 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_c/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..337f38acd4a3d4b6aad010c34b880a5f28fe51fe --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_d/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0493c16b68464ec2b9fa0b3035c2f7085bb7eebc --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_e/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018378_y013577_z010408_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0243f3f8cb26a141fe928e6c12787785763e461d --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f2a96bfcf7c9a8da7bc99ea046d38a7a31946ed6 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_b/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ea1d156826a8378cf47f764fea1f960c1a17a58f --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_c/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cfdd123e5a9d097edd08104db67638961ec0f8b4 --- /dev/null +++ b/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, + 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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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_d/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..438fa407f766bebe7f440721f4e27d7bc037a011 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t5_a_pd/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..61e069c5e915a1cf06c96b4c2256f045ab9f2b75 --- /dev/null +++ b/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", + 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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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t5_b_pd/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018450_y010605_z010395_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb7450677a7998579b2bf88153e6f037ded977c8 --- /dev/null +++ b/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, + 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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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e2de572c1c733c4b974d71929860b88a5bc2d1cb --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_b/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cf583ea23c5170f92b89be89e5dd96573f24cb10 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_c/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..63f9ef698b89b0448a43f5d4a4a49cdf5c39b16c --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_d/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..78bbcd231a350c37fb5ab6bfdbaeb5fb831da3fe --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t5_a_p/infos.json b/dataset/trajectory/Medieval_Castle/task_x-018648_y010275_z010395_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..af0fb9a73778e88ccd8bf194720a3679902b6220 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t0_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f6f491e9549790dc1ccfae69f75fbd239302782e --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t0_b/infos.json b/dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7b1c7e49be1b53156d59d14a48d348394076111e --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t5_a_p/infos.json b/dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4018434eedd6912757068bb41f7560af7c0114c9 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t5_b_p/infos.json b/dataset/trajectory/Medieval_Castle/task_x-020564_y019568_z010391_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9aef62ccdbce9fefa74ae76c0449eef9e2a355d4 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t3_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b3d5b5451c341aea8daa3cf48dab5891570a78b --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t3_b/infos.json b/dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..55968973fac9afa769430f927feb2d69b092dff6 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t5_a_pd/infos.json b/dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c3248f231eab46cd8036a46300cb0fd0c5c64211 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t5_b_pd/infos.json b/dataset/trajectory/Medieval_Castle/task_x-022287_y014656_z010395_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b807cf61855d984ddc19c5236e9ba72ef23e03c6 --- /dev/null +++ b/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 + ], + 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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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-022527_y014724_z010388_t1_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-022527_y014724_z010388_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d63b50bae201ecdbdefbdb8fb5ca44e44d600794 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-022527_y014724_z010388_t1_b/infos.json b/dataset/trajectory/Medieval_Castle/task_x-022527_y014724_z010388_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..69211e099dfcdb81f303a4bc3a6f9e3453918df9 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-022888_y008889_z010521_t1_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-022888_y008889_z010521_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4130ddf9f16a0eb5b588bf5debf6dc9eda1d9041 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-023378_y013391_z010415_t0_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-023378_y013391_z010415_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ed800dfd0ab316b7b955bd13bb53d988472c00f3 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-023931_y000435_z012208_t1_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-023931_y000435_z012208_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f2c5194007733c062bd644dcb5880c798eeaf22a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-024156_y019049_z010423_t1_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-024156_y019049_z010423_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d7714df151b42d0d153c2377bd0ebb0fa84a9917 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-024162_y016242_z011008_t0_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-024162_y016242_z011008_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b7d8e8c455d6d1bf567193716ffccf52f774aa9a --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-024162_y016242_z011008_t5_a_p/infos.json b/dataset/trajectory/Medieval_Castle/task_x-024162_y016242_z011008_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d9a862bbec23b800886a75cfb67ccb4915f08655 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/Medieval_Castle/task_x-025008_y009071_z010583_t1_a/infos.json b/dataset/trajectory/Medieval_Castle/task_x-025008_y009071_z010583_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..17c93a6f792ffe7ce35f9b713702bad7e8d1b475 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000009_y001263_z000200_t5_a_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000009_y001263_z000200_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..836198be6dd70f76d82434bdb83dd218588453af --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000221_y003790_z000200_t5_a_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000221_y003790_z000200_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5dc5027c8ecb791f4b56e43b7f0170c56abe0ac7 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3678b5825f4305dff18be7d75b3774bce4147f82 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d97b73301e15fedaf33e7c15439e682d8b9e865 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a64527933274b0b2feba618c07109a2c9921ecd --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000251_y004177_z000210_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..adc16e6ed5e09c72126797c69d541085eea8eecf --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..246aa8ec8989b563ed7855dd5d4ac868ff65a94e --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t5_a_pd/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000552_y-006751_z000200_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6a0525e22c923e04ad79176dd1fe801f754b72ac --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000833_y-007684_z000198_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000833_y-007684_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9f353f32371dadf175093f532c5143353393f931 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000833_y-007684_z000198_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000833_y-007684_z000198_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e4c2003e0f4a1e90235397e263941119bc850e3 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0b396f35ce98dd74b341e077803d6ca228a23932 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..32cf027a81585b7ab20f0d1626d30124bbdaa1bf --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03c30332005a406f76370444e9c34b816a58a91f --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67eabb007f4034c7ef6b63a7f7378d929c8c2915 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t5_a_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-000874_y-007704_z000198_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c9b6a500d30f8ee1793157e944d2bcdce355f074 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001252_y-013404_z000198_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001252_y-013404_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..594c486bc0db50bdb9abc1f3704a586369fa8656 --- /dev/null +++ b/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." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001324_y006963_z000300_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001324_y006963_z000300_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7025ab6df8c2b9b81aeee294bde41f95882788b4 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001324_y006963_z000300_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the blue door on the two-story building that features both a blue and a white entrance, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -1323.887, + 6962.861, + 299.586, + 0.0, + -98.72, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1323.887, + 6962.861, + 299.586, + 0.0, + -98.72, + 0.0 + ], + [ + -1323.887, + 6962.861, + 299.383, + 0.0, + -123.72, + 0.0 + ], + [ + -1323.887, + 6962.861, + 299.383, + 0.0, + -148.72, + 0.0 + ], + [ + -1323.887, + 6962.861, + 299.383, + 0.0, + -173.72, + 0.0 + ], + [ + -1323.887, + 6962.861, + 299.383, + 0.0, + 161.28, + -0.0 + ], + [ + -1443.088, + 7003.254, + 312.162, + 0.0, + 161.28, + -0.0 + ], + [ + -1562.289, + 7043.648, + 322.74, + 0.0, + 161.28, + -0.0 + ], + [ + -1681.49, + 7084.042, + 330.759, + 0.0, + 161.28, + -0.0 + ], + [ + -1800.69, + 7124.435, + 334.631, + 0.0, + 161.28, + -0.0 + ], + [ + -1919.891, + 7164.829, + 337.97, + 0.0, + 161.28, + -0.0 + ], + [ + -2039.092, + 7205.223, + 340.231, + 0.0, + 161.28, + -0.0 + ], + [ + -2158.293, + 7245.616, + 340.231, + 0.0, + 161.28, + -0.0 + ], + [ + -2158.293, + 7245.616, + 340.231, + 0.0, + 161.28, + -0.0 + ] + ], + "Rationale": [ + "From here I can see a tall two-story house filling the left side of my view and more houses further off, but no entrance door is visible yet, blue or white. I will turn left to bring the near facade of that two-story building into view, since its front entrances are the most likely place to find the blue and white door pair described in the task.", + "Turning has revealed the front of the two-story house with a plain white door set under the upper floor, which matches half of the described entrance pair. I do not yet see a blue door, so I will keep turning left to expose the rest of this facade and check whether a blue entrance sits beside the white one.", + "The white door is now clearly centered on the two-story facade, and the wall continues off to my left where the entryway likely extends. I will continue the same leftward scan to uncover that remaining stretch of the front wall and confirm a blue door on this same building.", + "Now I can see both entrances on the same two-story building, a dark blue glazed doorway on the left and the white door to its right, which matches the target description. The blue door still sits off toward my left, so I will turn left once more to line my heading up with it before walking in.", + "The blue entrance of the two-story building now sits near the middle of my view with the white door on the same wall to the right, so my heading is on target. The ground ahead is open lawn leading to a clear paved area at the door, so I will step forward to close the distance.", + "The blue door has grown larger and stays centered ahead of me, confirming my approach line is good. The lawn edge has given way to open flat ground in front of the entry, so I will keep walking forward.", + "I am now on the open surface directly in front of the blue door, with its panels and side glazing clearly resolved straight ahead. Nothing blocks the remaining gap, so I will continue forward to get within reach of the entrance.", + "The blue door frame now fills a large part of my view and I can make out its handle, so I am close but not yet at the threshold. I will step forward again to finish closing the short remaining distance to the entrance.", + "The blue paneled entrance with its two narrow sidelights fills the center of my view on this two-story siding wall, and the paved walk to the white entrance sits off to my right, confirming this is the building described in the task. I am still a few paces out on the open apron in front of the door, so I will keep walking straight ahead to close that gap.", + "The blue door now dominates the view and its handle is clearly resolved, so my heading onto it is good and no turn is needed. A short remaining stretch of bare ground still separates me from the threshold, so I continue stepping forward.", + "I am now right at the blue entrance, with the door panels and lever handle filling most of my view and the sidelight glass close beside them. One more step forward should bring me flush to the doorway so I am properly positioned at the target.", + "I am standing directly at the blue door, its panels and lever handle within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001324_y006963_z000300_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001324_y006963_z000300_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e786b5bdd34b4e06094da7cfede00e1f0dc04a5 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001324_y006963_z000300_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the white door belonging to the gray-sided house with dual colored entryways; once you spot it, head over to that entrance.", + "Type": 1, + "Start_Pose": [ + -1323.887, + 6962.861, + 299.586, + 0.0, + -98.72, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1323.887, + 6962.861, + 299.586, + 0.0, + -98.72, + 0.0 + ], + [ + -1323.887, + 6962.861, + 299.383, + 0.0, + -123.72, + 0.0 + ], + [ + -1323.887, + 6962.861, + 299.383, + 0.0, + -148.72, + 0.0 + ], + [ + -1431.451, + 6897.512, + 310.067, + 0.0, + -148.72, + 0.0 + ], + [ + -1539.015, + 6832.164, + 318.437, + 0.0, + -148.72, + 0.0 + ], + [ + -1646.579, + 6766.815, + 326.352, + 0.0, + -148.72, + 0.0 + ], + [ + -1754.144, + 6701.466, + 333.349, + 0.0, + -148.72, + 0.0 + ], + [ + -1861.708, + 6636.118, + 342.031, + 0.0, + -148.72, + 0.0 + ], + [ + -1969.272, + 6570.769, + 346.257, + 0.0, + -148.72, + 0.0 + ], + [ + -2076.836, + 6505.421, + 341.074, + 0.0, + -148.72, + 0.0 + ], + [ + -2184.4, + 6440.072, + 348.972, + 0.0, + -148.72, + 0.0 + ], + [ + -2184.4, + 6440.072, + 348.972, + 0.0, + -148.72, + 0.0 + ] + ], + "Rationale": [ + "From here I see gray clapboard siding on the large house filling the left edge and another gray-sided house further off behind a tall hedge, but no entryway is visible yet. The near facade is cut off on my left, so I will turn left to bring its front wall and any doors into view.", + "The turn has opened up the gray-sided house's facade, and I can now make out a pale white door set into the siding on the ground floor, left of center, with a paved walk in front of it. I will continue turning left to bring that entryway closer to the middle of my view before walking toward it.", + "The white door on the gray-sided house is now roughly centered ahead of me, with its light frame contrasting against the dark siding and a second lighter entry area of the same building visible to the right. The path across the grass toward the paved apron looks clear, so I will step forward to close distance on that entrance.", + "The door and its surrounding siding have grown larger, confirming I am closing on the correct entryway of this gray-sided house. The ground in front of me is now open paving rather than tall grass, so I will keep walking straight ahead.", + "The white door remains dead ahead and the porch paving stretches unbroken toward it. I am still several strides away, so I will advance again to shorten the gap.", + "I can now see the door's panels and the trim around it clearly, along with the flagstone walk running to its threshold. Nothing blocks that walk, so I will keep moving forward toward the entrance.", + "The white door now dominates the left half of my view and I can read house numbers on the siding beside it, which fits the entrance I am looking for. I am not yet standing at the threshold, so I will step forward once more.", + "The doorway with its numbers is close enough that I can see the handle, and the porch paving continues right up to it. A few more strides should place me directly at this entrance, so I will keep walking forward.", + "The white door on the gray clapboard siding is now directly ahead on my left, with the house number plainly visible beside it. A small gap of paving still separates me from the entryway, so I will step forward to close it.", + "I am now at the corner of the entry alcove with the white door dominating my left side and its handle clearly in reach range. One more step forward should put me squarely at the entrance rather than beside it.", + "The white door with its handle and the numbered gray siding is directly beside me at arm's length. The task is complete, so I stop here at the entrance." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001388_y003234_z000284_t2_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001388_y003234_z000284_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4117d6f111d8faa2e47bb20e3aa68971a6b91e4d --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001388_y003234_z000284_t2_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Walk to the left garage door.", + "Type": 2, + "Start_Pose": [ + -1388.385, + 3234.058, + 283.989, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1388.385, + 3234.058, + 283.989, + 0.0, + 161.28, + -0.0 + ], + [ + -1507.586, + 3274.452, + 296.499, + 0.0, + 161.28, + -0.0 + ], + [ + -1626.787, + 3314.845, + 308.903, + 0.0, + 161.28, + -0.0 + ], + [ + -1745.988, + 3355.239, + 314.289, + 0.0, + 161.28, + -0.0 + ], + [ + -1865.188, + 3395.633, + 317.581, + 0.0, + 161.28, + -0.0 + ], + [ + -1984.389, + 3436.026, + 320.874, + 0.0, + 161.28, + -0.0 + ], + [ + -2103.59, + 3476.42, + 326.518, + 0.0, + 161.28, + -0.0 + ], + [ + -2222.791, + 3516.814, + 327.682, + 0.0, + 161.28, + -0.0 + ], + [ + -2341.992, + 3557.207, + 330.975, + 0.0, + 161.28, + -0.0 + ], + [ + -2341.992, + 3557.207, + 330.975, + 0.0, + -173.72, + 0.0 + ], + [ + -2467.096, + 3543.44, + 334.353, + 0.0, + -173.72, + 0.0 + ], + [ + -2592.199, + 3529.673, + 337.731, + 0.0, + -173.72, + 0.0 + ], + [ + -2592.199, + 3529.673, + 337.731, + 0.0, + -173.72, + 0.0 + ] + ], + "Rationale": [ + "Two matching pale garage doors face me across the paved courtyard, so I settle the choice now: the left one is the door tucked against the corner of the tall house wing, with the basketball hoop mounted just to its right. It stands well ahead, so I walk forward over the open pavement to close that gap.", + "The garage front has grown slightly larger, and my chosen door still sits beside the house wing with the hoop hanging to its right. Nothing blocks the paving between us, so I continue straight ahead.", + "My door is clearly ahead and slightly right of my heading, still framed by the wing wall on one side and the hoop above to its right. The distance is too great to stop here, so I keep walking forward.", + "The dark hedge along the house on my left stays clear of my path, and the door I am heading for keeps growing in front of me. I advance again to shorten the remaining stretch of paving.", + "The garage wall now fills much more of my view and my door reads plainly ahead, its neighbour pushed to the far edge. I am still several paces short of it, so I step forward again.", + "The door I chose stands almost directly ahead, with the hedge running beside the house on my left and open paving in front of my feet. I keep walking toward it.", + "The neighbouring door has slid out of my view, leaving only this one panel beside the wing wall, and that is the door I am still going to. It remains a few paces off, so I continue forward.", + "The panel and its frame now dominate the right side of my view, so I am close but not yet standing at it. I take another step forward across the remaining pavement toward its face.", + "The door has drifted to the right edge of my view while the hedge crowds my left, so walking on as I stand would carry me past its face rather than up to it. I turn right to swing my heading onto the panel and square myself with it.", + "The turn worked: the panel now sits centred in front of me with its frame and the siding evenly on either side. Bare paving still runs between my feet and its base, so I walk straight in.", + "The panel and its frame fill nearly the whole of my view, with only a thin strip of paving left at its foot. One more step forward should bring me right up against the door.", + "The pale seamed panel of the garage door fills my entire view at arm's length. I have arrived at it, so there is nothing further to walk toward." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001388_y003234_z000284_t2_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001388_y003234_z000284_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..676ddde824f429698e0b0b689d7f18927ec3e0c1 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001388_y003234_z000284_t2_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the right garage door near the white fence.", + "Type": 2, + "Start_Pose": [ + -1388.385, + 3234.058, + 283.989, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1388.385, + 3234.058, + 283.989, + 0.0, + 161.28, + -0.0 + ], + [ + -1388.385, + 3234.058, + 284.094, + 0.0, + -173.72, + 0.0 + ], + [ + -1513.489, + 3220.291, + 296.78, + 0.0, + -173.72, + 0.0 + ], + [ + -1638.593, + 3206.523, + 309.466, + 0.0, + -173.72, + 0.0 + ], + [ + -1763.696, + 3192.756, + 314.604, + 0.0, + -173.72, + 0.0 + ], + [ + -1888.8, + 3178.989, + 317.982, + 0.0, + -173.72, + 0.0 + ], + [ + -2013.904, + 3165.221, + 321.361, + 0.0, + -173.72, + 0.0 + ], + [ + -2139.008, + 3151.454, + 324.739, + 0.0, + -173.72, + 0.0 + ], + [ + -2264.111, + 3137.686, + 328.117, + 0.0, + -173.72, + 0.0 + ], + [ + -2389.215, + 3123.919, + 331.495, + 0.0, + -173.72, + 0.0 + ], + [ + -2514.319, + 3110.152, + 334.873, + 0.0, + -173.72, + 0.0 + ], + [ + -2639.423, + 3096.384, + 338.251, + 0.0, + -173.72, + 0.0 + ], + [ + -2639.423, + 3096.384, + 338.251, + 0.0, + -173.72, + 0.0 + ] + ], + "Rationale": [ + "Two matching garage doors stand ahead and off to my right, and the white picket fence runs past the far end of the pair, so the door beside that fence is the one I want. Turning right should bring that fence-side door toward the middle of my view.", + "The garage front is now squarely ahead, with the picket fence running in from the right toward the door I chose. The paved drive between us is wide and empty, so I will walk straight forward to close the gap.", + "The garage has grown in my view but I am still well out on the open paving, far from the fence-side door. The route stays unobstructed, so another stride forward keeps the approach going.", + "The dark tree and the fence line along the right are drawing nearer, and the door beside them is clearly separated from its neighbour. I am still several strides short of it, so I keep walking forward.", + "The panel seams on the fence-side garage door are becoming readable, which tells me the gap is shrinking but is not yet closed. The paving in front of me stays clear, so I advance again.", + "The basketball hoop above the garage and the dormer windows are rising toward the top of my view, a sign I am getting close to the building face. The door beside the picket fence is still a few strides off, so I step forward once more.", + "The garage wall now fills most of my view and the fence-side door towers ahead with its frame fully visible. I am close but not yet standing at it, so I continue walking straight in.", + "The neighbouring door is sliding off the left edge of my view, so from here I simply hold on the tall door beside the picket fence and the bin. A short stretch of paving still separates me from it, so I step forward again.", + "The tall door with the bin and picket fence beside it now sits right of centre, its wooden frame casting a clear shadow onto the paving. A last band of driveway lies between me and its threshold, so I keep walking straight at it.", + "The door and its weathered frame fill nearly my whole view now, with only a narrow strip of paving showing at its base. That strip means I am not yet standing at it, so I take another step in.", + "Only the door's left jamb and the siding beside it remain at the edge of my view, the rest being flat panel. A short pace should bring me right up against the door face.", + "The garage door panel fills my view at arm's length. I have reached the door beside the white fence, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001388_y003234_z000284_t2_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001388_y003234_z000284_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4bcc6ac40a6cb1451c70de808307e86be3cd64ca --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001388_y003234_z000284_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the white entry door on the left building.", + "Type": 2, + "Start_Pose": [ + -1388.385, + 3234.058, + 283.989, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1388.385, + 3234.058, + 283.989, + 0.0, + 161.28, + -0.0 + ], + [ + -1507.586, + 3274.452, + 296.499, + 0.0, + 161.28, + -0.0 + ], + [ + -1626.787, + 3314.845, + 308.903, + 0.0, + 161.28, + -0.0 + ], + [ + -1745.988, + 3355.239, + 314.289, + 0.0, + 161.28, + -0.0 + ], + [ + -1745.988, + 3355.239, + 314.289, + 0.0, + 136.28, + -0.0 + ], + [ + -1745.988, + 3355.239, + 314.289, + 0.0, + 111.28, + -0.0 + ], + [ + -1791.665, + 3472.517, + 315.691, + 0.0, + 111.28, + -0.0 + ], + [ + -1791.665, + 3472.517, + 315.691, + 0.0, + 136.28, + -0.0 + ], + [ + -1882.627, + 3559.502, + 318.282, + 0.0, + 136.28, + -0.0 + ], + [ + -1882.627, + 3559.502, + 318.282, + 0.0, + 136.28, + -0.0 + ] + ], + "Rationale": [ + "Two structures face this courtyard: the left one carries a white paneled entry door with glass sidelights, while the right one shows only wide garage doors. That white entry door is my target, so I will walk forward across the paving to close the open distance before angling toward it.", + "The white entry door and its sidelights are now larger on my left, with the dark hedge running along the porch below it. Still too far to be at the doorway, so I will keep walking forward to gain ground.", + "The entry door has slid further to my left edge as I advance, and the porch step in front of it is clearly visible. I will take another step forward so I draw level with the porch before turning toward the door.", + "My heading now points along the courtyard toward the garages, while the white entry door has drifted far to my left and is partly cut off. I will turn left to swing that doorway back toward the center of my view.", + "The white door with its house number is back in view, but it still sits left of center and I am facing the porch obliquely. Another left turn should square me up with the doorway before I step in.", + "The white paneled door with its glass sidelights is now centered ahead of me across the porch, with clear paving between us. I will walk forward to close that remaining gap toward the doorway.", + "Up this close the doorway has shifted toward my right side, with the sidelight and siding filling the left of my view. I will turn right to bring the white door back in front of me before stepping in.", + "The white entry door with its lever handle sits squarely ahead of me, just beyond the porch edge. I will step forward to finish closing on the doorway.", + "The white entry door fills my view at arm's length, its lever handle right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001580_y002839_z000302_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001580_y002839_z000302_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b1ea8927871483fb52d2e3917b9defbc56becf57 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001580_y002839_z000302_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the wooden door on the building whose yard has a basketball hoop, noting that it is separate from the white garage doors, then approach it.", + "Type": 1, + "Start_Pose": [ + -1580.111, + 2838.507, + 301.535, + 0.0, + 81.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1580.111, + 2838.507, + 301.535, + 0.0, + 81.28, + -0.0 + ], + [ + -1580.111, + 2838.507, + 301.316, + 0.0, + 106.28, + -0.0 + ], + [ + -1580.111, + 2838.507, + 301.316, + 0.0, + 131.28, + -0.0 + ], + [ + -1663.145, + 2933.089, + 310.351, + 0.0, + 131.28, + -0.0 + ], + [ + -1746.179, + 3027.672, + 313.994, + 0.0, + 131.28, + -0.0 + ], + [ + -1829.213, + 3122.254, + 316.38, + 0.0, + 131.28, + -0.0 + ], + [ + -1912.248, + 3216.836, + 318.766, + 0.0, + 131.28, + -0.0 + ], + [ + -1995.282, + 3311.419, + 321.152, + 0.0, + 131.28, + -0.0 + ], + [ + -1995.282, + 3311.419, + 321.152, + 0.0, + 106.28, + -0.0 + ], + [ + -2030.564, + 3432.231, + 322.926, + 0.0, + 106.28, + -0.0 + ], + [ + -2030.564, + 3432.231, + 322.926, + 0.0, + 81.28, + -0.0 + ], + [ + -2011.483, + 3556.635, + 321.786, + 0.0, + 81.28, + -0.0 + ], + [ + -2011.483, + 3556.635, + 321.786, + 0.0, + 81.28, + -0.0 + ] + ], + "Rationale": [ + "From this spot on the paved drive I can only see part of a grey clapboard house on my right, with a parked car and hedges filling the left side, and no basketball hoop anywhere in sight. I will turn right to swing my view onto the house frontage, since any garage bays and a hoop above them are most likely off in that direction.", + "The house front is now centered and I can see a light panelled entry door with narrow glass sidelights, plus what looks like the edge of a garage bay at the far right. Turning right again should bring that garage side of the yard fully into view so I can check for the basketball hoop that identifies the correct building.", + "The scan pays off: a basketball hoop is mounted above the two white garage doors on the right, so this is the yard named in the task. The wooden panelled door with sidelights sits to the left along the same wall, clearly separate from those garage doors, so I will walk forward across the paving to close distance on it.", + "The hoop and white garage bays stay on my right, confirming I am still on the correct property, and the panelled entry door on the left is noticeably larger than before. I will keep walking forward since the open paving ahead gives a clear path toward that wall.", + "I can now read the house number beside the panelled door, so I am getting close to the entrance rather than the garage bays. Another step forward should carry me nearer the low step in front of that door.", + "The panelled door with its two glass sidelights is close on my left, with the hedge running between me and it and the garage bay still to the right. I will advance again to reach the paving directly in front of the entrance.", + "I am nearly level with the entrance now, and its raised step and door frame fill the left side of my view while the garage door stays well off to the right. One more step forward should place me squarely on the paving beside the entry step.", + "Having walked up level with the house wall, the panelled entry door has slipped to the far left edge of my view while empty siding and the garage bay dominate the center and right. I will turn left to bring that door back to the middle of my view so I can head straight at it.", + "The paneled entry door with its glass sidelights and the house number beside it now fills the left half of my view, clearly distinct from the white garage doors set further along the wing. Since it sits just ahead across the paved landing, I will walk forward to close the remaining gap to that doorway.", + "I am now close to the entry, but the door and its sidelight have drifted to the left edge of my view while the hedge and siding dominate the center. Turning left should bring the doorway back to the middle of my heading so my next step goes straight at it.", + "The door is now centered in front of me with both sidelights framing it and the handle plainly visible, so my heading is lined up on the target. A short step forward should place me right at the threshold, within reach of the door.", + "The wooden entry door with its handle fills my view at arm's length. The approach goal is met, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001580_y002839_z000302_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001580_y002839_z000302_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3a9bc55cac9fa457913dc09bb84cdf97f294a7e0 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001580_y002839_z000302_t1_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Discover the gray trash bin somewhere in the yard with the basketball hoop; once found, reach it.", + "Type": 1, + "Start_Pose": [ + -1580.111, + 2838.507, + 301.535, + 0.0, + 81.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1580.111, + 2838.507, + 301.535, + 0.0, + 81.28, + -0.0 + ], + [ + -1580.111, + 2838.507, + 301.316, + 0.0, + 106.28, + -0.0 + ], + [ + -1580.111, + 2838.507, + 301.316, + 0.0, + 131.28, + -0.0 + ], + [ + -1580.111, + 2838.507, + 301.316, + 0.0, + 156.28, + -0.0 + ], + [ + -1580.111, + 2838.507, + 301.316, + 0.0, + -178.72, + 0.0 + ], + [ + -1705.939, + 2835.696, + 312.412, + 0.0, + -178.72, + 0.0 + ], + [ + -1831.766, + 2832.884, + 315.825, + 0.0, + -178.72, + 0.0 + ], + [ + -1957.594, + 2830.073, + 319.076, + 0.0, + -178.72, + 0.0 + ], + [ + -1957.594, + 2830.073, + 319.076, + 0.0, + -153.72, + 0.0 + ], + [ + -2070.444, + 2774.348, + 331.611, + 0.0, + -153.72, + 0.0 + ], + [ + -2183.294, + 2718.622, + 326.623, + 0.0, + -153.72, + 0.0 + ], + [ + -2296.145, + 2662.897, + 335.301, + 0.0, + -153.72, + 0.0 + ], + [ + -2296.145, + 2662.897, + 335.301, + 0.0, + -178.72, + 0.0 + ], + [ + -2421.972, + 2660.086, + 339.023, + 0.0, + -178.72, + 0.0 + ], + [ + -2547.8, + 2657.274, + 343.019, + 0.0, + -178.72, + 0.0 + ], + [ + -2547.8, + 2657.274, + 343.019, + 0.0, + -178.72, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a parked car, hedges and the side of the house across an open paved drive, with no basketball hoop and no gray bin anywhere in view. I will turn right to begin a steady scan of the yard for the hoop that marks the right area.", + "The rotation has brought the front of the house and a large tree into view, but there is still no basketball hoop and no gray bin on this stretch of paving. I will keep turning right in the same direction to sweep the part of the yard still hidden past the garage side.", + "A basketball hoop is now visible mounted above the garage doors on the right, which confirms this is the yard described in the task. I will continue turning right to bring that garage frontage and the ground beneath it fully into view, since a trash bin is most likely parked along that wall or fence.", + "The hoop and both garage doors are now clearly ahead of me, but the paving in front of them looks empty and something dark sits near the fence line at the far right edge. I will turn right once more to face that fenced side strip beside the garage where bins are usually kept.", + "Facing along the driveway I have the hoop wall on my left and the picket fence with a planting bed on my right, forming a clear lane toward the garage corner. I will walk forward along this open paving to get close enough to inspect the shaded strip beside the garage for a gray bin.", + "The lane between the garage wall and the fence is still open ahead of me and nothing blocks my path. I will step forward again to shorten the distance to the garage corner, where the narrow shaded gap by the fence is not yet readable.", + "I can now make out a dark wheeled container standing at the fence line just past the right-hand garage door, which fits the trash bin I am looking for. I will keep walking forward to close the remaining distance and confirm it.", + "The bin-like container beside the garage corner now sits slightly to the right of my heading, at the mouth of the narrow strip between the building and the fence. I will turn right to line myself up with that passage so I can walk straight in toward it.", + "A gray wheeled trash bin now stands against the garage wall ahead on my left, in the grassy passage between the house and the white picket fence. That matches the target I was sent to find, so I will walk forward along the paved strip to close the distance instead of scanning any further.", + "The gray bin has grown larger and is still ahead on my left along the side of the house, confirming my heading is good. I will keep walking forward since the corridor beside the fence remains open.", + "The gray bin is clearly closer now, sitting against the siding just left of my path. Another step forward should bring me nearly alongside it.", + "The bin has drifted to the far left edge of my view as I have advanced, so continuing straight would carry me past it along the fence line. I will turn left to bring it back in front of me before closing the last distance.", + "The turn has placed the gray bin ahead of me, just left of center beside the house wall. I will step forward to reduce the remaining gap.", + "The gray bin is close now, filling much of the left foreground with the other bins behind it. One more step forward should put me right beside it.", + "The gray trash bin fills my immediate left foreground, directly within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t0_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a4224b20015e2ccdb0c848bcdb12186a5f3cc8 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the white front door of the house.", + "Type": 0, + "Start_Pose": [ + -1731.316, + 2997.062, + 313.226, + 0.0, + 125.76, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1731.316, + 2997.062, + 313.226, + 0.0, + 125.76, + -0.0 + ], + [ + -1804.867, + 3099.193, + 315.503, + 0.0, + 125.76, + -0.0 + ], + [ + -1878.418, + 3201.324, + 317.642, + 0.0, + 125.76, + -0.0 + ], + [ + -1878.418, + 3201.324, + 317.642, + 0.0, + 100.76, + -0.0 + ], + [ + -1901.915, + 3324.97, + 318.452, + 0.0, + 100.76, + -0.0 + ], + [ + -1925.412, + 3448.616, + 319.261, + 0.0, + 100.76, + -0.0 + ], + [ + -1948.91, + 3572.263, + 320.071, + 0.0, + 100.76, + -0.0 + ], + [ + -1948.91, + 3572.263, + 320.071, + 0.0, + 100.76, + -0.0 + ] + ], + "Rationale": [ + "From the driveway I can see the house facade ahead, with the white front door set back on the left side behind a low hedge. Nothing blocks the paved area in front of me, so I will move forward to close the large gap toward that entrance.", + "The white door and its sidelights are noticeably larger now, confirming my heading is carrying me toward the entrance. The paving ahead is still clear, so I will keep advancing to shorten the remaining distance.", + "The white front door now sits well to the left of my view center while my heading points more toward the garage side of the house. I will turn left to bring the door onto my centerline before advancing again.", + "After the turn, the white door with its two glass sidelights is centered ahead of me across the open paving. With the heading corrected, I will move forward to close the remaining distance to the porch.", + "The doorway now fills much of my view and the house number beside it is clearly legible, so I am close but not yet at the threshold. I will advance again to reach a standing position directly in front of the door.", + "The white door panel and its handle are close in front of me, though I am still slightly short of the threshold. One more forward step should place me right at the door within reach.", + "The white front door fills my view with its handle directly within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t0_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f077937e14bcf210c9be73b148fa72976805b3a4 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the white garage door.", + "Type": 0, + "Start_Pose": [ + -1731.316, + 2997.062, + 313.226, + 0.0, + 125.76, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1731.316, + 2997.062, + 313.226, + 0.0, + 125.76, + -0.0 + ], + [ + -1804.867, + 3099.193, + 315.503, + 0.0, + 125.76, + -0.0 + ], + [ + -1804.867, + 3099.193, + 315.503, + 0.0, + 150.76, + -0.0 + ], + [ + -1914.689, + 3160.671, + 318.571, + 0.0, + 150.76, + -0.0 + ], + [ + -2024.511, + 3222.149, + 321.638, + 0.0, + 150.76, + -0.0 + ], + [ + -2134.334, + 3283.628, + 324.706, + 0.0, + 150.76, + -0.0 + ], + [ + -2244.156, + 3345.106, + 327.773, + 0.0, + 150.76, + -0.0 + ], + [ + -2353.978, + 3406.584, + 330.841, + 0.0, + 150.76, + -0.0 + ], + [ + -2463.8, + 3468.062, + 333.908, + 0.0, + 150.76, + -0.0 + ], + [ + -2463.8, + 3468.062, + 333.908, + 0.0, + 150.76, + -0.0 + ] + ], + "Rationale": [ + "I can see a white garage door on the right side of the house, set back beyond the paved courtyard. The pavement ahead is clear, so I will step forward to begin closing the gap toward it.", + "The white garage door sits well off to my right while my heading still points at the house entrance and hedge. I will turn right to bring the garage door toward the center of my view before continuing forward.", + "Turning has brought the garage bays into view ahead of me, with a white door slightly left of center and another further right. The paving between me and them is open, so I will walk forward to close distance.", + "The nearer white garage door is growing larger and stays near the middle of my view, confirming my heading is good. I will keep moving forward across the open paving toward it.", + "The garage door and its surrounding siding now fill much of my view, so I am still some steps away. The paving directly ahead remains clear, so I will continue advancing.", + "The white door panel is close enough now that I can read its individual sections, but there is still open pavement in front of it. I will take another step forward to shorten the remaining distance.", + "The garage door now dominates my view and its bottom edge and surrounding trim are plainly visible just ahead. I will move forward once more to finish arriving at the door.", + "I am nearly at the white garage door, with only a short stretch of paving left before its threshold. One more step forward should place me directly in front of it.", + "The white garage door now fills the view directly ahead, its base only a step away. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t5_b_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8187b1f385e5504706d5b8951bfdef37b13ae816 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001731_y002997_z000313_t5_b_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the jerry can near the white garage door.", + "Type": 5, + "Start_Pose": [ + -1731.316, + 2997.062, + 313.226, + 0, + 125.76, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2490.201, + 3445.619, + 252.977, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1731.316, + 2997.062, + 313.226, + 0, + 125.76, + 0 + ], + [ + -1804.867, + 3099.193, + 315.503, + 0.0, + 125.76, + -0.0 + ], + [ + -1804.867, + 3099.193, + 315.503, + 0.0, + 150.76, + -0.0 + ], + [ + -1914.689, + 3160.671, + 318.571, + 0.0, + 150.76, + -0.0 + ], + [ + -2024.511, + 3222.149, + 321.638, + 0.0, + 150.76, + -0.0 + ], + [ + -2134.334, + 3283.628, + 324.706, + 0.0, + 150.76, + -0.0 + ], + [ + -2244.156, + 3345.106, + 327.773, + 0.0, + 150.76, + -0.0 + ], + [ + -2353.978, + 3406.584, + 330.841, + 0.0, + 150.76, + -0.0 + ], + [ + -2353.978, + 3406.584, + 330.841, + 0.0, + 150.76, + -0.0 + ], + [ + -2353.978, + 3406.584, + 330.841, + 0.0, + 150.76, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2490.201, + 3445.619, + 252.977, + 0.0, + 0.0, + 0.0 + ], + [ + -2490.201, + 3445.619, + 252.977, + 0.0, + 0.0, + 0.0 + ], + [ + -2490.201, + 3445.619, + 252.977, + 0.0, + 0.0, + 0.0 + ], + [ + -2490.201, + 3445.619, + 252.977, + 0.0, + 0.0, + 0.0 + ], + [ + -2490.201, + 3445.619, + 252.977, + 0.0, + 0.0, + 0.0 + ], + [ + -2490.201, + 3445.619, + 252.977, + 0.0, + 0.0, + 0.0 + ], + [ + -2490.201, + 3445.619, + 252.977, + 0.0, + 0.0, + 0.0 + ], + [ + -2490.201, + 3445.619, + 252.977, + 0.0, + 0.0, + 0.0 + ], + [ + -2363.876, + 3387.653, + 300.739, + -28.202, + -159.095, + 1.862 + ], + [ + -2363.876, + 3387.653, + 300.739, + -28.202, + -159.095, + 1.862 + ] + ], + "PD_Dist_2D": [ + 881.5, + 767.9, + 767.9, + 642.2, + 516.5, + 391.0, + 265.8, + 141.7, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the red jerry can sitting on the paving in front of the white garage door, far to my right across the courtyard. It is still a long way off, so I will walk forward to close some of that distance before adjusting my heading.", + "After advancing, the jerry can and its white garage door still sit well to the right of my heading, with the house facade filling the center of my view. I will turn right so the can lies ahead of me and I can approach it in a straight line.", + "The turn has put the jerry can near the middle of my view, directly in front of the white garage door. The pavement between us is clear, so I will walk forward to close the gap.", + "The jerry can is growing larger ahead of me and remains aligned with my path toward the white garage door. I will keep walking forward since I am still several strides short of grabbing range.", + "The can now stands out clearly against the white garage door, but it is still too distant to reach out and take. I will continue walking straight toward it.", + "The jerry can fills more of my view and its handle and cap are becoming visible, so I am getting close. I will step forward again to bring it within arm's reach.", + "The can sits just a step or two ahead of me on the paving before the white garage door, slightly right of center. One more forward step should place it close enough for me to reach down and take it.", + "The jerry can is now immediately in front of me at the base of the white garage door, close enough that it dominates the lower part of my view. I will reach out and attempt to pick it up.", + "The red jerry can is now held in my hands rather than resting near the garage door. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-001996_y-000072_z000363_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-001996_y-000072_z000363_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d7f53d898908e0d3f3cdb8729c21835c788d790c --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-001996_y-000072_z000363_t1_a/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Discover the green trash bin sitting in this yard near the driveway, then approach it.", + "Type": 1, + "Start_Pose": [ + -1996.124, + -72.322, + 363.255, + 0.0, + 121.726, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1996.124, + -72.322, + 363.255, + 0.0, + 121.726, + -0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + 146.726, + -0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + 171.726, + -0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + -163.274, + 0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + -138.274, + 0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + -113.274, + 0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + -88.274, + 0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + -63.274, + 0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + -38.274, + 0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + -13.274, + 0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + 11.726, + -0.0 + ], + [ + -1996.124, + -72.322, + 363.255, + 0.0, + 36.726, + -0.0 + ], + [ + -1895.247, + 2.94, + 364.56, + 0.0, + 36.726, + -0.0 + ], + [ + -1794.371, + 78.203, + 365.865, + 0.0, + 36.726, + -0.0 + ], + [ + -1693.494, + 153.465, + 367.17, + 0.0, + 36.726, + -0.0 + ], + [ + -1592.618, + 228.727, + 368.131, + 0.0, + 36.726, + -0.0 + ], + [ + -1491.741, + 303.989, + 361.282, + 0.0, + 36.726, + -0.0 + ], + [ + -1390.865, + 379.252, + 354.09, + 0.0, + 36.726, + -0.0 + ], + [ + -1390.865, + 379.252, + 354.09, + 0.0, + 61.726, + -0.0 + ], + [ + -1331.247, + 490.095, + 346.568, + 0.0, + 61.726, + -0.0 + ], + [ + -1331.247, + 490.095, + 346.568, + 0.0, + 86.726, + -0.0 + ], + [ + -1318.187, + 613.071, + 353.784, + 0.0, + 86.726, + -0.0 + ], + [ + -1318.187, + 613.071, + 353.784, + 0.0, + 111.726, + -0.0 + ], + [ + -1318.187, + 613.071, + 353.784, + 0.0, + 111.726, + -0.0 + ] + ], + "Rationale": [ + "I am standing on the paved driveway facing the house front with its double doors and two garage bays, and no green trash bin is visible anywhere in this view. Since the bin should sit somewhere in the yard along the driveway, I will begin a steady rightward scan to open up the parts of the property hidden behind my current heading.", + "Rotating right has brought the side of the house and the curving brick border of the driveway into view, with a hedge line and open sky beyond it, but still no green bin. I will keep turning in the same direction to follow the driveway edge toward the yard areas that remain hidden.", + "Now I can see the brick-edged driveway sweeping right past the corner of the house toward a row of conifers and a hedge, and there is no green container along that stretch. Continuing the same consistent rightward scan should reveal the yard and street frontage next.", + "My view is now dominated by the tree line, front lawn and the street beyond the property, with nothing resembling a green bin on the grass. I will hold the same rightward rotation so the scan keeps sweeping around the driveway rather than stalling on this open lawn.", + "The scan is looking straight across the lawn at the road and the neighbouring house, which is well outside the yard I need to search. I will continue turning right to bring the remaining driveway area back into view.", + "This heading still shows the street frontage and tall conifers, and the paved driveway is only appearing again at the lower right of my view. Keeping the same rotation direction should carry my gaze back onto the driveway where a bin near the pavement would be easiest to spot.", + "More of the paved driveway is now visible at the right while the trees and street occupy the left, and there is still no green bin in sight. I will turn right once more to sweep along the driveway toward the far end of the property.", + "The wide paved driveway now stretches ahead and I can just make out a parked car and more built structures at the right edge, which suggests the driveway continues into an area I have not examined. I will keep rotating right to bring that far section of the driveway fully into view, where a trash bin would plausibly be standing.", + "My steady rightward sweep still shows only the row of conifers, the street beyond the hedge, and the edge of a parked car intruding at the right of my view, with no green bin anywhere in sight. Since the car marks the driveway side of the yard, I will keep turning right in the same direction to bring that area fully into view.", + "The parked car now sits squarely in the driveway ahead of me, and behind it to the right I can just make out a low brick wall and a neighbouring roofline, but no trash bin yet. Continuing the same rightward rotation should expose the paved area beyond the car where bins are typically kept.", + "A detached garage with a white door and a low brick enclosure has come into view on the right side of the paved driveway, which is a strong candidate spot for a trash bin, though I cannot confirm a green one yet. I will hold the same turn direction to bring that garage frontage and the space beside it into the center of my view.", + "The garage and its brick-walled forecourt are now centered ahead across open pavement, and small objects sit against the wall near the garage that may include bins. Rather than keep scanning, I will walk forward over the clear paving toward that likely storage corner to resolve what is there.", + "Coming closer, a teal and blue patch is now visible just above the brick wall beside the garage door, which likely is the lid of a bin. The path across the pavement is still clear, so I will keep walking forward to confirm the colour and reduce the distance.", + "The object beside the garage door is resolving into a green container tucked behind the brick pillar, matching the bin I am looking for. I will continue advancing across the driveway toward it since nothing blocks the pavement between us.", + "The green bin is now clearly visible against the garage wall on the right, though the brick pillar and shrubs still cut across part of it. Another step forward should close the remaining gap and give me a cleaner line to it.", + "The green bin sits ahead and to my right beside the garage, with dark bags stacked next to it, and it is still some distance off past the low brick wall. I will keep walking forward along the open driveway to get properly close to it.", + "The green trash bin is now clearly visible at the right side of the driveway, standing beside the garage next to the blue bin and the dark bags. I still have several paces of open pavement between me and it, so I will keep walking forward to close that gap.", + "Advancing straight ahead has swung the garage and hedge across my view, and the green bin has slipped past the right edge of what I can see. Turning right should bring the bin back in front of me so I can head straight at it.", + "The turn worked, and the green bin with its blue neighbor is again in sight to the right of the garage door, with rubbish bags in front of them. The paved apron between us is clear, so I will step forward to shorten the distance.", + "I am closer now, but the green bin has drifted to the far right of my view while the garage front fills the center. A small right turn should put the bin more squarely ahead before I take another step.", + "The green bin now sits plainly ahead and slightly right, tucked against the brick wall beside the blue bin. Nothing blocks the pavement between us, so I will walk forward again to get within close range of it.", + "I am right beside the bins now, with the green one large and close on my right against the brick wall. A final right turn should face me squarely at it rather than at the garage door.", + "The green trash bin stands directly before me, filling my view at arm's reach beside the brick wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t3_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f7503098e0db737aec1193e73892352b735801f4 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t3_a/infos.json @@ -0,0 +1,216 @@ +{ + "Instruction": "Walk to the white front door, then head toward the garage door.", + "Type": 3, + "Start_Pose": [ + -2045.745, + 2993.728, + 321.976, + 0.0, + 113.28, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2045.745, + 2993.728, + 321.976, + 0.0, + 113.28, + -0.0 + ], + [ + -2095.488, + 3109.34, + 323.462, + 0.0, + 113.28, + -0.0 + ], + [ + -2095.488, + 3109.34, + 323.462, + 0.0, + 88.28, + -0.0 + ], + [ + -2091.71, + 3235.142, + 323.534, + 0.0, + 88.28, + -0.0 + ], + [ + -2087.932, + 3360.945, + 325.362, + 0.0, + 88.28, + -0.0 + ], + [ + -2084.155, + 3486.747, + 325.1, + 0.0, + 88.28, + -0.0 + ], + [ + -2080.377, + 3612.549, + 343.062, + 0.0, + 88.28, + -0.0 + ], + [ + -2080.377, + 3612.549, + 343.062, + 0.0, + 63.28, + -0.0 + ], + [ + -2080.377, + 3612.549, + 343.062, + 0.0, + 63.28, + -0.0 + ], + [ + -2121.923, + 3530.016, + 324.843, + 0.0, + 63.28, + -0.0 + ], + [ + -2121.923, + 3530.016, + 324.843, + 0.0, + 88.28, + -0.0 + ], + [ + -2121.923, + 3530.016, + 324.843, + 0.0, + 113.28, + -0.0 + ], + [ + -2121.923, + 3530.016, + 324.843, + 0.0, + 138.28, + -0.0 + ], + [ + -2121.923, + 3530.016, + 324.843, + 0.0, + 163.28, + -0.0 + ], + [ + -2242.461, + 3566.225, + 328.167, + 0.0, + 163.28, + -0.0 + ], + [ + -2362.999, + 3602.434, + 331.735, + 0.0, + 163.28, + -0.0 + ], + [ + -2362.999, + 3602.434, + 331.735, + 0.0, + -171.72, + 0.0 + ], + [ + -2487.546, + 3584.309, + 335.092, + 0.0, + -171.72, + 0.0 + ], + [ + -2612.093, + 3566.184, + 338.449, + 0.0, + -171.72, + 0.0 + ], + [ + -2612.093, + 3566.184, + 338.449, + 0.0, + -171.72, + 0.0 + ] + ], + "Rationale": [ + "From the open paving I can see both of my destinations on this house: the white panelled entry door on the left behind a dark hedge, and the wide garage door off to the right. The white door comes first, and it is still well across the yard. I will walk forward to cut down that distance.", + "After closing some ground, the white entry door sits well off to my left while my heading points more at the hedge and the middle of the wall. A left turn should put the door near the centre of my path. I will turn left to line up on it.", + "The white door with its two narrow side windows now sits squarely ahead of me across the pavement. Nothing blocks the straight run to the low step in front of it. I will walk forward to keep closing on it.", + "The door and its sidelights are larger now, but I am still out on the paving with the raised threshold ahead. My heading remains good, with the door slightly left of centre. Another step forward should bring me nearer the entry.", + "The white door now fills a good part of what is ahead, its handle and house number clearly readable, yet I am still short of standing at it. The hedge runs to the right of the door, leaving my approach lane open. I will step forward again.", + "I am almost at the entry, with the white door panel and its lever handle just to my left and the hedge pressing in from the right. A short further advance should put me right at the doorway rather than beside it. I will move forward.", + "Dense dark foliage now crowds directly in front of me, with only a pale strip of the door and its white trim showing past it toward the left. I am up against the porch, so swinging left should put the door itself in front of me instead of the hedge. I will turn left.", + "The white panelled door stands right in front of me with its lever handle and deadbolt within arm's reach. I have arrived at the white front door. I mark reaching it, and now I turn my attention to the wide garage door further along the house.", + "I am right up at the white front door, close enough that the panels and the crowding shrubs fill everything I can see. With no clearance to swing my heading around, I will step back to regain some distance from the porch so the driveway side of the house should come back into view.", + "Backing off has restored some space, and the white door with its sidelight now sits to my left while the hedge runs away to my right. The garage lies beyond that hedge line, so I will turn right to start swinging my heading in that direction.", + "My heading has come off the door, but the view is still mostly white door panels and dark foliage, with no sign of the driveway yet. I will keep turning right to carry my facing further along the house wall.", + "The siding and small windows of the house wall are now sliding into view above the hedge, and a strip of pavement shows at the lower right. The garage still is not in front of me, so I will turn right again.", + "The pale garage door has just appeared at the right edge of my view, past the end of the hedge and the projecting roof. One more turn right should bring it nearer the centre of my heading before I walk toward it.", + "The garage door now sits ahead of me across the open pavement, with the hedge safely off to my left. My heading is good enough to close distance, so I will walk forward along the driveway toward it.", + "The garage door has grown larger and its frame is clearly visible, but I am still several paces short of standing at it. The pavement in front of me stays clear, so I will keep walking forward.", + "Coming down the driveway has pushed the garage door over to the right side of my view, with the hedge and house wall crowding the left. I will turn right to face the door squarely before closing the last of the gap.", + "The wide sectional garage door now sits centered in my view with its frame square to me, and the paved apron in front of it is clear. I will walk straight ahead to close the remaining gap to it.", + "The garage door panels now fill almost the whole view, though the surrounding trim and a strip of paving still show that I am a step or two short of it. Another stride forward should bring me right up to the door.", + "The garage door's flat panels and seam fill my entire view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t5_a_pd/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b89204e4de7aa1bf56b11af54dfbb06f4cfc7c11 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Pick up the tomato at the white front door, then set it down near the garage door.", + "Type": 5, + "Start_Pose": [ + -2045.745, + 2993.728, + 321.976, + 0, + 113.28, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2074.32, + 3492.341, + 295.734, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2045.745, + 2993.728, + 321.976, + 0, + 113.28, + 0 + ], + [ + -2095.488, + 3109.34, + 323.462, + 0.0, + 113.28, + -0.0 + ], + [ + -2145.23, + 3224.952, + 324.973, + 0.0, + 113.28, + -0.0 + ], + [ + -2145.23, + 3224.952, + 324.973, + 0.0, + 88.28, + -0.0 + ], + [ + -2141.453, + 3350.755, + 325.045, + 0.0, + 88.28, + -0.0 + ], + [ + -2141.453, + 3350.755, + 325.045, + 0.0, + 88.28, + -0.0 + ], + [ + -2141.453, + 3350.755, + 325.045, + 0.0, + 113.28, + -0.0 + ], + [ + -2141.453, + 3350.755, + 325.045, + 0.0, + 138.28, + -0.0 + ], + [ + -2141.453, + 3350.755, + 325.045, + 0.0, + 163.28, + -0.0 + ], + [ + -2261.991, + 3386.963, + 328.368, + 0.0, + 163.28, + -0.0 + ], + [ + -2382.529, + 3423.171, + 331.692, + 0.0, + 163.28, + -0.0 + ], + [ + -2503.067, + 3459.379, + 335.015, + 0.0, + 163.28, + -0.0 + ], + [ + -2623.606, + 3495.587, + 338.339, + 0.0, + 163.28, + -0.0 + ], + [ + -2554.649, + 3474.873, + 336.437, + 0.0, + 163.28, + -0.0 + ], + [ + -2554.649, + 3474.873, + 336.437, + 0.0, + 163.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2074.32, + 3492.341, + 295.734, + 0.0, + 0.0, + 0.0 + ], + [ + -2074.32, + 3492.341, + 295.734, + 0.0, + 0.0, + 0.0 + ], + [ + -2074.32, + 3492.341, + 295.734, + 0.0, + 0.0, + 0.0 + ], + [ + -2074.32, + 3492.341, + 295.734, + 0.0, + 0.0, + 0.0 + ], + [ + -2074.32, + 3492.341, + 295.734, + 0.0, + 0.0, + 0.0 + ], + [ + -2162.815, + 3350.785, + 294.919, + -28.202, + 138.425, + 1.862 + ], + [ + -2161.704, + 3341.369, + 295.192, + -28.189, + 163.437, + 1.872 + ], + [ + -2156.556, + 3334.045, + 294.525, + -28.215, + -171.592, + 1.849 + ], + [ + -2154.325, + 3326.907, + 294.682, + -14.092, + -154.376, + 6.87 + ], + [ + -2267.436, + 3366.301, + 298.511, + -28.198, + -146.574, + 1.865 + ], + [ + -2388.259, + 3402.591, + 301.297, + -28.191, + -146.561, + 1.871 + ], + [ + -2508.915, + 3438.845, + 304.339, + -28.214, + -146.589, + 1.852 + ], + [ + -2629.369, + 3475.02, + 307.873, + -28.203, + -146.579, + 1.856 + ], + [ + -2621.689, + 3495.012, + 351.437, + 0.0, + 163.28, + -0.0 + ], + [ + -2621.689, + 3495.012, + 351.437, + 0.0, + 163.28, + -0.0 + ] + ], + "PD_Dist_2D": [ + 499.4, + 383.6, + 276.6, + 276.6, + 156.7, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tomato sits on the paving in front of the white front door, still well ahead of me across the open patio. Nothing blocks the stone surface between us, so I will walk straight forward to close that gap before attempting any grasp.", + "The tomato has grown noticeably larger and now sits low in my view, so my previous step did shorten the distance. It is still too far for a reliable grasp, so I will keep walking forward along the same clear line.", + "I am now close to the front door area, but the tomato has slid off to the lower left corner of my view rather than staying centered ahead. Walking forward from this heading would carry me past it, so I will turn left to bring it back in front of me.", + "The tomato is centered again on the paving just below the front door step, directly along my heading. It remains slightly out of reach, so I will step forward once more to bring it within grasping range.", + "The tomato now fills the bottom of my view right at my feet by the front door, as close as I can get without stepping over it. This is the moment to attempt the grasp, so I will try to pick it up.", + "The grasp worked and the tomato is held in my hands rather than resting on the paving. The garage doors lie off to my right along the facade while I currently face the front door and hedge, so I will turn right to begin heading that way.", + "The garage bay has come into the right part of my view, but I am still angled along the hedge and siding rather than toward the driveway. I will turn right again to bring the garage door closer to the center of my heading.", + "The garage door is now ahead and slightly right, with open paving leading up to it. One more turn right should square my heading onto that door so I can carry the tomato straight to it.", + "The tomato is in my hands and my heading now faces the garage doors across the paved court. Nothing blocks the open pavement between me and them, so I will walk forward to close that distance for the drop.", + "The nearer garage door now fills much of my view, so my heading is carrying the carried tomato straight toward it. I am still several paces short of a natural set-down spot, so I will keep walking forward.", + "The garage door panel and its frame dominate the view, and the paving strip at its base is still ahead of me. Another step forward should bring me close enough that releasing the tomato leaves it right at the garage door.", + "The door's lower panel and its threshold strip are directly in front of me, so I am nearly at the set-down point while still carrying the tomato. One more step should put me flush against the garage door before I release it.", + "I am pressed right up against the garage door panel, which now fills my whole view, so I am as near the target location as I can get. The tomato is still in my hands, so I will release it here to leave it beside the garage door.", + "The tomato now rests on the pavement against the garage door, and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t5_b_pd/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a23a5bdddf8f41f21259127439cb0020557603fc --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002046_y002994_z000322_t5_b_pd/infos.json @@ -0,0 +1,430 @@ +{ + "Instruction": "Grab the ceramic pot beside the garage door, then place it near the white front door.", + "Type": 5, + "Start_Pose": [ + -2045.745, + 2993.728, + 321.976, + 0, + 113.28, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2601.945, + 3319.638, + 253.041, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2045.745, + 2993.728, + 321.976, + 0, + 113.28, + 0 + ], + [ + -2045.745, + 2993.728, + 321.951, + 0.0, + 138.28, + -0.0 + ], + [ + -2139.687, + 3077.486, + 324.618, + 0.0, + 138.28, + -0.0 + ], + [ + -2139.687, + 3077.486, + 324.618, + 0.0, + 163.28, + -0.0 + ], + [ + -2260.225, + 3113.695, + 327.942, + 0.0, + 163.28, + -0.0 + ], + [ + -2380.763, + 3149.904, + 331.265, + 0.0, + 163.28, + -0.0 + ], + [ + -2501.301, + 3186.113, + 334.589, + 0.0, + 163.28, + -0.0 + ], + [ + -2501.301, + 3186.113, + 334.589, + 0.0, + 138.28, + -0.0 + ], + [ + -2501.301, + 3186.113, + 334.589, + 0.0, + 138.28, + -0.0 + ], + [ + -2501.301, + 3186.113, + 334.589, + 0.0, + 113.28, + -0.0 + ], + [ + -2501.301, + 3186.113, + 334.589, + 0.0, + 88.28, + -0.0 + ], + [ + -2501.301, + 3186.113, + 334.589, + 0.0, + 63.28, + -0.0 + ], + [ + -2501.301, + 3186.113, + 334.589, + 0.0, + 38.28, + -0.0 + ], + [ + -2402.503, + 3264.084, + 332.014, + 0.0, + 38.28, + -0.0 + ], + [ + -2303.705, + 3342.054, + 329.439, + 0.0, + 38.28, + -0.0 + ], + [ + -2204.906, + 3420.025, + 326.864, + 0.0, + 38.28, + -0.0 + ], + [ + -2106.108, + 3497.996, + 325.975, + 0.0, + 38.28, + -0.0 + ], + [ + -2106.108, + 3497.996, + 325.975, + 0.0, + 63.28, + -0.0 + ], + [ + -2049.519, + 3610.415, + 343.118, + 0.0, + 63.28, + -0.0 + ], + [ + -2081.892, + 3546.103, + 323.778, + 0.0, + 63.28, + -0.0 + ], + [ + -2081.892, + 3546.103, + 323.778, + 0.0, + 63.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2601.945, + 3319.638, + 253.041, + 0.0, + 0.0, + 0.0 + ], + [ + -2601.945, + 3319.638, + 253.041, + 0.0, + 0.0, + 0.0 + ], + [ + -2601.945, + 3319.638, + 253.041, + 0.0, + 0.0, + 0.0 + ], + [ + -2601.945, + 3319.638, + 253.041, + 0.0, + 0.0, + 0.0 + ], + [ + -2601.945, + 3319.638, + 253.041, + 0.0, + 0.0, + 0.0 + ], + [ + -2601.945, + 3319.638, + 253.041, + 0.0, + 0.0, + 0.0 + ], + [ + -2601.945, + 3319.638, + 253.041, + 0.0, + 0.0, + 0.0 + ], + [ + -2601.945, + 3319.638, + 253.041, + 0.0, + 0.0, + 0.0 + ], + [ + -2514.636, + 3170.51, + 304.506, + -28.202, + -171.575, + 1.862 + ], + [ + -2519.294, + 3178.317, + 304.778, + -28.189, + 163.437, + 1.872 + ], + [ + -2528.097, + 3192.347, + 304.115, + -14.175, + 130.473, + 6.959 + ], + [ + -2520.226, + 3195.198, + 304.061, + -28.208, + 113.423, + 1.851 + ], + [ + -2513.871, + 3201.514, + 304.729, + -28.198, + 88.426, + 1.867 + ], + [ + -2416.135, + 3280.531, + 301.849, + -28.198, + 88.426, + 1.862 + ], + [ + -2317.176, + 3358.625, + 298.887, + -28.202, + 88.422, + 1.86 + ], + [ + -2218.411, + 3436.573, + 296.427, + -28.201, + 88.425, + 1.857 + ], + [ + -2119.805, + 3514.386, + 294.77, + -28.206, + 88.419, + 1.858 + ], + [ + -2126.144, + 3507.582, + 294.887, + -28.199, + 113.425, + 1.863 + ], + [ + -2068.76, + 3619.679, + 292.304, + -28.207, + 113.421, + 1.857 + ], + [ + -2050.418, + 3608.628, + 303.778, + 0.0, + 63.28, + -0.0 + ], + [ + -2050.418, + 3608.628, + 303.778, + 0.0, + 63.28, + -0.0 + ] + ], + "PD_Dist_2D": [ + 644.7, + 644.7, + 521.8, + 521.8, + 399.0, + 278.8, + 167.2, + 167.2, + 20.5, + 19.6, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 21.4, + 21.4, + 22.2, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "From this spot the white front door dominates the left of my view, while the ceramic pot sits far to the right against the garage wall. Since the pot is the object I must collect first, I will turn right to bring the garage side of the driveway in front of me.", + "The garage doors and the ceramic pot resting on the pavement in front of them are now centered ahead of me. The pot is still a long way off across open paving, so I will walk forward to close that gap.", + "The pot has grown larger but still sits right of my heading, near the base of the wall between the garage bays. I will turn right to place it closer to the center of my path before continuing.", + "With the garage bays squarely ahead, the ceramic pot now sits near my forward line on the open pavement. Nothing blocks the route, so I will step forward to shorten the remaining distance.", + "The pot is noticeably bigger and slightly left of center, meaning I am closing in but still too far to reach it. I will continue walking forward toward the garage wall.", + "The pot now stands clearly to my lower left with only a short stretch of paving before the garage wall. One more step forward should bring me within grabbing range rather than leaving me short.", + "I am now right up against the siding and the pot has slipped to the very edge of my view on the left, barely visible. I will turn left to face it directly so it sits within reach in front of me.", + "The ceramic pot is now squarely in front of me at the foot of the garage door, close enough that it fills the lower part of my view. My hands are empty, so I will attempt to grab it and take custody of it for the carry.", + "The pot is now in my hands, so the grasp beside the garage door succeeded. Facing the garage wall gives me no route to the white front door, so I will turn left to begin swinging my heading back across the paved court toward the house entrance.", + "I am still carrying the pot, and my view shows the garage bay with the hedge line running away to the left. The white door is not yet in sight, so I will keep rotating left to bring the front entrance side of the house into view.", + "Rotating has brought the hedge and a pale door edge into the left part of my view, but the entrance is still well off my heading. I will turn left again to center the white front door before walking toward it with the pot.", + "The white front door and its step are now visible ahead and slightly left, with open paving between me and it. One more left turn should square my heading to that approach lane so I can carry the pot straight in.", + "My heading now runs along the open paving with the white door and its raised step on my right side. Carrying the pot, I will step forward to close the long gap toward the entrance.", + "The step forward worked and the doorway is noticeably larger, though still some distance off along the paving. I will keep walking forward with the pot to shorten the remaining approach.", + "The white door and the low porch edge are now clearly framed to my right, but I am not yet alongside the entrance. Another forward step should bring me level with the doorway before I place the pot.", + "I am nearly abreast of the white front door, with the step and door frame filling the right of my view. I will advance once more so the pot can be set down close beside the entrance.", + "I am standing at the porch edge with the ceramic pot still in my hands, but the white front door and its narrow sidelight sit off to my right rather than ahead of me. I will turn right to square up with the door so the pot can be set down close beside it.", + "The white front door is now centered ahead of me with the shrubs banked to its right, and I still hold the pot. I am a little short of the doorway, so I will step forward to close that last gap and stand where the pot can be released right next to the door.", + "I am right up against the white front door, with its handle and panels filling my view and the shrubs pressing in beside it, and the pot is still in my hands. This is as near to the door as the task requires, so I will drop the pot here and it should come to rest beside the doorway.", + "The ceramic pot now sits on the ground right beside the white front door, out of my hands. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002607_y001088_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002607_y001088_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..24a64c73854f86b8b77eb6dfaef52762d0ec7eea --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002607_y001088_z000348_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Locate the skateboard leaning against the wall in this room, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -2607.442, + 1087.858, + 348.25, + 0.0, + -138.274, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + -138.274, + 0.0 + ], + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + -163.274, + 0.0 + ], + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + 171.726, + -0.0 + ], + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + 146.726, + -0.0 + ], + [ + -2607.442, + 1087.858, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2673.626, + 1194.91, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2739.81, + 1301.962, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2805.994, + 1409.015, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2805.994, + 1409.015, + 348.25, + 0.0, + 96.726, + -0.0 + ], + [ + -2820.734, + 1534.007, + 348.25, + 0.0, + 96.726, + -0.0 + ], + [ + -2834.087, + 1655.584, + 348.25, + 0.0, + 96.726, + -0.0 + ], + [ + -2834.087, + 1655.584, + 348.25, + 0.0, + 96.726, + -0.0 + ] + ], + "Rationale": [ + "My view is almost entirely filled by a blank interior wall with a framed picture, so I have no sight of any skateboard from here. The open floor and doorway continue off to my left, so I will turn left to swing my view into the room and begin a consistent scan.", + "The turn has opened up a larger room with a light door, a window and wall art, but nothing resembling a skateboard leaning anywhere along the visible walls. I will keep rotating left in the same direction to bring the still hidden part of the room into view.", + "Now I can see a pool table and a ceiling fan in what looks like a games room, which is a plausible place for a skateboard, but no board is yet visible against these walls. I will continue the same leftward scan to expose the wall behind and beyond the pool table.", + "At the far left edge of my view I can now make out a narrow upright board propped against the green wall beside a small side table, which matches the skateboard I am looking for. I will turn left once more to bring that target closer to the center of my view before advancing.", + "The skateboard is now clearly visible standing against the wall by the side table, left of the pool table and near the staircase. The floor between me and it is open, so I will step forward to close the distance.", + "The skateboard and the little table beside it have grown larger in my view, confirming I am closing on the target. The path ahead is still clear of furniture, so I will keep walking forward.", + "The skateboard is plainly upright against the wall on my left while the pool table edge occupies the right of my view, and there is still open floor directly ahead. I will advance again to keep shortening the gap to the board.", + "As I have moved in, the skateboard has drifted well over to the left side of my view while the pool table now dominates the right. I will turn left to face the board directly so my remaining steps carry me straight to it.", + "The skateboard is now clearly visible standing upright against the green wall just left of center, with the low table beside it. The floor between me and that wall is open, so I will step forward to close the remaining distance toward the board.", + "The skateboard against the wall is larger and roughly centered in front of me now, with the cluttered low table just to its right. I am still a couple of paces short of it, so another step forward should bring me right up to the board.", + "The skateboard leaning against the wall is directly in front of me at arm's length, filling the lower view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..623582c10987599183cffef6e9611917cdcc1855 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_a/infos.json @@ -0,0 +1,416 @@ +{ + "Instruction": "Locate the fireplace built into the brick wall and approach it.", + "Type": 1, + "Start_Pose": [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -78.274, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveBackward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -103.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -153.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -178.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + 156.726, + -0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + 131.726, + -0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + 81.726, + -0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + 56.726, + -0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2643.273, + 1332.121, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2536.221, + 1398.305, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2429.406, + 1455.882, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2429.406, + 1455.882, + 348.25, + 0.0, + 6.726, + -0.0 + ], + [ + -2310.169, + 1466.381, + 348.25, + 0.0, + 6.726, + -0.0 + ], + [ + -2288.565, + 1445.924, + 348.25, + 0.0, + 6.726, + -0.0 + ], + [ + -2288.565, + 1445.924, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2288.542, + 1445.908, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2367.135, + 1397.318, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2445.728, + 1348.729, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2524.32, + 1300.14, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2524.32, + 1300.14, + 348.25, + 0.0, + 6.726, + -0.0 + ], + [ + -2524.32, + 1300.14, + 348.25, + 0.0, + -18.274, + 0.0 + ], + [ + -2404.809, + 1260.675, + 348.25, + 0.0, + -18.274, + 0.0 + ], + [ + -2285.297, + 1221.211, + 348.25, + 0.0, + -18.274, + 0.0 + ], + [ + -2182.409, + 1174.527, + 348.25, + 0.0, + -18.274, + 0.0 + ], + [ + -2182.409, + 1174.527, + 348.25, + 0.0, + 6.726, + -0.0 + ], + [ + -2114.344, + 1150.652, + 348.25, + 0.0, + 6.726, + -0.0 + ], + [ + -2114.344, + 1150.652, + 348.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2114.344, + 1150.652, + 348.25, + 0.0, + 56.726, + -0.0 + ], + [ + -2023.681, + 1200.518, + 348.25, + 0.0, + 56.726, + -0.0 + ], + [ + -2023.681, + 1200.518, + 348.25, + 0.0, + 81.726, + -0.0 + ], + [ + -1989.707, + 1300.971, + 348.25, + 0.0, + 81.726, + -0.0 + ], + [ + -1971.595, + 1425.52, + 348.25, + 0.0, + 81.726, + -0.0 + ], + [ + -1971.595, + 1425.52, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -2007.816, + 1546.055, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -2042.023, + 1651.561, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -2042.023, + 1651.561, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -2042.023, + 1651.561, + 348.25, + 0.0, + 106.726, + -0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a plain olive wall with a single hanging painting, a corner column, and a dark window on the right, with no brick masonry or hearth anywhere in sight. Since nothing here resembles the fireplace I need to reach, I will begin turning left to sweep the room in one consistent direction.", + "The rotation has only brought more of the same painted wall and its landscape artwork closer to center, and there is still no brick surround or firebox. I will keep turning left to continue the sweep and bring the unseen part of the room into sight.", + "Now a white interior door and a longer stretch of the same olive wall have come into sight, which suggests this side of the level is circulation space rather than a hearth area. No brick chimney breast is visible yet, so I will keep rotating left in the same direction to expand the sweep.", + "The room has opened up ahead with two doors, a small window, and more hanging pictures, but every wall I can see is painted, with no exposed brick. I will continue the leftward turn to reveal the remaining corner of this space.", + "A pool table and a ceiling fan have appeared on the left, so this looks like a recreation area rather than the room holding the built-in fireplace. Nothing brick is in sight, so I will keep turning left to carry the sweep past this table toward the parts of the floor I have not seen.", + "This side of the room only shows the pool table, a plain door, and windows on the green wall, with no brick masonry or hearth anywhere in view. I will keep rotating left in the same consistent direction to sweep the remaining unseen part of this large room for the brick fireplace.", + "The newly revealed corner holds a skateboard, a small side table, and more windows, so this recreation area still shows no brick wall or hearth. Continuing the same leftward rotation should expose the next wall segment rather than re-checking what I have already scanned.", + "A staircase and railing have come into view on the left, which suggests an adjoining living area beyond this game room where a built-in fireplace would plausibly sit. I will turn further left to see past the stair structure instead of stopping on this still fireplace-free wall.", + "The stairs now fill the center of my view and block sight of whatever lies beyond their far side, so the target remains hidden. Another left turn should open up the space to the left of the staircase, which is the most likely place for the brick fireplace.", + "Past the left edge of the staircase I can now make out a lounge area with sofas and a brick pier holding a light hearth surround, which matches the fireplace built into the brick wall. I will turn left once more to bring that brick fireplace and the open floor toward it into the center of my view before moving.", + "My scan of this floor has brought a brick chimney breast into view across the living area, just left of the staircase, with what looks like a light fireplace surround set into it. That matches the target described in the task, so I stop scanning and commit to it instead of finishing a full rotation. I will walk forward across the open floor to close the distance and confirm the fireplace detail.", + "The brick pier ahead is larger now and I can make out a white mantel and a dark firebox opening set into it, which confirms the built-in fireplace. The lane between the armchairs and the staircase railing still looks clear. I will keep walking forward along it to shorten the remaining distance.", + "The fireplace and its brick surround are clearly ahead of me beyond the two armchairs, with a small red object on the mantel shelf. I am still several strides away, so continuing straight is the most direct way to reduce that gap. I will step forward again while watching for the seating that crowds the middle of the room.", + "A sofa back now fills the near part of my view and the armchairs sit between me and the hearth, so pressing straight on would run me into the furniture. Turning left swings my heading toward the open floor in front of the shelving wall, which looks like a passable lane around the seating. The fireplace should shift to my right side, and I can keep tracking it while I move.", + "From this heading the floor in front of the bookshelf wall is clear and the brick fireplace sits off to my right, no longer blocked by the couch in front of me. Walking forward here should take me past the seating and deeper into the room on the fireplace side. I will advance along this open lane.", + "The brick chimney breast with its pale mantel and hearth is clearly in view along the right wall, so the target is identified and I only need to close distance. I will keep walking forward across the open floor between the shelving wall and the seating to shorten the gap before turning toward it.", + "My last forward step gained very little ground, so pushing straight ahead toward the shelf wall is not the productive direction anyway. The fireplace sits off to my right, so I will turn right to put the brick chimney and hearth in front of me before continuing the approach.", + "The turn worked, and the fireplace with its brick surround and glowing grate now sits ahead slightly right of center. I will step forward to close on it, though the sofa filling the lower right of my view may crowd the line I am taking.", + "My forward step produced essentially no movement, so the sofa pressing into the right foreground is blocking my path to the hearth. I will back up to open clearance so I can pick a route around the seating instead of pushing into it.", + "Backing up has pulled me away from the sofa that stalled my forward step, and the fireplace is still visible ahead past the seating. I will step back once more to gain enough room to reorient and take a clearer line toward the brick wall.", + "My earlier attempt to push straight ahead toward the brick fireplace gained almost no ground because the armchair and sofa cluster sit directly in that lane. The fireplace is still visible across the room, so I will back up one more step to open enough clearance around me to reorient without scraping the furniture. This should give me room to look for a path that skirts the seating instead of pressing into it.", + "I now have open floor behind and beside me, with the staircase filling the right side and the sofa and armchair still blocking the direct line to the fireplace. Turning left swings my heading away from that blocked furniture lane and toward the more open part of the room, so I can look for a walkable route around the seating.", + "From this heading I can see the long sofa across the middle of the room and, further left, the window wall with clear floor in front of it. I will turn left once more to face that open strip, since it looks like a passable lane that avoids the furniture that stopped my earlier forward push.", + "I am now facing the open lane along the window wall, with the glass door on the left and the sofa backs safely to my right. Walking forward here should carry me along that clear strip and around the seating cluster rather than into it.", + "The lane beside the windows is still clear and my last step moved me smoothly along it, with the sofa staying to my right. I will keep walking forward to reach the far corner of the room, from where I should be able to swing back toward the brick fireplace on an unobstructed line.", + "The fireplace is out of sight behind me on the far side of the room, and my earlier straight push toward it stalled against the seating group with almost no ground gained. I am now walking through the clear stretch of floor along the window wall, past the low table and the tall shelving, so I can come at the brick chimney from open ground instead of over the couches. One more step forward should put me level with the end of the shelf unit where I can swing back toward it.", + "I have reached the window wall and the low table, so continuing straight would only take me into the corner. Turning right faces me back into the room along the shelving wall, which is the side the brick chimney sits on. This should set a heading that carries me across open floor rather than back into the sofas that blocked me before.", + "With the shelving and the television wall now ahead of me, the floor between the low table and the shelves is completely clear. I will step forward to close on that wall and bring myself alongside it, since the brick chimney stands past its far end. This keeps me in open floor and away from the seating that stopped my earlier push.", + "Straight ahead is only shelving and the television, so the fireplace must be further round to my right, past the end of this wall. I will turn right to sweep my view along the shelf run toward that corner. This should start bringing the brick masonry back into sight.", + "The edge of brick masonry has just appeared at the right side of my view beyond the end of the shelving, which is the chimney I need. A second turn to the right should center that brickwork and the fireplace opening ahead of me. Then I can walk straight at it across the open floor.", + "The brick chimney breast with its recessed hearth and mantel now stands clearly ahead and a little to my right, past the shelving wall. The floor between me and it looks open, so I will walk forward to cut down the remaining distance to the fireplace. I should get a closer, less obstructed view of the hearth from a few steps ahead.", + "After stepping closer, the fireplace sits off to the right edge of my view while the empty shelves dominate the center. Turning right should bring the brick surround and hearth back toward the middle of my view so my forward path leads straight at it.", + "The brick fireplace with its grey mantel is now roughly centered ahead of me, with the floor lamp to its left and a sofa to its right. The open floor in front leaves a clear lane, so I will walk forward to close in on the hearth.", + "The brick surround and hearth are noticeably larger and still ahead of me, so I am closing on the target as intended. I will take another step forward to get within arm's reach of the fireplace opening.", + "I am close now, but the fireplace opening and its brick chimney sit slightly right of my heading while the empty shelving fills my left side. A small turn to the right should square me up with the hearth before I step in the rest of the way.", + "The brick chimney breast with its light mantel and firebox now fills the center of my view, clearly the fireplace built into the brick wall. Nothing blocks the open floor between me and the hearth, so I will step forward to close the remaining distance.", + "I am now close enough that the brick surround and mantel shelf fill most of the view, with the firebox and its grate just below and left. One more short step should place me directly at the hearth rather than a stride short of it.", + "At this range the pale mantel and brick fill my view, so the hearth and firebox are below my current line of sight. Tilting my head down should bring the fire opening and hearth base into view to confirm I am standing right at the fireplace.", + "The fireplace surround, firebox, and hearth are directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..139164f9ef365738c05231814e30e29c68e07085 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_b/infos.json @@ -0,0 +1,336 @@ +{ + "Instruction": "Discover the red cola can resting on the fireplace mantel, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -78.274, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveBackward", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2633.406, + 1312.526, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2516.488, + 1359.115, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2399.569, + 1405.704, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2288.838, + 1445.932, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2288.567, + 1445.866, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2374.403, + 1411.662, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2460.24, + 1377.459, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2460.24, + 1377.459, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2460.24, + 1377.459, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2349.397, + 1317.841, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2238.554, + 1258.223, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2183.257, + 1176.547, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2086.413, + 1110.672, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2086.413, + 1110.672, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2086.413, + 1110.672, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2086.413, + 1110.672, + 348.25, + 0.0, + 46.726, + -0.0 + ], + [ + -2086.413, + 1110.672, + 348.25, + 0.0, + 71.726, + -0.0 + ], + [ + -2033.293, + 1196.025, + 348.25, + 0.0, + 71.726, + -0.0 + ], + [ + -1981.26, + 1286.796, + 348.25, + 0.0, + 71.726, + -0.0 + ], + [ + -1981.26, + 1286.796, + 348.25, + 0.0, + 96.726, + -0.0 + ], + [ + -1996.001, + 1411.789, + 348.25, + 0.0, + 96.726, + -0.0 + ], + [ + -1996.001, + 1411.789, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2062.185, + 1518.841, + 348.25, + 0.0, + 121.726, + -0.0 + ], + [ + -2062.185, + 1518.841, + 348.25, + 0.0, + 96.726, + -0.0 + ], + [ + -2060.085, + 1625.482, + 348.25, + 0.0, + 96.726, + -0.0 + ], + [ + -2060.085, + 1625.482, + 348.25, + 0.0, + 96.726, + -0.0 + ], + [ + -2060.085, + 1625.482, + 348.25, + 0.0, + 96.726, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a blank olive wall, a framed picture, and a narrow window, with no fireplace or mantel anywhere in view. I will turn right to begin a consistent scan of the room and open up the space toward the window side, where the interior seems to continue.", + "Turning has revealed an entry door, side windows, and a hint of furniture and a table far to the right, so the living space clearly lies further around in that direction. No fireplace or red can is visible yet, so I will keep rotating right in the same direction to bring that furnished area into view.", + "A large sofa, shelving, and a wall-mounted screen have come into view on the right, confirming this is the main living area where a fireplace would most plausibly be. Since I still cannot see a mantel or the red can, I will continue the same rightward scan to expose the rest of that wall.", + "I can now make out a brick chimney breast with a pale fireplace surround on the far right side of the living room, beyond the sofa and armchair. I will turn right once more to bring that fireplace closer to the center of my view before moving toward it.", + "The fireplace with its brick surround now sits ahead of me across the room, past the sofa and armchair, with the staircase framing the right side. I will walk forward into the open floor to close distance so I can inspect the mantel for the red can.", + "From here the open living area ahead shows a brick chimney breast with a hearth just right of center, which is the most promising place for a mantel holding the can. Nothing red is resolvable yet at this distance in the dim light, so I will keep walking straight toward that fireplace wall to get a closer look.", + "Now a small red object stands out on the pale mantel shelf of the brick fireplace ahead and slightly right, matching the cola can I am looking for. I will continue forward along the gap between the sofa and the armchair to close on it rather than scanning elsewhere.", + "The red can on the fireplace mantel is clearer now, sitting on the shelf to the right of the television wall. The floor strip between the armchair on my left and the sofa on my right still looks open, so I will step forward again to shorten the distance.", + "The mantel with the red can is close ahead on my right, but the sofa arm now fills much of the right foreground and an armchair edge sits at my lower left, narrowing the lane. I will try one more step straight ahead to reach the hearth area before considering a different line of approach.", + "My last forward step barely changed the view, so the furniture directly in front of me is blocking this line to the fireplace. I will back up a step to regain clearance from the sofa and armchair so I can reorient toward a passable route to the mantel.", + "The red can is still visible on the fireplace mantel to my right, but my last straight push toward it gained no ground because the sofa and armchair block that lane. I will step back once more to open up clearance from this furniture cluster so I have room to reorient toward a different approach.", + "From this backed-off spot the seating still walls off the straight line to the mantel, so pressing ahead again would only stall. I will turn left to swing my heading off the blocked route and look for open floor I can walk through instead.", + "This heading shows the long sofa still cutting across in front of me, though clearer floor is opening farther to the left near the window wall. I will turn left once more to line myself up with that open lane rather than the furniture.", + "Now I face a clear stretch of floor between the front door and window wall on my left and the sofa on my right, with no furniture in my path. I will walk forward along this open lane to get around the seating that stopped me before.", + "The lane beside the window wall is still open and the sofa remains off to my right, so this detour is moving me freely. I will keep walking forward to reach the far end of the room, where I can turn back toward the fireplace from an unobstructed side.", + "I already spotted the red can standing on the fireplace mantel, but a straight push toward it stalled against the seating, so I am working around the furniture along the open lane by the window wall. The floor ahead past the end of the long sofa is still clear, so I will keep walking forward to get clear of that blockage before swinging back toward the fireplace side.", + "The sofa is now behind me on the right and the strip of floor between the window wall and the low table is still open. One more step forward should place me past the furniture line with enough room to turn back toward the fireplace wall.", + "I have run out of usable floor here, since the windowed corner wall and the table are directly in front of me and further forward motion would only press me into them. The fireplace with the can sits back on the other side of the room, so I will turn right to leave this corner and start bringing that side of the room into view.", + "The turn has pulled the corner windows to my left and revealed the table and the tall shelf unit on the right, but the fireplace is still outside my view. I will keep rotating right to swing my heading further toward the far wall where I saw the mantel and the red can.", + "Now the bookshelf wall and the television dominate my view, which tells me I am facing along the room rather than at the fireplace. Another right turn should carry my heading past the shelves toward the brick chimney breast holding the can.", + "The brick fireplace with its light stone surround now sits at the right edge of my view, and I can make out a small red item standing on the mantel shelf. I will turn right once more to bring that fireplace and the red can toward the center of my heading before walking toward it.", + "The fireplace is now roughly ahead of me with open parquet floor between my position and it, and the red item on the mantel is still faint at this distance. The sofa sits to my right and the shelving to my left, leaving a clear lane straight ahead, so I will step forward to close the gap.", + "The fireplace has grown noticeably larger and the red can on the mantel is clearer, confirming I am closing on the right target. The floor directly in front of me remains unobstructed, so I will keep walking forward toward the hearth.", + "I am close to the hearth now, but the mantel and the red can sit toward the right side of my view while the shelving fills the left. I will turn right to square my heading onto the fireplace so my remaining steps carry me straight to the can.", + "The turn has placed the fireplace squarely ahead of me with the red can plainly resting on its mantel. Only a short stretch of clear floor separates me from the hearth, so I will walk forward to close that remaining distance.", + "The red cola can is clearly visible on the fireplace mantel just ahead, so the target is confirmed and only the final approach remains. Straight ahead my path runs into the raised hearth and the mantel front, so I will turn right to line myself up with the open floor between the fireplace and the sofa. That heading should let me close the remaining distance without walking into the hearth.", + "The mantel with the red can now sits to my left and the floor in front of me between the hearth and the sofa is open. I will walk forward along this gap to cut the distance to the fireplace. This should bring the can much closer on my left side.", + "I am now close to the fireplace, but the can has slid to the far left edge of my view while the sofa fills the right side. I will turn left to swing the mantel and the can back toward the center of my heading. That should give me a straight, controllable line for the last step in.", + "With the turn done, the mantel and the small red can sit near the middle of my heading and the hearth floor in front of the fireplace is clear. I will step forward to close the last bit of distance so the can is directly within reach. It should end up right in front of me at mantel height.", + "I am standing right at the fireplace and the can's base is only partly visible because the mantel ledge cuts across the top of my sight line. I will raise my gaze to bring the whole can on the mantel into clear view. That should confirm I have reached the target rather than merely nearing it.", + "The red cola can sits directly in front of me on the fireplace mantel, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c8e3a2cc3dd8fca0ba7db8366501c2c31c4d84fa --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_c/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for the monitor mounted against the shelving area; once found, reach that display.", + "Type": 1, + "Start_Pose": [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -78.274, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2624.671, + 1258.749, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2499.018, + 1251.561, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2373.364, + 1244.373, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2247.711, + 1237.185, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2195.12, + 1201.99, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2166.097, + 1155.417, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2166.097, + 1155.417, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2061.915, + 1176.181, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -2061.915, + 1176.181, + 348.25, + 0.0, + 46.726, + -0.0 + ], + [ + -1969.82, + 1253.864, + 348.25, + 0.0, + 46.726, + -0.0 + ], + [ + -1883.545, + 1345.5, + 348.25, + 0.0, + 46.726, + -0.0 + ], + [ + -1822.139, + 1434.931, + 348.25, + 0.0, + 46.726, + -0.0 + ], + [ + -1822.139, + 1434.931, + 348.25, + 0.0, + 46.726, + -0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a blank olive wall with a single framed picture and a sliver of glazing at the right edge, so no monitor or shelving is in view. I will turn right to begin a consistent scan toward the brighter, more open part of the room where furniture is likely to be.", + "The turn opened up a wall of glass doors and small pictures, and at the far right edge I can just catch a dark rectangular panel and a lighter piece of furniture. That is a promising cue for a display area, so I will keep rotating right to bring it fully into view.", + "Now I can see a tall gridded shelving unit on the right side of the room with what looks like a flat screen set into it, plus a sofa in front. I will turn right once more to place that shelving and its display near the center of my heading before advancing.", + "The shelving wall is now ahead of me with a monitor sitting in its central bay, and the floor between me and the sofa looks clear. I will walk forward to close the large distance to that display.", + "The shelving and its mounted screen are noticeably larger and still slightly right of my heading, confirming I am closing in on the right target. I will continue walking forward along the open floor beside the sofa.", + "The sofa back now fills the lower right of my view while the monitor sits in the shelving bay beyond it, so I still have room to advance on this side of the furniture. I will step forward again to shorten the remaining gap to the display.", + "The shelving wall and the monitor mounted in it are clearly resolved now, with the low table and windows passing on my left. I will keep moving forward since the display is still too far for the approach to count as reached.", + "I am close enough that the shelving grid dominates the middle of my view and the dark screen sits in its right portion above a console shelf. I will advance again to get near that display rather than stopping short behind the seating.", + "The tall shelving unit now fills the middle of my view, and a dark flat screen sits on one of its lower shelves at the right edge, matching the monitor described in the task. I will keep walking forward to close the remaining gap across the open floor toward that shelving wall.", + "From this position the shelving wall dominates the view, but the monitor has slipped to the far right border and is nearly clipped off. I will turn right so the display sits closer to the center of my heading before I continue advancing.", + "The turn brought the mounted monitor back into clear view on the shelving wall, sitting above a shelf with a console beneath it. With a clear stretch of floor in front of me, I will walk forward to reduce the distance to that display.", + "I am much closer now, but the shelving frame occupies most of the view while the monitor sits off to the right of my heading. I will turn right to point more directly at the display so my next steps carry me straight to it.", + "The monitor is now centered ahead of me on the shelving wall, with the fireplace and lamp off to the right confirming I am facing the display area. I will step forward to reach the shelf where it stands.", + "The screen has grown noticeably larger and stays near the center of my view, so my heading is good. I will continue walking forward to get right up to the display.", + "The monitor and the console on its shelf now dominate the upper portion of my view, so I am only a step or two away. I will move forward once more to stand directly at the display.", + "The shelf-mounted monitor and its console fill my view at arm's length. The search target is reached, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d4ba36e67cedc1997f2249824b98114add8cf3e1 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002750_y001266_z000348_t1_d/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Identify the two-tiered wooden table in this room and go over to it.", + "Type": 1, + "Start_Pose": [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -78.274, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2750.325, + 1265.937, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2624.671, + 1258.749, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2499.018, + 1251.561, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2373.364, + 1244.373, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2247.711, + 1237.185, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -2247.711, + 1237.185, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2175.11, + 1163.0, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2066.819, + 1100.56, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -2066.819, + 1100.56, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -1941.165, + 1093.372, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -1941.165, + 1093.372, + 348.25, + 0.0, + -3.274, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a blank olive wall, a framed picture, and a glazed door edge on the right, so no two-tiered wooden table is in view. I will turn right to begin a consistent scan toward the brighter, more open part of the room where furniture is likely to stand.", + "The scan has opened up a longer wall with patio doors and a row of pictures, and at the far right edge I can just make out a small dark piece of furniture near the corner. I will keep turning right in the same direction to bring that furnished area properly into view.", + "Now I can see a seating area with a large couch and tall shelving, and a low wooden table sits against the wall to the left of the couch. Continuing the turn right should center this living space so I can judge the table's shape and a clear path toward it.", + "The living area is now centered ahead, with the couch, shelving, and a small wooden table set against the wall to the left of the couch. The open floor in front of me is clear, so I will walk forward to close distance and get a better look at whether that table has two tiers.", + "The couch and shelves have grown larger and the small wooden table is clearer beside the couch on the left, which supports it being the target. I will continue walking forward across the open floor toward that side of the room.", + "The wooden table by the left wall now shows a top surface with a lower shelf underneath, matching a two-tiered table. Another step forward should bring me alongside the couch and closer to it.", + "I am now beside the couch, and the two-tiered wooden table stands ahead to my left against the windowed wall. I will keep advancing along the free strip of floor to shorten the remaining gap to it.", + "The two-tiered wooden table sits left of my heading, while the couch and shelving occupy the center and right of my view. I will turn left to put the table directly ahead so my next steps can carry me straight to it.", + "In this narrow alcove past the couch I can clearly see a low wooden table with a distinct lower shelf standing against the wall beneath the windows, which matches the two-tiered wooden table I was asked to find. It sits ahead and slightly right, with open floor between me and it, so I will walk forward to close the distance.", + "The wooden table with its second lower tier is now noticeably larger and centered a little right of my heading, confirming it is the target rather than the shelving unit beside it. The floor ahead is still clear, so another step forward should bring me close to it.", + "I am now very close to the table, but it has slid to the lower right edge of what I can see while the window wall dominates straight ahead. Turning right should bring the table back to the center of my heading so my final step goes directly toward it.", + "The two-tiered wooden table is now squarely in front of me, its top and lower shelf both plainly visible against the green wall with the shelving unit to my right. One more step forward should place me right beside it, which is what the task asks.", + "The two-tiered wooden table now fills the space directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002810_y004452_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002810_y004452_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3e7d8ea0eb7e1c5c487c032eadc1108cb5e83cbb --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002810_y004452_z000348_t1_a/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Locate the gray sofa seated against the blue wall in this room, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -78.72, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -78.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -103.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -128.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -153.72, + 0.0 + ], + [ + -2809.652, + 4452.288, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -2935.48, + 4449.477, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3061.307, + 4446.665, + 348.25, + 0.0, + -178.72, + 0.0 + ], + [ + -3061.307, + 4446.665, + 348.25, + 0.0, + 156.28, + -0.0 + ], + [ + -3176.534, + 4497.294, + 348.25, + 0.0, + 156.28, + -0.0 + ], + [ + -3291.761, + 4547.923, + 348.25, + 0.0, + 156.28, + -0.0 + ], + [ + -3403.603, + 4587.232, + 348.25, + 0.0, + 156.28, + -0.0 + ], + [ + -3403.603, + 4587.232, + 348.25, + 0.0, + 156.28, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a blue wall with a closed white door and a dark plant beside it, so no gray sofa is in view. I will turn left to begin a steady scan of the room in one consistent direction.", + "The turn has opened up a larger blue-walled room with a pool table and another doorway at the far left, but still no gray sofa. I will keep rotating left in the same direction to bring more of that open side into view.", + "The pool table now sits in the middle of my view with cue racks and windows on the blue wall, yet no seating is visible. Continuing to turn left should reveal the remaining corner of this game room where a sofa could stand.", + "A dark gray sofa is now visible at the far left edge, set against the blue wall below the windows with a low table in front of it. I will turn left once more to bring that sofa closer to the center of my heading before walking toward it.", + "The gray sofa against the blue wall is now within my forward field of view, past the archway on the left with the pool table to my right. The floor between us looks clear, so I will step forward to close distance on it.", + "The sofa and its glass coffee table are noticeably larger now, confirming I am closing on the right piece of furniture against the blue wall. I will keep walking forward through the open floor to shorten the remaining gap.", + "The gray sofa now sits along the blue wall to my left while my heading points down the empty middle of the room. I will turn left to face the sofa directly so my next steps carry me straight to it.", + "The turn has placed the gray sofa and its coffee table ahead of me against the blue wall with windows above. With clear floor in between, I will walk forward to bring myself right up to the sofa.", + "The gray sofa is clearly in front of me, set against the blue wall beneath the windows, and my heading points straight at it. The glass coffee table sits off to my right, leaving open floor along my path, so I will step forward to close the remaining distance.", + "The sofa now fills much of the lower left of my view, confirming the previous step brought me noticeably nearer to it. A short additional step should place me directly at the sofa against the blue wall, so I will keep walking forward.", + "The gray sofa against the blue wall is directly in front of me, filling my view at arm's reach. The navigation goal is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002872_y-006492_z000198_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002872_y-006492_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..080294d270089e1343b972e44319e5c51e8eb0d9 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002872_y-006492_z000198_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search the yard for the large tree with silvery foliage growing beside the covered porch, then navigate to its trunk.", + "Type": 1, + "Start_Pose": [ + -2871.773, + -6492.014, + 198.149, + 0.0, + 158.56, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2871.773, + -6492.014, + 198.149, + 0.0, + 158.56, + -0.0 + ], + [ + -2871.773, + -6492.014, + 198.15, + 0.0, + -176.44, + 0.0 + ], + [ + -2871.773, + -6492.014, + 198.15, + 0.0, + -151.44, + 0.0 + ], + [ + -2871.773, + -6492.014, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -2946.531, + -6593.265, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -3021.289, + -6694.516, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -3096.046, + -6795.767, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -3170.804, + -6897.018, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -3245.562, + -6998.269, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -3320.32, + -7099.52, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -3395.078, + -7200.771, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -3469.836, + -7302.022, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -3544.593, + -7403.273, + 198.15, + 0.0, + -126.44, + 0.0 + ], + [ + -3544.593, + -7403.273, + 198.15, + 0.0, + -126.44, + 0.0 + ] + ], + "Rationale": [ + "From here I see a broad silvery-leaved tree overhanging from the upper left, but no covered porch anywhere in this view to confirm it is the one described. I will turn right to begin a consistent scan across the yard and the row of houses behind the fence, looking for a porch with a large leafy tree beside it.", + "Turning has brought more broad silvery foliage into the upper right of my view, but the porch it should be growing beside is still out of sight. I will keep rotating right in the same direction to bring that foliage and whatever structure stands under it fully into view.", + "Now I can see a broad-leaved tree with a dark trunk on the right, and just beyond it the edge of a roof supported by a pale post, which looks like a covered porch. I will turn right once more to center that tree and porch so I can head straight at the trunk.", + "The large silvery-leaved tree is now roughly ahead of me, its trunk rising just clear of the covered porch whose roof and columns fill the right side of my view. This matches the described target, so I will walk forward across the grass toward the trunk.", + "The trunk of the silvery tree is still well ahead of me, and the porch columns beside it are growing larger as I close in. I will continue walking forward along this heading to shorten the remaining distance.", + "The canopy of the broad silvery tree now spreads across the top of my view and its trunk sits slightly left of center, still several strides away over open grass. Nothing blocks the path, so I will keep stepping forward toward the trunk.", + "I am under the outer edge of the tree's spreading branches, but the trunk itself is still ahead of me near the white fence line. I will continue forward to reach the base of the trunk.", + "The trunk of the target tree is directly ahead and noticeably thicker in my view, though there is still a stretch of grass between us. I will walk forward again to close that last gap to the trunk.", + "The broad silvery-leaved tree stays centered in my view, its pale trunk rising straight ahead over the lawn in front of the white picket fence. Since it is the only large leafy tree of that kind here and it is well aligned with my heading, I will keep walking straight toward it. Each step should close the remaining distance to its trunk without needing another turn.", + "The trunk now appears noticeably thicker and its canopy spreads wider overhead, confirming I am closing on the target rather than drifting. My path across the grass is clear, with no fence or obstacle between me and the trunk. I will step forward again to shorten the gap.", + "The trunk now dominates the center of my view and its base with the knotted swelling is clearly visible above the grass just ahead. I am close but not yet standing at the trunk itself, so another forward step is warranted. This should bring me within touching distance of the bark.", + "The silvery tree's trunk now spans most of my view from the grass upward, with only a small patch of lawn left in front of its base. One more step forward should place me directly at the trunk, satisfying the requirement to reach it. I will advance that final distance.", + "I am standing right at the trunk of the large silvery-leaved tree, its bark filling my view at arm's reach. The task is complete, so stopping here is correct." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002954_y002947_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002954_y002947_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f2f0abd184ff5ac7aaccba46ced52b71d3d6732b --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002954_y002947_z000348_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Search for the paint cans sitting on the floor near the garage door; after locating them, proceed to that spot.", + "Type": 1, + "Start_Pose": [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -78.72, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -78.72, + 0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -53.72, + 0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -28.72, + 0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + -3.72, + 0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 21.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 46.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 71.28, + -0.0 + ], + [ + -2953.648, + 2947.203, + 348.25, + 0.0, + 96.28, + -0.0 + ], + [ + -2967.415, + 3072.307, + 348.25, + 0.0, + 96.28, + -0.0 + ], + [ + -2981.183, + 3197.41, + 348.25, + 0.0, + 96.28, + -0.0 + ], + [ + -2994.95, + 3322.514, + 348.25, + 0.0, + 96.28, + -0.0 + ], + [ + -3008.717, + 3447.618, + 348.25, + 0.0, + 96.28, + -0.0 + ], + [ + -3022.485, + 3572.722, + 348.25, + 0.0, + 96.28, + -0.0 + ], + [ + -3022.485, + 3572.722, + 348.25, + 0.0, + 96.28, + -0.0 + ] + ], + "Rationale": [ + "I am facing a wall of windows looking out at a neighboring house, so no paint cans and barely any floor are in view here. I will turn right to begin a consistent scan of this space for the garage door area named in the task.", + "Swinging right has brought the corner of the room into view, and along the right edge I can see a pale paneled surface with heavy black hinges that looks like a garage door. That is exactly the semantic cue I need, so I will keep turning right to bring it fully into view.", + "The hinged garage door panels now fill the right side of my view, confirming I am oriented toward the garage bay. No cans are visible on the strip of floor in front of it yet, so I will continue turning right to see more of the door and the floor beside it.", + "I am now looking almost straight at the closed garage door, and the floor immediately at its base shows nothing but bare tile and concrete. The cans must be further along this wall, so I will keep rotating right to sweep the rest of the garage.", + "A second door bay and the dark interior depth of the garage are opening up on the right side of my view, while the floor in front of me stays empty. I will continue the same rightward scan to reach that unexamined darker area.", + "The garage interior is now much more open, and I can make out a large dark heap of material stacked against the far wall on the right. Small floor-level shapes may be near it, so I will keep turning right to bring that corner into the center of my view.", + "I can now see a small cluster of squat cylindrical containers sitting on the floor beside the debris pile, just inside the garage door bay and to the right of my heading. I will turn right once more to center that cluster before moving toward it.", + "The row of paint cans on the floor by the garage door bay is now roughly centered ahead of me, with clear open concrete between us. I will walk forward to close the distance to that spot.", + "The cluster of paint cans is clearly visible on the garage floor ahead, sitting against the wall beside the closed garage door and the stacked material. My heading already lines up with them, so I will keep walking straight to close the remaining distance. This step should bring the cans noticeably nearer without any need to turn.", + "The paint cans now read larger and lower in my view, confirming that my forward path is taking me straight toward them. The floor between us is still bare concrete, so another forward step should be unobstructed and continue closing the gap.", + "I can now make out individual cans with their lids and handles sitting on the floor at the base of the wall just left of center. I am close but not yet standing at that spot, so I will advance again to finish the approach.", + "The paint cans fill the lower left of my view and the corner wall is close in front of me, so I am nearly at their location. One more short step forward should place me right at the spot where they sit on the floor.", + "The paint cans are at my feet in the corner of the garage floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2c9358f8ae446d5f2a97f8988456444a7952257c --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_a/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Search the room in front of you for the single-seat sofa and approach it.", + "Type": 1, + "Start_Pose": [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3026.861, + 1053.976, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -68.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -43.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -18.274, + 0.0 + ], + [ + -3000.403, + 933.099, + 648.25, + 0.0, + -18.274, + 0.0 + ], + [ + -3000.403, + 933.099, + 648.25, + 0.0, + -18.274, + 0.0 + ] + ], + "Rationale": [ + "From this doorway I can only see a narrow slice of the room ahead, showing a wooden chair, part of a bed, and a wall of windows, with no single-seat sofa in sight. I will walk forward through the opening so the interior opens up and more furniture becomes visible.", + "I am now inside the room and can see two beds, a nightstand, and a chair against the window wall, but no single-seat sofa anywhere in this forward field of view. Advancing further into the room should clear the doorway framing at my sides and expose the parts of the space still hidden.", + "Standing well inside the room, the whole forward wall with its windows, beds, and chair is visible and none of it holds a single-seat sofa. I will begin turning to my right to sweep the unseen side of the room in one consistent direction.", + "The scan so far has only brought a second bed and more windows into view, still no armchair. I will keep rotating right in the same direction to reveal the corner of the room beyond the right-hand window wall.", + "A dark upholstered shape has just entered the lower right edge of my view next to a chair, which looks like the back of a soft seat rather than another bed. I will continue turning right to bring that promising object fully into view and confirm whether it is the single-seat sofa.", + "The object on my right is now clearly a grey single-seat sofa with a thick armrest and cushion, standing under the windows beside the wooden chair. I will turn right once more to place it near the center of my heading so I can walk straight at it.", + "The single-seat sofa now sits roughly ahead of me, slightly right of center, with clear floor between us. I will step forward to close that remaining distance and stand next to it.", + "The single-seat sofa now fills the near foreground directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc6073da399cd7ac58a14e7ad46d476616d0f70 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_b/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Search the room in front of you for the bag on the floor beside the bed and approach it.", + "Type": 1, + "Start_Pose": [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3026.861, + 1053.976, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -68.274, + 0.0 + ], + [ + -3043.855, + 867.818, + 648.25, + 0.0, + -68.274, + 0.0 + ], + [ + -3043.855, + 867.818, + 648.25, + 0.0, + -43.274, + 0.0 + ], + [ + -2952.219, + 781.544, + 648.25, + 0.0, + -43.274, + 0.0 + ], + [ + -2952.219, + 781.544, + 648.25, + 0.0, + -68.274, + 0.0 + ], + [ + -2952.219, + 781.544, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -2952.219, + 781.544, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -2952.219, + 781.544, + 648.25, + 0.0, + -143.274, + 0.0 + ], + [ + -3053.096, + 706.281, + 648.25, + 0.0, + -143.274, + 0.0 + ], + [ + -3153.972, + 631.019, + 648.25, + 0.0, + -143.274, + 0.0 + ], + [ + -3254.544, + 563.686, + 648.25, + 0.0, + -143.274, + 0.0 + ], + [ + -3349.317, + 563.592, + 648.25, + 0.0, + -143.274, + 0.0 + ], + [ + -3349.317, + 563.592, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3406.504, + 551.592, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3413.049, + 543.226, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3413.049, + 543.226, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3413.054, + 543.216, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3413.054, + 543.216, + 648.25, + 0.0, + -93.274, + 0.0 + ] + ], + "Rationale": [ + "From the hallway I can see through the open doorway into the bedroom ahead, with a bed and part of the floor visible but no bag yet. The floor beside the bed is mostly hidden by the door frame, so I will walk forward through the doorway to open up the room for searching.", + "I am now inside the bedroom and can see a chair, two beds along the far wall, and a wide stretch of bare carpet, but no bag on the floor beside either bed. Moving forward again should bring me deeper into the room so the floor areas next to the beds and along the right wall come into clearer view.", + "From this deeper position the near floor is clearly empty, and the room continues off to my right where a second bed and more wall space are cut off at the edge of my view. I will turn right to begin a consistent scan of that unseen side, since a bag beside a bed is most likely on the floor near those beds.", + "The turn brought both beds fully into view with their nightstands, yet the carpet along and between them still shows nothing resembling a bag. I will keep rotating right in the same direction to reveal the rest of that wall and any floor space beyond the second bed.", + "Continuing the scan has uncovered the right portion of the room, a chair, a poster and what looks like a sofa in the corner, but still no bag on the visible carpet. Rather than spin further in place, I will walk forward toward that far corner so the floor there and any space beyond the beds can be inspected more closely.", + "From here I can see a bed to my left and a chair against the window wall, but the carpet in front of me is bare with no bag anywhere beside the bed frames. Continuing my scan in the same direction, I will turn right to open up the corner past the chair, where the floor is still hidden from me. That corner is the nearest unchecked floor area, so it is worth a look before I commit anywhere else.", + "The corner I just brought into view holds only the chair and the edge of a couch, and the floor strip along this window wall looks empty so far. I will step forward to close in on that wall so I can see the floor behind the chair and couch, which is currently cut off. Nothing here confirms a bag yet, so this is only a closer inspection of a plausible spot.", + "Now that I am close to this window wall, the floor along it and around the chair is plainly empty carpet, so this corner does not hold the bag. Pushing further this way would only take me deeper into a dead corner, so I will turn left to swing my view back across the beds and the rest of the room. The floor beside the other bed frames is the more promising place for a bag.", + "Turning back this way shows one bed with its nightstands, and the carpet along its near side is clear of any bag. I will keep rotating left to sweep past this bed toward the further part of the room I have not examined at floor level. Holding one consistent turn direction keeps the sweep from missing a gap.", + "Two bed frames are now in view and the carpet between and beside them is empty, so the bag is not in this stretch of the room. I will continue the leftward turn to bring the far side, with its windows and remaining floor space, into view. If nothing appears there, I should head toward whichever bed area I have not yet stood beside.", + "Sweeping back to the left, I now have the two made beds and the window wall in front of me, but the floor strip beside each bed is still hidden behind the mattresses and nightstand. I will keep the scan turning in this same leftward direction to bring the far corner of the room and the space alongside the near bed into view. No bag is visible yet, so the sweep needs to continue before I commit to any approach.", + "The leftward sweep has brought the chair, the picture wall, and the nearer bed into view, and the open floor lane along the left side of the room is clear ahead of me. Since the bag has not appeared from this distance, I will walk forward along that lane to get closer to the beds where the floor beside them should become visible. Advancing rather than turning further should reveal the gap between bed and wall.", + "I am closer now, with the bed on my right and the window corner opening up ahead, yet the narrow floor strip between the bed and the far wall is still cut off by my viewing angle. I will step forward again to close on that corner so the space beside the bed comes into view. The path in front of me remains clear carpet.", + "The bed now fills the right side of my view and the corner windows are close, but the floor beside the mattress is still just outside what I can see. Another step forward should carry me far enough along the bedside to expose that strip of carpet where a bag would be sitting. Nothing blocks the walkway between the wall and the bed frame.", + "A dark bag is now visible on the floor at the head of the bed, tucked against the wall in the sunlit corner ahead of me. That matches the bag beside the bed I was sent to find, so I will drop the scan and step forward to close the remaining distance to it. Moving straight ahead should bring me alongside it.", + "My view is filled almost entirely by the corner windows and bare wall, but a dark bag-like shape has just appeared at the lower right edge of my view near the bed. I will turn right to bring that shape and the floor beside the bed fully into view instead of continuing to face the window wall.", + "The turn confirmed it: a dark duffel bag is sitting on the floor right beside the bed, ahead and slightly to my right. Since the target is now clearly identified, I will walk forward to close the distance instead of scanning further.", + "The bag beside the bed is noticeably larger and lower in my view now, so my previous step brought me closer to it. I will step forward again to shorten the remaining gap along the window wall.", + "My last step barely changed my position, so I am likely up against the wall beneath the corner windows. The bag sits off to my right beside the bed, so I will turn right to face it directly rather than keep pushing into the wall.", + "The turn worked and the bag beside the bed is now centered and close in front of me. I will take one more short step forward to settle into a proper standing position right next to it.", + "The duffel bag sits on the floor right beside the bed, close in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6e984f81ac4ab9fb6332621de8b0709184c3fbe9 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_c/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Search the room in front of you for the nightstand with three cans on top and approach it.", + "Type": 1, + "Start_Pose": [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3026.861, + 1053.976, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3097.632, + 859.083, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3104.82, + 733.43, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3112.008, + 607.776, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3119.196, + 482.123, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3119.196, + 482.123, + 648.25, + 0.0, + -68.274, + 0.0 + ], + [ + -3119.196, + 482.123, + 648.25, + 0.0, + -43.274, + 0.0 + ], + [ + -3119.196, + 482.123, + 648.25, + 0.0, + -18.274, + 0.0 + ], + [ + -3119.196, + 482.123, + 648.25, + 0.0, + 6.726, + -0.0 + ], + [ + -3119.196, + 482.123, + 648.25, + 0.0, + 31.726, + -0.0 + ], + [ + -3065.4, + 546.541, + 648.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2962.85, + 616.344, + 648.25, + 0.0, + 31.726, + -0.0 + ], + [ + -2962.85, + 616.344, + 648.25, + 0.0, + 6.726, + -0.0 + ], + [ + -2962.85, + 616.344, + 648.25, + 0.0, + -18.274, + 0.0 + ], + [ + -2843.338, + 576.88, + 648.25, + 0.0, + -18.274, + 0.0 + ], + [ + -2754.666, + 538.157, + 648.25, + 0.0, + -18.274, + 0.0 + ], + [ + -2754.666, + 538.157, + 648.25, + 0.0, + -43.274, + 0.0 + ], + [ + -2754.666, + 538.157, + 648.25, + 0.0, + -68.274, + 0.0 + ], + [ + -2754.608, + 423.766, + 648.25, + 0.0, + -68.274, + 0.0 + ], + [ + -2754.608, + 423.766, + 648.25, + 0.0, + -68.274, + 0.0 + ] + ], + "Rationale": [ + "From the hallway the doorway ahead frames only a narrow slice of the bedroom, showing a chair, a picture and the edge of a bed, so no nightstand with cans is visible yet. I will walk forward through the opening to get my body into the room and widen my view of its furniture.", + "Now that I am inside the room I can see two beds along the far wall with a small low table between them carrying a few small colorful objects that could be the cans I am looking for. They are still far off and dim, so I will keep walking forward to close distance and get a clearer look at that table.", + "The nightstand with the small cans on it sits between the two beds to the right of my heading, while my current path points more toward the empty floor and the chair on the left. I will turn right to bring that nightstand toward the center of my view before continuing forward.", + "The turn has lined me up with the pair of beds and the nightstand between them, which now sits near the middle of my view with small cans on its top. The floor between us is clear, so I will walk straight ahead to close the gap.", + "The nightstand between the beds is growing larger and I can now make out several separate cans standing on its surface. I am still several paces away, so I will continue forward along this heading.", + "I am nearly between the two beds and the small table ahead clearly holds a cluster of upright cans. Another step forward should bring me close enough to count them and confirm this is the nightstand described in the task.", + "The nightstand between the beds is directly ahead and I can now see three separate cans standing on its top. I will step forward once more to stand right at it.", + "I am standing right at a nightstand between the two beds with three cans on it, but this room clearly holds more than one bed and matching side table, so I cannot yet be sure this is the one meant. I will turn right to scan the rest of the room and see whether another nightstand with cans is a better match before committing.", + "From here I can see a nightstand with three small cans on my left beside one bed, and the edge of another nightstand with cans just entering the right of my view next to the second bed. Since two similar candidates are in play, I will keep turning right in the same direction to bring the second nightstand and the rest of that side of the room fully into view before committing.", + "The second nightstand is now clearly in view past the bed, carrying a small cluster of cans, which matches the target description well. I will continue the rightward turn to reveal the corner and floor beside it so I can judge how to walk in on that side.", + "The nightstand with three cans sits at the head of this bed on my left, and to the right there is still an unexamined stretch of wall with a window and a poster. I will keep rotating right to see that remaining area and any open floor I could use to reach the nightstand.", + "Turning further right shows a chair and an armchair in the corner, with the can-topped nightstand now at the far left of my view. I will complete this rightward step to check the corner and the clear floor there, since walking around the foot of the bed looks like the practical route toward the nightstand.", + "The corner ahead with the chair and armchair is open, and the foot of the bed is off to my left, so there is free carpet to walk across. I will step forward to cross this open floor and get past the bed toward the side where the nightstand with the cans stands.", + "The chair and armchair are larger now, confirming I am closing on this corner with nothing in my way. I will take another step forward to finish clearing the bed's footboard before swinging back toward the nightstand.", + "I am now close to the chair and armchair, so pressing straight on would only walk me into this corner. I will turn left to swing my heading back along the room toward the bedside where the nightstand with the cans is placed.", + "The turn has brought the poster wall and windows in front of me with the chair now off to my right, so I am partway around but not yet facing the bedside. I will turn left again to keep rotating toward the side of the room where the can-topped nightstand should be.", + "At the left edge of my view I can see a low nightstand beside the bed with brightly colored cans standing on it, which matches the target I was sent to find. I will step forward to close the gap toward that corner of the room instead of scanning any further.", + "The wall with the car poster and the small window now fills most of my view, so I am clearly much nearer that corner where the can-topped nightstand sits. One more step forward should bring me within arm's reach distance of the nightstand area before I reorient.", + "I am now right up against the plain wall and nothing but flat green surface is in front of me. Since the nightstand with the cans lay off to my left as I came in, I will turn left to bring it back into view.", + "The turn has pulled a window frame and a dark opening into the left part of my view, but the nightstand itself is still outside it. I will keep rotating left in the same direction so the can-topped nightstand comes into the center of my view.", + "The nightstand with the colored cans on its top is now clearly in the lower left of my view, next to the bed and beneath the window. It is still a short distance off, so I will walk forward to stand right beside it.", + "The nightstand with three colored cans on its top is directly beside me at arm's length. The approach task is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28932b00b505f618b9baaa71dc3665be8f5a3d3c --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_d/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search the room in front of you for the nightstand holding four cans and approach it.", + "Type": 1, + "Start_Pose": [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3026.861, + 1053.976, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3097.632, + 859.083, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3104.82, + 733.43, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3104.82, + 733.43, + 648.25, + 0.0, + -68.274, + 0.0 + ], + [ + -3058.231, + 616.511, + 648.25, + 0.0, + -68.274, + 0.0 + ], + [ + -3058.231, + 616.511, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3075.412, + 499.406, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3082.6, + 373.752, + 648.25, + 0.0, + -93.274, + 0.0 + ], + [ + -3082.6, + 373.752, + 648.25, + 0.0, + -93.274, + 0.0 + ] + ], + "Rationale": [ + "From the doorway I can only see a narrow slice of the room ahead, with a chair, a window wall, and the corner of a bed. I need to search this room for a nightstand holding four cans, so I will walk forward through the opening to expose the whole interior.", + "Now inside the room I can see two beds against the far wall and a small nightstand between them with a few upright items on top, likely cans, but the far side is still too dim and distant to count them. I will keep walking forward to close the gap and get a clearer look at those tabletops.", + "The candidate nightstands and the pair of beds sit in the right half of my view, while the left side is just an empty chair and blank floor. Turning right should center that bed and nightstand cluster so I can advance straight toward the cans.", + "The two beds and the nightstands between and beside them are now roughly ahead of me, with small can-like shapes on at least two tabletops. I will walk forward to shorten the distance so I can tell which nightstand actually carries four cans.", + "I am closer now and can make out colored cans on the nightstand between the two beds, plus more on a table farther right. Another step forward should let me count each set reliably instead of guessing at this range.", + "From here the central nightstand shows only three cans, while another nightstand with cans sits off at the right edge of my view and is partly cut off. I will turn right to bring that right-hand area fully into view and check whether one of those tables holds four cans.", + "With the right side of the room now in front of me, I see a nightstand to the left of the near bed carrying several cans and another beyond it with only a couple. Walking forward should bring me close enough to confirm the four-can table and approach it.", + "The nightstand with the dense group of cans now sits on the left side of my view, close to the wall with the posters, while the bed fills the center and right. I will turn left to face that table directly so my final approach lines up with it.", + "The nightstand between the two beds is now centered in my view, and I can make out a small cluster of cans standing on its top surface. Since it is squarely ahead of me, I will walk straight forward to close the remaining gap and get near enough to confirm the count.", + "From here I can count four separate cans standing on the nightstand between the beds, which matches the target described in my task. It is still a couple of paces away, so I will step forward again to finish closing in on it.", + "The nightstand with four cans on it fills the near view directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_e/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cba1e30e1d0aa1698658fcb869ef176a9580ccd1 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002968_y001153_z000648_t1_e/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search the room in front of you for the open-shelved wardrobe and approach it.", + "Type": 1, + "Start_Pose": [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2968.062, + 1153.315, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3026.861, + 1053.976, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -118.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -143.274, + 0.0 + ], + [ + -3090.444, + 984.737, + 648.25, + 0.0, + -168.274, + 0.0 + ], + [ + -3070.259, + 1005.039, + 648.25, + 0.0, + -168.274, + 0.0 + ], + [ + -3070.259, + 1005.039, + 648.25, + 0.0, + -143.274, + 0.0 + ], + [ + -3171.135, + 929.777, + 648.25, + 0.0, + -143.274, + 0.0 + ], + [ + -3268.778, + 852.31, + 648.25, + 0.0, + -143.274, + 0.0 + ], + [ + -3268.778, + 852.31, + 648.25, + 0.0, + -168.274, + 0.0 + ], + [ + -3268.778, + 852.31, + 648.25, + 0.0, + 166.726, + -0.0 + ], + [ + -3268.778, + 852.31, + 648.25, + 0.0, + 141.726, + -0.0 + ], + [ + -3268.778, + 852.31, + 648.25, + 0.0, + 141.726, + -0.0 + ] + ], + "Rationale": [ + "I am standing in the doorway and can only see a narrow slice of the room ahead, with a chair, a picture and part of a bed. No open-shelved wardrobe is visible from this restricted angle, so I will step forward through the opening to bring the room's interior into view.", + "Now inside the bedroom I can see two beds, a nightstand, a chair and several windows, but no open-shelved wardrobe anywhere in this forward field of view. The side walls are still cut off by the doorway edges, so I will keep walking forward to reach a position where I can scan the full room.", + "From this spot the room's window wall, chair and beds are all clearly in view, and none of them is the open-shelved wardrobe I need. The unexamined space lies off to my left side, so I will turn left to begin a scan in that direction.", + "A large dark wooden surface has come into the left part of my view, distinct from the green painted walls, which suggests a tall piece of furniture standing there. I will continue turning left to bring that structure into the center of my view and check whether it is the shelved wardrobe.", + "The wooden panel and a pale frame now fill much of my view from very close range, so I cannot judge the shape or height of this furniture. I will step backward to open up some distance, which should let me see more of the structure at once.", + "With a little more distance the tall panel still splits my view down the middle and I cannot yet tell whether it has open shelves. I will turn back to the right to face along the room again so the structure sits at the side of my view and I have a clear walking line toward it.", + "I am now facing along the room with the open floor and beds ahead and the dark wooden unit at my left edge. Walking forward should carry me alongside that unit so its front face and any shelving become visible.", + "At the left edge of my view I can now make out horizontal divisions in that dark unit, which looks like an open shelf structure rather than a closed wall. I will keep walking forward to close the remaining distance to it before turning to face it directly.", + "I am now close to the green wall with the broken window and the chair, and the dark shelving unit I glimpsed at the left edge a moment ago has slipped out of my forward view. I will turn left to swing that tall open-shelved piece back into the center of my view and confirm it is the wardrobe I am looking for.", + "The dark wooden frame with visible horizontal shelf boards has appeared along the left edge of my view, which matches the open-shelved wardrobe. I will keep turning left so more of that unit enters my view and I can judge how squarely I am facing it.", + "The open-shelved wardrobe now fills the left half of my view with its grid of empty compartments clearly visible at close range. One more left turn should place it squarely in front of me so I am properly facing the target from an approach position.", + "The open-shelved wardrobe with its empty compartments now fills my view directly ahead at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002978_y-002711_z000199_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002978_y-002711_z000199_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1607545b1a9bfee4748b53326c9e1c6cc85b6578 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002978_y-002711_z000199_t1_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Locate the chair that has fallen over in the yard, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -18.274, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -18.274, + 0.0 + ], + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -43.274, + 0.0 + ], + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -68.274, + 0.0 + ], + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -93.274, + 0.0 + ], + [ + -2985.229, + -2836.229, + 198.595, + 0.0, + -93.274, + 0.0 + ], + [ + -2992.417, + -2961.882, + 198.595, + 0.0, + -93.274, + 0.0 + ], + [ + -2999.605, + -3087.536, + 198.595, + 0.0, + -93.274, + 0.0 + ], + [ + -3006.793, + -3213.189, + 198.595, + 0.0, + -93.274, + 0.0 + ], + [ + -3013.981, + -3338.843, + 198.595, + 0.0, + -93.274, + 0.0 + ], + [ + -3013.981, + -3338.843, + 198.595, + 0.0, + -93.274, + 0.0 + ] + ], + "Rationale": [ + "From here my view is filled by the house siding, a pergola post, and the hedge, with no chair of any kind in sight. I will turn left to swing my view along the paved patio and open yard where outdoor furniture would plausibly stand.", + "The turn has opened up the covered walkway under the pergola, but the paving ahead is still empty of furniture and the far end is mostly hidden behind posts. I will continue turning left in the same direction to bring the wider yard beyond the pergola into view.", + "Now I can see a cluster of wooden chairs out on the open patio to my left, and one of them looks tipped over rather than standing upright. I will keep turning left to bring that group closer to the center of my heading before walking out to it.", + "The chair group is now roughly ahead of me on the open paving, with one chair clearly not sitting upright like the others. With a clear stretch of flat stone between us, I will walk forward to close the distance and confirm which chair has fallen.", + "The chairs have grown noticeably larger and one of them is plainly leaning off its legs rather than standing. Nothing blocks the paving between me and them, so I will keep walking forward toward that group.", + "I am now close enough to distinguish individual chairs, and the pale one behind the darker seats is clearly not standing squarely on the ground. I will continue advancing to reach that fallen chair.", + "The chair cluster now fills much of my near field, with the tipped chair just a couple of paces beyond the upright ones. I will step forward again to bring myself right up beside it.", + "The fallen chair is directly in front of me, its back tilted down toward the paving on my right side. One more step forward should place me immediately at it rather than slightly short of it.", + "The toppled chair lies right in front of me, filling the lower foreground within reach. The task is complete, so I stop here rather than moving past it." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-002978_y-002711_z000199_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-002978_y-002711_z000199_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..290a67fd9b2bec236c7038e53e6a20610717bba5 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-002978_y-002711_z000199_t1_b/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Search for the pair of metal handrail poles at the pool entry point near the tree, and once found, make your way over to those railings.", + "Type": 1, + "Start_Pose": [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -18.274, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -18.274, + 0.0 + ], + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -43.274, + 0.0 + ], + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -68.274, + 0.0 + ], + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -93.274, + 0.0 + ], + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -118.274, + 0.0 + ], + [ + -2978.041, + -2710.575, + 198.595, + 0.0, + -143.274, + 0.0 + ], + [ + -3078.918, + -2785.837, + 198.595, + 0.0, + -143.274, + 0.0 + ], + [ + -3179.794, + -2861.1, + 198.595, + 0.0, + -143.274, + 0.0 + ], + [ + -3280.671, + -2936.362, + 198.595, + 0.0, + -143.274, + 0.0 + ], + [ + -3381.547, + -3011.624, + 198.595, + 0.0, + -143.274, + 0.0 + ], + [ + -3482.424, + -3086.886, + 198.595, + 0.0, + -143.274, + 0.0 + ], + [ + -3482.424, + -3086.886, + 198.595, + 0.0, + -168.274, + 0.0 + ], + [ + -3605.656, + -3112.465, + 199.009, + 0.0, + -168.274, + 0.0 + ], + [ + -3728.889, + -3138.043, + 199.009, + 0.0, + -168.274, + 0.0 + ], + [ + -3852.121, + -3163.622, + 199.009, + 0.0, + -168.274, + 0.0 + ], + [ + -3975.353, + -3189.201, + 202.762, + 0.0, + -168.274, + 0.0 + ], + [ + -3975.353, + -3189.201, + 202.762, + 0.0, + 166.726, + -0.0 + ], + [ + -4097.85, + -3160.302, + 199.022, + 0.0, + 166.726, + -0.0 + ], + [ + -4097.85, + -3160.302, + 199.022, + 0.0, + -168.274, + 0.0 + ], + [ + -4221.082, + -3185.881, + 202.832, + 0.0, + -168.274, + 0.0 + ], + [ + -4221.082, + -3185.881, + 202.832, + 0.0, + -143.274, + 0.0 + ], + [ + -4321.959, + -3261.143, + 193.691, + 0.0, + -143.274, + 0.0 + ], + [ + -4321.959, + -3261.143, + 193.691, + 0.0, + -143.274, + 0.0 + ] + ], + "Rationale": [ + "From here my view is filled by a pergola post and the pale siding of the house, with no pool or metal handrails anywhere in sight. I will turn left to begin a steady scan of the surroundings, since the open paving continues that way and may lead to the pool area.", + "The turn opened up a long covered walkway beside the house, but I still see only posts, siding and paving with no water or handrails. I will keep rotating left in the same direction to extend the scan toward the trees appearing at the edge of my view.", + "Now I can see patio chairs on the open terrace and tall trees beyond them, which fits an outdoor pool area, but the pool and its handrails are still not in view. I will continue the same leftward scan toward that open terrace to uncover what lies past the furniture.", + "A dark rectangular water surface has come into view on the far left beyond the patio chairs, which strongly suggests the pool. I will keep turning left to bring that basin and its entry point fully into the center of my view.", + "The pool is now clearly in front and slightly left, and near its left corner under the trees I can make out slim upright metal shapes that look like the handrails. I will turn left once more to line my heading up with that corner of the pool rather than the empty paving.", + "My heading is now set on the pool with the tree-shaded corner and its slender metal railings ahead of me across the paving. I will walk forward over the open terrace to close the distance toward that entry point.", + "The pool coping and the thin railing posts beside the tree have grown noticeably larger, so my line of travel is good. I will keep stepping forward across the open paving to continue closing on those railings.", + "I am now near the pool deck, and the paired metal handrails at the pool steps under the tree stand out clearly on the left side of the basin. I will advance again to keep reducing the remaining gap to those railings.", + "The pool is now clearly open in front of me, and at its far left corner beside the tall tree I can make out the slim metal poles of a pool ladder rising above the deck. That matches the handrails I am searching for, so I will keep walking straight ahead to close the remaining distance across the paving.", + "The pool edge and the metal railing poles by the tree on the left have grown noticeably larger, confirming my heading is bringing me nearer to them. I will continue forward over the flat paving to shorten the gap before I adjust my direction toward the railings.", + "I am now close to the pool's near corner, and the pair of metal handrail poles sits well to the left of my current heading, next to the tree at the pool's entry step. Walking straight would carry me along the pool edge instead of toward them, so I will turn left to bring the railings into the center of my view.", + "The turn has put the metal handrails ahead of me at the pool's left side, with a wide strip of paving leading in that direction. I will step forward along the deck to approach the railings directly.", + "The two curved metal poles at the pool step are clearly resolved now and closer than before, so my heading is good. I will keep advancing along the paved deck toward them.", + "The handrail poles and the ladder treads between them are plainly in view a short way ahead beside the tree. I will take another step forward to bring myself right up to that entry point.", + "The metal railings are close now, standing at the pool step just ahead and slightly right of me. I will move forward once more to reach the deck immediately beside them.", + "I am practically at the railings, but they stand at the very lip of the pool and continuing straight would take me over the coping into the water. Turning left should point me along the paved strip beside the pool so I can settle onto the deck right next to the poles.", + "The pair of chrome handrail poles marking the pool steps is now visible at the right edge of my view, beside the pool coping and close to the large tree on the deck. I will walk forward along the open paving to close the remaining distance toward that entry point.", + "After stepping forward the handrail poles have slid to the far right margin of my view, with only one curved rail still showing beside the pool edge. I will turn right to bring the railings back toward the center of my heading before advancing again.", + "The turn has put both metal handrail poles clearly in view on the right, rising from the tiled pool steps. The paving between me and them is open, so I will walk forward to shorten that gap.", + "The two railings are now large and close on my right side, but my heading still points past them along the brick wall. I will turn right so the pair of poles sits directly in front of me for the final step in.", + "Both handrail poles are now centered just ahead of me at the pool entry, with the pool water and coping to their right. One short step forward should place me right at the railings.", + "The two metal handrail poles at the pool entry are directly in front of me, filling the near foreground within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003044_y000946_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003044_y000946_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bb8bd39390b7ebf3ca72721bd81d103990f79bbb --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003044_y000946_z000348_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Discover the skateboard sitting on the ground in this room; once found, approach it.", + "Type": 1, + "Start_Pose": [ + -3043.891, + 946.15, + 348.25, + 0.0, + 21.726, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3043.891, + 946.15, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -3043.891, + 946.15, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -3043.891, + 946.15, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -3043.891, + 946.15, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2968.629, + 845.273, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2893.367, + 744.397, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2893.367, + 744.397, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2867.788, + 621.165, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2842.209, + 497.932, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2842.209, + 497.932, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2842.209, + 497.932, + 348.25, + 0.0, + -78.274, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a closed garage door on my left and a blank interior wall filling the right half of my view, with no skateboard anywhere on the floor. I will turn left to sweep my view along the door bay and open up the rest of this garage floor.", + "The turn brought the garage door squarely in front of me, but the concrete floor below it is bare and no skateboard has appeared. I will keep rotating left in the same direction to reach the parts of the room still hidden behind the wall edge.", + "Continuing left has revealed a second door bay and, further left, a lit wall with a window plus some clutter on the ground such as a bag and small containers. That clutter is a promising cue for finding gear like a skateboard, so I will turn left once more to bring that corner fully into view.", + "I am now facing down the length of the garage toward the windowed end wall, where paint cans and a duffel bag sit on the floor, though I cannot yet resolve a skateboard among them. I will walk forward to shorten the distance to that cluttered area and get a clearer look at the ground there.", + "The cluttered corner with the cans and bag is closer but still some way off, and the low floor detail there remains hard to read from this distance. I will step forward again along the open bay to keep closing on that likely area.", + "Now I can clearly make out a skateboard lying deck-up on the ground to my left, just past the paint cans and beside the duffel bag. I will turn left to face it directly so my approach path lines up with it.", + "The turn placed the skateboard ahead of me on the floor, in front of the windowed wall and next to the bag and cans. I will walk forward toward it to close the remaining gap.", + "The skateboard is now clearly resolved just ahead on the concrete, low in my view near the duffel bag, so I am nearly on top of it. I will take one more step forward to stand right beside it.", + "I am now standing right among the paint cans and the duffel bag, but my level gaze shows mostly the green wall and windows, with the nearby floor cut off at the bottom of my view. Since the skateboard rests on the ground just ahead of my feet, I will tilt my head down to bring that patch of floor into view and confirm the target at close range.", + "The skateboard lies on the ground directly in front of me, clearly within close reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003044_y000946_z000348_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003044_y000946_z000348_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..40b91062fae813f99f3f61a6d827eb84bc9bded8 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003044_y000946_z000348_t1_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Search for the blue paint bucket in this room and reach its location.", + "Type": 1, + "Start_Pose": [ + -3043.891, + 946.15, + 348.25, + 0.0, + 21.726, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3043.891, + 946.15, + 348.25, + 0.0, + 21.726, + -0.0 + ], + [ + -3043.891, + 946.15, + 348.25, + 0.0, + -3.274, + 0.0 + ], + [ + -3043.891, + 946.15, + 348.25, + 0.0, + -28.274, + 0.0 + ], + [ + -3043.891, + 946.15, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2968.629, + 845.273, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2893.367, + 744.397, + 348.25, + 0.0, + -53.274, + 0.0 + ], + [ + -2893.367, + 744.397, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2867.788, + 621.165, + 348.25, + 0.0, + -78.274, + 0.0 + ], + [ + -2867.788, + 621.165, + 348.25, + 0.0, + -78.274, + 0.0 + ] + ], + "Rationale": [ + "My view is dominated by a blank interior wall on the right and only the edge of a large garage door on the left, so nothing resembling a blue paint bucket is visible from here. I will turn left to swing my view along the garage door line and open up the floor area where containers would likely sit.", + "The garage door now fills the center of my view, but the concrete floor in front of it is bare and no paint containers appear. I will keep rotating left in the same direction to extend the scan toward the unseen part of the garage.", + "A second door bay and a lit yellow-green wall have come into view at the far left, and I can make out clutter on the floor in that corner, which is a promising cue for stored paint. I will continue turning left to bring that cluttered corner properly into my view.", + "I can now see several cylindrical paint cans grouped on the floor beside the windowed yellow wall, one of them noticeably bluish. They are still far off across the garage, so I will walk forward to close the distance and confirm the blue bucket.", + "The paint cans are larger in view now and the leftmost one clearly reads as a blue bucket on the drop cloth. I will step forward again to keep closing on that group.", + "The blue bucket now sits low in the left part of my view while my heading points along the garage door and out the open bay. I will turn left to center the paint cluster ahead of me before continuing.", + "The paint cans and the blue bucket are now roughly ahead of me on the drop cloth, but still a few steps away. I will walk forward to arrive at the blue bucket's location.", + "The blue paint bucket stands directly in front of me at close range on the floor. The search target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003154_y003569_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003154_y003569_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a1a85670023fedee808767e0c2fe8ae42feeb6bb --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003154_y003569_z000348_t1_a/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Locate the sink within this room, then navigate to where it is installed.", + "Type": 1, + "Start_Pose": [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 161.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + -23.72, + 0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 1.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 26.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 51.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 76.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 101.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 126.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 151.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 176.28, + -0.0 + ], + [ + -3279.527, + 3577.492, + 348.25, + 0.0, + 176.28, + -0.0 + ], + [ + -3279.527, + 3577.492, + 348.25, + 0.0, + -158.72, + 0.0 + ], + [ + -3396.805, + 3531.814, + 348.25, + 0.0, + -158.72, + 0.0 + ], + [ + -3396.805, + 3531.814, + 348.25, + 0.0, + -133.72, + 0.0 + ], + [ + -3483.79, + 3440.853, + 348.25, + 0.0, + -133.72, + 0.0 + ], + [ + -3483.79, + 3440.853, + 348.25, + 0.0, + -108.72, + 0.0 + ], + [ + -3524.184, + 3321.652, + 348.25, + 0.0, + -108.72, + 0.0 + ], + [ + -3524.184, + 3321.652, + 348.25, + 0.0, + -83.72, + 0.0 + ], + [ + -3510.416, + 3196.548, + 348.25, + 0.0, + -83.72, + 0.0 + ], + [ + -3496.649, + 3071.444, + 348.25, + 0.0, + -83.72, + 0.0 + ], + [ + -3482.882, + 2946.341, + 348.25, + 0.0, + -83.72, + 0.0 + ], + [ + -3482.882, + 2946.341, + 348.25, + 0.0, + -83.72, + 0.0 + ] + ], + "Rationale": [ + "From this dim room I can see counters and wall cabinets ahead, but no faucet or basin is clearly identifiable yet. I will begin a steady rightward scan to sweep the counter runs and the rest of the room for the sink.", + "The rotation has brought the second counter unit under the window into view on the right, yet I still cannot make out a basin or tap on either counter. I will keep turning right to continue the scan in one consistent direction.", + "A near wall and an open pale door now fill the right part of my view and block sight of anything beyond them. I will turn right again to sweep past this obstruction and inspect the space it hides.", + "The door panel and its handle now dominate my view, so this heading gives me no useful information about a sink. Continuing to turn right should carry my gaze past the door and onto the next stretch of wall.", + "I am now facing almost directly into the door and the adjacent wall, with no fixtures in sight. I will keep the rightward scan going at the same pace so I do not leave any sector unchecked.", + "Only the door edge and a flat wall surface are in front of me, so there is nothing here to evaluate. Another right turn should move me off this blank surface and back toward open room space.", + "My view is now filled entirely by a featureless painted wall very close to me, which gives no cue about the sink location. I will continue turning right in the same direction to work my way past this blank stretch.", + "The close wall still blocks everything, so I have no new information from this heading. Keeping the consistent rightward rotation should eventually bring the counters or an opening back into view.", + "Nothing but a flat, dark green wall fills the space in front of me, so there is no sink or useful cue at this heading. I will keep rotating right in the same consistent direction to sweep past this blank surface. The kitchen counters I noted at the start lie somewhere back around this scan, so continuing the rotation should bring them into sight.", + "The wall still occupies almost everything ahead, though a slightly darker band is beginning to appear at the right edge, hinting that this surface ends soon. I will continue turning right to clear the wall and expose the space beyond it. No sink is visible yet, so the scan needs to continue.", + "A clear vertical corner now splits what I see, with the pale wall on the left and a much darker region opening to the right. Turning right again should carry my heading into that darker, unexamined space rather than back onto the wall. The sink is still not in sight, so the sweep continues in the same direction.", + "The dark area on the right now shows a faint bluish glow that looks like light coming through glass, suggesting an open part of the room rather than a solid surface. I will keep turning right so that lit region moves toward the center where I can interpret it. If the counters from my starting outlook are on this side, they should begin to appear.", + "The right side is opening into the lit room again, with a green wall, carpet, and the edge of a white door coming into sight. Continuing the right turn should bring that open room fully in front of me, including the cabinetry I expect along its walls. The sink itself is not yet distinguishable, so the sweep goes on.", + "The room is now clearly in sight on the right, with the closed white door and, further right, a base cabinet with a countertop and small window above it that matches the kitchenette I saw at the start. That counter is the most likely place for the sink, so I will turn right once more to bring it nearer the center of my heading. A dark surface still crowds the left, so more rotation is needed before moving.", + "I can now see the kitchenette clearly: a countertop with upper cabinets against the blue backsplash, plus a floor lamp beside it, all sitting to the right of the white door. One more right turn should center this counter area and open up the rest of the room so I can pick a clear walking line toward it. The sink most plausibly sits on that counter run.", + "The room is squarely in front of me now, with the cabinet run and blue backsplash on the left of my heading, the lamp in the middle, and another counter under a window on the right. The floor between me and those counters is clear carpet, so I will walk forward to close distance with the kitchen fittings. Getting nearer should let me confirm which counter carries the sink.", + "From this spot inside the room I can see two counter runs, the one on my left under the blue backsplash and a longer one on my right beneath the window with an overhead hood. The right-hand run continues out of view, so it is the more likely place for a sink basin and faucet. I will turn right to bring that stretch of countertop into the center of my view.", + "The counter run with the range hood and windows now sits ahead and slightly to my right, with open carpet between me and it. Nothing blocks the path, so walking forward should close the distance and let me read the countertop surface for a basin.", + "Standing closer now, the counters continue to my right past the hood and around into a deeper part of the kitchen that I cannot yet see fully. Turning right should line my heading up with that continuing run so I can follow it toward a faucet.", + "The long counter run is now laid out ahead of me, with cabinets on the left and more countertop receding toward the far wall on the right. Walking forward along this open lane should bring the far end of the counters, where a faucet would likely stand, within clear view.", + "I am close beside the counter on my left, and the cabinetry wraps around to my right toward a darker stretch of worktop I still cannot inspect. Turning right should face me down that side of the kitchen where the basin most plausibly sits.", + "Down the right-hand counter I can now make out a dark upright shape on the worktop that looks like a faucet. Stepping forward should shorten the gap and confirm the basin under it.", + "The faucet and its dark countertop section are off to my right rather than straight ahead, while I am currently facing the window counter. I will turn right to put that fixture squarely in front of me before continuing.", + "The sink with its faucet is now centered ahead against the far wall, set into the counter run. Walking forward should carry me the remaining distance to stand right at the installed basin.", + "The dark sink basin with its black faucet is now clearly visible ahead on the counter run against the far wall, roughly centered in my path. I will keep walking forward to close the remaining gap to that counter.", + "The sink and its faucet now fill much of the view just above the countertop, so I am close but not yet standing at the basin. I will step forward once more to finish arriving at the spot where the sink is installed.", + "The sink basin and faucet are directly in front of me at arm's reach on the counter. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003154_y003569_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003154_y003569_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23c99873b88d8f112258f45f0a6de215888e1cc2 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003154_y003569_z000348_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Determine where the countertop holding four cups is situated and make your way over to it.", + "Type": 1, + "Start_Pose": [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 161.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -3279.037, + 3555.559, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -3279.037, + 3555.559, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -3386.601, + 3490.21, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -3386.601, + 3490.21, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -3461.948, + 3414.996, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -3531.817, + 3310.312, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -3531.817, + 3310.312, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -3550.898, + 3185.907, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -3550.898, + 3185.907, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -3550.898, + 3185.907, + 348.25, + 0.0, + -123.72, + 0.0 + ] + ], + "Rationale": [ + "From the doorway area I can see kitchen cabinets and a counter ahead, but the dim surfaces show no clear group of four cups yet. There is another counter run at the right edge of my view that is mostly cut off, so I will turn right to bring that part of the kitchen into view and continue a consistent scan.", + "Turning right has revealed a second counter with something small on it near the window on the right side of the room, so the kitchen area continues in that direction. The floor between me and those counters is clear, so I will walk forward to get close enough to read what is sitting on the countertops.", + "From closer in I can see both counter runs, and the right-hand one extends past the edge of my view into an unseen part of the kitchen. Since I still cannot make out four cups on either visible surface, I will turn right to follow that counter and open up the area beyond it.", + "Now I am facing a long counter run beneath the windows with a range hood above it, which is the strongest kitchen cue I have seen so far. I will step forward along this counter to get near enough to inspect the objects on its surface.", + "Standing beside this counter I can see it bends around toward the right into a narrower, brighter part of the kitchen that I have not inspected. I will turn right to face along that continuation, since the remaining counter surfaces there are the likely place for a set of cups.", + "I am now looking down the galley stretch of the kitchen with counters on both sides and a window at the far end. Only a single cup is visible on the near counter, so I will walk forward to reach the far surfaces where more items may be sitting.", + "Deeper along the run I can make out light-colored objects on the counter beneath the far window, which may be the cups I am looking for. I will keep walking forward to close the remaining distance and confirm how many are there.", + "I can now see several cups grouped on the counter under the window just ahead and slightly to my left, which matches the target surface. The counter corner is close in front of me, so I will turn right toward the open floor to keep advancing alongside it instead of walking into its edge.", + "Several light-colored cups are lined up on the counter beneath the broken windows just ahead and slightly to my left, which matches the countertop I was sent to find. The floor between me and that run of cabinets is clear, so I will walk forward to close the remaining distance to it.", + "I am now right beside the counter run, but my heading has swung toward the empty green wall and sink section on the right, leaving the cup-covered stretch of countertop at the edge of my view on the left. I will turn left so that countertop and its cups sit squarely in front of me.", + "Four cups sit on the countertop directly in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003154_y003569_z000348_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003154_y003569_z000348_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..29ba0e209745b70619c93684ffe6e4b249ecdf91 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003154_y003569_z000348_t1_c/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Search for the black stovetop in this kitchen; once found, go ahead and approach it.", + "Type": 1, + "Start_Pose": [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + 161.28, + -0.0 + ], + [ + -3153.933, + 3569.326, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -3279.037, + 3555.559, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -3279.037, + 3555.559, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -3386.601, + 3490.21, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -3386.601, + 3490.21, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -3461.948, + 3414.996, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -3531.817, + 3310.312, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -3531.817, + 3310.312, + 348.25, + 0.0, + -123.72, + 0.0 + ] + ], + "Rationale": [ + "From here I can see kitchen cabinetry against the blue wall ahead and another counter run on the right edge of my view, so the cooking area likely extends to my right. I will turn right to bring that unexplored counter stretch into view and look for a black stovetop.", + "Now both counter runs are visible, with a second cabinet block and range hood on the right side of the room. The floor between them is clear, so I will walk forward to get closer and inspect those countertops for a black stovetop.", + "The counter under the hood on my right is the most promising cooking spot, and a dark surface next to it is partly hidden by the wall corner. I will turn right to face that side of the kitchen and open up the view along its counter.", + "Facing this way, the counter with the extractor hood above it is directly ahead and a dark section of worktop sits beneath the hood. I will step forward along the open floor to close the distance and confirm whether that dark section is the stovetop.", + "The long counter run now clearly shows a black cooktop surface under the hood, but it sits toward the right of my heading with the wall corner cutting the view. I will turn right to line my body up with that counter before advancing.", + "The black stovetop under the hood is now centered ahead of me along the counter, and the floor in front is clear. I will walk forward to shorten the remaining distance to it.", + "The black stovetop is plainly visible just left of the window on the counter ahead, but I am still a step or two short of standing at it. I will move forward once more to reach a position right beside the stovetop.", + "The black stovetop is directly in front of me at the counter's edge, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003204_y007335_z000349_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003204_y007335_z000349_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..616696f63e4e29e834807b28e18ee302661144f1 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003204_y007335_z000349_t1_b/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Determine where the green rubbish bin is placed within the yard and make your way over to it.", + "Type": 1, + "Start_Pose": [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 101.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 101.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 126.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 151.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 176.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + -158.72, + 0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + -133.72, + 0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + -108.72, + 0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + -83.72, + 0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + -58.72, + 0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + -33.72, + 0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + -8.72, + 0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 16.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 41.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 66.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 91.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 116.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 141.28, + -0.0 + ], + [ + -3204.21, + 7334.51, + 348.595, + 0.0, + 166.28, + -0.0 + ], + [ + -3326.478, + 7364.361, + 348.595, + 0.0, + 166.28, + -0.0 + ], + [ + -3448.746, + 7394.212, + 348.595, + 0.0, + 166.28, + -0.0 + ], + [ + -3571.013, + 7424.062, + 348.595, + 0.0, + 166.28, + -0.0 + ], + [ + -3693.281, + 7453.913, + 348.595, + 0.0, + 166.28, + -0.0 + ], + [ + -3815.549, + 7483.764, + 348.595, + 0.0, + 166.28, + -0.0 + ], + [ + -3937.817, + 7513.615, + 348.595, + 0.0, + 166.28, + -0.0 + ], + [ + -3937.817, + 7513.615, + 348.595, + 0.0, + 141.28, + -0.0 + ], + [ + -3937.817, + 7513.615, + 348.595, + 0.0, + 141.28, + -0.0 + ] + ], + "Rationale": [ + "From where I stand the view is mostly blocked by the pale siding of the house on my left and a tall dark hedge ahead, with no green bin anywhere in sight. I will turn right to begin a steady scan of the yard and open up the paved area on that side.", + "Turning has opened up a long paved path running beside a hedge toward a gabled outbuilding, but I still see no green bin along it. I will keep rotating right in the same direction to bring more of the yard into view.", + "I now face a wide stone patio with the outbuilding to my left and a low wall in the distance, and only a dark object at the hedge base catches my eye, not the green bin I want. I will continue turning right to sweep the rest of the patio before committing to any direction.", + "The patio ahead holds a set of wooden folding chairs and a table, with trees behind the boundary wall, and still no green rubbish bin in this sector. I will keep the rotation going to the right to check the parts of the yard still hidden from me.", + "A two-storey clapboard house with a pergola has come into view on my right side of the patio, and the seating area holds nothing resembling a green bin. I will maintain the same rightward sweep so the near facade and its side passage come into view.", + "Facing the pergola side of the house, I can see a bench and a stretch of gravel, but the wall of the building limits how much of the yard I can judge from here. I will keep turning right to continue the scan past this facade toward the corner on my right.", + "A pale wall with a grey door and a wooden trellis now fills the right half of my view, so this narrow corner offers no sight of a green bin. I will continue the consistent rightward rotation to work past this obstruction and keep sweeping the yard.", + "I am now looking almost straight into the trellised siding at close range, which tells me nothing useful about where the bin sits. I will keep rotating right through this blank wall to bring the remaining unseen part of the yard into view.", + "Almost my whole view is filled by the pale siding and wooden lattice of the wall I am standing right beside, so there is nothing here that could be the green bin. I keep the sweep going in the same rightward direction to get this near wall out of my field of view.", + "The lattice has slid to the left edge but the flaking white boards of this wall still block everything ahead, so the scan has revealed nothing useful yet. I continue turning right at the same steady rate rather than reversing direction, so the sweep stays consistent.", + "I am now facing flat siding at very close range with no depth or ground visible, which means this heading gives me no information about the yard. Another right turn should carry my gaze along the wall toward whatever opens up past it.", + "Still only board seams and shadow bands from this adjacent wall, so the green bin cannot be checked from here. I hold the same rightward rotation, expecting the wall to fall away and reveal open yard shortly.", + "A window frame and a darker vertical edge have appeared at the right of the siding, which suggests I am nearing the end of this wall face. I continue the rightward turn so that edge and the space beyond it come into view.", + "The wall corner has now opened up, and past the window I can see the hedge, paving, and a neighbouring roof, but no green bin among them. I keep rotating right to sweep the newly exposed part of the yard.", + "This heading looks like where I began, with the tall hedge running along the paving and the neighbour's house past it, so my sweep has come back around to familiar ground without turning up the green bin. I continue the same rightward rotation to reach the parts of the yard my starting heading did not cover.", + "I am now looking past my original heading along the hedge toward the gabled house with its garage door and the broad paved area beside it, which is the part of the yard I have not inspected. I keep turning right to bring that open patio and the base of that wall fully into view, where bins are plausibly kept.", + "My rotation has brought me back around to the open paved yard with the hedge and the gabled garage wing, which closely matches the enclosed corner I started from, so the sweep is nearly complete and no green bin has clearly shown itself yet. Low against the base of that wall on the right side of the paving I can make out a small cluster of dark objects that could be refuse set out for collection. I will turn right once more to bring that patio strip and the wall base fully in front of me before committing to move.", + "Now the paving runs straight ahead along the house wall, with a dark clustered object sitting low against the siding at mid-left and patio chairs off to the right. Refuse is usually set beside a wall like that, so this is the most promising place in the yard to find the green bin. I will walk forward along the open paving to close the distance and get a clearer look at what is against the wall.", + "The dark bundle against the siding is a little larger now, confirming I am closing on it, though I still cannot resolve a green bin among the shapes. The paving ahead remains clear with the hedge safely to my left. I will keep walking forward to bring that wall-side cluster into better view.", + "The objects by the wall now read as dark bagged rubbish stacked at the foot of the siding, which strongly suggests the bin is kept in this same spot. Nothing blocks the paving between me and that corner. I will continue forward to reach the collection area.", + "I can see two or three bagged bundles set against the siding just ahead, near a doorway and low brick wall on my right. That is exactly the kind of place a wheeled bin would stand, so I want to be right beside it. I will step forward again to shorten the remaining distance.", + "The bags at the base of the wall are close now and I can start to make out a darker upright form tucked to their left, which may be the bin itself. Approaching a few more steps should let me confirm its colour and stand next to it. I will move forward once more along the open paving.", + "A teal green wheeled bin is now visible against the siding just left of the three black rubbish bags, which matches the target I was asked to locate. It sits slightly ahead and to my left, still a couple of paces off and partly clipped by the hedge in the foreground. I will walk forward to close the last of that gap and stand beside it.", + "I am now right at the wall beside the rubbish bags, and the green bin has slid to the lower left edge of my view where it is mostly cut off. Turning left should swing my heading onto it so the bin sits squarely in front of me rather than at the fringe. I will make that single left turn to face it properly.", + "The green rubbish bin stands directly beside me against the house wall, well within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c26758094e4d7c7de721e451650120bdf48d2aa --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_c/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Search for the faucet mounted above the kitchen sink; after locating it, go to that area.", + "Type": 1, + "Start_Pose": [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 131.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 156.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -178.274, + 0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -153.274, + 0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3303.097, + 482.498, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3381.057, + 383.692, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3459.017, + 284.885, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3459.017, + 284.885, + 348.25, + 0.0, + -103.274, + 0.0 + ], + [ + -3487.915, + 162.389, + 348.25, + 0.0, + -103.274, + 0.0 + ], + [ + -3487.915, + 162.389, + 348.25, + 0.0, + -103.274, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a closed interior door and bare olive walls, with no counter, sink, or faucet anywhere in view. I will begin a steady rightward scan of the room to look for kitchen fixtures.", + "A large dark refrigerator has come into the right edge of my view, which is a strong hint that the kitchen counters and sink lie further in that direction. I will keep rotating right to bring that side of the room fully into view.", + "Now I can see the refrigerator, a window, and the start of a counter run with upper cabinets on the right, confirming this is the kitchen area. No faucet is visible yet, so I will continue turning right along the counters.", + "The long counter with cabinets and two windows is now centered, but this stretch of worktop shows no basin or faucet. I will keep the same rightward scan to follow the counter toward its far end.", + "Toward the right end of the counters I can make out a slim dark upright fixture standing above the worktop under a small window, which looks like a faucet. I will turn right once more to bring that spot closer to the center of my view.", + "The tall dark faucet above the counter is clearly visible now on the far wall beneath a small window, so the sink area is identified. I will turn right a little more to line my heading up with it before walking over.", + "The faucet and its counter section sit ahead of me across an open stretch of floor with nothing blocking the way. I will walk forward to close the distance to that sink area.", + "The counters and the dark faucet under the small window have grown noticeably larger, so my forward walk is closing on the sink. I will keep stepping forward toward that corner of the kitchen.", + "The kitchen counter run is now clearly ahead, and a dark tall faucet stands on the right-hand section of countertop beneath the cabinets. I will keep walking forward to close the remaining distance to that counter area before fine-tuning my heading.", + "I am close to the counter now, but the faucet and its dark sink surface sit at the far right edge of my view while the corner cabinets fill the center. Turning right should bring the faucet and sink basin into the middle of my view for a straight approach.", + "The faucet is now centered ahead of me, rising from the dark sink basin set into the counter under the window. I will step forward once more to stand directly at that sink area.", + "The faucet mounted above the kitchen sink basin is directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a7cdf7948e0bd1afa84dcf039b352712c2d5eebe --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_d/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Locate the countertop cluttered with a collection of aluminum cans and reach that spot.", + "Type": 1, + "Start_Pose": [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 131.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 156.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -178.274, + 0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -153.274, + 0.0 + ], + [ + -3337.55, + 524.703, + 348.25, + 0.0, + -153.274, + 0.0 + ], + [ + -3337.55, + 524.703, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3415.51, + 425.897, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3493.47, + 327.09, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3554.135, + 228.613, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3556.544, + 146.075, + 348.25, + 0.0, + -128.274, + 0.0 + ], + [ + -3556.544, + 146.075, + 348.25, + 0.0, + -128.274, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a plain green wall and a closed interior door, with no countertop or cans anywhere in view. I will turn right to begin a consistent scan of the room for a kitchen counter surface.", + "A large dark refrigerator has come into the right edge of my view, which is a strong sign the kitchen counters lie further in that direction. I will keep turning right to bring that kitchen area fully into view.", + "Beyond the refrigerator I can now see base cabinets with a dark countertop and a window on the right side of my view. Continuing to turn right should reveal the full length of that counter so I can look for a cluster of cans.", + "The counter run stretches across my view under two windows, but the items I can make out on it look like a few small pale objects rather than a group of cans. I will turn right again to inspect the rest of the counter that extends past my current field of view.", + "Toward the right end of the counter I can see a corner area with small colored containers standing against the tiled backsplash, which fits a collection of cans better than the empty stretches nearer to me. I will turn right once more to bring that corner section toward the center of my view.", + "The counter with the cluster of small colored cans near the corner is now roughly ahead and to my right, and the floor between us is clear. I will walk forward to close the distance before making any finer heading adjustment.", + "I am closer to the cabinets now, and the row of colored cans sits on the counter section to the right of my heading, near the inside corner by the small window. I will turn right to point myself at that spot so my next steps carry me straight toward it.", + "My heading now lines up with the corner counter where the cluster of colored cans stands against the tiled backsplash. The floor in front of me is unobstructed, so I will step forward to get within reach of that countertop.", + "From here the counter along the corner of the kitchen shows a small cluster of colorful cylindrical containers grouped near the backsplash under the wall cabinets, which matches the collection of cans I am looking for. They are still several steps away and too small to confirm in detail, so I will walk forward along the open floor toward that stretch of countertop.", + "The grouped items on the counter are now larger and clearly read as upright cans lined up against the backsplash beside the window. My heading is already pointed at that section, so another step forward should close the remaining distance to that spot.", + "The cluster of aluminum cans is now plainly visible on the countertop just ahead and slightly left, close under the wall cabinet next to the window. I am not yet standing at that counter edge, so I will step forward once more to reach the spot.", + "The cluttered countertop with its row of aluminum cans is directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_e/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..03f8397e1dbb99240053c1d1a85fa7c2cf590719 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003225_y000581_z000348_t1_e/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Once you discover the counter holding a group of cups near the double windows, approach it.", + "Type": 1, + "Start_Pose": [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 81.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 106.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 131.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + 156.726, + -0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -178.274, + 0.0 + ], + [ + -3225.137, + 581.305, + 348.25, + 0.0, + -153.274, + 0.0 + ], + [ + -3337.55, + 524.703, + 348.25, + 0.0, + -153.274, + 0.0 + ], + [ + -3449.963, + 468.101, + 348.25, + 0.0, + -153.274, + 0.0 + ], + [ + -3553.976, + 412.277, + 348.25, + 0.0, + -153.274, + 0.0 + ], + [ + -3553.976, + 412.277, + 348.25, + 0.0, + -178.274, + 0.0 + ], + [ + -3553.976, + 412.277, + 348.25, + 0.0, + -178.274, + 0.0 + ] + ], + "Rationale": [ + "From here I only see a bare green wall corner and a closed white door, with no counter, cups, or windows anywhere in view. I will turn right to begin a consistent scan of the room for the counter with the group of cups near the double windows.", + "Turning has brought a tall dark refrigerator into the right edge of my view, a strong hint that the kitchen area lies further in that direction. I will keep turning right to bring that side of the room, and any counter with windows above it, fully into view.", + "Now I can see the refrigerator, a lit window, and the start of a countertop with cabinets on the right side of the room. I will continue turning right to reveal the rest of that counter run and check for the double windows and the cups.", + "The long counter is now clearly in view with a pair of bright windows above its far section, matching the double windows described in the task. I will turn right once more to bring that window section closer to the center of my heading before walking toward it.", + "The counter stretches across my view with a set of paired windows above its middle portion and open floor in front of the cabinets. One more right turn should line my heading up with that window section so I can walk straight at it.", + "My heading is now set on the counter beneath the double windows, and the floor ahead is clear of furniture. I will step forward to close the distance toward that counter.", + "The double windows and the counter below them are noticeably larger now, and I can make out small pale objects sitting on the countertop near the windows. I will keep walking forward to get close enough to confirm they are the group of cups.", + "A cluster of white cups is now clearly visible on the countertop directly beneath the two windows just ahead on my left. I will take another step forward to bring myself right up to that counter.", + "I am now right at the counter below the double windows, but the group of cups has slid to the far left edge of my view while the empty countertop and tiled backsplash fill the center and right. A small left turn should center that cluster of mugs in front of me for a clean, squared-up stance at the target counter. I will turn left to bring the cups fully into view.", + "The group of cups sits directly before me on the counter under the double windows, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-003558_y003479_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-003558_y003479_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..649532ee103a3c9029dc57ed9221ea68426d3be3 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-003558_y003479_z000348_t1_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Search for the black refrigerator in the corner with colorful magnets on its doors and approach it.", + "Type": 1, + "Start_Pose": [ + -3558.202, + 3479.46, + 348.25, + 0.0, + -158.72, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + -158.72, + 0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + 176.28, + -0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + 151.28, + -0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + 126.28, + -0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + 101.28, + -0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + 76.28, + -0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + 51.28, + -0.0 + ], + [ + -3558.202, + 3479.46, + 348.25, + 0.0, + 26.28, + -0.0 + ], + [ + -3445.352, + 3535.185, + 348.25, + 0.0, + 26.28, + -0.0 + ], + [ + -3332.501, + 3590.91, + 348.25, + 0.0, + 26.28, + -0.0 + ], + [ + -3247.856, + 3631.019, + 348.25, + 0.0, + 26.28, + -0.0 + ], + [ + -3247.856, + 3631.019, + 348.25, + 0.0, + 26.28, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a dark green wall, a broken window, and the edge of a countertop, with no refrigerator anywhere in view. I will turn left to begin a steady scan of the room in one consistent direction, hoping to open up the corners that are currently outside my field of view.", + "The rotation has only revealed more blank green wall with a thin lamp pole at the left and the window now to my right, so the target corner is still hidden. I will keep turning left in the same direction to sweep further around the room.", + "Cabinets, a countertop, and a blue wall section are now appearing on the left side of my view, which suggests I am rotating toward a kitchen area where a refrigerator would plausibly sit. I will continue turning left to bring that kitchen region fully in front of me.", + "The kitchen counter with cabinets is now clearly in front of me and a pale door stands beyond it to the left, but no black refrigerator has appeared yet. I will keep turning left to expose the wall and corner past that door.", + "The counter and cabinets have slid to my right and the paneled door now fills the left portion of my view, so the unexplored wall lies further left. I will continue the same leftward sweep to check that side of the room for the refrigerator.", + "At the far left edge of my view I can now make out a tall dark surface covered with small colorful magnets, which matches the refrigerator I am looking for. I will turn left again to bring that object properly into view instead of continuing a blind sweep.", + "The black refrigerator is now fully visible standing in the corner to the left of the pale door, with colorful magnets on its right door panel. It still sits left of my heading, so I will turn left once more to center it before walking toward it.", + "The refrigerator with its colorful magnets now sits roughly ahead of me in the corner, and the carpeted floor between us looks clear of obstacles. I will step forward to close the remaining distance and approach it.", + "The black side by side refrigerator now sits squarely ahead in the corner, with the colorful magnets clearly visible on its right door. It is still several steps away with open carpet between us, so I will keep walking straight to close that gap.", + "The refrigerator now fills most of my view, its door handles and the cluster of bright magnets plainly in front of me. I am close but not yet at arm's reach, so one more short step forward should bring me right up to its doors.", + "The black refrigerator's door seam and magnets fill my view at arm's length in the corner. The approach target is reached, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ac717c5c9c8a450d637b3df3e791c74fc67f67a9 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the chair in this room that is not a sofa, then make your way to it.", + "Type": 1, + "Start_Pose": [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4173.243, + 8324.473, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4173.243, + 8324.473, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4087.169, + 8252.817, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4087.169, + 8252.817, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4032.169, + 8144.341, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -3985.661, + 8030.605, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -3963.254, + 7910.201, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -3963.254, + 7910.201, + 348.25, + 0.0, + -73.72, + 0.0 + ] + ], + "Rationale": [ + "From where I stand, the only seating I can see is the light sofa with a dark armchair-style section wedged into this corner beneath the beach painting, and neither counts as the plain chair I need. The wall and window block any further view to the left, so the room clearly continues to my right. I will turn right to begin a steady scan for a non-sofa chair.", + "The rotation has opened up a wide carpeted room with more windows along the far wall, but the sofa is still the only seat in sight. No upright chair has appeared yet, and the space keeps extending toward my right. I will keep turning in the same direction to uncover the rest of this room.", + "Now I can see a pool table, a floor lamp and a white interior door at the right edge of my view, which suggests a games area where loose chairs are often placed. Nothing yet reads as a distinct upright chair, only the sofa on my left. I will continue the same rightward scan toward that pool table side.", + "The pool table now dominates the middle of my view with a second sofa behind it against the far wall, so this is the promising area but still no separate chair. Whatever sits beyond the right end of the table is cut off by my field of view. I will turn right again to reveal that far corner.", + "At the right side of my view, past the end of the pool table and beside a small table near the pale garage door, I can make out a slim straight-backed wooden chair, which is exactly the non-sofa seat I need. It sits off to my right rather than ahead of me. I will turn right to bring that chair closer to the center of my heading.", + "The wooden chair is now clearly visible beside the cluttered table against the yellow wall, with the raised garage bay door filling the right side of my view. The floor between me and that corner looks open along the near edge of the pool table. I will step forward to close the distance toward the chair.", + "The pool table now cuts directly across my path, its near corner and pocket right in front of me, so I cannot continue straight toward the chair. The bare floor beside the open garage bay on my right is the clear lane around that obstruction. I will turn right to line up with that gap before advancing further.", + "I am now aimed down the open strip of floor beside the garage door panels, with the pool table safely off to my left and the wooden chair still visible beyond its far end. Nothing blocks this lane, and moving along it should carry me past the table toward that corner. I will walk forward.", + "Most of what lies ahead of me now is the closed garage panel and the paved area outside, but at the far left edge of my view I can see a straight-backed wooden chair beside the workbench, clearly not one of the sofas. Turning left should swing that chair toward the center of my heading so I can walk straight at it.", + "The wooden chair by the table under the window now sits close to the middle of my heading, distinct from the upholstered sofa on the left. Since the floor between me and it looks open, I will step forward to close the distance.", + "The wooden chair with the laptop on its seat is larger and still centered ahead of me, so my heading remains good. I will keep walking forward to shorten the remaining gap.", + "The wooden chair is now just a short distance ahead and slightly left, with its seat and backrest fully visible. One more step forward should bring me right up beside it.", + "The wooden chair, clearly not a sofa, is directly beside me and fills the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..926a9dc1bc0e7d976cb29855ce73033e90f24375 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Determine where in this room a laptop rests on a chair and navigate over to it.", + "Type": 1, + "Start_Pose": [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4173.243, + 8324.473, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4173.243, + 8324.473, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4087.169, + 8252.817, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4004.135, + 8158.235, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4004.135, + 8158.235, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -3968.853, + 8037.422, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -3963.252, + 7917.756, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -3963.252, + 7917.756, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -3987.004, + 7821.056, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -3987.004, + 7821.056, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -3987.004, + 7821.056, + 348.25, + 0.0, + -98.72, + 0.0 + ] + ], + "Rationale": [ + "From this corner I only see a couch with two cans on its arm, a large painting, and windows, with no chair or laptop anywhere in view. I will turn right to begin a steady scan of the room and open up the space beyond this wall.", + "The rotation has revealed more of this room, showing the couch, further windows, and bare carpet, but still no chair holding a laptop. I will keep turning in the same direction to uncover the part of the room hidden to my right.", + "Now a much larger space opens up with a pool table, a floor lamp, and a white interior door on the far side, which suggests this room continues well past the couch. No laptop on a chair is visible yet, so I will continue the same rightward scan toward the pool table area.", + "The pool table now dominates the view and I can see posters and a bench along the far wall, but nothing yet resembles a laptop resting on a chair. Continuing to rotate right should expose the remaining corner of this large room past the table.", + "Beyond the pool table I can now make out a light wooden chair and a table with small containers against the far wall, plus the dark rails of a garage door mechanism overhead. That chair is a strong cue for where a laptop might be resting, so I will turn right once more to bring that side of the space and its open floor fully into view.", + "I am now facing into the garage bay, with the pool table on my left and the closed garage door panels on my right, and the chair and cluttered table sit against the yellow wall further ahead. I will walk forward to close distance toward that chair area, since it is the most likely spot for a laptop.", + "The pool table now fills the near left and blocks a straight path toward the chair by the far wall, while the floor along the garage door on my right is clear. I will turn right to line up with that open lane so I can move past the table instead of into it.", + "I am now aimed down the open lane beside the garage door panels, with the pool table corner safely off to my left and the light wooden chair still visible near the yellow wall ahead of it. I will walk forward along this clear stretch to get past the table and nearer to that chair.", + "Along the left wall of this garage bay I can now see a wooden chair with a dark laptop resting on its seat, beside a table cluttered with cans. That matches the laptop on a chair I was sent to find, so I will keep walking forward to close the distance across the open floor before turning toward it.", + "The chair holding the laptop now sits at the far left edge of my view while most of what I face is bare wall and the open driveway. I will turn left to bring that chair and laptop toward the center of my heading so I can walk straight at it.", + "Turning has opened up the interior corner, and the chair with the laptop on it is clearly in the left half of my view next to the table of cans. The floor between us is clear, so I will step forward to shorten the gap.", + "The chair and the laptop lying open on its seat are noticeably larger and closer now on my left. I will continue walking forward to reach the immediate area around that chair.", + "I am close to the chair, but the laptop and the chair have drifted to the far left edge while a post and the outside wall dominate the center. I will turn left again to square up on the chair before taking the last steps.", + "The chair with the laptop open on its seat is now centered in front of me, only a short distance away beside the table of cans. I will take one more step forward to stand right at the chair.", + "I am standing right at the chair, so close that only its back and the wall fill my view and the seat is below my line of sight. I will look down to bring the laptop on the seat back into view and confirm I have arrived at it.", + "The open laptop is directly below me, resting on the seat of this chair within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ac459a3200869b146ad5a91c87b43f1ddc01b1b --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_c/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search this room for the square table covered with a collection of cans; once found, go to that table.", + "Type": 1, + "Start_Pose": [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4173.243, + 8324.473, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4173.243, + 8324.473, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4087.169, + 8252.817, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4004.135, + 8158.235, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4004.135, + 8158.235, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4004.135, + 8158.235, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4007.376, + 8041.223, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4026.457, + 7916.818, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4023.75, + 7869.502, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4023.75, + 7869.502, + 348.25, + 0.0, + -98.72, + 0.0 + ] + ], + "Rationale": [ + "From this corner I only see a mural, a window and a couch with two cans on its arm, but no square table loaded with cans. I will turn right to begin a consistent clockwise scan and open up the rest of this room.", + "The new heading reveals more of the room with windows and the couch, still without any square table covered in cans. I will keep rotating right in the same direction to expose the deeper part of the space.", + "A large green pool table and a door are now appearing on the right side of the room, which tells me the space extends further that way. Since neither is the square table with cans, I will continue turning right to reveal what lies beyond the pool table.", + "The pool table dominates the view and posters and a doorway line the far wall, but the cluttered square table is still not in sight. I will turn right again to look past the pool table toward the unseen far end of the room.", + "Now I can see garage door panels and overhead track hardware on the right, and beyond the pool table there is a small table area with what look like objects on it near the yellow wall. Turning right once more should point me down that open bay so I can approach that promising corner.", + "I am now facing along the garage bay with clear floor between the pool table and the closed door panels. I will walk forward to travel down this bay and get a closer look at the table area near the far wall, which may be the one covered with cans.", + "From this closer position the pool table crowds my left and the garage door wall runs ahead, so my heading is angled into the corner of the bay. I will turn right to line up with the open lane along the doors and keep advancing without clipping the pool table.", + "The lane beside the garage doors is clear ahead, with the pool table now behind my left shoulder and daylight showing near the far bay. I will step forward along this lane to reach the far end of the garage, where the table with items sat against the yellow wall.", + "From this spot inside the open bay, most of my view is taken up by the closed door panel and the bright driveway, while only a sliver of the left side of this space shows a chair and a low table edge with small colorful items on it. Stepping forward along the bay should carry me past the panel so that the left-hand corner with that table becomes fully visible.", + "Now that I have advanced, the wall and open doorway fill the right of my view and the interior corner with the wooden chair and laptop sits at the left edge. I will turn left to swing my heading off the exterior opening and back onto that interior corner where I glimpsed a table with small colorful items.", + "The turn brought the interior corner into view, and I can now see a small square wooden table on the left crowded with several colorful cans, plus mugs and cans on the floor beside it. That matches the table I am searching for, so I will turn left again to bring it toward the center of my heading before walking to it.", + "The square table with its cluster of cans is now clearly ahead and slightly left of center, standing against the yellow wall beside the couch. Since the floor between us looks clear, I will walk forward to close the distance to it.", + "The can-covered square table is closer and nearly centered in my view, with the chair and laptop just to its right. I am still several steps away, so I will keep walking straight toward it.", + "The square tabletop with its red, green, and yellow cans now fills the lower part of my view, but I am still a short step from being right at its edge. One more short advance should place me directly at the table.", + "I am standing right at the square table, its surface covered with several cans directly in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..766ade5a05c301fd685908f2e035e55254acbee1 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004209_y008445_z000348_t1_d/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Find the skateboard leaning against the sofa in this room, then head to its location.", + "Type": 1, + "Start_Pose": [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + 161.28, + -0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -173.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4208.525, + 8445.285, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4173.243, + 8324.473, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4173.243, + 8324.473, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4087.169, + 8252.817, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4004.135, + 8158.235, + 348.25, + 0.0, + -48.72, + 0.0 + ], + [ + -4004.135, + 8158.235, + 348.25, + 0.0, + -73.72, + 0.0 + ], + [ + -4004.135, + 8158.235, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4007.376, + 8041.223, + 348.25, + 0.0, + -98.72, + 0.0 + ], + [ + -4007.376, + 8041.223, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4077.245, + 7936.538, + 348.25, + 0.0, + -123.72, + 0.0 + ], + [ + -4077.245, + 7936.538, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -4183.505, + 7885.674, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -4286.315, + 7885.583, + 348.25, + 0.0, + -148.72, + 0.0 + ], + [ + -4286.315, + 7885.583, + 348.25, + 0.0, + -148.72, + 0.0 + ] + ], + "Rationale": [ + "From this corner I can only see a couch tucked against the wall under a large poster, with no skateboard leaning anywhere along its visible side. Since most of the room is cut off to my right beyond the windowed wall, I will turn right to begin a steady scan for the sofa that has the skateboard against it.", + "Turning right has opened up more of this long room, and I can now see the full couch with a table and further windows, but still no skateboard propped against it. I will keep rotating in the same direction to bring the unseen far end of the room into view.", + "Now a pool table and a white interior door appear on the right side of the room, showing this space is much larger than the corner I started in, yet the couch on my left still has nothing leaning against it. I will continue the same rightward scan to inspect the area past the pool table where another seat looks partly hidden.", + "The pool table now dominates the view and I can make out a lighter couch against the far wall beneath the posters, but the skateboard is not clearly visible from this angle and distance. I will keep turning right to finish sweeping this side of the room before choosing where to walk.", + "This heading reveals a large paneled garage door on the right, so this end of the space is an exterior wall rather than more living area with sofas. I will turn right once more to see how far that wall runs and whether anything is leaning along it before committing to a direction.", + "The couches I have swept past so far show only cushions and cans, with no skateboard leaning against them, and my current heading is filling with the pool table and the pale garage door panels on the right. I will keep the rotation going in the same rightward direction to finish covering this side of the space before deciding where to walk. If nothing useful appears, the remaining unscanned corner should still tell me which lane is open.", + "This heading has turned into nothing but blank garage door panels and overhead rails, so continuing to rotate this way gave me no sofa and no skateboard. I will turn back left to recover the more informative heading, where the pool table, the far wall with posters and the seating beyond it are visible. That side of the room is the only part worth approaching from here.", + "Facing back into the room, I can see the pool table, the doorway on the yellow wall, and a light couch tucked along the far wall past the table. No skateboard is resolvable at this distance, so I will walk forward to close the gap and get a clearer look at that seating area. The floor ahead on the right of the table looks clear enough to advance.", + "After stepping ahead, the pool table now fills the left half of my view and blocks a straight walk toward the far seating. I will turn right to line up with the open lane along the garage doors, which is the passable route around the table. Following that lane should let me reach the far end of the space without bumping the table.", + "I am now aligned with the clear strip of floor running alongside the garage doors, with the pool table safely off to my left. I will walk forward along this lane to get past the table and closer to the seating and doorway at the far end. The skateboard should be easier to spot once the table no longer blocks that corner.", + "Ahead of me the garage bay narrows between a closed door panel and a blank wall, with daylight and a paved driveway opening to my right. No sofa is visible in this stretch, so I will step forward to clear the door panel and see whether the space past it holds anything useful. If this side only leads outside, it is not where the skateboard should be.", + "Stepping this way only pressed me against a blank wall with the driveway outside, so this direction gave me nothing related to the sofa. The furnished part of the space, including a chair on the carpet, lies back to my left. I will turn left to break off this dead-end heading and face the interior again.", + "Turning back inward has brought a work table with cans, a chair, and a window into view, so the lived-in part of the room is on this side. The interior still continues further left, beyond my current field of view. I will keep turning left to bring that furnished corner fully in front of me.", + "Now I can see a long beige sofa along the far wall on the left, with the table and chair beside it. That sofa is exactly the kind of place the skateboard should be leaning, though it is still too distant to inspect its sides. I will walk forward to close the gap and get a clearer look at it.", + "After advancing, the table, chair, and window fill my view while the sofa has slipped to the far left edge. I need it centered to check whether a skateboard is propped against it. I will turn left to bring the sofa back into the middle of my view.", + "The long grey sofa is now clearly in front of me under the posters, and a dark board-like shape stands upright against its far left end, which matches the skateboard I am looking for. I will walk forward to close the gap across the open carpet so I can confirm that shape and reach the sofa.", + "My forward step brought me up against the table with the cans, and the sofa now fills the left side of my view while the leaning board at its far end has dropped out of sight. I will turn left to swing my heading back onto the sofa's far end where that skateboard-shaped object stood.", + "The turn restored my view of the sofa's far end, and I can now see the dark skateboard propped upright against its left armrest near the lamp. I will step forward along the open carpet to bring myself to that end of the sofa.", + "The skateboard is clearly resting against the left end of the sofa, its dark deck and wheels now distinct just past the armrest. I am still a couple of steps away, so I will keep walking forward to stand at its location.", + "The skateboard is right beside me, leaning against the near end of the sofa. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004387_y002359_z000343_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004387_y002359_z000343_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..35b3cc907d915eea658effe0721285d680b1e3bb --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004387_y002359_z000343_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search the yard for a bench situated beneath the wooden pergola shelter, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 1.28, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 1.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 26.28, + -0.0 + ], + [ + -4387.038, + 2358.539, + 342.68, + 0.0, + 51.28, + -0.0 + ], + [ + -4308.311, + 2456.736, + 342.68, + 0.0, + 51.28, + -0.0 + ], + [ + -4229.585, + 2554.933, + 342.68, + 0.0, + 51.28, + -0.0 + ], + [ + -4150.858, + 2653.129, + 342.68, + 0.0, + 51.28, + -0.0 + ], + [ + -4072.131, + 2751.326, + 342.68, + 0.0, + 51.28, + -0.0 + ], + [ + -4072.131, + 2751.326, + 342.68, + 0.0, + 76.28, + -0.0 + ], + [ + -4042.28, + 2873.594, + 348.589, + 0.0, + 76.28, + -0.0 + ], + [ + -4012.429, + 2995.862, + 348.589, + 0.0, + 76.28, + -0.0 + ], + [ + -3982.579, + 3118.129, + 348.589, + 0.0, + 76.28, + -0.0 + ], + [ + -3952.728, + 3240.397, + 348.589, + 0.0, + 76.28, + -0.0 + ], + [ + -3922.877, + 3362.665, + 348.94, + 0.0, + 76.28, + -0.0 + ], + [ + -3922.877, + 3362.665, + 348.94, + 0.0, + 51.28, + -0.0 + ], + [ + -3844.15, + 3460.862, + 348.94, + 0.0, + 51.28, + -0.0 + ], + [ + -3844.15, + 3460.862, + 348.94, + 0.0, + 51.28, + -0.0 + ] + ], + "Rationale": [ + "From this spot I only see a picket fence running away on my left and the blank siding of houses ahead, with no pergola or bench anywhere in view. The open yard seems to continue around the right side of the nearer house, so I will turn right to scan that direction for a sheltered seating area.", + "The scan has brought a dark wooden beam structure attached to the far side of the house into view on the right, with what looks like a bench and paving beneath it. I will keep turning in the same direction to bring that pergola and the seating fully in front of me before committing to an approach.", + "The wooden pergola now spans the middle of my view along the house wall, and a bench sits on the paving directly beneath it. The lawn ahead of me is open all the way to that patio, so I will walk forward to close the distance.", + "The pergola and its supporting posts have grown noticeably larger, confirming I am closing on the sheltered patio rather than drifting past it. The bench under the beams is still ahead of me, so another step forward should keep shrinking the gap.", + "I am now close to the edge of the lawn where it meets the pale paving under the pergola, and the bench against the house wall is clearly the target seating. Continuing straight ahead should carry me onto the patio itself.", + "The pergola beams now pass overhead and the paved terrace opens out in front of me, with the bench standing against the wall ahead. I will step forward again to move fully onto the sheltered paving near the bench.", + "My current heading points almost into the house siding and a pergola post, so walking straight would press me against the wall instead of the bench. Turning right lines me up with the open paved corridor that runs beneath the pergola past the bench, which should give me a clear walking lane.", + "I am now facing along the open paving that runs beneath the pergola, with the bench standing against the siding ahead on my left and the pool edge well clear on the right. I will walk forward along this lane to draw level with the bench.", + "The wooden bench sits against the siding ahead on my left, clearly under the pergola beams that stretch overhead. The paved patio in front of me is clear, so I will keep walking forward to close the remaining distance to it.", + "The bench beneath the pergola now appears larger and further to my left as I draw nearer along the patio. Nothing blocks the paving ahead, so another step forward should continue shortening the gap.", + "The target bench is clearly resolved on my left, its slatted back and armrest visible in the shade of the pergola. I am still a few paces short of it, so I will advance again along the open patio.", + "The bench now fills much of the left side of my view and I am nearly level with it. One more forward step should bring me alongside the seat under the pergola.", + "The bench has slid to the far left edge of my view, so my heading is now carrying me past it rather than toward it. I will turn left to bring the bench back to the center of my view before closing in.", + "The turn worked, and the bench now sits centered in front of me beneath the pergola rafters. I will step forward to finish closing the short remaining distance to it.", + "The wooden bench under the pergola is directly beside me, filling the near foreground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..262dde5701c05ca0f295092c736216450847e6dd --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Walk to the wooden dining chair, then head toward the white door.", + "Type": 3, + "Start_Pose": [ + -4535.727, + 10133.498, + 348.595, + 0.0, + -38.4, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4535.727, + 10133.498, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4437.092, + 10055.321, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4338.457, + 9977.144, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4239.822, + 9898.967, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4239.822, + 9898.967, + 348.595, + 0.0, + -63.4, + 0.0 + ], + [ + -4183.468, + 9786.43, + 348.595, + 0.0, + -63.4, + 0.0 + ], + [ + -4127.113, + 9673.892, + 348.595, + 0.0, + -63.4, + 0.0 + ], + [ + -4127.113, + 9673.892, + 348.595, + 0.0, + -63.4, + 0.0 + ], + [ + -4127.113, + 9673.892, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4127.113, + 9673.892, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4127.113, + 9673.892, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -4003.825, + 9699.2, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -3880.537, + 9724.507, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -3757.248, + 9749.815, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -3633.96, + 9775.122, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -3633.96, + 9775.122, + 348.595, + 0.0, + 11.6, + -0.0 + ] + ], + "Rationale": [ + "The wooden dining chairs stand together on the patio ahead and slightly to my left, with the house and its white door further to the right. Since the chairs are my first destination, I will walk forward across the open paving to close the distance.", + "The wooden chairs have grown larger toward the left of my view, so my heading is still carrying me usefully toward them. The paving between us is clear, so I will keep walking forward.", + "One wooden chair is now close on my left and another sits under the covered walkway ahead, so I am still short of the seating group. I will step forward again to bring myself alongside them.", + "My forward heading has taken the wooden chairs out toward the left edge of my view, leaving me pointed at the dark siding of the house instead. I will turn left so the seating sits in front of me and I can walk straight at it.", + "The turn has placed the wooden dining chairs squarely across the front of my view, with clear paving leading up to them. I will walk forward to reach them.", + "Two wooden chairs are close now, one just left of center and one directly ahead, but I am not yet standing among them. Another step forward should bring me right up to the seating.", + "A wooden dining chair now stands immediately in front of me, its slatted back filling the lower part of my view within arm's reach. I have arrived at the wooden chair. I mark reaching it, and now I turn my attention to the white door on the house wall.", + "Standing at the wooden chair, my view faces the courtyard and the far cottage, and the white door is not in front of me. I will turn right to swing my heading back along the dark clapboard wall where the door should come into view.", + "My view is filled with the dark clapboard wall and its shuttered window, with no white door yet in front of me. The pale door I need lies further around to my right along this facade, so I will keep turning right to bring it into view.", + "The white panelled door has come into sight, but it sits off toward the right edge of my view while a porch post crowds the left. One more turn to the right should place the door near the centre of my heading before I walk toward it.", + "The white door now sits ahead of me with clear open paving between us and no post in the way. With my heading settled on it, I will walk forward to close the distance.", + "The door has grown noticeably larger and its handle is becoming visible, so my line of travel is good. I will keep walking forward toward it.", + "The white door now fills a good part of my view with its handle clearly in reach of my heading, yet a few paces of paving still separate us. Another step forward should bring me right up to it.", + "The door frame and its panels now dominate my view, with only a short stretch of paving left at its base. One more step forward should put me directly at the door.", + "The white door's panels and handle fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c5662e8e4e650de2c215b0330270a0a244be6ee5 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t3_b/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Approach the nearest porch column, then move to the white door.", + "Type": 3, + "Start_Pose": [ + -4535.727, + 10133.498, + 348.595, + 0.0, + -38.4, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4535.727, + 10133.498, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4535.727, + 10133.498, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4413.294, + 10104.33, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4290.862, + 10075.163, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4168.429, + 10045.995, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4045.997, + 10016.828, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4045.997, + 10016.828, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4045.997, + 10016.828, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4045.997, + 10016.828, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3923.564, + 9987.66, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3801.131, + 9958.493, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3678.699, + 9929.325, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -3678.699, + 9929.325, + 348.595, + 0.0, + -13.4, + 0.0 + ] + ], + "Rationale": [ + "From the open patio I can see the covered porch with its white columns ahead, and the plain white door sits over on the right side of that wall. My heading is aimed too far left across the seating area, so I will turn right to face the nearer column and the paving that leads to it.", + "The porch columns and the white door are now roughly ahead of me across clear paving. Nothing blocks the route, so I will walk forward to close the distance toward the nearest column.", + "The columns have grown larger and the porch edge is clearly nearer, confirming my heading is good. I will keep walking forward since the paving ahead stays clear.", + "The nearest white column now stands tall just left of center and the door frame is sharper on the wall beyond it. I am still short of the porch, so another forward step should bring me close alongside that column.", + "The nearest column has shifted well to the left of my view as I come up beside it, and the porch floor is only a short stretch away. One more forward step should place me right at that column.", + "The white column has slid to the very edge of my view on the left, so I am practically beside it but no longer looking at it. I will turn left to bring that column properly into view and confirm I am standing at it.", + "The nearest white porch column now rises directly in front of me, close enough that its base and my own shadow share the same paving. I have reached that column. I mark reaching it and now turn my attention to the white door on the wall to my right.", + "With the column right in front of me, the white door sits off to my right along the shaded wall and is not centered in my path. I will turn right so the door lies straight ahead before I walk toward it.", + "The white paneled door now sits near the middle of my view with clear paving in front of it, so my heading is good. I will walk forward across the open patio to close the remaining distance to it.", + "The door has grown larger and its frame and handle are becoming distinct, confirming I am closing on it. Still several paces of paving separate us, so I will keep walking straight ahead.", + "The white door now dominates my view and the lever handle is clearly visible at chest height. One more step forward should bring me right up against the doorway.", + "The white door fills my view at arm's length, its handle directly before me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t5_a_pd/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7e6da3d39a174e07907e0ac852508b5e6833537e --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-004536_y010133_z000349_t5_a_pd/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Lift the candelabra, then leave it near the white door.", + "Type": 5, + "Start_Pose": [ + -4535.727, + 10133.498, + 348.595, + 0, + -38.4, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -4144.621, + 9798.188, + 263.595, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4535.727, + 10133.498, + 348.595, + 0, + -38.4, + 0 + ], + [ + -4437.092, + 10055.321, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4338.457, + 9977.144, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4239.822, + 9898.967, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4239.822, + 9898.967, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4141.187, + 9820.791, + 348.595, + 0.0, + -38.4, + 0.0 + ], + [ + -4141.187, + 9820.791, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4018.754, + 9791.624, + 348.595, + 0.0, + -13.4, + 0.0 + ], + [ + -4018.754, + 9791.624, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -3895.466, + 9816.933, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -3772.178, + 9842.241, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -3648.89, + 9867.549, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -3719.419, + 9853.071, + 348.595, + 0.0, + 11.6, + -0.0 + ], + [ + -3719.419, + 9853.071, + 348.595, + 0.0, + 11.6, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -4144.621, + 9798.188, + 263.595, + 0.0, + 0.0, + 0.0 + ], + [ + -4144.621, + 9798.188, + 263.595, + 0.0, + 0.0, + 0.0 + ], + [ + -4144.621, + 9798.188, + 263.595, + 0.0, + 0.0, + 0.0 + ], + [ + -4144.621, + 9798.188, + 263.595, + 0.0, + 0.0, + 0.0 + ], + [ + -4227.037, + 9916.081, + 318.702, + -28.202, + 11.745, + 1.862 + ], + [ + -4128.196, + 9837.749, + 318.214, + -28.195, + 11.748, + 1.862 + ], + [ + -4136.755, + 9842.834, + 319.285, + -28.193, + 36.749, + 1.872 + ], + [ + -4014.753, + 9812.621, + 319.283, + -28.198, + 36.75, + 1.868 + ], + [ + -4023.462, + 9813.141, + 318.383, + -28.208, + 61.742, + 1.852 + ], + [ + -3900.451, + 9837.716, + 318.805, + -28.189, + 61.759, + 1.867 + ], + [ + -3777.43, + 9862.958, + 319.185, + -28.207, + 61.735, + 1.857 + ], + [ + -3654.183, + 9888.266, + 319.334, + -28.192, + 61.749, + 1.872 + ], + [ + -3650.849, + 9867.146, + 318.595, + 0.0, + -58.4, + 0.0 + ], + [ + -3650.849, + 9867.146, + 318.595, + 0.0, + -58.4, + 0.0 + ] + ], + "PD_Dist_2D": [ + 515.2, + 389.4, + 263.8, + 138.6, + 21.4, + 21.4, + 22.5, + 21.4, + 22.0, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The candelabra stands out on the open paving ahead of me, roughly centered in my view, and the white door sits along the house wall to its right. Nothing blocks the stone patio between us, so I will walk straight ahead to close that distance before attempting any lift.", + "The candelabra now appears larger and slightly lower in my view, confirming my heading is carrying me toward it. It is still several paces away, too far to reach, so I keep walking straight ahead over the flat paving.", + "The candelabra has dropped toward the lower part of my view with its candles clearly detailed, so I am close but likely still short of grasping range. One more step forward should bring it directly at my feet where a lift can be attempted.", + "The candelabra is right at the bottom edge of my view, its base practically at my feet, which is as close as I can stand to it. My hands are empty and nothing sits between us, so I will reach down and try to lift it now.", + "The lift worked: the candelabra is no longer resting on the paving and is now carried with me. The white door I need to reach lies further along this dark wall, near the right edge of my view, so I will walk forward to close the gap while carrying it.", + "I am holding the candelabra and my current heading runs along the dark siding rather than toward the door, which sits off at the right margin of my view. Turning right should bring that white door into the middle of my view so I can walk straight at it.", + "The white door is now within my view ahead, framed by the pale siding, but it is still well across the patio. With the candelabra still in hand and clear paving in front of me, I will step forward to bring it closer.", + "The white door has grown much larger but sits right of my center, so walking straight now would carry me past it along the dark siding. I will turn right to point my heading squarely at the door before advancing again with the candelabra.", + "The candelabra is still in my hands and the white door is now clearly ahead, set into the siding with open paving in front of it. I will walk forward to close the remaining distance so I can set the candelabra down beside that door.", + "The white door is now framed squarely ahead and noticeably larger, so my heading needs no correction. Still carrying the candelabra, I will step forward again to get within placing range of the doorway.", + "The door panel now dominates my view with only a short strip of paving left between me and its base. One more step forward should bring me close enough that releasing the candelabra leaves it right at the door.", + "I am right up against the white door, its handle at arm's length and the wall filling my view, so I cannot get any nearer. This is the intended placing spot, so I will release the candelabra here and it should come to rest beside the door.", + "The candelabra stands on the paving directly in front of the white door and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e9c3c0f9328a73b2a3d0863c4afb108a63400b3 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_a/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Walk to the green trash bin, then head toward the wooden utility pole.", + "Type": 3, + "Start_Pose": [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8118.143, + -1470.613, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8118.143, + -1470.613, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -8045.378, + -1367.92, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7972.614, + -1265.227, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7899.85, + -1162.534, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7827.085, + -1059.842, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7754.321, + -957.149, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7681.556, + -854.456, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7608.792, + -751.763, + 203.282, + 0.0, + 54.68, + -0.0 + ], + [ + -7536.027, + -649.07, + 212.266, + 0.0, + 54.68, + -0.0 + ], + [ + -7536.027, + -649.07, + 212.266, + 0.0, + 54.68, + -0.0 + ], + [ + -7536.027, + -649.07, + 212.266, + 0.0, + 79.68, + -0.0 + ], + [ + -7536.027, + -649.07, + 212.266, + 0.0, + 104.68, + -0.0 + ], + [ + -7536.027, + -649.07, + 212.266, + 0.0, + 129.68, + -0.0 + ], + [ + -7536.027, + -649.07, + 212.266, + 0.0, + 154.68, + -0.0 + ], + [ + -7536.027, + -649.07, + 212.266, + 0.0, + 179.68, + -0.0 + ], + [ + -7661.884, + -648.367, + 212.328, + 0.0, + 179.68, + -0.0 + ], + [ + -7787.741, + -647.664, + 212.389, + 0.0, + 179.68, + -0.0 + ], + [ + -7913.598, + -646.961, + 212.451, + 0.0, + 179.68, + -0.0 + ], + [ + -8039.456, + -646.258, + 212.512, + 0.0, + 179.68, + -0.0 + ], + [ + -8039.456, + -646.258, + 212.512, + 0.0, + -155.32, + 0.0 + ], + [ + -8153.818, + -698.811, + 207.915, + 0.0, + -155.32, + 0.0 + ], + [ + -8268.18, + -751.363, + 205.977, + 0.0, + -155.32, + 0.0 + ], + [ + -8382.542, + -803.916, + 208.438, + 0.0, + -155.32, + 0.0 + ], + [ + -8382.542, + -803.916, + 208.438, + 0.0, + -155.32, + 0.0 + ] + ], + "Rationale": [ + "From the street I can see the green wheeled bin sitting far ahead on the left side of the paved driveway, beside the blue ones near the garage. Nothing blocks the open pavement between us, so I will walk forward to close the long gap before refining my heading.", + "The green bin sits well off to my left, while my current heading points at the middle of the garage wall. Turning left should bring the bin nearer the center of my view so my next steps carry me straight toward it.", + "After the turn the green bin and its blue neighbors now sit ahead of me rather than off at the edge, aligned with the open driveway pavement. With the path clear, I will step forward to shorten the distance to that bin.", + "The green bin has grown slightly larger and stays just left of my forward line, so my heading remains usable. I will keep walking across the open pavers to close more of the remaining distance.", + "The green bin is clearly resolved now against the low brick edging by the garage, still a fair way off. My path over the pavers stays open, so another forward step is the direct way to keep closing on it.", + "The green bin now stands out plainly ahead and left, with the garage door and stairs framing it. Since it keeps growing in my view without drifting off my line, I will simply continue walking toward it.", + "I can make out the handle and wheels of the green bin, so I am getting close, though still several paces away. The pavement in front of me is clear, so I will advance again to reach it.", + "The green bin fills a good part of my left forward view, standing on the brick border just ahead. One more step forward should bring me right up beside it.", + "The green wheeled bin now sits clearly ahead and slightly left, standing apart from the blue and grey ones by the garage. It is still a few paces off across the paving, so I will keep walking straight to close that gap.", + "The green bin has grown large in the left half of my view, though I am still short of standing beside it. One more step forward should bring me right up alongside it.", + "The green bin now fills the near left corner of my view, close enough to touch, with the blue and grey bins just past it. I have reached the green trash bin, so I mark arriving here before setting off toward the wooden utility pole out by the street.", + "Standing at the green bin, my heading still points along the house front toward the porch stairs, and no tall pole shows anywhere in this view. Swinging right should carry my gaze across the driveway toward the open street side where such a pole would stand.", + "My view has come around onto the garage door and the blank siding, which is still the house rather than the street edge. I will keep rotating right to bring the open frontage into view.", + "Two garage doors and unbroken siding fill my view, so I am still facing the wall of the house with no sightline out to the roadside. Another turn right should keep sweeping my heading toward the open side of the property.", + "Trees and daylight are opening at the right edge now while the siding slides off to my left, so the yard beyond the driveway is coming into view. I will turn right again to face that opening properly.", + "The paving now runs clear ahead toward the trees, and a tall dark upright shows at the far right edge that could be the wooden pole. One more turn right should place it in front of me before I start walking.", + "With the bins now behind me and my heading swung around toward the street, the tall wooden utility pole stands ahead and slightly to my right at the edge of the paving. The driveway between us is open and flat, so I will walk forward to close the gap.", + "The pole has grown larger and stays just right of my heading, which tells me my line of travel is good. The pavement ahead remains unobstructed, so I will keep walking toward it.", + "The brick border and the grass strip where the pole is planted are now clearly in front of me, with the pole's shaft rising to the right of center. I am still several strides short of it, so I will advance again.", + "The sidewalk and the pole standing on the verge beside it are close now, and the pole occupies the right portion of my view. Another step forward should bring me to the edge of the paving right beside it.", + "I have reached the brick edging, but the pole sits off to my right rather than straight ahead, so walking on as I am would carry me past it. I will turn right to put the pole in front of me before continuing.", + "The turn has brought the wooden pole near the center of my view, planted on the grass beside the sidewalk. With a clear stretch of walkway between us, I will step forward toward its base.", + "The pole is noticeably thicker in view and its base on the grass strip is plainly visible just ahead. Nothing blocks the sidewalk, so I will keep walking to close the remaining distance.", + "The weathered wooden pole now dominates the right of my view and its base is only a stride or two away. One more step forward should place me right at it.", + "The wooden utility pole stands directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..20a6efcbf641e9fad34fc466ac5dc4dff330fea0 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_b/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Approach the left white garage door, then move to the green bin.", + "Type": 3, + "Start_Pose": [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8118.143, + -1470.613, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8095.596, + -1346.79, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8073.049, + -1222.967, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8050.502, + -1099.144, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8027.954, + -975.321, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8005.407, + -851.498, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -7982.86, + -727.676, + 205.191, + 0.0, + 79.68, + -0.0 + ], + [ + -7960.313, + -603.853, + 216.024, + 0.0, + 79.68, + -0.0 + ], + [ + -7960.313, + -603.853, + 216.024, + 0.0, + 54.68, + -0.0 + ], + [ + -7887.549, + -501.16, + 225.009, + 0.0, + 54.68, + -0.0 + ], + [ + -7814.784, + -398.467, + 233.993, + 0.0, + 54.68, + -0.0 + ], + [ + -7742.02, + -295.774, + 242.978, + 0.0, + 54.68, + -0.0 + ], + [ + -7742.02, + -295.774, + 242.978, + 0.0, + 54.68, + -0.0 + ], + [ + -7742.02, + -295.774, + 242.978, + 0.0, + 29.68, + -0.0 + ], + [ + -7742.02, + -295.774, + 242.978, + 0.0, + 4.68, + -0.0 + ], + [ + -7742.02, + -295.774, + 242.978, + 0.0, + -20.32, + 0.0 + ], + [ + -7742.02, + -295.774, + 242.978, + 0.0, + -45.32, + 0.0 + ], + [ + -7653.523, + -385.265, + 235.148, + 0.0, + -45.32, + 0.0 + ], + [ + -7565.025, + -474.757, + 227.319, + 0.0, + -45.32, + 0.0 + ], + [ + -7476.528, + -564.248, + 219.489, + 0.0, + -45.32, + 0.0 + ], + [ + -7476.528, + -564.248, + 219.489, + 0.0, + -20.32, + 0.0 + ], + [ + -7476.528, + -564.248, + 219.489, + 0.0, + -20.32, + 0.0 + ] + ], + "Rationale": [ + "From the street I can see the pale two-storey house across the paved driveway, with a pair of white garage doors set into its lower wall. The left of those two doors is my first destination, and it is straight ahead but still far off. I will walk forward along the driveway to close that distance.", + "The house has grown slightly in front of me and the two white garage doors are still centred in my view. Nothing blocks the paved driveway between me and them. I keep walking forward toward the left door.", + "I am now on the stone paving of the driveway, with the white garage doors filling more of my forward view and the bins standing off to the left by the house. My heading still points between the doors, so no turn is needed yet. I continue forward.", + "The garage doors are noticeably nearer and their frames are now clearly separated on the wall ahead of me. The left door sits to the left of my heading, but I am still too far away to judge a final approach. Another step forward should bring me closer to the wall.", + "The wall and its two white doors now occupy most of my view and the ground stays flat and open. The left door remains ahead and slightly to my left. I walk forward again to keep closing on it.", + "I am close enough now that the siding boards and the door panels are clearly detailed, and the bins have slipped almost out of view at my left edge. The left white door is still ahead of me on that side. I continue advancing toward the garage front.", + "Only the garage wall and its two white doors remain in front of me, so I am nearly at the building. The left door is still off to my left rather than squarely before me. I step forward once more to reach the paving right in front of the doors.", + "The two white doors now tower over me and the left one is pushed to the very edge of my view, which tells me I am almost against the garage front. One more step should place me at the standing distance I want before I face that left door directly.", + "I am now right up against the house, and the wide door on the right fills most of my view while the white door on the left is clipped at the edge of my sight. Turning left should swing that left-hand door into the center of my view so I can walk straight at it.", + "The white garage door on the left is now within my forward view, with open paving between me and it. I will step ahead along the driveway to close the remaining gap to that door.", + "The white door is growing larger and its frame and threshold are clearly in front of me, so I am still short of it. I will keep walking forward across the paving to draw up close to that door.", + "The white door now dominates the left of my view and its lower edge meets the paving just ahead of me. One more step forward should bring me right up against it.", + "The white garage door fills my view from arm's length, its panel seams and side frame right before me. I have arrived at this door. I mark reaching it before heading off toward the green wheeled bin out at the driveway edge.", + "Standing this close, the door panel blocks nearly everything, and the green bin sits back out along the open driveway to my left. I will turn left to swing my view off the door and toward that open side of the property.", + "The turn has opened up the paved area, the white fence and the street on my left, with the dark edge of a bin just entering the frame there. I will turn left again to bring the row of bins fully into view.", + "The bins are in sight now, the grey and blue ones nearest me and the green one furthest left at the driveway edge. Turning left again should place that green bin near the center of my view so I can walk straight to it.", + "The row of bins now sits well ahead of me on the open driveway, with the green one at the far left end of the row. My heading still points partly along the garage wall, so I will turn left once more to swing my body onto the line that leads out toward that green bin.", + "The green bin now stands clear ahead of me at the edge of the paving, with the blue and grey bins beside it and the open street beyond. Nothing blocks the paved stretch between us, so I will walk forward to close that distance.", + "The green bin has grown noticeably larger and now sits just right of my path, near the brick border. I am still several paces short of standing beside it, so I will keep walking forward.", + "The green bin now fills much of the right side of my view, its handle and wheels clearly visible, but I am not yet level with it. One more step forward should bring me right up alongside it.", + "I am standing right beside the green bin, but it has slid off to the lower right corner of my view while my gaze runs down the street. I will turn right to bring the bin squarely in front of me.", + "The green bin stands directly in front of me, filling the center of my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b54f66035f47c5cfcd57555216cf5d15b1a3270 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_c/infos.json @@ -0,0 +1,356 @@ +{ + "Instruction": "Head toward the wooden utility pole, then proceed to the base of the staircase.", + "Type": 3, + "Start_Pose": [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 104.68, + -0.0 + ], + [ + -8172.585, + -1472.686, + 200.086, + 0.0, + 104.68, + -0.0 + ], + [ + -8204.48, + -1350.935, + 200.086, + 0.0, + 104.68, + -0.0 + ], + [ + -8236.376, + -1229.185, + 200.086, + 0.0, + 104.68, + -0.0 + ], + [ + -8236.376, + -1229.185, + 200.086, + 0.0, + 129.68, + -0.0 + ], + [ + -8316.736, + -1132.321, + 200.086, + 0.0, + 129.68, + -0.0 + ], + [ + -8397.097, + -1035.457, + 208.349, + 0.0, + 129.68, + -0.0 + ], + [ + -8397.097, + -1035.457, + 208.349, + 0.0, + 129.68, + -0.0 + ], + [ + -8397.097, + -1035.457, + 208.349, + 0.0, + 104.68, + -0.0 + ], + [ + -8397.097, + -1035.457, + 208.349, + 0.0, + 79.68, + -0.0 + ], + [ + -8397.097, + -1035.457, + 208.349, + 0.0, + 54.68, + -0.0 + ], + [ + -8397.097, + -1035.457, + 208.349, + 0.0, + 29.68, + -0.0 + ], + [ + -8397.097, + -1035.457, + 208.349, + 0.0, + 4.68, + -0.0 + ], + [ + -8271.658, + -1025.188, + 200.086, + 0.0, + 4.68, + -0.0 + ], + [ + -8146.219, + -1014.919, + 200.086, + 0.0, + 4.68, + -0.0 + ], + [ + -8020.779, + -1004.65, + 200.086, + 0.0, + 4.68, + -0.0 + ], + [ + -7895.34, + -994.381, + 200.086, + 0.0, + 4.68, + -0.0 + ], + [ + -7769.9, + -984.112, + 200.086, + 0.0, + 4.68, + -0.0 + ], + [ + -7644.461, + -973.843, + 200.086, + 0.0, + 4.68, + -0.0 + ], + [ + -7644.461, + -973.843, + 200.086, + 0.0, + 29.68, + -0.0 + ], + [ + -7535.114, + -911.523, + 200.086, + 0.0, + 29.68, + -0.0 + ], + [ + -7425.767, + -849.204, + 200.086, + 0.0, + 29.68, + -0.0 + ], + [ + -7316.42, + -786.884, + 207.915, + 0.0, + 29.68, + -0.0 + ], + [ + -7316.42, + -786.884, + 207.915, + 0.0, + 54.68, + -0.0 + ], + [ + -7243.656, + -684.191, + 209.317, + 0.0, + 54.68, + -0.0 + ], + [ + -7170.892, + -581.498, + 228.027, + 0.0, + 54.68, + -0.0 + ], + [ + -7098.127, + -478.805, + 241.867, + 0.0, + 54.68, + -0.0 + ], + [ + -7025.363, + -376.112, + 265.629, + 0.0, + 54.68, + -0.0 + ], + [ + -6952.598, + -273.42, + 300.8, + 0.0, + 54.68, + -0.0 + ], + [ + -6879.834, + -170.727, + 302.508, + 0.0, + 54.68, + -0.0 + ], + [ + -6879.834, + -170.727, + 302.508, + 0.0, + 79.68, + -0.0 + ], + [ + -6857.287, + -46.904, + 307.036, + 0.0, + 79.68, + -0.0 + ], + [ + -6857.287, + -46.904, + 307.036, + 0.0, + 79.68, + -0.0 + ] + ], + "Rationale": [ + "The tall wooden utility pole stands at the far right edge of my view, near the sidewalk beyond the driveway, while the house fills the center. I will turn right to bring that pole toward the middle of my view so I can walk straight at it.", + "The wooden pole now sits right of center against the evergreens, with open paved driveway between me and it. I will walk forward to close that distance.", + "The pole has grown taller in my view and the curb and grass strip at its base are becoming clearer, so my heading is carrying me toward it. The ground ahead is still flat paving, so I will keep walking forward.", + "The pole is noticeably nearer, its trunk now cutting well down into the lower half of my view above the sidewalk. I will step forward again to keep shrinking the gap before I need to correct my heading.", + "Closing in has pushed the wooden pole off toward the right side of my view, so walking straight ahead would carry me past it along the driveway edge. I will turn right to put the pole back near the center of my heading.", + "The pole now rises through the middle of my view with the sidewalk and lawn at its foot only a short way off. I will walk forward toward it over the flat ground.", + "The pole's trunk is thick and close now, running from the top of my view down to the concrete walk just in front of me. One more step forward should bring me right up against it.", + "The weathered wooden utility pole now fills the middle of my view from top to bottom, close enough to touch where it meets the sidewalk. I am standing at it. I mark reaching this pole, and now I turn my attention to the staircase climbing the side of the house.", + "The weathered wooden pole stands directly in front of me, close enough that its trunk splits my whole view, so that destination is behind me now. My other goal is the railed staircase at the house, which lies back to my left, hidden by the pole and branches. I will turn left to swing my heading off the pole and start searching for the steps.", + "The pole has slid to my right edge and the grey house with its garage door is opening up on the left, but I still see only the blank side wall and driveway apron. The steps I want are further around toward the front of the building. I will keep turning left to bring more of the house frontage into view.", + "Both garage doors and the paved driveway now fill my view, with a railed deck just showing at the upper left of the house. The route I can actually walk runs further left, out past the driveway toward the street. I will turn left again to line up with that open ground.", + "The driveway and the bins beside the garage are now on my right, and clear paving with the fence line beyond opens toward the left. Heading straight into the garage face would get me nowhere near any steps. I will turn left once more to face the open way along the property.", + "The street and sidewalk have come into view ahead-left, with the house wall and its bins holding my right side. A little more rotation should put that open corridor squarely in front of me for a straight walk. I will turn left again to finish lining up.", + "I am now squared onto the paved strip that runs beside the house, with the road and sidewalk stretching ahead and the bins parked along the wall to my right. Nothing blocks this lane, and the front of the building where steps would be lies further along it. I will walk forward to close that distance.", + "The bins by the wall have grown noticeably nearer on my right, confirming the last stride carried me along the paved lane. The way ahead past the tree and fence is still open. I will keep walking forward toward the front side of the house.", + "The green and blue bins are close on my right and the house corner with its railing is beginning to show past the overhanging branches. The paving in front of me is still clear, so more distance is worth taking before I look for the steps. I will step forward again.", + "The open paved lane still stretches ahead with the tall house frontage passing on my right, and no porch stairway is in reach yet. I will walk straight on along this lane to bring the far end of the property closer.", + "The green bin beside the house has slid closer to my right shoulder, so my heading down this paving is carrying me steadily along the frontage. Nothing blocks the way forward, so I take another step ahead.", + "The bin is now level with me at the right edge and the paving is running out toward the sidewalk and grass verge. I will step forward once more to reach the far edge of this yard before I look toward the house.", + "Straight ahead the sidewalk and road simply run on past the property, which would carry me away from the house rather than toward its steps. The building and its yard sit on my right, so I turn right to face back into that frontage.", + "Facing the house now, I can see the railed flight of steps climbing its side wall beyond the row of bins. The ground between us is open paving and gravel, so I walk forward toward it.", + "The stair railings and the house wall have grown larger, and the green bin is drifting to my right as I close the gap. The yard ahead stays clear, so I keep advancing toward the steps.", + "I am off the paving now and onto the gravel yard, with the house wall filling my right side and the stairs just past it. Another step forward should put me alongside the foot of that flight.", + "My heading is running along the wall toward the shrubs and fence, leaving the railed flight of steps crowded off at my right edge. I turn right so the staircase and its lowest step sit squarely in front of me.", + "The white wooden staircase climbing the side of the house is now directly ahead of me, with an open sandy path running toward it between the picket fence and the siding. Nothing blocks that lane, so I will walk forward to close the remaining distance to its lower end.", + "The stair railing has grown larger in front of me, confirming my heading feeds straight into it. The ground ahead is still open packed sand, so I will keep walking forward toward the foot of the steps.", + "I can now pick out individual treads and the balusters of the stair rail rising along the wall. There is still a stretch of open ground between me and where the stairs meet the sand, so another step forward is the direct way to shrink it.", + "The lower stringer and the small landing at the bottom of the stairs are visible ahead on my right, closer than before. The path along the house stays clear of the shrubs, so I will advance again toward that lowest step.", + "The staircase has slid toward the right edge of my view as I close on the house wall, but its foot is still a few paces ahead of me. I will walk forward once more to draw level with the bottom of the steps.", + "The end post and the lowest rail section sit just off my right shoulder, meaning I am nearly abreast of the stair foot. One more step along this wall should bring me even with it before I turn to face it.", + "The base of the staircase with its white newel post now lies to my right while my body still points along the house wall. Turning right should swing the bottom steps into the center of my view so I can walk straight at them.", + "The staircase now sits squarely in front of me, its lowest tread and railing only a short distance away across the sand. I will step forward to bring myself right up to the base of the steps.", + "The bottom step and its railing are right beside me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_d/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9c606677e769764af405b96d5e0777dc0fd8a7d1 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-008141_y-001594_z000200_t3_d/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Navigate to the blue recycling bin, then walk to the right garage door.", + "Type": 3, + "Start_Pose": [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8140.69, + -1594.436, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8118.143, + -1470.613, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8095.596, + -1346.79, + 200.086, + 0.0, + 79.68, + -0.0 + ], + [ + -8095.596, + -1346.79, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -8022.831, + -1244.097, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7950.067, + -1141.404, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7877.302, + -1038.712, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7804.538, + -936.019, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7731.774, + -833.326, + 200.086, + 0.0, + 54.68, + -0.0 + ], + [ + -7659.009, + -730.633, + 204.913, + 0.0, + 54.68, + -0.0 + ], + [ + -7586.245, + -627.94, + 213.897, + 0.0, + 54.68, + -0.0 + ], + [ + -7513.48, + -525.247, + 222.882, + 0.0, + 54.68, + -0.0 + ], + [ + -7513.48, + -525.247, + 222.882, + 0.0, + 54.68, + -0.0 + ], + [ + -7513.48, + -525.247, + 222.882, + 0.0, + 79.68, + -0.0 + ], + [ + -7513.48, + -525.247, + 222.882, + 0.0, + 104.68, + -0.0 + ], + [ + -7513.48, + -525.247, + 222.882, + 0.0, + 129.68, + -0.0 + ], + [ + -7513.48, + -525.247, + 222.882, + 0.0, + 154.68, + -0.0 + ], + [ + -7627.248, + -471.421, + 227.591, + 0.0, + 154.68, + -0.0 + ], + [ + -7741.017, + -417.594, + 232.3, + 0.0, + 154.68, + -0.0 + ], + [ + -7854.785, + -363.768, + 237.009, + 0.0, + 154.68, + -0.0 + ], + [ + -7968.553, + -309.941, + 241.719, + 0.0, + 154.68, + -0.0 + ], + [ + -7968.553, + -309.941, + 241.719, + 0.0, + 154.68, + -0.0 + ] + ], + "Rationale": [ + "From the street I can see the paved driveway rising toward the house, with a green bin and a blue recycling bin standing together near the far left corner by the steps. They are still far off, so I will walk forward onto the driveway to begin closing that distance.", + "The house fills more of my view now and the bins beside the steps are slightly larger, so my previous step gained ground toward them. The driveway ahead is open pavement with nothing in my path, so I will keep walking forward.", + "The blue recycling bin and its green neighbor sit well off to my left near the base of the steps, while my heading still points at the middle of the garage wall. I will turn left to swing that heading toward the bins so my next steps carry me straight at them.", + "The turn brought the blue recycling bin and the green one into the left-center of my view, so I am now pointed along the line toward them. The pavement between us is clear, so I will walk forward to close in.", + "The blue bin beside the green one has grown noticeably and the porch steps behind it are clearer, confirming I am gaining on it. My heading still runs toward that corner of the driveway, so I will step forward again.", + "The bins are clearly nearer, with the blue recycling bin distinct beside the green one and a dark bin next to it against the wall. There is still a good stretch of pavement to cover, so I will continue walking straight ahead.", + "The blue recycling bin now stands out plainly at the left of the driveway with its wheels and lid visible, so my line of travel is right. I am not yet close enough to count myself at it, so I will take another step forward.", + "The blue recycling bin is close ahead on my left, flanked by the green bin and the grey one against the siding. A short gap of pavement remains, so I will keep walking forward to pull up beside it.", + "The blue recycling bin stands ahead and slightly left, beside the green one at the edge of the paved drive, still several strides away. The pavement between us is open, so I walk forward to cut that distance.", + "The blue bin has grown noticeably larger toward my left, sitting against the low brick edging with the gray bin beside it. I am not yet level with it, so I keep walking forward.", + "The blue recycling bin now fills much of the left side of my view, close but slightly behind the gray bin beside it. One more step forward should bring me level with it.", + "The blue recycling bin looms at my left, close enough to touch, its rim right beside me. I have reached it. I mark arriving at the recycling bin and turn my attention to the garage door on the right of the house.", + "Standing at the recycling bin, my view is filled by the bins and the siding, with the garage fronts off to my right. I turn right to swing my heading away from the bins and pick up the doors.", + "A garage door has come into view, but it is the near one and the gray bin still crowds my left. I turn right again to keep sweeping along the wall toward the door further to that side.", + "Both garage doors are in front of me now, the near one large at center and the edge of the other appearing at my right. Another right turn should carry my heading past the near door toward that further one.", + "The further door now sits ahead and right of the near one, with open pavement running toward it. My heading still points across the siding, so one more right turn should line me up to walk straight at that door.", + "My heading now runs down the driveway with the far garage door standing ahead of me along the siding, no longer at my back. The paving between us is clear, so I will walk forward to close that gap.", + "The far garage door has grown noticeably larger and its frame is now clearly separated from the wall panels, confirming my line of travel is good. I am still several strides short of standing at it, so I keep walking forward.", + "The door panel now fills much of the left side of my view and the brick border of the planting bed is close on my right. A little more ground remains before I am level with the door, so I step forward again.", + "I am nearly alongside the garage door, with its surface sweeping past on my left and the corner of the house just ahead. One more step should bring me right up beside the door rather than short of it.", + "I am standing right at the far garage door, its panel and frame edge directly beside me. The task is done, so there is nothing further to reach." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t2_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d83708d37bd86e0d33a19946e1847492f038e3ad --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t2_b/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Head toward the stop sign on the right side.", + "Type": 2, + "Start_Pose": [ + -10695.567, + -1557.894, + 200.086, + 0.0, + -174.72, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10695.567, + -1557.894, + 200.086, + 0.0, + -174.72, + 0.0 + ], + [ + -10820.892, + -1569.476, + 200.086, + 0.0, + -174.72, + 0.0 + ], + [ + -10820.892, + -1569.476, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -10929.581, + -1632.937, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -11038.269, + -1696.399, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -11146.957, + -1759.86, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -11255.645, + -1823.322, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -11364.334, + -1886.783, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -11473.022, + -1950.244, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -11581.71, + -2013.706, + 200.086, + 0.0, + -149.72, + 0.0 + ], + [ + -11690.398, + -2077.167, + 208.371, + 0.0, + -149.72, + 0.0 + ], + [ + -11799.087, + -2140.629, + 208.371, + 0.0, + -149.72, + 0.0 + ], + [ + -11907.775, + -2204.09, + 208.371, + 0.0, + -149.72, + 0.0 + ], + [ + -11907.775, + -2204.09, + 208.371, + 0.0, + -174.72, + 0.0 + ], + [ + -11907.775, + -2204.09, + 208.371, + 0.0, + -174.72, + 0.0 + ] + ], + "Rationale": [ + "Two stop signs stand across this intersection: one alone on the left verge, and one at the far right corner under a green street-name plate beside the big tree and hedge. That right-hand corner sign is my target. I step forward along the open road to close distance before angling toward it.", + "From here the road still runs straight ahead, but the corner sign with its green street-name plate sits well off to my right, near the house and hedge. Walking on would carry me past it, so I turn right to bring that sign into the middle of my heading.", + "The turn has put the corner ahead of me, with the small red octagon and its green plate showing just left of the large tree. The pavement between us is open and level. I walk forward to close the gap toward that sign.", + "The stop sign on its slim post is a little larger now, still centered beyond the grassy corner island. Nothing stands between me and it. I continue walking forward on the same line.", + "The sign and its green street plate are clearer against the house behind them, and the curb of the corner island is drawing nearer on my right. My heading still points at the post. I keep stepping forward.", + "The red octagon now reads plainly above its dark post at the edge of the grass strip. There is still a good stretch of road before I reach it, and the way remains clear. I advance again on the same bearing.", + "The corner sign sits slightly left of center in my view, its post rising from the curbed grass island, and the crosswalk stripes are coming into reach. I am not yet close enough to stop here. I step forward to keep closing.", + "The lettering on the sign is now legible and the green street plate hangs just above it, so I am aimed squarely at the right-hand corner sign. Several strides of pavement still separate us. I walk forward once more.", + "The octagon and its green plate stand out sharply above the grass strip, and the sidewalk running past its base is plainly visible now. A short stretch of curb still lies between me and the post. I step forward again toward it.", + "The sign fills a good part of my view and its post now runs down to the grass just ahead of the curb line. I am close, but not yet standing at it. Another stride forward should bring me nearly alongside the post.", + "The post reaches from the top of my view down into the grass a couple of paces off, so the sign is nearly within arm's reach. I keep walking to close that last bit of ground.", + "The red octagon now looms large and slightly left of my heading, with its pole planted just a step or two off. One more step should put me right at the base of this corner sign.", + "I am right beside the post now, and the sign has slid to the upper left edge of my view, cropped so I can barely see it. Turning left should swing the corner sign back into the center of my view.", + "The corner stop sign stands directly before me, its pole within reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t5_a_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b84d3ef2d72fb884a4ff1e2cc36ca4e1bcf692c5 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-010696_y-001558_z000200_t5_a_p/infos.json @@ -0,0 +1,259 @@ +{ + "Instruction": "Pick up the metal bucket at the stop sign on the left side.", + "Type": 5, + "Start_Pose": [ + -10695.567, + -1557.894, + 200.086, + 0, + -174.72, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -11574.182, + -1256.015, + 115.086, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -10695.567, + -1557.894, + 200.086, + 0, + -174.72, + 0 + ], + [ + -10820.892, + -1569.476, + 200.086, + 0.0, + -174.72, + 0.0 + ], + [ + -10946.217, + -1581.058, + 200.086, + 0.0, + -174.72, + 0.0 + ], + [ + -11071.542, + -1592.64, + 200.086, + 0.0, + -174.72, + 0.0 + ], + [ + -11071.542, + -1592.64, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -11190.02, + -1550.172, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -11308.498, + -1507.704, + 200.086, + 0.0, + 160.28, + -0.0 + ], + [ + -11308.498, + -1507.704, + 200.086, + 0.0, + 135.28, + -0.0 + ], + [ + -11397.927, + -1419.144, + 200.086, + 0.0, + 135.28, + -0.0 + ], + [ + -11487.357, + -1330.585, + 200.086, + 0.0, + 135.28, + -0.0 + ], + [ + -11487.357, + -1330.585, + 200.086, + 0.0, + 135.28, + -0.0 + ], + [ + -11487.357, + -1330.585, + 200.086, + 0.0, + 135.28, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11574.182, + -1256.015, + 115.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11501.949, + -1346.187, + 170.193, + -28.202, + -174.575, + 1.862 + ], + [ + -11501.949, + -1346.187, + 170.193, + -28.202, + -174.575, + 1.862 + ] + ], + "PD_Dist_2D": [ + 929.0, + 815.9, + 707.1, + 604.9, + 604.9, + 483.8, + 366.0, + 366.0, + 240.2, + 114.5, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the stop sign on the left side of the intersection with a dark metal bucket standing at its base, but both are still far down the road. Walking straight ahead closes most of that distance before I need to angle toward the curb.", + "The stop sign and the bucket beside it now appear slightly larger on the left, so my heading is still useful. I will keep walking forward to cut down the remaining gap before turning toward the curb.", + "The metal bucket by the stop sign is clearly resolved now at the left curb, though still well off my path. Another step forward should bring me near enough that a turn will point me straight at it.", + "The bucket at the stop sign sits far to my left edge while I am still facing straight down the road. Turning left should swing my heading toward it so continued walking closes the distance directly.", + "The bucket and the stop sign now sit in the left portion of my view rather than at the very edge, so my heading points usefully toward them. I will walk forward to close the remaining distance.", + "The metal bucket beside the stop sign is noticeably nearer and its rim is visible, but it is not yet within reach. Another forward step should bring me close to the curb where it stands.", + "The bucket now sits close but noticeably left of my facing direction, near the curb by the stop sign. Turning left should center it ahead of me so the final steps carry me straight into grasping range.", + "The bucket is now centered ahead of me at the curb under the stop sign. I will step forward to close the last short gap and get within reach for a grasp.", + "The metal bucket now fills the lower center of my view beside the stop sign on the left curb, but it still sits slightly beyond comfortable arm's reach. I will step forward once more to close that last bit of distance and stand directly over it, which should put it within grasping range.", + "The bucket's rim is now immediately below me at the bottom of my view, at the foot of the stop sign, so no further approach is needed. My hands are empty, so I will attempt the pick now and expect to take hold of the metal bucket.", + "The metal bucket is now held in my hands rather than resting on the curb. The task requirement is satisfied, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1cfd61e0e856ec6f2a679dbbc6ba061f0f3bc941 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Approach the trunk of the nearest tree, then move to the stop sign.", + "Type": 3, + "Start_Pose": [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -108.48, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11234.903, + -1828.516, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11274.797, + -1947.885, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11314.691, + -2067.254, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11354.585, + -2186.623, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11394.479, + -2305.992, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11394.479, + -2305.992, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11481.082, + -2397.317, + 207.499, + 0.0, + -133.48, + 0.0 + ], + [ + -11481.082, + -2397.317, + 207.499, + 0.0, + -133.48, + 0.0 + ], + [ + -11481.082, + -2397.317, + 207.499, + 0.0, + -158.48, + 0.0 + ], + [ + -11481.082, + -2397.317, + 207.499, + 0.0, + 176.52, + -0.0 + ], + [ + -11481.082, + -2397.317, + 207.499, + 0.0, + 151.52, + -0.0 + ], + [ + -11591.71, + -2337.301, + 208.221, + 0.0, + 151.52, + -0.0 + ], + [ + -11702.339, + -2277.285, + 208.221, + 0.0, + 151.52, + -0.0 + ], + [ + -11702.339, + -2277.285, + 208.221, + 0.0, + 176.52, + -0.0 + ], + [ + -11827.965, + -2269.645, + 208.221, + 0.0, + 176.52, + -0.0 + ], + [ + -11827.965, + -2269.645, + 208.221, + 0.0, + 151.52, + -0.0 + ], + [ + -11938.593, + -2209.629, + 208.221, + 0.0, + 151.52, + -0.0 + ], + [ + -11938.593, + -2209.629, + 208.221, + 0.0, + 151.52, + -0.0 + ] + ], + "Rationale": [ + "The nearest tree stands just ahead of me, its thick trunk rising from the grass strip beyond the paved apron, while a stop sign sits much farther off to my left. Since the trunk is the closer of my two destinations, I will walk straight ahead to begin closing that gap.", + "The trunk has grown noticeably wider in front of me, confirming my heading is carrying me toward it. Nothing blocks the paved ground between us, so another step forward should continue shrinking the distance to the tree.", + "The trunk now dominates the left half of my view and the low hedge stays clear of my path along the stones. I am still several paces short of standing at the tree, so I keep walking forward.", + "The bark texture is close enough now to read clearly, with the trunk filling the left side of my view above the grass verge. A further step forward should bring me right up beside the base of the tree.", + "The trunk is very near, towering across the upper left of my view, and only a short stretch of grass separates me from its base. I will advance once more to reach the foot of the tree.", + "My last step carried me so close that the trunk has slid off to the far left edge of my view and I am now facing the open lawn instead. Turning left should swing the trunk back in front of me so I can finish approaching it squarely.", + "The trunk is centered in front of me again, its base resting on the grass just a stride away. One more step forward should place me right at the foot of the tree.", + "The bark now fills the middle of my view from top to bottom, close enough to touch. I have reached the trunk of the nearest tree, so I mark arriving here before setting off toward the stop sign at the corner.", + "The bark of the trunk fills my view from this close, so my business with the tree is done and the stop sign near the street corner is my next destination. From the initial look across this yard, that sign stood off to my left along the sidewalk. I will turn left to swing my view away from the trunk and toward it.", + "The red octagon of the stop sign has come into the far left edge of my view, with the trunk still blocking the middle. Another left turn should pull the sign further toward the center of my view and clear the trunk from my path.", + "The stop sign now stands clearly on the left side of my view above the sidewalk, while the trunk has slid to my right edge. One more left turn should bring the sign close to straight ahead so I can walk directly at it.", + "The stop sign sits near the middle of my view now, with clear grass and sidewalk between me and it. With my heading set, I will step forward to close the distance toward the corner.", + "The sign and its post have grown larger and remain close to straight ahead, so my heading is still good. I will keep walking forward to shorten the remaining gap to the corner.", + "As I closed in, the stop sign has drifted to the right of my view center and the road edge is now near my feet. A small right turn should bring the sign back in front of me before I take another step.", + "The stop sign is squarely ahead of me with its post rising from the grass strip just beyond. I will advance again to come right up beside it.", + "I am nearly at the post, but the sign has slipped to the left half of my view as I approached. A left turn should place it back in front of me so my final step should bring me right up to it.", + "The stop sign now stands directly ahead of me, its post centered in my view with the octagonal face just above eye level. Only a short stretch of grass and curb separates me from it, so I will step forward to close that last bit of distance.", + "The stop sign's post rises right beside me with its red face overhead. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eed70bbaf2e20c48909ba735ef875ee68660e1ba --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t3_c/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Head toward the large map billboard, then proceed to the red stop sign.", + "Type": 3, + "Start_Pose": [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -108.48, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11195.009, + -1709.147, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11234.903, + -1828.516, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11234.903, + -1828.516, + 200.086, + 0.0, + -83.48, + 0.0 + ], + [ + -11220.611, + -1953.561, + 200.086, + 0.0, + -83.48, + 0.0 + ], + [ + -11206.32, + -2078.606, + 200.086, + 0.0, + -83.48, + 0.0 + ], + [ + -11192.029, + -2203.651, + 200.086, + 0.0, + -83.48, + 0.0 + ], + [ + -11177.738, + -2328.696, + 200.086, + 0.0, + -83.48, + 0.0 + ], + [ + -11163.446, + -2453.741, + 198.145, + 0.0, + -83.48, + 0.0 + ], + [ + -11149.155, + -2578.786, + 198.145, + 0.0, + -83.48, + 0.0 + ], + [ + -11134.864, + -2703.831, + 198.145, + 0.0, + -83.48, + 0.0 + ], + [ + -11120.572, + -2828.876, + 197.369, + 0.0, + -83.48, + 0.0 + ], + [ + -11106.281, + -2953.921, + 174.664, + 0.0, + -83.48, + 0.0 + ], + [ + -11106.281, + -2953.921, + 174.664, + 0.0, + -83.48, + 0.0 + ], + [ + -11106.281, + -2953.921, + 174.664, + 0.0, + -108.48, + 0.0 + ], + [ + -11106.281, + -2953.921, + 174.664, + 0.0, + -133.48, + 0.0 + ], + [ + -11106.281, + -2953.921, + 174.664, + 0.0, + -158.48, + 0.0 + ], + [ + -11106.281, + -2953.921, + 174.664, + 0.0, + 176.52, + -0.0 + ], + [ + -11106.281, + -2953.921, + 174.664, + 0.0, + 151.52, + -0.0 + ], + [ + -11106.281, + -2953.921, + 174.664, + 0.0, + 126.52, + -0.0 + ], + [ + -11181.18, + -2852.774, + 197.159, + 0.0, + 126.52, + -0.0 + ], + [ + -11256.079, + -2751.628, + 197.94, + 0.0, + 126.52, + -0.0 + ], + [ + -11330.979, + -2650.481, + 197.94, + 0.0, + 126.52, + -0.0 + ], + [ + -11405.878, + -2549.335, + 197.94, + 0.0, + 126.52, + -0.0 + ], + [ + -11480.777, + -2448.188, + 197.94, + 0.0, + 126.52, + -0.0 + ], + [ + -11480.777, + -2448.188, + 197.94, + 0.0, + 151.52, + -0.0 + ], + [ + -11591.405, + -2388.172, + 208.221, + 0.0, + 151.52, + -0.0 + ], + [ + -11702.033, + -2328.156, + 208.221, + 0.0, + 151.52, + -0.0 + ], + [ + -11812.661, + -2268.14, + 208.221, + 0.0, + 151.52, + -0.0 + ], + [ + -11923.289, + -2208.124, + 208.221, + 0.0, + 151.52, + -0.0 + ], + [ + -11923.289, + -2208.124, + 208.221, + 0.0, + 151.52, + -0.0 + ] + ], + "Rationale": [ + "The large map billboard stands ahead on the right side of the paved plaza, well beyond the tree, and the red stop sign sits far off to my left along the street. Since the billboard is my first destination, I will walk forward across the stones to close the distance.", + "The billboard now sits off to my right rather than straight ahead, so walking on this heading would carry me past it toward the houses. I will turn right to bring the panel closer to the center of my view before continuing.", + "The turn has brought the patterned map panel into the middle of my view, with a second panel further right and clear stone paving between us. With the heading now pointed at it, I will step forward to shorten the gap.", + "The billboard has grown slightly and remains centered ahead beyond a low hedge line, so my heading is still good. I keep walking forward to continue closing on it.", + "The map panel keeps expanding in front of me and its lettering is beginning to resolve, confirming I am tracking straight toward it. I will take another step forward rather than adjust my heading.", + "The billboard's teal pattern and small print now fill a good portion of my view, but I am still short of standing at it. Advancing again should bring me right up to the panel.", + "The panel dominates the view ahead with its supporting frame and legs now visible, so I am close but not yet beside it. I will continue walking forward toward its face.", + "The map board is directly in front of me now, wide enough that its edges nearly reach the sides of my view, with the darker back panel to its left. A few more steps forward should place me right at it.", + "The large map billboard now stands squarely ahead, its printed message readable, but its base and supports are still several paces off across the paved apron. I will keep walking straight at it to close that remaining gap.", + "The map panel has grown to fill most of my view and its legs are clearly visible on the concrete, yet I am not close enough to count as standing at it. Another step forward should bring me right up under the board.", + "The billboard now spans nearly the whole view with its lettering large and sharp, so only a short distance remains to its foot. I will step forward once more to stand directly at the panel.", + "The printed map panel towers directly in front of me, close enough that its letters run off the edges of my view and its legs rest on the concrete at my feet. I have reached the large map billboard. I mark reaching it before setting off for the red stop sign.", + "Standing at the map board, its panel blocks almost everything ahead of me, so I cannot see the street where the red stop sign stands. Turning left should swing my view off the panel and back toward the open roadway on that side.", + "The panel has slid to the right side of my view and the pavement, hedge and street beyond are opening up on the left. I will continue rotating left to bring the roadway and the sign I am heading for into the middle of my view.", + "More of the open lawn and the road across it is now in front of me, with the boards pushed to my right, but my heading still points across the empty field rather than down toward the corner. Another left turn should carry my facing further around toward that crossing.", + "I am now looking out over the grass toward the far houses, and the boards have almost cleared my right side, yet the red stop sign is not yet in front of me. I will keep turning left toward the road corner where it should come into view.", + "The big billboard is behind me now and my view is filled with lawn, the trunk, and the houses across the street, with only a faint red patch showing at the far left edge near the utility pole. I will turn left again to swing that red marker toward the middle of my view before committing to a walking line.", + "The red octagon is now a small patch left of the tree trunk, still off to the side of my heading rather than in front of me. One more left turn should bring it clear of the trunk and roughly centered so I can walk straight at it.", + "The red stop sign is now visible on its post beyond the grass, just right of the trunk and close enough to the center of my view to walk toward. My heading is good, so I will step forward across the lawn to start closing the distance.", + "The stop sign has grown slightly and sits on the far side of the paved corner, still ahead of me with open lawn between us. Nothing blocks the line, so I will keep walking toward it.", + "The red sign and its post are clearly resolved now, standing at the curb slightly right of my heading, with the tree trunk passing on my right side. I will continue advancing since the gap is still substantial.", + "The stop sign with its green street plate above it is plainly ahead across the grass strip and sidewalk, noticeably nearer than before. Walking forward again should carry me onto the corner near its base.", + "I am on the corner sidewalk with the stop sign standing a short way ahead, slightly right of my heading. I will take another step forward to close the remaining gap to its post.", + "The stop sign is close now, but it has drifted to the right side of my view while my heading points out across the road. Turning right should put the sign back in front of me so the last steps take me straight to it.", + "The red stop sign now sits near the middle of my view across the grass strip, with the sidewalk running straight toward it. My heading looks clean, so I will walk forward to cut the remaining distance to the sign.", + "The octagonal red sign and its street plate have grown noticeably larger and stay centered ahead of me. Nothing blocks the grass and pavement between us, so another step forward should keep closing the gap.", + "The stop sign now dominates the center of my view with its pole clearly planted in the grass just beyond the walkway. I am still a few paces short of standing at it, so I keep walking straight ahead.", + "The sign face is close enough that its lettering fills much of my upper view and the pole rises directly in front of me. One more step should bring me right up beside the post at the curb.", + "The red sign and its pole are directly beside me, filling the near edge of my view at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t5_b_pd/infos.json b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..342a46c51b7558725f0acbb85a07aac14660a370 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x-011195_y-001709_z000200_t5_b_pd/infos.json @@ -0,0 +1,411 @@ +{ + "Instruction": "Grab the candelabra at the trunk of the nearest tree, then leave it near the stop sign.", + "Type": 5, + "Start_Pose": [ + -11195.009, + -1709.147, + 200.086, + 0, + -108.48, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -11470.28, + -2331.741, + 125.086, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "TurnLeft", + "LookDown", + "Pick", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11195.009, + -1709.147, + 200.086, + 0, + -108.48, + 0 + ], + [ + -11234.903, + -1828.516, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11274.797, + -1947.885, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11314.691, + -2067.254, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11354.585, + -2186.623, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11394.479, + -2305.992, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11394.479, + -2305.992, + 200.086, + 0.0, + -108.48, + 0.0 + ], + [ + -11394.479, + -2305.992, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11394.479, + -2305.992, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11394.479, + -2305.992, + 200.086, + 0.0, + -133.48, + 0.0 + ], + [ + -11394.479, + -2305.992, + 200.086, + 0.0, + -158.48, + 0.0 + ], + [ + -11394.479, + -2305.992, + 200.086, + 0.0, + 176.52, + -0.0 + ], + [ + -11520.106, + -2298.352, + 208.373, + 0.0, + 176.52, + -0.0 + ], + [ + -11645.733, + -2290.713, + 208.373, + 0.0, + 176.52, + -0.0 + ], + [ + -11771.36, + -2283.073, + 208.373, + 0.0, + 176.52, + -0.0 + ], + [ + -11896.986, + -2275.433, + 208.373, + 0.0, + 176.52, + -0.0 + ], + [ + -11896.986, + -2275.433, + 208.373, + 0.0, + 151.52, + -0.0 + ], + [ + -11953.175, + -2237.4, + 208.452, + 0.0, + 151.52, + -0.0 + ], + [ + -11889.888, + -2271.734, + 208.452, + 0.0, + 151.52, + -0.0 + ], + [ + -11889.888, + -2271.734, + 208.452, + 0.0, + 151.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -11470.28, + -2331.741, + 125.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11470.28, + -2331.741, + 125.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11470.28, + -2331.741, + 125.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11470.28, + -2331.741, + 125.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11470.28, + -2331.741, + 125.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11470.28, + -2331.741, + 125.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11470.28, + -2331.741, + 125.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11470.28, + -2331.741, + 125.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11470.28, + -2331.741, + 125.086, + 0.0, + 0.0, + 0.0 + ], + [ + -11379.293, + -2319.8, + 170.193, + -28.202, + -83.335, + 1.862 + ], + [ + -11387.239, + -2324.216, + 170.465, + -28.189, + -108.323, + 1.872 + ], + [ + -11401.533, + -2332.584, + 169.979, + -14.175, + -141.288, + 6.959 + ], + [ + -11520.674, + -2319.712, + 178.784, + -28.198, + -133.335, + 1.865 + ], + [ + -11646.597, + -2312.057, + 178.247, + -28.191, + -133.321, + 1.871 + ], + [ + -11772.349, + -2304.401, + 177.966, + -28.214, + -133.35, + 1.852 + ], + [ + -11897.887, + -2296.773, + 178.176, + -28.203, + -133.339, + 1.856 + ], + [ + -11906.109, + -2293.592, + 178.966, + -28.206, + -158.343, + 1.863 + ], + [ + -11963.084, + -2256.314, + 178.015, + -28.209, + -158.342, + 1.855 + ], + [ + -11951.417, + -2238.354, + 178.452, + 0.0, + 81.52, + -0.0 + ], + [ + -11951.417, + -2238.354, + 178.452, + 0.0, + 81.52, + -0.0 + ] + ], + "PD_Dist_2D": [ + 680.7, + 555.6, + 430.8, + 306.9, + 185.6, + 80.1, + 80.1, + 80.1, + 80.1, + 20.5, + 19.6, + 27.5, + 21.4, + 21.4, + 21.4, + 21.4, + 20.3, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The task points me to the candelabra at the trunk of the nearest tree, and that big tree stands ahead of me across the paving, with a small dark object at its base. I am still far from it, so I will walk straight forward to close the gap.", + "The trunk of the nearest tree now fills more of my view and the dark object resting at its base is becoming clearer. My heading is already lined up with it, so another forward step is the simplest way to keep closing in.", + "I can now make out the candelabra with its three candles standing on the paving at the foot of the tree, slightly left of my path. It is still several strides away, well beyond arm's reach, so I keep walking toward it.", + "The candelabra is clearly in front of me near the trunk, its candles now large in the lower left of my view. I am not yet close enough to reach down and take it, so I advance again.", + "The candelabra sits right at the base of the trunk directly below and ahead of me, with its candles rising into the bottom of my view. One more step should place it within reach for grasping.", + "The trunk of the nearest tree now fills the left side of my view, so I am standing right at it, but the candelabra has dropped out of my forward view because it sits low at the base. I will look down to bring the ground beside the trunk into frame and locate the candelabra for grasping.", + "Angling my gaze down showed only grass and paving beside the trunk, with no sign of the candelabra, so my heading is off to the side of it. Turning left should swing the sidewalk side of the trunk, where the object stood, back into the center of my view.", + "After the turn I am facing the trunk squarely with the sidewalk beside it, but my view sits too high to show anything resting on the ground. I will look down again so the base of the trunk and the candelabra should come into reach of my view before I try to grasp it.", + "The candelabra with its three candles is now clearly in the lower part of my view, close beside the paved edge at the foot of the tree. My hands are empty and nothing blocks the approach, so I will attempt to pick it up.", + "The grasp worked: the candelabra is now in my hands and no longer resting on the ground by the trunk. From the start of this task the stop sign stood off to my left along the sidewalk, and my current heading faces the paving instead. I will turn left to bring that sign into view for the carry.", + "The candelabra is secured in my hands, and the stop sign sits off to my left while the tree trunk still crowds the right side of my view. One more turn to the left should bring the sign near the center of my heading so I can walk straight to it.", + "The stop sign is now centered ahead along the sidewalk with clear ground between us. Carrying the candelabra, I will step forward to begin closing that distance toward the delivery spot.", + "The sign has grown larger and remains straight ahead, so my heading is still good. Nothing blocks the pavement between me and its post, so I will keep walking with the candelabra in hand.", + "The stop sign and its street plate now dominate the view, but I am still a few paces short of the pole itself. I will advance again to get close enough that the candelabra can be set down beside it.", + "The post is close in front of me, yet its base still sits ahead across the grass strip rather than at my feet. One more step forward should place me right at the sign so the candelabra can be released nearby.", + "I am still carrying the candelabra, but the stop sign has slid to the far left edge of my view and only part of its face is visible, so I am no longer facing my drop target. Turning left should bring the sign and its post back into the center of my view for placement.", + "The stop sign is now centered ahead of me with its post rising from the grass strip, and I still hold the candelabra. It is a little too far to set the object right beside the pole, so I will step forward to close that remaining gap.", + "The stop sign post now fills the center of my view at arm's length, so I am standing directly beside the sign with the candelabra still in hand. This is the placement spot the task asks for, so I will release the candelabra here and it should come to rest next to the post.", + "The candelabra now stands on the ground at the foot of the stop sign and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000057_y003725_z000200_t1_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000057_y003725_z000200_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bcab6ecab09fa41359cb426f2e035eac593b12aa --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000057_y003725_z000200_t1_a/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Locate the silver car parked on the sloped driveway and navigate to it.", + "Type": 1, + "Start_Pose": [ + 57.069, + 3724.662, + 200.077, + 0.0, + -58.72, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 57.069, + 3724.662, + 200.077, + 0.0, + -58.72, + 0.0 + ], + [ + 57.069, + 3724.662, + 200.086, + 0.0, + -83.72, + 0.0 + ], + [ + 57.069, + 3724.662, + 200.086, + 0.0, + -108.72, + 0.0 + ], + [ + 57.069, + 3724.662, + 200.086, + 0.0, + -133.72, + 0.0 + ], + [ + -29.917, + 3633.701, + 200.086, + 0.0, + -133.72, + 0.0 + ], + [ + -116.902, + 3542.739, + 200.086, + 0.0, + -133.72, + 0.0 + ], + [ + -203.888, + 3451.777, + 200.086, + 0.0, + -133.72, + 0.0 + ], + [ + -290.873, + 3360.816, + 200.086, + 0.0, + -133.72, + 0.0 + ], + [ + -290.873, + 3360.816, + 200.086, + 0.0, + -158.72, + 0.0 + ], + [ + -408.151, + 3315.138, + 200.086, + 0.0, + -158.72, + 0.0 + ], + [ + -525.428, + 3269.461, + 200.086, + 0.0, + -158.72, + 0.0 + ], + [ + -642.706, + 3223.783, + 202.694, + 0.0, + -158.72, + 0.0 + ], + [ + -759.984, + 3178.106, + 216.29, + 0.0, + -158.72, + 0.0 + ], + [ + -759.984, + 3178.106, + 216.29, + 0.0, + -158.72, + 0.0 + ] + ], + "Rationale": [ + "From the middle of the street I only see a dark green sedan parked at the right curb and empty road stretching ahead, so no silver car on a sloped driveway is in view yet. The houses and driveways along the left side are the most promising place for a parked car, so I will turn left to begin a steady scan in that direction.", + "The rotation has brought the road and a house behind the trees on the left into view, but I still see no silver car on a driveway. I will keep turning left in the same direction to sweep further across the left-hand properties.", + "A light silver sedan has just appeared at the far left edge, sitting on a paved driveway that rises toward a house. Rather than keep scanning, I will turn left once more to bring that likely target closer to the center of my view before moving.", + "The silver sedan is now clearly in view ahead and slightly left, parked on the pale paver driveway that slopes up toward the garage doors. With the heading roughly on target and open ground between us, I will walk forward to close the distance.", + "The silver car has grown larger and the driveway apron now fills the lower part of my view, confirming I am closing on it. Nothing blocks the paved surface ahead, so I will keep walking forward.", + "I am now on the cobbled edge where the driveway meets the street, with the silver sedan and the garage doors clearly ahead on my left. Continuing straight should carry me up the sloped driveway toward the car.", + "The silver sedan's front end and wheels are now distinctly visible on the driveway ahead of me, so the approach is working. I will step forward again to keep reducing the remaining gap.", + "As I have advanced onto the driveway, the silver car has drifted toward the left portion of my view while the fence and hedge take up the right. I will turn left to put the car squarely in front of me so the last steps lead straight to it.", + "The silver sedan now sits near the center of my view on the paved driveway, with its front end angled toward me and clear open paving between us. I will walk forward along this driveway to close the remaining distance to it.", + "The silver car has grown noticeably larger in front of me, but I am still several body lengths from its front bumper. The paving stones ahead remain clear, so I will keep stepping forward toward it.", + "The sedan's grille and headlights fill much of my forward view now, and its shadow stretches across the paving in front of me. A further step should bring me right up beside the car rather than leave a gap.", + "I am nearly touching the silver car, with its front fender and headlight dominating the right side of my view. One more short step forward should place me directly at the vehicle, close enough to count as reaching it.", + "The silver car's front body fills my view at arm's length on the sloped driveway. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000152_y-004662_z000200_t3_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000152_y-004662_z000200_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..105f75dbd0066e35b8f953d2b923971b85e3d324 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000152_y-004662_z000200_t3_b/infos.json @@ -0,0 +1,286 @@ +{ + "Instruction": "Move to the base of the dark tree on the left, then approach the porch steps of the center house.", + "Type": 3, + "Start_Pose": [ + 151.868, + -4661.538, + 200.086, + 0.0, + -2.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 151.868, + -4661.538, + 200.086, + 0.0, + -2.88, + 0.0 + ], + [ + 151.868, + -4661.538, + 200.086, + 0.0, + -27.88, + 0.0 + ], + [ + 263.118, + -4720.392, + 200.086, + 0.0, + -27.88, + 0.0 + ], + [ + 374.369, + -4779.247, + 200.086, + 0.0, + -27.88, + 0.0 + ], + [ + 485.619, + -4838.101, + 200.086, + 0.0, + -27.88, + 0.0 + ], + [ + 596.87, + -4896.955, + 200.086, + 0.0, + -27.88, + 0.0 + ], + [ + 708.12, + -4955.81, + 200.086, + 0.0, + -27.88, + 0.0 + ], + [ + 819.37, + -5014.664, + 200.086, + 0.0, + -27.88, + 0.0 + ], + [ + 819.37, + -5014.664, + 200.086, + 0.0, + -52.88, + 0.0 + ], + [ + 895.325, + -5115.021, + 200.086, + 0.0, + -52.88, + 0.0 + ], + [ + 971.279, + -5215.377, + 200.086, + 0.0, + -52.88, + 0.0 + ], + [ + 1047.233, + -5315.734, + 198.144, + 0.0, + -52.88, + 0.0 + ], + [ + 1047.233, + -5315.734, + 198.144, + 0.0, + -52.88, + 0.0 + ], + [ + 1047.233, + -5315.734, + 198.144, + 0.0, + -27.88, + 0.0 + ], + [ + 1047.233, + -5315.734, + 198.144, + 0.0, + -2.88, + 0.0 + ], + [ + 1047.233, + -5315.734, + 198.144, + 0.0, + 22.12, + -0.0 + ], + [ + 1047.233, + -5315.734, + 198.144, + 0.0, + 47.12, + -0.0 + ], + [ + 1132.876, + -5223.507, + 198.467, + 0.0, + 47.12, + -0.0 + ], + [ + 1218.518, + -5131.28, + 198.467, + 0.0, + 47.12, + -0.0 + ], + [ + 1304.161, + -5039.053, + 198.467, + 0.0, + 47.12, + -0.0 + ], + [ + 1389.804, + -4946.826, + 198.467, + 0.0, + 47.12, + -0.0 + ], + [ + 1475.446, + -4854.599, + 198.467, + 0.0, + 47.12, + -0.0 + ], + [ + 1561.089, + -4762.372, + 198.467, + 0.0, + 47.12, + -0.0 + ], + [ + 1646.732, + -4670.145, + 198.467, + 0.0, + 47.12, + -0.0 + ], + [ + 1732.374, + -4577.918, + 198.467, + 0.0, + 47.12, + -0.0 + ], + [ + 1818.017, + -4485.691, + 198.467, + 0.0, + 47.12, + -0.0 + ], + [ + 1818.017, + -4485.691, + 198.467, + 0.0, + 47.12, + -0.0 + ] + ], + "Rationale": [ + "The dark broad canopy tree sits well off to my left edge, while the houses fill the center of my view. Before walking anywhere I need that tree squarely ahead of me, so I will turn left to bring its trunk into the middle of my view.", + "The dark tree now stands ahead in the upper left with its trunk rising behind the low hedge, and open pavement runs toward it. Nothing blocks the ground between us, so I will walk forward to cut down that distance.", + "The dark tree's crown has grown larger and its trunk is clearer above the hedge line, confirming my heading is good. The paving ahead stays unobstructed, so I will keep walking toward the trunk.", + "The dark tree now dominates the upper left and I can make out where its trunk meets the hedge, but I am still out on the open paving. Another step forward should close more of that gap.", + "The tree's dark foliage fills more of my view and the hedge running beneath it is closer, so my line is still carrying me toward the trunk. I will continue walking straight ahead.", + "The heavy trunk is now plainly visible at the left with branches spreading overhead, yet I am still several strides out on the flagstones. I will step forward again to get in under that canopy.", + "The tree's branches now reach across the top of my view and its trunk stands close on the left above the hedge. The ground between remains clear, so I will walk forward once more to reach its base.", + "I am close under the canopy now, but the trunk has drifted to the far left edge while my heading points along the hedge toward the porch. I will turn left so the base of the tree sits ahead of me before I close the last few strides.", + "After swinging left, the dark tree's thick trunk now sits just ahead of me above the hedge line, with open pavement and grass leading straight to it. I will walk forward along that clear strip to close the remaining gap to its base.", + "The trunk has grown noticeably larger and its bark now fills much of the upper view, so my heading is carrying me straight onto it. I keep walking forward to bring myself right up under the canopy.", + "The trunk now dominates the left half of my view and the surrounding foliage is close enough to read individual leaves, so only a short gap remains. One more step forward should place me at the foot of the dark tree.", + "The dark tree's trunk rises directly in front of me, its bark and low branches filling my view with the rough ground at its foot right under me. I am standing at the base of that tree. I mark reaching it and now turn my attention toward the porch steps of the house in the middle of the row.", + "Standing this close to the trunk, foliage blocks nearly everything and the house is nowhere in my view. I will turn right to swing my heading off the tree and back toward the open paved yard where the porch lies.", + "The trunk has slid to my left edge and the dark house with its white lattice railing is just appearing at the right side of my view. I will turn right again to bring that porch further toward the middle of my heading.", + "The covered porch and its railing now occupy the right half of my view while the hedge still takes up the left, so I am not yet facing the house squarely. Another right turn should bring the porch front into the center where I can walk at it.", + "The porch of the middle house now stretches across my view with its posts and lattice, and the step opening in the railing sits a little to my right of center. I will turn right once more so that gap lines up with my heading before I walk in.", + "Facing back across the paved court, the long covered porch of the house now fills the left and center of my view, with a gap between the white columns where a short flight of steps rises to the deck. Nothing blocks the open paving between me and it, so I walk forward to begin closing that distance.", + "The porch has grown larger and I can now pick out the step handrail in the shaded gap between two columns slightly left of center. My heading already points into that opening, so another stride forward should keep me on line toward the steps.", + "The stair treads and their white rail are now clearly separated from the lattice skirting beneath the deck, sitting just left of my center of view. Distance is still the only thing lacking, so I keep walking forward over the flat paving.", + "The steps of the middle house sit ahead between the porch posts, close enough that I can count the treads, but I am still out on the open court rather than at their foot. I continue forward, since my current line leads straight to them.", + "The porch roof and its columns now tower over the left side of my view and the stairway is framed cleanly between two posts a little left of center. No turn is needed yet, so I take another step forward to shrink the remaining gap.", + "The stairs and their newel post are clearly in front of me, with the shaded space under the porch roof opening up as I near it. A few paces of paving still separate me from the bottom tread, so I press forward.", + "I am now under the edge of the porch overhang, with the white stair rails and treads filling much of the view slightly left of my heading. Walking on should bring me right up to the foot of those steps.", + "The steps are only a stride or two away, their handrails and bottom tread plainly in front of me against the house wall. I move forward again to stand at the base of the stairway rather than short of it.", + "The white porch steps and their handrails now fill the middle of my view, just a short stretch of paving away under the covered porch. One more step forward should bring me right up to the bottom tread rather than leaving me out on the open paving.", + "The porch steps and their railings are directly in front of me, close enough to touch. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f032413b730f839e9059ed3f984a11d87b981fd1 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t0_a/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Walk to the red stop sign.", + "Type": 0, + "Start_Pose": [ + 164.678, + -3245.48, + 200.086, + 0.0, + 154.56, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 164.678, + -3245.48, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + 51.023, + -3191.415, + 200.086, + 0.0, + 154.56, + -0.0 + ], + [ + 51.023, + -3191.415, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -29.135, + -3094.383, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -109.293, + -2997.351, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -189.451, + -2900.319, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -189.451, + -2900.319, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -221.091, + -2778.502, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -252.731, + -2656.685, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -252.731, + -2656.685, + 200.086, + 0.0, + 104.56, + -0.0 + ] + ], + "Rationale": [ + "I can see the small red stop sign far ahead on the left side of the intersection, past the driveway and the brick wall. Since it is still distant and roughly ahead of me, I will move forward along the open pavement to begin closing the gap.", + "The stop sign now sits far over at the left edge of my view, so continuing straight ahead would carry me past it. I will turn left to bring the sign toward the center of my heading before advancing further.", + "After the turn the stop sign is much closer to the middle of my view, standing on the grass corner beyond the brick wall. With the heading now reasonable, I will move forward across the open pavement to reduce the remaining distance.", + "The stop sign has grown noticeably larger and its pole is clearly visible above the grass corner slightly left of center. The route stays clear, so I will keep moving forward to close more of the gap.", + "I see the sign clearly now with its street nameplate below it, but I am still several strides short of standing beside it. I will continue forward along the pavement to keep closing that remaining distance.", + "At this closer range the stop sign has drifted well to the left of my forward direction, near the edge of my view. I will turn left so the sign sits ahead of me and my remaining approach leads straight to it.", + "The turn has placed the stop sign near the center of my view above the corner curb, with open road in front of me. I will move forward to close the last of the distance to the sign.", + "The stop sign now fills a large part of my view directly ahead, but its base is still a short step beyond the curb line. I will advance once more so I end up standing right at the sign.", + "The red stop sign fills the top of my view directly ahead, its pole within arm's reach. The task is complete, so I stop here rather than move closer." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t5_a_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3204dcfa1e81bf82998086f62d7c70dddf77a060 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000165_y-003245_z000200_t5_a_p/infos.json @@ -0,0 +1,221 @@ +{ + "Instruction": "Grab the trash bag beside the red stop sign.", + "Type": 5, + "Start_Pose": [ + 164.678, + -3245.48, + 200.086, + 0, + 154.56, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -196.23, + -2573.779, + 110.086, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 164.678, + -3245.48, + 200.086, + 0, + 154.56, + 0 + ], + [ + 164.678, + -3245.48, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + 84.52, + -3148.448, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + 4.362, + -3051.416, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -75.795, + -2954.384, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -155.953, + -2857.352, + 200.086, + 0.0, + 129.56, + -0.0 + ], + [ + -155.953, + -2857.352, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -187.593, + -2735.535, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -187.593, + -2735.535, + 200.086, + 0.0, + 104.56, + -0.0 + ], + [ + -187.593, + -2735.535, + 200.086, + 0.0, + 104.56, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -196.23, + -2573.779, + 110.086, + 0.0, + 0.0, + 0.0 + ], + [ + -196.23, + -2573.779, + 110.086, + 0.0, + 0.0, + 0.0 + ], + [ + -196.23, + -2573.779, + 110.086, + 0.0, + 0.0, + 0.0 + ], + [ + -196.23, + -2573.779, + 110.086, + 0.0, + 0.0, + 0.0 + ], + [ + -196.23, + -2573.779, + 110.086, + 0.0, + 0.0, + 0.0 + ], + [ + -196.23, + -2573.779, + 110.086, + 0.0, + 0.0, + 0.0 + ], + [ + -196.23, + -2573.779, + 110.086, + 0.0, + 0.0, + 0.0 + ], + [ + -196.23, + -2573.779, + 110.086, + 0.0, + 0.0, + 0.0 + ], + [ + -208.108, + -2741.494, + 170.193, + -28.202, + 154.704, + 1.862 + ], + [ + -208.108, + -2741.494, + 170.193, + -28.202, + 154.704, + 1.862 + ] + ], + "PD_Dist_2D": [ + 762.5, + 762.5, + 639.6, + 518.0, + 399.2, + 286.4, + 286.4, + 162.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The red stop sign with the dark trash bag at its base sits far off to my left across the intersection, well outside my forward heading. I will turn left to bring that corner in front of me before walking toward it.", + "The stop sign and the dark trash bag slumped at its base are now roughly ahead of me, but still a long way off across the open road. I will step forward along this heading to close that distance.", + "The bag beside the sign post is growing larger ahead, so my heading is carrying me straight toward it. Nothing blocks the pavement between us, so I keep walking forward.", + "The stop sign and the trash bag at the curb are clearly resolved now, slightly left of my heading but still comfortably ahead. I will continue walking to get within reach of the bag.", + "The bag is close enough that its folds are visible, but it still drifts toward my left side rather than sitting directly before me. Another step forward should shorten the remaining gap before I refine my heading.", + "The trash bag now sits low and well to my left near the curb, so walking straight ahead would carry me past it instead of up to it. I will turn left to place the bag directly in front of me for a clean approach.", + "The trash bag is now centered ahead of me at the curb beside the red stop sign post, with clear pavement between us. One more step forward should bring it within grasping range.", + "The trash bag fills the lower part of my view right at my feet beside the stop sign post, so it is within reach. My hands are still empty, so I will attempt to grab the bag now.", + "The trash bag is now in my hands, no longer resting on the curb. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000218_y-004808_z000200_t0_c/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000218_y-004808_z000200_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d9892c54dd4656ba80d3f24ed2f84481dc4a82c6 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000218_y-004808_z000200_t0_c/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Move to the wooden lattice railing of the flat-roofed porch beside the hedge.", + "Type": 0, + "Start_Pose": [ + 218.047, + -4807.805, + 200.086, + 0.0, + -8.64, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 218.047, + -4807.805, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 342.478, + -4826.712, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 466.908, + -4845.62, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 591.339, + -4864.527, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 715.77, + -4883.434, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 840.201, + -4902.341, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 964.631, + -4921.249, + 200.086, + 0.0, + -8.64, + 0.0 + ], + [ + 1089.062, + -4940.156, + 198.595, + 0.0, + -8.64, + 0.0 + ], + [ + 1213.493, + -4959.063, + 198.595, + 0.0, + -8.64, + 0.0 + ], + [ + 1337.924, + -4977.97, + 198.595, + 0.0, + -8.64, + 0.0 + ], + [ + 1462.354, + -4996.878, + 198.595, + 0.0, + -8.64, + 0.0 + ], + [ + 1586.785, + -5015.785, + 198.595, + 0.0, + -8.64, + 0.0 + ], + [ + 1711.216, + -5034.692, + 198.595, + 0.0, + -8.64, + 0.0 + ], + [ + 1711.216, + -5034.692, + 198.595, + 0.0, + -8.64, + 0.0 + ] + ], + "Rationale": [ + "From the edge of the paved courtyard I can see the flat-roofed porch straight ahead, with a white lattice railing running along its near side and a dark hedge pressing against it on the left. My heading already points down the open paving toward that railing, so no turn is needed. I will step forward to begin closing the gap.", + "The porch with its lattice skirt and railing now sits slightly larger ahead of me, confirming the previous step moved me toward it. The paving in front is clear and my heading still lines up with the railing beside the hedge. I will continue straight forward.", + "The lattice railing and the porch posts are becoming clearly readable ahead, and the hedge to its left marks the target side of the building. Distance is still substantial across the stone paving, so more forward motion is required. I will keep advancing on this heading.", + "The white railing with its diamond lattice below now occupies a wide band of my view, and the steps to its right confirm this is the porch described in the task. Nothing blocks the paving in front of my feet. I will take another step forward to shorten the remaining distance.", + "The railing section beside the hedge is directly ahead and growing steadily as I close in, so my heading remains correct. I am still several paces short of standing at the railing itself. I will continue forward.", + "The porch roof line and the wooden lattice railing now fill much of the upper and central part of my view, showing steady progress across the courtyard. The stretch of paving between me and the railing base is noticeably shorter but not yet closed. I will step forward again.", + "Individual balusters and the lattice weave are now distinct, and the hedge sits immediately left of the railing as expected for the target. I am close but still standing out on the paving rather than at the railing. I will advance once more.", + "The lattice railing of the flat-roofed porch is now only a short distance ahead and slightly left, with the hedge crowding it on that side. To be properly positioned at the railing I need to close the last stretch of paving. I will keep moving forward on this heading.", + "The flat-roofed porch section with its white lattice skirting and slatted railing now fills the middle of my view, with the tall hedge running along its left edge just as the task describes. My heading is already straight at that railing across the open paved court, so no turn is needed. I will step forward again to keep closing the remaining distance.", + "The lattice panel and the railing above it have grown noticeably larger and the porch roof edge now cuts across the upper part of my view, confirming I am closing in on the correct section beside the hedge. Nothing blocks the paving in front of me. I continue straight forward to shorten the gap further.", + "I am now close enough that the wooden slatted railing and the diamond lattice below it dominate the view, with the corner post and the hedge just to the left. A few more steps should bring me right up against the railing rather than stopping short of it. I keep moving straight ahead.", + "The railing and lattice skirting now span nearly my whole view at close range, and the porch ceiling is visible above, so I am almost at the structure. One more short step forward should place me directly at the railing for a proper arrival position.", + "The wooden slatted railing and lattice skirting of the flat-roofed porch are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t0_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0539c4ee50554078f4ed52a02e0c912ce819d750 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t0_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Walk to the green street sign by the fence.", + "Type": 0, + "Start_Pose": [ + 396.896, + -14535.436, + 200.086, + 0.0, + 59.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 396.896, + -14535.436, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 460.736, + -14426.969, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 524.577, + -14318.503, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 588.417, + -14210.037, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 652.258, + -14101.571, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 716.098, + -13993.105, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 779.938, + -13884.639, + 208.354, + 0.0, + 59.52, + -0.0 + ], + [ + 779.938, + -13884.639, + 208.354, + 0.0, + 59.52, + -0.0 + ] + ], + "Rationale": [ + "From the road I can see a small green street sign mounted on a slim pole at the grassy corner just behind the white picket fence of the porch house. My heading already points straight across the pavement toward that corner, so no turn is needed. I will step forward to begin closing the distance.", + "The green sign and its pole now sit slightly larger and clearer above the white picket fence, confirming I am closing on the right corner. The path ahead over the road remains clear with nothing between me and the curb. I will continue forward on this same heading.", + "The lettering on the green sign is starting to become legible and the curb of the corner lawn is now visible ahead of me. My heading still lines up with the sign pole, so I do not need to adjust direction. I will keep advancing to shorten the remaining gap.", + "The green sign reading NE 28 ST is clearly readable and the corner curb is only a short distance ahead of me. The white picket fence behind the sign confirms this is the fence-side sign named in the task. I will step forward again to reach it.", + "I am now at the corner grass with the sign pole rising just ahead of me and slightly right, next to the fence. The sign hangs high above me, showing I am nearly underneath it. I will take another step forward to stand right at the pole.", + "The sign's pole is very close and the fence line runs right beside it, so only a small remaining gap separates me from the target. One more forward step should place me directly at the sign post. I will move forward to finish closing that gap.", + "The sign's pole stands immediately in front of me against the white picket fence. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t5_b_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27bc2342513b283e765c6c1fcc542c19a321ec2d --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x000397_y-014535_z000200_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Grab the ceramic vase near the corner where the white picket fences meet.", + "Type": 5, + "Start_Pose": [ + 396.896, + -14535.436, + 200.086, + 0, + 59.52, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 844.079, + -13825.021, + 148.452, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 396.896, + -14535.436, + 200.086, + 0, + 59.52, + 0 + ], + [ + 460.736, + -14426.969, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 524.577, + -14318.503, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 588.417, + -14210.037, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 652.258, + -14101.571, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 716.098, + -13993.105, + 200.086, + 0.0, + 59.52, + -0.0 + ], + [ + 779.938, + -13884.639, + 208.354, + 0.0, + 59.52, + -0.0 + ], + [ + 779.938, + -13884.639, + 208.354, + 0.0, + 59.52, + -0.0 + ], + [ + 779.938, + -13884.639, + 208.354, + 0.0, + 59.52, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 844.079, + -13825.021, + 148.452, + 0.0, + 0.0, + 0.0 + ], + [ + 844.079, + -13825.021, + 148.452, + 0.0, + 0.0, + 0.0 + ], + [ + 844.079, + -13825.021, + 148.452, + 0.0, + 0.0, + 0.0 + ], + [ + 844.079, + -13825.021, + 148.452, + 0.0, + 0.0, + 0.0 + ], + [ + 844.079, + -13825.021, + 148.452, + 0.0, + 0.0, + 0.0 + ], + [ + 844.079, + -13825.021, + 148.452, + 0.0, + 0.0, + 0.0 + ], + [ + 844.079, + -13825.021, + 148.452, + 0.0, + 0.0, + 0.0 + ], + [ + 761.226, + -13874.334, + 178.558, + -28.202, + 109.665, + 1.862 + ], + [ + 761.226, + -13874.334, + 178.558, + -28.202, + 109.665, + 1.862 + ] + ], + "PD_Dist_2D": [ + 839.4, + 713.6, + 587.9, + 462.2, + 336.6, + 211.3, + 87.6, + 21.4, + 21.4 + ], + "Rationale": [ + "From the street I can see the corner lot where the white picket fences meet, with a tall pale ceramic vase standing on the grass beside the sign post. It is still far across the intersection, so I will walk straight ahead to close that distance.", + "The fenced corner and the vase standing on the grass strip are noticeably larger now, confirming my heading is correct. I will keep walking forward since no obstacle lies between me and the curb.", + "The vase near the meeting point of the two picket fence runs is clearly centered slightly left of my path and still several paces off. Continuing straight ahead should bring me to the curb and grass where it stands.", + "The curb and the grassy corner are now close, and the ceramic vase stands just beyond it beside the street sign post. I will step forward again to reach grabbing range rather than stopping short in the roadway.", + "I am now at the corner grass with the vase large in front of me, but it is still a stride or two out of arm's reach. One more step forward should place me close enough to grasp it.", + "The ceramic vase fills much of my view just left of the utility pole, but I want it directly at my hands before attempting a grab. I will take one more short step forward to close the last gap.", + "The ceramic vase is right in front of me at the corner where the two picket fence lines meet, well within arm's reach. I will attempt to grab it now, since nothing blocks my hands.", + "The ceramic vase is now held in my hands, no longer resting on the corner grass. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t0_a/infos.json b/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e300fa923d9ac9cb8aed0c9f65955007db60bda --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t0_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the bottom of the porch steps.", + "Type": 0, + "Start_Pose": [ + 1293.293, + -10695.022, + 198.878, + 0.0, + -68.16, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1293.293, + -10695.022, + 198.878, + 0.0, + -68.16, + 0.0 + ], + [ + 1340.115, + -10811.848, + 198.982, + 0.0, + -68.16, + 0.0 + ], + [ + 1340.115, + -10811.848, + 198.982, + 0.0, + -43.16, + 0.0 + ], + [ + 1431.922, + -10897.94, + 198.982, + 0.0, + -43.16, + 0.0 + ], + [ + 1523.729, + -10984.033, + 198.33, + 0.0, + -43.16, + 0.0 + ], + [ + 1615.537, + -11070.125, + 198.33, + 0.0, + -43.16, + 0.0 + ], + [ + 1707.344, + -11156.218, + 198.976, + 0.0, + -43.16, + 0.0 + ], + [ + 1799.151, + -11242.31, + 198.976, + 0.0, + -43.16, + 0.0 + ], + [ + 1890.959, + -11328.402, + 198.976, + 0.0, + -43.16, + 0.0 + ], + [ + 1982.766, + -11414.495, + 198.976, + 0.0, + -43.16, + 0.0 + ], + [ + 1982.766, + -11414.495, + 198.976, + 0.0, + -18.16, + 0.0 + ], + [ + 2102.356, + -11453.721, + 198.976, + 0.0, + -18.16, + 0.0 + ], + [ + 2221.946, + -11492.948, + 198.976, + 0.0, + -18.16, + 0.0 + ], + [ + 2341.536, + -11532.175, + 198.976, + 0.0, + -18.16, + 0.0 + ], + [ + 2341.536, + -11532.175, + 198.976, + 0.0, + -18.16, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the gray single story house ahead with a short set of white porch steps and railings set against its wall on the right side. The wide concrete pad in front of me is open, so I will step forward to begin closing that distance toward the steps.", + "The porch steps now sit off to my right rather than straight ahead, so walking forward on this heading would carry me past them along the front of the house. I will turn right to bring the steps and their white railings closer to the center of my view before continuing.", + "With the white steps and their handrails now roughly ahead of me across the paved area, my heading looks usable for a straight approach. I will walk forward to shorten the gap toward the base of those steps.", + "The steps and railing have grown slightly larger, which tells me the previous step of walking made real progress along this line. There is still a long stretch of concrete between me and them, so I will keep moving forward.", + "The porch steps stay ahead of me with the house siding and lattice skirting running along my left, so my heading is still good. I will continue forward since I am not yet close enough to stand at the bottom of the steps.", + "The white handrails and the door above the steps are noticeably nearer now, confirming steady approach along the paved walkway. I will step forward again to keep closing that remaining distance.", + "I can now make out the individual treads of the small stairway and the light beside the door, but the bottom tread is still several paces away from me. I will move forward to bring myself nearer to that lowest step.", + "The steps fill more of my view and their lowest tread meets the gravel strip just short of the concrete edge slightly to my left. I will keep walking forward to draw up close to the foot of the stairway.", + "The white porch steps and their railing are clearly ahead of me along the gray siding, and the concrete walkway between us is still open. I will keep walking forward to close the remaining gap toward the base of those steps.", + "I am now close to the house and the siding fills most of my left side, so heading straight would carry me into the wall rather than to the foot of the steps. Turning right should point me down the open walkway that runs past the step base, keeping the stairs just off my left as I continue.", + "With my heading now down the open walkway, the porch steps and railing stand a short distance ahead on my left. Walking forward should bring me alongside the lowest step instead of stopping short of it.", + "The stair railing and treads are noticeably larger and nearer on my left, but the bottom tread is still slightly ahead of me. One more step forward should place me level with the base of the stairs.", + "I am nearly beside the stairs, with the railing running along my left and the lowest tread just short of directly beside me. A final forward step should set me right at the bottom of the porch steps.", + "The lowest tread of the porch steps is directly beside me, within arm's reach of the railing post. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t0_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..21519ae7ea81f13ee53415a4c39abe6308f2caf1 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t0_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Head toward the crisscross lattice panel at the corner of the house beside the wooden picket fence.", + "Type": 0, + "Start_Pose": [ + 1293.293, + -10695.022, + 198.878, + 0.0, + -68.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1293.293, + -10695.022, + 198.878, + 0.0, + -68.16, + 0.0 + ], + [ + 1340.115, + -10811.848, + 198.982, + 0.0, + -68.16, + 0.0 + ], + [ + 1386.936, + -10928.674, + 198.982, + 0.0, + -68.16, + 0.0 + ], + [ + 1386.936, + -10928.674, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1379.998, + -11054.341, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1373.06, + -11180.009, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1366.122, + -11305.677, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1359.184, + -11431.344, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1352.246, + -11557.012, + 198.982, + 0.0, + -93.16, + 0.0 + ], + [ + 1352.246, + -11557.012, + 198.982, + 0.0, + -93.16, + 0.0 + ] + ], + "Rationale": [ + "From the open concrete driveway I can see the gray house running across my view with crisscross lattice skirting beneath it, and the wooden picket fence stands off to the left where the house ends. The corner panel described in the task lies at that far left end, so I will move forward to close the wide gap across the paving.", + "The siding and the lattice band under the house have grown noticeably, so my heading is carrying me usefully toward the building. The fence-side corner is still well off to my left, so I will take another forward step to keep shrinking the distance before adjusting my facing.", + "Straight ahead I am now pointed at the middle of the house wall and its steps, while the corner where the lattice meets the picket fence sits toward my left. I will turn left so that fence-side corner comes into the center of my view and my path leads directly to it.", + "After the turn the end of the house with its latticework sits ahead of me and the picket fence line runs away to my left, confirming a good heading. I will move forward along the open concrete to close the remaining distance to that corner.", + "The lattice panels under the end of the house are wider and clearer now, and the fence beside them is closer as well. I will continue forward, since the corner is still several steps away from a comfortable stopping spot.", + "The shuttered window and the diamond pattern of the skirting now fill much of the right side of my view, so I am close to the target corner but not yet beside it. Another forward step should bring me to where the lattice meets the fence-side corner.", + "The crisscross lattice is directly ahead at close range with the corner downspout coming into view and the picket fence just to my left. I will step forward again to draw right up beside the corner panel.", + "I am nearly at the corner, with the vertical corner trim and the lattice panel filling the right half of my view and the fence running beside me on the left. One more forward step should place me squarely at the corner lattice, which is the position the task asks for.", + "The crisscross lattice panel at the house corner fills my view within arm's reach, with the picket fence just beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t5_a_p/infos.json b/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6d172331cdb69a6287d0bdcb2b8f255ff258fd97 --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x001293_y-010695_z000199_t5_a_p/infos.json @@ -0,0 +1,297 @@ +{ + "Instruction": "Lift the metal bucket at the bottom of the porch steps.", + "Type": 5, + "Start_Pose": [ + 1293.293, + -10695.022, + 198.878, + 0, + -68.16, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 2177.915, + -11528.099, + 122.022, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1293.293, + -10695.022, + 198.878, + 0, + -68.16, + 0 + ], + [ + 1340.115, + -10811.848, + 198.982, + 0.0, + -68.16, + 0.0 + ], + [ + 1386.936, + -10928.674, + 198.982, + 0.0, + -68.16, + 0.0 + ], + [ + 1386.936, + -10928.674, + 198.982, + 0.0, + -43.16, + 0.0 + ], + [ + 1478.743, + -11014.766, + 198.982, + 0.0, + -43.16, + 0.0 + ], + [ + 1570.551, + -11100.858, + 198.849, + 0.0, + -43.16, + 0.0 + ], + [ + 1662.358, + -11186.951, + 198.849, + 0.0, + -43.16, + 0.0 + ], + [ + 1754.166, + -11273.043, + 198.849, + 0.0, + -43.16, + 0.0 + ], + [ + 1845.973, + -11359.136, + 198.849, + 0.0, + -43.16, + 0.0 + ], + [ + 1937.78, + -11445.228, + 198.849, + 0.0, + -43.16, + 0.0 + ], + [ + 1937.78, + -11445.228, + 198.849, + 0.0, + -18.16, + 0.0 + ], + [ + 2057.37, + -11484.455, + 198.849, + 0.0, + -18.16, + 0.0 + ], + [ + 2057.37, + -11484.455, + 198.849, + 0.0, + -18.16, + 0.0 + ], + [ + 2057.37, + -11484.455, + 198.849, + 0.0, + -18.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2177.915, + -11528.099, + 122.022, + 0.0, + 0.0, + 0.0 + ], + [ + 2063.446, + -11463.974, + 169.128, + -28.202, + 31.984, + 1.862 + ], + [ + 2063.446, + -11463.974, + 169.128, + -28.202, + 31.984, + 1.862 + ] + ], + "PD_Dist_2D": [ + 1215.1, + 1102.2, + 992.5, + 992.5, + 867.4, + 742.6, + 618.2, + 494.6, + 372.5, + 254.0, + 254.0, + 128.2, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the porch steps far ahead on the right side of the gray house, with a small dark metal bucket sitting on the concrete at their base. That target is much too distant to reach, so I will walk straight forward across the open pavement to close the gap.", + "The house and the steps have grown larger, confirming my heading is carrying me toward the bucket at the foot of the porch. It still sits well out of reach, so I will keep walking forward along the open concrete.", + "Straight ahead my path runs along the long side wall, while the steps and the bucket sit off toward the right end of the house. I will turn right to bring that stair area and the bucket into the center of my view before continuing.", + "The turn has put the porch steps and the bucket beside them roughly ahead of me, with open pavement in between. I will step forward to keep shrinking the distance to the bucket.", + "The bucket at the foot of the stairs is clearly visible ahead and slightly right, and nothing blocks the concrete between us. Another step forward should bring me nearer to a range where I can reach it.", + "The stair railing and the metal bucket beside it keep growing in my view, so my heading remains good. The bucket is still several strides away, so I will continue walking toward it.", + "The bucket now stands out plainly at the bottom of the steps, a bit right of my heading, but it is not yet within arm's reach. I will keep advancing across the concrete to close the remaining distance.", + "The bucket is close now, sitting low against the bottom step slightly to my right. It is still short of a comfortable grasping distance, so I will take another step forward before attempting to lift it.", + "The metal bucket sits on the concrete at the foot of the porch steps, now large in view but still a couple of paces ahead and off to my right. I will keep walking forward along the pavement to close that remaining gap before attempting a grasp.", + "I am close to the bucket now, but it sits low and to the right of my heading rather than straight in front of me. A small turn to the right should bring it into the center of my view so a forward step should land me squarely over it.", + "The bucket is now centered directly ahead at the bottom of the steps, but still slightly out of arm's reach. One more step forward should put it right in front of me at grasping distance.", + "The metal bucket now fills the lower part of my view directly in front of me, its rim within easy reach at the foot of the steps. Nothing blocks my hands, so I will attempt to grasp the bucket and lift it.", + "The metal bucket is in my hands, lifted clear of the ground. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/ModularNeighborhood/task_x001710_y-014768_z000200_t1_b/infos.json b/dataset/trajectory/ModularNeighborhood/task_x001710_y-014768_z000200_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..581b81235a2ab36d6e192e5c4652b84c7138afab --- /dev/null +++ b/dataset/trajectory/ModularNeighborhood/task_x001710_y-014768_z000200_t1_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Once you locate the utility pole's base at the corner of the road, approach it.", + "Type": 1, + "Start_Pose": [ + 1710.281, + -14768.001, + 199.988, + 0.0, + -141.44, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "LookUp", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1710.281, + -14768.001, + 199.988, + 0.0, + -141.44, + 0.0 + ], + [ + 1710.281, + -14768.001, + 200.086, + 0.0, + -166.44, + 0.0 + ], + [ + 1710.281, + -14768.001, + 200.086, + 0.0, + 168.56, + -0.0 + ], + [ + 1710.281, + -14768.001, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1710.281, + -14768.001, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1609.03, + -14693.243, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1507.779, + -14618.485, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1406.528, + -14543.728, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1305.277, + -14468.97, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1204.026, + -14394.212, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1102.775, + -14319.454, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 1001.524, + -14244.696, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 900.273, + -14169.938, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 799.022, + -14095.181, + 200.086, + 0.0, + 143.56, + -0.0 + ], + [ + 799.022, + -14095.181, + 200.086, + 0.0, + 118.56, + -0.0 + ], + [ + 738.852, + -13984.637, + 200.086, + 0.0, + 118.56, + -0.0 + ], + [ + 678.681, + -13874.092, + 200.086, + 0.0, + 118.56, + -0.0 + ], + [ + 678.681, + -13874.092, + 200.086, + 0.0, + 93.56, + -0.0 + ], + [ + 678.681, + -13874.092, + 200.086, + 0.0, + 93.56, + -0.0 + ] + ], + "Rationale": [ + "From here I only see a dense dark hedge filling the middle of my view and a porch of a house to my right, with no utility pole or road corner in sight. The paved road opens off to my left, so I will turn left to begin a consistent scan toward the street where a pole at a corner would most likely stand.", + "The turn opened up the road ahead with a sidewalk, grass strip and houses on the far side, but I still cannot make out a utility pole or the corner of an intersection. Continuing to rotate left in the same direction should sweep more of the roadway and the built-up side where poles are usually planted.", + "Now I can pick out a slim vertical pole with a small green street sign standing on the left side of the road where the pavement widens into an intersection. That matches the utility pole at a road corner I need, so I will keep turning left to bring it closer to the center of my heading instead of scanning any further.", + "The pole is now roughly ahead of me beside the corner, but heavy tree foliage crowds its upper part and my view is tilted low toward the road surface. I will look up to trace the pole's full height above the branches and confirm it is a utility pole before committing to walk to it.", + "With the raised view I can follow the tall wooden pole rising past the tree crowns beside the corner, with the street sign mounted on it near the fence line. It is clearly still far off down the road, so I will step forward along the pavement to close the distance toward its base.", + "The pole and the small green sign beside it have grown slightly and the curb ahead is drawing nearer, so my heading down the road is taking me toward it. I will continue walking forward since the roadway ahead looks clear and open.", + "The white picket fence and lawn on my left are sliding past and the pole with its sign is now more distinct against the houses across the road. There is still a good stretch of pavement between me and its base, so I will keep advancing.", + "The pole now stands out plainly to the left of center with its street sign readable at head height, and the corner curb where it is planted is visibly closer. I will take another step forward to bring myself up to that corner.", + "The wooden utility pole with the street sign is clearly visible ahead and slightly left, planted on the grass strip where the two roads meet, so it is the corner pole the task describes. I will keep walking straight along the roadway to close the remaining distance to its base.", + "The pole and its sign now sit larger in my view, confirming that my straight heading is shrinking the gap to the corner. I will step forward again since the intersection and the grass verge holding the pole are still some distance off.", + "The pole's shaft and the lettering on the street sign are becoming distinct as I near the corner, so continuing on this heading remains the most direct approach. Another forward step should bring me closer to the base standing on the grass strip.", + "The sign now reads NE 28 ST and the pole occupies the left portion of my view, which means I am close to the corner but the base is still a few steps away. I will advance again to reduce that remaining gap.", + "The pole is now very near on my left with its base resting on the grass beside the curb, so a little more forward motion should bring me level with it. I will keep walking straight rather than turning while the corner is still slightly ahead.", + "The pole has slid out to the far left edge of my view as I drew alongside the corner, so my heading no longer points at it. Turning left should swing the pole and its base back toward the center of my view for a controlled final approach.", + "The turn brought the pole and the NE 28 ST sign back into the center of my view, with the base standing on the grass strip just beyond the curb. I will step forward along this heading to close the last of the distance to it.", + "The pole now fills a tall band near the center of my view and its base is close in front of me at the edge of the grass. One more step forward should place me right at the base at the corner.", + "The wooden utility pole is now right beside me at the curb, but it sits at the far left of my view where I can barely see its base. I will turn left to bring the pole and its footing squarely in front of me so my standing position clearly faces it.", + "The utility pole's base stands directly before me at the corner curb, within arm's reach. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/002.jpg b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/002.jpg new file mode 100644 index 0000000000000000000000000000000000000000..0150c5272a46e718b1ab444b1054f7d3a545475b --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/002.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a06a6dd0d72c0d644d731e06638e038b78b3c18afc5bececf9cfb71c9c97991f +size 135584 diff --git a/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/003.jpg b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/003.jpg new file mode 100644 index 0000000000000000000000000000000000000000..50359789110763803d17893660a236a206f86ac1 --- /dev/null +++ b/dataset/trajectory/Supermarket/task_x-000004_y002003_z000099_t2_b/003.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 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The walkway between the tiled wall on my left and the pool edge on my right is clear, so I will step forward to start closing that long distance.", + "The life preserver is a bit larger now but still far off near the end wall, and my path along the poolside remains unobstructed. I will keep walking forward to reduce the remaining distance before worrying about fine heading.", + "Walking straight along the tiled wall has pushed the life preserver far over to my right edge, where it is almost slipping out of sight behind the corner. A small turn to the right should swing my heading back toward the ring so I can continue approaching it directly.", + "The turn brought the life preserver back into clear view on the wall ahead of me, with benches beside it and open deck between us. I will walk forward to close the gap on this improved heading.", + "The ring on the wall has grown noticeably and sits slightly right of my heading, and the deck ahead stays clear of the ladder rails on my left. Another step forward should bring me meaningfully closer to it.", + "From here the life preserver is clearly offset to the right of the direction I am facing, with the doorway and the side wall taking up my left. Turning right should center the ring so my remaining approach runs straight at it.", + "The turn has placed the life preserver near the middle of my view on the tiled wall, with benches running to its right and clear wet deck between us. I will step forward along this heading to keep closing in.", + "The ring is centered and clearly larger now, so my heading is good and only distance remains. I will continue forward to get close enough to the wall-mounted preserver to count as reaching it.", + "The red and white life preserver hangs on the tiled wall just left of straight ahead, and my heading is already lined up with it. There is clear open tile floor between me and that wall, so I will step forward to keep closing the remaining distance.", + "The preserver now appears much larger and stays near the middle of my view, confirming I am nearly at the wall it hangs on. A final step forward should bring me directly in front of it at arm's reach.", + "The red and white life preserver fills my view directly against the tiled wall at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-000851_y000602_z000108_t5_a_p/infos.json b/dataset/trajectory/SwimmingPool/task_x-000851_y000602_z000108_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..05d02691ec8e199df391e75de31d15836df3ac62 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-000851_y000602_z000108_t5_a_p/infos.json @@ -0,0 +1,278 @@ +{ + "Instruction": "Pick up the metal bucket near the red and white life preserver on the wall.", + "Type": 5, + "Start_Pose": [ + -851.291, + 602.024, + 108.332, + 0, + 154.56, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1759.233, + 513.034, + 30.128, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -851.291, + 602.024, + 108.332, + 0, + 154.56, + 0 + ], + [ + -966.93, + 656.089, + 108.332, + 0.0, + 154.56, + -0.0 + ], + [ + -1080.585, + 710.153, + 108.332, + 0.0, + 154.56, + -0.0 + ], + [ + -1080.585, + 710.153, + 108.332, + 0.0, + 179.56, + -0.0 + ], + [ + -1206.44, + 711.12, + 108.332, + 0.0, + 179.56, + -0.0 + ], + [ + -1332.296, + 712.086, + 108.332, + 0.0, + 179.56, + -0.0 + ], + [ + -1332.296, + 712.086, + 108.332, + 0.0, + -155.44, + 0.0 + ], + [ + -1446.768, + 659.774, + 108.332, + 0.0, + -155.44, + 0.0 + ], + [ + -1561.24, + 607.461, + 108.332, + 0.0, + -155.44, + 0.0 + ], + [ + -1561.24, + 607.461, + 108.332, + 0.0, + -155.44, + 0.0 + ], + [ + -1675.712, + 555.148, + 108.332, + 0.0, + -155.44, + 0.0 + ], + [ + -1675.712, + 555.148, + 108.332, + 0.0, + -155.44, + 0.0 + ], + [ + -1675.712, + 555.148, + 108.332, + 0.0, + -155.44, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1759.233, + 513.034, + 30.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1666.281, + 535.98, + 78.439, + -28.202, + -105.295, + 1.862 + ], + [ + -1666.281, + 535.98, + 78.439, + -28.202, + -105.295, + 1.862 + ] + ], + "PD_Dist_2D": [ + 910.3, + 805.1, + 706.7, + 706.7, + 587.2, + 471.1, + 471.1, + 345.2, + 219.4, + 219.4, + 93.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The red and white life preserver hangs on the far wall ahead to my right, with a dark metal bucket standing on the tiles beneath it. That target is far across the pool deck, so I need to close distance first. I will walk forward along the open tiled walkway.", + "The preserver and the bucket below it are noticeably larger now, confirming my heading is bringing me nearer. The walkway between the tiled wall and the pool edge is still clear ahead. I will keep walking forward to shorten the remaining gap.", + "Continuing straight has pushed the preserver and bucket to the far right edge of my view, with the blank tiled wall now filling most of it. Holding this heading would carry me past the target rather than toward it. I will turn right to bring the bucket back toward the center of my view.", + "The turn has placed the life preserver and the dark bucket beneath it well inside my forward view. The deck between me and that wall is open, with only the pool edge off to my right. I will walk forward to reduce the remaining distance to the bucket.", + "The bucket under the preserver is clearly bigger and the bench beside it is now visible, so I am still closing on the correct object. Nothing blocks the tiles between me and that stretch of wall. I will step forward again to get within reach.", + "The dark metal bucket under the red and white life preserver sits to the right of my heading, near the edge of my view, while the wall on my left dominates the center. I will turn right to bring the bucket and preserver toward the middle of my view for a straight approach.", + "The bucket beneath the life preserver now sits ahead of me with open tiled floor between us, and no railing or bench blocks that lane. I will walk forward to cut down the remaining distance to it.", + "The bucket is larger and clearly framed under the life preserver, but it still stands several paces away, too far to reach. I will keep walking forward to close in to grasping range.", + "The metal bucket now fills the lower center of my view directly beneath the red and white life preserver, apparently within arm's reach. I will attempt to pick it up now rather than step closer and risk bumping it.", + "My hands are still empty and the bucket has not been lifted, so that grasp attempt did not take hold. I was likely still slightly out of reach, so I will step forward once more to stand right against the bucket before trying again.", + "My earlier grab attempt left the metal bucket still standing on the tiles and my hands empty, so I closed the remaining gap and the bucket rim now fills the bottom of my view directly beneath the red and white life preserver. At this range it should be within reach, so I will try the grasp again.", + "The metal bucket is now held in my hands rather than resting on the tiles. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..94db7a6f6aad60b6db8f50108cd760086c67306f --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the leftmost wooden bench against the wall.", + "Type": 2, + "Start_Pose": [ + -1311.913, + 552.763, + 108.332, + 0.0, + -144.96, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1311.913, + 552.763, + 108.332, + 0.0, + -144.96, + 0.0 + ], + [ + -1416.944, + 480.501, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1519.991, + 408.24, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1623.039, + 335.978, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1726.086, + 263.716, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1726.086, + 263.716, + 108.128, + 0.0, + -144.96, + 0.0 + ] + ], + "Rationale": [ + "Three wooden benches stand in a row along the tiled wall ahead, and the leftmost is the near one sitting directly beneath the red and white life ring, so that is the one I fix on. It lies forward and slightly left of my heading, so I will walk forward to close the distance.", + "The bench under the life ring is noticeably larger and nearer now, still set against the wall to my left front. Nothing blocks the tiled floor between us, so I will keep walking forward toward it.", + "The bench I chose now stretches across the lower left of my view, its wooden slats clearly resolved against the dark tile skirting. I am still a few paces short of standing beside it, so I will continue forward.", + "From this close the row no longer reads as a countable line, but the long bench filling my left foreground is the one I have been following. A short step more should bring me level with it against the wall, so I will walk forward again.", + "The wooden bench I was following is now right beside me against the tiled wall, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ecca1cef5a324d529550dab6ee3da3016f79fc00 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Head toward the middle bench along the wall.", + "Type": 2, + "Start_Pose": [ + -1311.913, + 552.763, + 108.332, + 0.0, + -144.96, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1311.913, + 552.763, + 108.332, + 0.0, + -144.96, + 0.0 + ], + [ + -1416.944, + 480.501, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1416.944, + 480.501, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1479.797, + 371.46, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1542.651, + 262.419, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1605.504, + 153.378, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1668.358, + 44.337, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1731.211, + -64.704, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1731.211, + -64.704, + 108.128, + 0.0, + -119.96, + 0.0 + ] + ], + "Rationale": [ + "Three wooden benches line the tiled wall to my left, and my target is the middle one, the bench sitting between the long near bench and the far bench that holds folded white towels beneath the small life ring. It is still far down the deck, so I step forward to close distance.", + "Facing this way, the wall and its bench row cut across my view and my path would run into the tiles rather than along them. I will turn right so the row lies down my left side and the open deck runs ahead, giving me a straight walking line toward the middle bench.", + "Now the bench row recedes along my left and the deck stretches clear ahead toward the far doorway. The middle bench, just short of the towel-topped one under the life ring, is still well down the wall, so I walk straight on.", + "The benches have grown noticeably larger and the towel-topped one near the life ring is easier to make out. The bench I want, the one immediately before it, remains ahead on my left, so I continue walking along the deck.", + "The nearest bench has slid to the very edge of my view as I pass it, so I can no longer judge the row from that end. I keep following the bench that stands just before the towel-topped one, and step forward again to reach it.", + "Only two benches remain in front of me, the long one on my left and the towel-topped one further along beneath the life ring. My target is the nearer of these, still a few paces off, so I advance again.", + "The bench I am heading for now fills the lower left of my view, with the towel-topped bench close beyond it. I am nearly alongside it, so one more step forward should bring me level with it.", + "The middle bench is right beside me along the wall, with the towel-topped bench just ahead under the life ring. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_c/infos.json b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eaaf6eae864ee74bc6bc422ca885024b90fb19ea --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the life ring mounted on the left wall.", + "Type": 2, + "Start_Pose": [ + -1311.913, + 552.763, + 108.332, + 0.0, + -144.96, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1311.913, + 552.763, + 108.332, + 0.0, + -144.96, + 0.0 + ], + [ + -1416.944, + 480.501, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1416.944, + 480.501, + 108.128, + 0.0, + -169.96, + 0.0 + ], + [ + -1540.876, + 458.56, + 108.128, + 0.0, + -169.96, + 0.0 + ], + [ + -1664.807, + 436.618, + 108.128, + 0.0, + -169.96, + 0.0 + ], + [ + -1664.807, + 436.618, + 108.128, + 0.0, + 165.04, + -0.0 + ], + [ + -1786.401, + 469.108, + 108.128, + 0.0, + 165.04, + -0.0 + ], + [ + -1786.401, + 469.108, + 108.128, + 0.0, + 165.04, + -0.0 + ] + ], + "Rationale": [ + "Two red and white life rings hang in this hall, but the one I want is the large ring on the tiled left wall above the benches, not the small distant one near the far doorway. It is well ahead of me across the open deck, so I will walk forward to close that gap.", + "The life ring I am heading for now sits well off to my left, while my heading still points down the deck past it. I will turn left to bring it toward the center of my view before advancing further.", + "The life ring is now roughly centered ahead of me on the tiled wall, with clear floor between us. I will step forward to shorten the remaining distance.", + "The ring has grown noticeably and sits just left of center, so my line toward it is still good. There is open floor before the bench, so I will keep walking to get closer to the wall.", + "At this short range the life ring has drifted toward the left side of my view, so walking straight would carry me past it along the wall. I will turn left to square up on it before the final step.", + "The life ring is centered directly ahead and only a short gap of tiled floor remains. One more step forward should bring me right up against the wall beneath it.", + "The life ring fills my view at arm's length against the tiled wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_d/infos.json b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a4501f16064d8db0340552f91978bef05a25c90 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t2_d/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Navigate to the doorway in the far right corner.", + "Type": 2, + "Start_Pose": [ + -1311.913, + 552.763, + 108.332, + 0.0, + -144.96, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1311.913, + 552.763, + 108.332, + 0.0, + -144.96, + 0.0 + ], + [ + -1313.897, + 552.763, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1376.75, + 443.722, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1439.604, + 334.681, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1502.457, + 225.64, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1502.457, + 225.64, + 108.128, + 0.0, + -94.96, + 0.0 + ], + [ + -1513.339, + 100.252, + 108.128, + 0.0, + -94.96, + 0.0 + ], + [ + -1524.221, + -25.135, + 108.128, + 0.0, + -94.96, + 0.0 + ], + [ + -1535.102, + -150.523, + 108.128, + 0.0, + -94.96, + 0.0 + ], + [ + -1545.984, + -275.911, + 108.128, + 0.0, + -94.96, + 0.0 + ], + [ + -1556.866, + -401.299, + 108.128, + 0.0, + -94.96, + 0.0 + ], + [ + -1567.748, + -526.686, + 108.128, + 0.0, + -94.96, + 0.0 + ], + [ + -1578.63, + -652.074, + 108.128, + 0.0, + -94.96, + 0.0 + ], + [ + -1589.512, + -777.462, + 108.128, + 0.0, + -94.96, + 0.0 + ], + [ + -1584.915, + -883.614, + 108.332, + 0.0, + -94.96, + 0.0 + ], + [ + -1584.915, + -883.614, + 108.332, + 0.0, + -119.96, + 0.0 + ], + [ + -1584.807, + -955.502, + 108.332, + 0.0, + -119.96, + 0.0 + ], + [ + -1644.813, + -979.555, + 108.332, + 0.0, + -119.96, + 0.0 + ], + [ + -1644.813, + -979.555, + 108.332, + 0.0, + -119.96, + 0.0 + ] + ], + "Rationale": [ + "My target is the doorway set into the far right corner of the pool hall, and from where I stand it lies at the right edge of my view beyond the last bench. I will turn right so that dark recessed opening comes in front of me before I start walking.", + "The corner doorway now sits ahead of me across the pool deck, a dark recess in the tiled end wall. The deck between us is open and dry, so I will walk forward to close that distance.", + "The recessed opening has grown noticeably larger and still lies ahead of me along the poolside walkway. Nothing stands in the lane I am walking, so I will keep stepping straight toward it.", + "I can now make out the pale rail standing just in front of the dark corner opening, so I am confident that recess is the doorway I want. The deck ahead of me stays clear, and I will continue walking toward it.", + "As I get nearer, the corner doorway has drifted to the right of my center, meaning my line of travel runs wide of it toward the side wall. I will turn right to bring the opening back onto my heading before pressing on.", + "The turn has swung the corner doorway back near the middle of my view, with its rail standing just before it. The stretch of deck in between is empty, so I will walk forward toward the opening.", + "The opening and the rail in front of it read clearly now, slightly left of my center, which tells me I am still tracking the corner doorway. I will take another step forward to shorten the remaining gap.", + "The dark doorway with its rail now fills a good part of my view just left of center, so the corner is close. The tiled floor in front of me remains clear, and I will keep advancing toward that opening.", + "The corner opening and the metal rail guarding it are clearly resolved just left of my heading, with plain deck tile between us. I will step forward again to shorten the gap.", + "The rail in front of the recess now reads as separate posts, so I am within a few strides of the corner. My path stays clear of both the rail and the pool edge on my right, so I keep walking.", + "Inside the recess I can now see a lit passage beyond, confirming it is a way through rather than a niche. I will advance again toward that threshold.", + "The opening is close enough now that its frame and the wet floor inside are plain, and the rail stands off to my left rather than across my line. Another step forward should bring me nearer the threshold.", + "A yellow surface glows in the room past the opening, so the passage continues beyond the corner wall. The tile between me and the threshold is clear, and I will step forward once more.", + "The near tiled pier now crowds the right side of my view while the opening runs off to my left, meaning I am nearly level with the threshold. I will take one more step to reach it.", + "Standing at the corner, the tiled pier blocks most of what is straight ahead and the recessed passage with its yellow-lit interior lies off to my left. I will turn left so that opening sits in front of me before I go any further.", + "The turn has put the corner passage ahead of me, its inner door and yellow-lit room framed straight on. I will walk forward into the doorway area.", + "I am right at the mouth of the corner passage now, with the tiled pier edge still crowding my right and the dim wet floor of the recess opening to my left. One more step should carry me past that edge and fully inside the doorway space.", + "I stand inside the corner doorway, its inner opening and the yellow-lit room beyond directly in front of me. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t5_a_p/infos.json b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..aecc3793919ec22a564af6d9bf84339b98fcf8ee --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t5_a_p/infos.json @@ -0,0 +1,183 @@ +{ + "Instruction": "Grab the tomato beside the leftmost wooden bench against the wall.", + "Type": 5, + "Start_Pose": [ + -1311.913, + 552.763, + 108.332, + 0, + -144.96, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -1708.097, + 309.751, + 78.128, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1311.913, + 552.763, + 108.332, + 0, + -144.96, + 0 + ], + [ + -1416.944, + 480.501, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1519.991, + 408.24, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1519.991, + 408.24, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1623.039, + 335.978, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1623.039, + 335.978, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1623.039, + 335.978, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1623.039, + 335.978, + 108.128, + 0.0, + -144.96, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1708.097, + 309.751, + 78.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.097, + 309.751, + 78.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.097, + 309.751, + 78.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.097, + 309.751, + 78.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.097, + 309.751, + 78.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1708.097, + 309.751, + 78.128, + 0.0, + 0.0, + 0.0 + ], + [ + -1610.279, + 318.845, + 78.439, + -28.202, + -94.816, + 1.862 + ], + [ + -1610.279, + 318.845, + 78.439, + -28.202, + -94.816, + 1.862 + ] + ], + "PD_Dist_2D": [ + 463.1, + 337.5, + 212.3, + 212.3, + 89.0, + 89.0, + 21.4, + 21.4 + ], + "Rationale": [ + "The tomato sits on the tiled floor beside the long wooden bench at the left end of the wall, but it is still far ahead of me. My heading already points straight at it, so no turn is needed. I will walk forward to close that gap.", + "The tomato and the leftmost bench are noticeably larger now, confirming I am closing on the correct target. It still sits several paces away, too far for my reach. I will keep walking straight ahead toward it.", + "The tomato now fills the lower center of my view, resting on the tiles in front of the leftmost bench. It looks near enough that a grasp may already register. I will attempt to pick it up.", + "My hands are still empty, so that grasp attempt did not take hold. The likely reason is that I was still short of true reaching range beside the leftmost bench. I will step forward to get properly close before trying again.", + "From this closer spot the long leftmost bench and the wall fill my view, but the tomato is no longer in sight because it lies low on the tiles right in front of me. I need it framed before another grasp. I will look down to bring it back into view.", + "An earlier grasp from farther back left my hands empty, so I closed the distance and angled my gaze down onto the tomato beside the leftmost wooden bench. It now fills the near foreground, well inside arm's reach. I will attempt the pick again from this closer, better aimed position.", + "The tomato is now held in my hands rather than resting on the floor. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t5_b_p/infos.json b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ee30f824c42488b943b7427ce5c1572d19fe1afb --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001312_y000553_z000108_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Pick up the trash bag near the middle bench along the wall.", + "Type": 5, + "Start_Pose": [ + -1311.913, + 552.763, + 108.332, + 0, + -144.96, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -1747.138, + -92.31, + 20.332, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1311.913, + 552.763, + 108.332, + 0, + -144.96, + 0 + ], + [ + -1416.944, + 480.501, + 108.128, + 0.0, + -144.96, + 0.0 + ], + [ + -1416.944, + 480.501, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1479.797, + 371.46, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1542.651, + 262.419, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1605.504, + 153.378, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1668.358, + 44.337, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1668.358, + 44.337, + 108.128, + 0.0, + -119.96, + 0.0 + ], + [ + -1668.358, + 44.337, + 108.128, + 0.0, + -119.96, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1747.138, + -92.31, + 20.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1747.138, + -92.31, + 20.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1747.138, + -92.31, + 20.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1747.138, + -92.31, + 20.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1747.138, + -92.31, + 20.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1747.138, + -92.31, + 20.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1747.138, + -92.31, + 20.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1649.552, + 34.202, + 78.439, + -28.202, + -69.816, + 1.862 + ], + [ + -1649.552, + 34.202, + 78.439, + -28.202, + -69.816, + 1.862 + ] + ], + "PD_Dist_2D": [ + 777.1, + 661.2, + 661.2, + 535.3, + 409.4, + 283.6, + 157.7, + 21.4, + 21.4 + ], + "Rationale": [ + "I can see the dark trash bag resting on the tiled deck beside the middle bench along the far wall, but it is still well across the pool hall. I will walk forward to close that large gap before worrying about fine alignment.", + "The bag now sits noticeably right of my heading, and continuing straight would carry me along the benches rather than toward it. I will turn right to bring the bag closer to the center of my view for a direct approach.", + "With the trash bag now roughly ahead of me beside the bench line, my heading looks usable for a straight approach. I will step forward along the open deck to shorten the remaining distance.", + "The bag has grown larger and stays near my forward path beside the benches, so my current heading is still good. I will keep walking forward since I am not yet close enough to reach it.", + "The trash bag is clearly closer now, sitting on the deck right at the end of the bench, yet still beyond arm's reach. I will advance again to bring it into grasping range.", + "The bag fills much more of my view directly ahead beside the middle bench, but there is still a short gap of tile between us. One more step forward should place me close enough to attempt the grasp.", + "The trash bag is now immediately in front of me at the foot of the bench, filling the near part of my view. This is close enough to reach it, so I will attempt to pick it up.", + "The trash bag is now held in my hands rather than resting by the bench. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce16419c24766838c539c76169ffd0c138a77510 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the pool ladder, then head toward the open doorway.", + "Type": 3, + "Start_Pose": [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + [ + -1515.769, + 49.469, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1503.662, + 174.745, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1503.662, + 174.745, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1439.746, + 283.166, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1417.801, + 510.242, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1459.772, + 628.897, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1459.772, + 628.897, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1547.957, + 718.697, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1630.192, + 740.158, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1630.192, + 740.158, + 108.332, + 0.0, + 134.48, + -0.0 + ] + ], + "Rationale": [ + "From the dry deck I can see the chrome pool ladder rails at the near corner of the water on my left, and the open doorway in the far tiled wall ahead. The ladder is my first stop, so I will walk forward to cut down the distance across the deck.", + "The ladder rails on the pool's near side have grown larger and the doorway in the far wall sits ahead, so my heading is still productive. I will keep walking forward to close more of the gap before angling toward the water's edge.", + "The pool ladder now lies off to my left, near the corner of the water, while my body points at the plain tiled wall ahead. I will turn left so the poolside and its ladder come in front of me for a straight walk in.", + "The turn has laid the long poolside open in front of me, with the ladder handrails standing at the water's edge slightly to my left. I will step forward along the deck to reach them.", + "The pair of curved handrails is now close on my left, right where the steps drop into the water. One more forward step should bring me level with the ladder at the pool edge.", + "The ladder's two curved handrails rise directly beside me at the lip of the pool, close enough to touch. I have reached the pool ladder. I mark arriving here and now turn my attention to the open doorway back along the tiled wall.", + "Standing at the ladder, I face the long blank tiled wall with the water at my left, and the open doorway is not in this view. I will turn right to swing my heading back along the wall where that dark opening stands.", + "The rotation has brought the dark doorway into view, but it hangs at the far right edge of what I can see, past the no running sign. I will turn right again to bring that opening nearer the centre of my heading before walking.", + "Having marked the ladder behind me, my heading now points across the open deck toward the dark opening in the tiled wall ahead. The tiled floor between me and that opening is clear apart from the handrail well off to my right, so I step forward to close the gap.", + "The opening has grown noticeably wider in front of me and its shadowed interior is now clearly visible past the wall corner. Nothing blocks the tiles underfoot, so another stride forward should bring me close enough to enter.", + "I am close in to the wall now and the blank tiles with the no running sign fill most of my view, while the opening has slipped to the right edge. Turning right should swing the entrance back to the center of my view so I can walk straight through.", + "The opening now sits squarely in front of me with its threshold and inner tiled wall in clear view. With my heading lined up on the gap, I step forward to carry myself toward it.", + "The wall edge is right beside me and the passage beyond the threshold opens up ahead with its own tiled floor. One more short step forward should carry me through the opening rather than stopping short of it.", + "I am standing inside the passage past the open doorway, with the lit corridor and yellow lockers ahead of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d44ed6904e8fb597d397d26ac0ee4bf3996d7b3f --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Approach the pool ladder, then move to the life ring on the wall.", + "Type": 3, + "Start_Pose": [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + [ + -1515.769, + 49.469, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1503.662, + 174.745, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1503.662, + 174.745, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1439.746, + 283.166, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1493.703, + 435.706, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1611.577, + 479.823, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1611.577, + 479.823, + 108.332, + 0.0, + -175.52, + 0.0 + ], + [ + -1737.051, + 469.992, + 108.332, + 0.0, + -175.52, + 0.0 + ], + [ + -1737.051, + 469.992, + 108.332, + 0.0, + -175.52, + 0.0 + ] + ], + "Rationale": [ + "From the poolside I can see the chrome ladder rails at the near edge of the water off to my left, and the red and white ring hangs on the wall to my right. The ladder is my first destination, so I will walk forward to cut down the distance to that corner of the pool.", + "The pool edge and its ladder rails have grown larger on my left, so my previous step closed real distance. The deck ahead is still clear tile, so I will keep walking forward to draw level with the ladder.", + "The ladder rails now sit at the far left edge of what I can see while my heading points at the blank tiled wall and doorway. Turning left should swing the pool and its ladder into the middle of my view so I can walk straight at it.", + "The turn worked, and the pool with its ladder now lies ahead and slightly left along the tiled walkway. I will walk forward down the poolside to close on those handrails.", + "The two curved ladder rails are close now, standing on the coping just ahead and to my left. A further step forward should bring me right alongside them.", + "The curved metal ladder rails stand right beside me at the pool edge, within arm's reach. I have arrived at the pool ladder. I mark reaching it, and now I set off for the red and white ring hanging on the wall behind me.", + "The ring on the wall is nowhere in my current view, since I am facing along the pool with the blank tiled wall on my right. I will turn right to begin swinging my heading back toward the wall where that ring hangs.", + "The turn has brought the tiled wall with its no running sign square in front of me and a doorway is emerging on the right, but the ring is still out of sight. I will turn right again to keep rotating toward the stretch of wall where it is mounted.", + "Swinging around from the poolside, I now face the doorway and the metal guard rail, but the red and white ring on the tiled wall is still outside my view to the right. I will keep turning right to bring that stretch of wall in front of me.", + "The life ring has come into view, hanging on the tiled wall well off to my right while the doorway sits ahead of me. Another turn to the right should put the ring near the middle of my view so I can walk straight at it.", + "The life ring is now roughly ahead of me on the tiled wall, with clear open deck between us and no obstruction in the way. I will walk forward to close the distance to it.", + "The ring has grown noticeably larger, so my last step carried me closer along the open deck. It is still several paces off, so I will keep walking forward toward the wall where it hangs.", + "I am close to the wall now, but the ring has drifted to the right of my view as I advanced. Turning right should square me up with it before I take the last step in.", + "The life ring is centered in front of me on the tiled wall with only a short stretch of deck left. One more step forward should bring me right up to it.", + "The life ring fills my view at arm's length on the tiled wall. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_c/infos.json b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..15c5ad943374b3537147b0b100687efe470695f4 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_c/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Head toward the metal handrail by the door, then reach the pool ladder.", + "Type": 3, + "Start_Pose": [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + [ + -1527.876, + -75.806, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1569.847, + 42.849, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1611.818, + 161.503, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1653.789, + 280.158, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1695.761, + 398.812, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1695.761, + 398.812, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1683.654, + 524.088, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1671.713, + 633.42, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1671.713, + 633.42, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1671.713, + 633.42, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1671.713, + 633.42, + 108.332, + 0.0, + 34.48, + -0.0 + ], + [ + -1671.713, + 633.42, + 108.332, + 0.0, + 9.48, + -0.0 + ], + [ + -1671.713, + 633.42, + 108.332, + 0.0, + -15.52, + 0.0 + ], + [ + -1550.444, + 599.743, + 108.332, + 0.0, + -15.52, + 0.0 + ], + [ + -1429.174, + 566.067, + 108.332, + 0.0, + -15.52, + 0.0 + ], + [ + -1307.904, + 532.39, + 108.332, + 0.0, + -15.52, + 0.0 + ], + [ + -1307.904, + 532.39, + 108.332, + 0.0, + -15.52, + 0.0 + ] + ], + "Rationale": [ + "Across the wet deck I can see the recessed doorway with a chrome handrail standing in front of it, sitting off to my right rather than straight ahead. I will turn right so that doorway and its rail line up with my heading before I start walking.", + "The doorway and the chrome rail in front of it now sit near the middle of my view, with open tiled deck between me and them. The pool edge stays well to my left, so I will walk straight ahead to close the distance.", + "The doorway and its metal rail have grown larger and remain roughly ahead of me, and the deck between us is still clear. I will keep walking forward to shorten the gap.", + "The rail bars in front of the dark doorway are clearly resolved now and drifting slightly left as I close in. Nothing blocks the tiles ahead, so another step forward should bring me near that rail.", + "The doorway with its life ring wall on the right is close, and the metal rail stands just ahead and a little to my left. I will advance again to come up beside that rail.", + "The chrome handrail has slid toward the left edge of my view while the blank tiled wall fills the right side. I will turn left to put the rail and the doorway behind it squarely in front of me.", + "The handrail now stands centered directly in front of the doorway, with the no running sign on the wall beside it. I will step forward to bring myself right up to that rail.", + "The metal rail fills the lower part of my view and the corridor beyond the doorway is open. One more step should place me right at the rail by that door.", + "The metal handrail by the doorway now spans the whole foreground, close enough to touch, with the door opening directly beyond it. I have reached that handrail beside the door. I mark reaching it and turn my attention back toward the pool ladder at the water's edge.", + "I am pressed up against the rail with only the doorway and its corridor in front of me, so nothing of the pool is in view from this heading. Turning left starts swinging my gaze off the door and back along the deck. Repeated turning should bring the water and its ladder into sight.", + "The rail has slid to the lower right and the wall with the no running sign now dominates, but the pool is still outside my field of view. I will keep rotating left to sweep past this wall toward the open deck. More rotation should uncover the water.", + "The far left edge of my view has just opened onto the pool hall, with water and lane markings barely creeping in past the tiled wall. Another left turn should carry that water toward the middle of my view. I want the ladder centred before I walk.", + "The pool now fills the left half of my view and I can pick out chrome ladder rails at the near edge of the water, but they sit well off to my left. One more left turn should square my heading on that stretch of poolside. Then I can walk straight at it.", + "I am now facing straight down the length of the pool with the ladder's curved rails ahead near the water's edge, and the tiled deck between us is clear. Walking forward should cut that distance. I will keep this heading as I advance.", + "The ladder rails have grown noticeably larger and sit just ahead and slightly left along the pool edge, so my heading is still good. Another step forward should bring me close to them. The deck ahead remains open.", + "The ladder's twin handles now rise prominently in the lower part of my view, only a short stretch of deck away. One more step should put me right at its top rungs. I keep walking straight at it.", + "The pool ladder's curved rails stand directly in front of me at the water's edge. I am at the ladder, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_d/infos.json b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9b101dfd4e329459fcd153a441759c336fe97e3f --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_d/infos.json @@ -0,0 +1,256 @@ +{ + "Instruction": "Navigate to the open doorway, then proceed to the pool ladder.", + "Type": 3, + "Start_Pose": [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + [ + -1515.769, + 49.469, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1503.662, + 174.745, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1491.556, + 300.02, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1479.449, + 425.295, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1479.449, + 425.295, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1521.42, + 543.95, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1563.391, + 662.605, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1563.391, + 662.605, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1617.896, + 739.12, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1617.896, + 739.12, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1549.029, + 680.783, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1484.288, + 614.856, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1484.288, + 614.856, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1484.288, + 614.856, + 108.332, + 0.0, + -175.52, + 0.0 + ], + [ + -1484.288, + 614.856, + 108.332, + 0.0, + -150.52, + 0.0 + ], + [ + -1484.288, + 614.856, + 108.332, + 0.0, + -125.52, + 0.0 + ], + [ + -1484.288, + 614.856, + 108.332, + 0.0, + -100.52, + 0.0 + ], + [ + -1484.288, + 614.856, + 108.332, + 0.0, + -75.52, + 0.0 + ], + [ + -1484.288, + 614.856, + 108.332, + 0.0, + -50.52, + 0.0 + ], + [ + -1484.288, + 614.856, + 108.332, + 0.0, + -25.52, + 0.0 + ], + [ + -1370.709, + 560.633, + 108.332, + 0.0, + -25.52, + 0.0 + ], + [ + -1268.84, + 507.155, + 108.128, + 0.0, + -25.52, + 0.0 + ], + [ + -1268.84, + 507.155, + 108.128, + 0.0, + -25.52, + 0.0 + ] + ], + "Rationale": [ + "Across the tiled deck I can see a dark open doorway set into the far wall, slightly right of my heading. The deck between me and it is clear and dry, so walking straight ahead is the direct way to close that gap. I will step forward.", + "The doorway has grown noticeably larger and the wall around it now fills more of my view, confirming I am closing on it. Nothing blocks the deck ahead, so another straight stride should keep shrinking the distance.", + "The opening is close enough now that I can make out yellow lockers in the lit space beyond it. It still sits ahead and a little to my right, with open deck in between, so I continue walking toward it.", + "The tiled wall now dominates my view and the opening has slid toward the right side as I draw near. A further step forward should bring me up to the threshold area before I need to adjust my heading.", + "At this range the opening has drifted almost to the right edge of my view while blank tile fills the rest. Turning right should bring the doorway back toward the center of my heading so I can walk straight into it.", + "The turn placed the dark opening back in front of me, with the metal barrier standing clear to its right. The floor between me and the threshold is open, so I walk ahead to close the last of the distance.", + "The threshold is very near now, with the no running sign on the wall beside it and the lockers glowing yellow in the corridor beyond. One more step should carry me up to the mouth of the opening.", + "I am right at the wall with the sign, and the opening now lies off to my right rather than in front of me. Turning right should square my heading with the passage so I can step through it.", + "The recess ahead is now clear of the tiled pillar and the lit passage with its yellow lockers opens directly in front of me. I will walk forward to bring myself onto the threshold of that open doorway rather than lingering at its edge.", + "The open doorway stands right in front of me, its lit corridor and yellow lockers plainly inside reach. I have arrived at the open doorway, so I mark reaching it, and from here I set off for the pool ladder at the water's edge.", + "Standing at this doorway, the tiled walls of the recess box me in and the pool deck lies behind my back. Backing straight out is the quickest way to leave this alcove without spending turns inside it, so I step backward toward the open deck.", + "The no running sign and pillar edge are close on my left, so I am still inside the mouth of the passage rather than out on the deck. I will step back once more to gain open tiled floor and room to swing toward the pool.", + "I now stand on open deck tiles with the doorway behind and to my left and a guard rail on my right. The pool basin is not in view from this heading, so I turn right to begin sweeping my gaze across the hall toward the water and its ladder.", + "The turn has brought a life ring on the tiled wall into the right of my view, but still only wall and railing, no water. I will keep turning right to carry my heading further around toward the open pool hall.", + "Ahead of me now are the life ring and a bench against the tiled wall, which means I am still facing the deck side of the hall. Another right turn should swing my view further along the deck toward the pool edge.", + "The row of benches and the arched windows now stretch away to my right, so the hall is opening up in that direction while the water stays out of sight. I continue turning right to bring the pool and its ladder into my view.", + "Ahead of me is only tiled wall, benches and the life ring, with just a sliver of pool deck and a lane edge appearing at the far right of my view. The water and its ladder must lie further around to my right, so I will keep swinging that way to bring the pool basin into the center of my view.", + "The pool has now come into view along the right side, with starting blocks and lane ropes over the water, but my heading still points down the empty deck. Another turn to the right should place the basin and its edges squarely in front of me so I can pick out the ladder.", + "The lanes and starting blocks now fill the right half of my view while the near deck still dominates the center. I cannot yet make out a ladder on the pool edge, so I will keep turning right to sweep along the water toward the far end.", + "The full length of the pool is in front of me now, and I can pick out the curved metal handrails of a ladder set into the near right side of the basin. I will turn right once more so that ladder sits ahead of me rather than off to the side.", + "The ladder's handrails now stand roughly ahead of me at the poolside, and the tiled deck between us is clear and unobstructed. I will walk forward to close that gap.", + "The ladder rails have grown noticeably larger and sit just ahead at the edge of the water, but I am still a stride or two short of standing at them. Another step forward should bring me right up beside the ladder.", + "The pool ladder's handrails rise directly in front of me at the water's edge, within arm's reach. The task is complete, so there is nothing further to approach." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_e/infos.json b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c569a2cfca6de9572ac01128c88fa477f82f0413 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t3_e/infos.json @@ -0,0 +1,236 @@ +{ + "Instruction": "Move to the life ring on the wall, then walk to the pool ladder.", + "Type": 3, + "Start_Pose": [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1525.892, + -75.806, + 108.128, + 0.0, + 84.48, + -0.0 + ], + [ + -1527.876, + -75.806, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1569.847, + 42.849, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1611.818, + 161.503, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1653.789, + 280.158, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1695.761, + 398.812, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1695.761, + 398.812, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1783.945, + 488.612, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1783.945, + 488.612, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1783.945, + 488.612, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1783.945, + 488.612, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1783.945, + 488.612, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1783.945, + 488.612, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1783.945, + 488.612, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1783.945, + 488.612, + 108.332, + 0.0, + 34.48, + -0.0 + ], + [ + -1783.945, + 488.612, + 108.332, + 0.0, + 9.48, + -0.0 + ], + [ + -1659.805, + 509.341, + 108.332, + 0.0, + 9.48, + -0.0 + ], + [ + -1535.665, + 530.071, + 108.332, + 0.0, + 9.48, + -0.0 + ], + [ + -1411.524, + 550.8, + 108.332, + 0.0, + 9.48, + -0.0 + ], + [ + -1411.524, + 550.8, + 108.332, + 0.0, + -15.52, + 0.0 + ], + [ + -1290.255, + 517.124, + 108.332, + 0.0, + -15.52, + 0.0 + ], + [ + -1290.255, + 517.124, + 108.332, + 0.0, + -15.52, + 0.0 + ] + ], + "Rationale": [ + "The red and white life ring hangs on the tiled wall well over to my right, while the pool with its diving blocks lies off to my left. Facing straight ahead would send me down the deck past the ring, so I will turn right to bring that wall into the center of my view before walking.", + "With my heading adjusted, the life ring on the tiled wall and the wooden bench beneath it sit clearly in front and slightly right of me. The tiled deck between us is open and dry enough to cross, so I will walk forward to close the distance.", + "The ring has grown larger and the bench along the right wall now stretches nearer, confirming that my heading is carrying me toward it. Nothing blocks the tiled floor ahead, so I will keep walking to shorten the gap.", + "The life ring is noticeably bigger on the wall to my right and the doorway with the no running sign is drawing closer ahead. I am still several paces short of the ring, so I will advance again.", + "The ring now fills a good part of the right wall and the guard rail by the doorway is close in front of me. One more step forward should bring me level with the ring rather than leaving it ahead of my shoulder.", + "I have walked up beside the wall and the life ring has slid to the far right edge of my view, mostly out of sight, while the corner and railing dominate ahead. I will turn right so the ring comes back squarely in front of me.", + "The life ring now sits clearly on the tiled wall ahead and to my right, close enough that its rope detail shows. A short step forward should put me right up against that stretch of wall.", + "I am now right beside the tiles and the ring has been pushed to the extreme right of my view, only a red sliver still showing. Turning right should swing my gaze onto the ring itself so I can confirm I am standing at it.", + "The red and white life ring hangs on the tiled wall directly in front of me, close enough to fill my view. That means I have arrived at it, the first of my two destinations. I mark reaching this ring and now set off for the ladder at the pool's edge.", + "I am facing the tiled wall with the life ring filling my view, so there is nowhere useful to walk on this heading. I will turn left to swing my view off the wall and back toward the open deck where the pool lies.", + "The ring has slid to the right edge and I now see flat tiled wall with a strip of wet floor at the lower left. I am still aimed too close along the wall, so I will keep turning left to bring the open deck into view.", + "The corridor opening and a metal guard rail have come into view on the left, so my rotation is opening onto the deck side. The pool itself is still out of sight, so I will continue turning left to widen the view.", + "The doorway with the no running sign and the guard rail now sit squarely ahead of me, which is the passage side rather than the water. I will turn left again to keep swinging toward the open pool hall.", + "The wall with the sign is drifting right and the ceiling arches are appearing at the left, so the hall is about to open up. Another left turn should bring the pool and its edge fully in front of me.", + "The pool with its lane ropes and a handrail at its edge is now visible off to my left, but my heading still points along the wall. I will turn left once more so the water and the deck ahead line up with my path.", + "The pool now lies open ahead and slightly left, with the metal handrails of a ladder rising from its near edge. The tiled deck between us is clear, so I will walk forward to close the distance to that ladder.", + "The pool lies open to my left and I can pick out the curved metal handrails of the ladder set into the near edge, still some way down the deck. I will walk forward along the dry tile to close that gap.", + "The ladder's twin handrails are noticeably larger now, sitting on the poolside edge ahead and slightly to my left. The deck between us is clear, so another step forward should bring me nearly alongside them.", + "I am now beside the ladder, but its handrails have slid down to my left while my heading still runs along the deck. Turning left should swing my facing onto the ladder itself rather than past it.", + "The ladder's handrails now stand centered low in my view at the pool's edge, with a short stretch of tile still between us. A step forward should close that last bit of distance and put me right at the ladder.", + "The pool ladder's handrail is directly at my feet at the water's edge, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t5_a_pd/infos.json b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..70db9d6b88855f5be1edbc54455c79e5ca0bf472 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t5_a_pd/infos.json @@ -0,0 +1,316 @@ +{ + "Instruction": "Grab the jerry can by the pool ladder, then set it down by the open doorway.", + "Type": 5, + "Start_Pose": [ + -1525.892, + -75.806, + 108.128, + 0, + 84.48, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1349.536, + 435.639, + 38.332, + 0, + -90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1525.892, + -75.806, + 108.128, + 0, + 84.48, + 0 + ], + [ + -1515.769, + 49.469, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1503.662, + 174.745, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1491.556, + 300.02, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1491.556, + 300.02, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1491.556, + 300.02, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1491.556, + 300.02, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1479.45, + 425.296, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1479.45, + 425.296, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1521.422, + 543.95, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1563.394, + 662.604, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1563.394, + 662.604, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1617.895, + 739.12, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1563.679, + 694.943, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1563.679, + 694.943, + 108.332, + 0.0, + 134.48, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1349.536, + 435.639, + 38.332, + 0.0, + -90.0, + 0.0 + ], + [ + -1349.536, + 435.639, + 38.332, + 0.0, + -90.0, + 0.0 + ], + [ + -1349.536, + 435.639, + 38.332, + 0.0, + -90.0, + 0.0 + ], + [ + -1349.536, + 435.639, + 38.332, + 0.0, + -90.0, + 0.0 + ], + [ + -1349.536, + 435.639, + 38.332, + 0.0, + -90.0, + 0.0 + ], + [ + -1509.451, + 310.071, + 78.439, + -28.202, + 109.625, + 1.862 + ], + [ + -1512.892, + 301.262, + 78.711, + -28.189, + 134.637, + 1.872 + ], + [ + -1500.804, + 426.337, + 79.022, + -28.193, + 134.629, + 1.872 + ], + [ + -1500.069, + 417.844, + 77.858, + -28.202, + 159.622, + 1.858 + ], + [ + -1541.405, + 536.41, + 77.915, + -28.208, + 159.622, + 1.852 + ], + [ + -1583.298, + 654.817, + 78.337, + -28.189, + 159.639, + 1.867 + ], + [ + -1578.925, + 646.879, + 78.04, + -28.194, + -175.371, + 1.865 + ], + [ + -1632.821, + 723.843, + 78.116, + -28.208, + -175.377, + 1.851 + ], + [ + -1612.725, + 744.888, + 58.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1612.725, + 744.888, + 58.332, + 0.0, + 134.48, + -0.0 + ] + ], + "PD_Dist_2D": [ + 541.6, + 420.4, + 303.0, + 196.4, + 196.4, + 20.5, + 21.4, + 21.4, + 21.9, + 21.4, + 21.4, + 22.1, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The red jerry can sits on the pool deck beside the ladder, well ahead of me across the tiled floor. Nothing blocks the straight line between us, so I will walk forward to close that distance before any grasp is possible.", + "The jerry can has grown noticeably larger by the ladder, confirming my heading is carrying me toward it. It is still too far for a reliable grasp, so I will keep walking straight ahead.", + "The can now fills a good part of the near deck on my left, but I am still short of arm's reach. I will advance once more to bring it close enough to attempt a pick.", + "My forward walk has carried me level with the can, which now hangs at the far left edge of my view while I face the blank wall and the doorway. I will turn left so the jerry can sits in front of me rather than off to the side.", + "The turn has put the jerry can squarely in front of me, close beside the pool ladder and filling the near part of my view. My hands are empty and nothing stands between us, so I will attempt to grasp it now.", + "The grasp worked, the jerry can is in my hands and no longer resting on the deck. The open doorway lies off to my right past the blank tiled wall, so I will turn right to put it back in front of me before carrying the can over.", + "The dark open doorway is now visible in the right half of my view with clear tiled floor leading toward it. Carrying the can, I will walk forward to cut the distance to that opening.", + "Advancing has brought me close to the wall bearing the no running sign, and the doorway has slid to the right edge of my view. I will turn right so the opening sits ahead of me for a straight approach with the can.", + "The jerry can is in my hands, so the remaining work is transport to the open doorway ahead. That dark opening in the tiled wall is now squarely in front of me but still several paces off. I will walk forward to close that gap while keeping the passage in view.", + "The doorway and the lit corridor with yellow lockers beyond it have grown noticeably larger, confirming my heading is carrying me toward the target spot. The handrail stays off to my right and does not block the tiled path in front of me. I will step forward again to arrive near the threshold.", + "I am now close to the wall, and the blank tiled panel with the no running sign fills the left of my view while the open passage sits to my right. Continuing straight would only bring me into that wall. I will turn right to square myself with the opening before advancing.", + "After the turn the recessed passage and the open doorway with the yellow lockers behind it lie straight ahead, with clear floor between. The can is still in my hands, so I only need to reach the ground just by that opening. I will walk forward to take up the drop position.", + "I am standing inside the vestibule with the open doorway right beside me on the left and clear floor at my feet. This is the place the task asks for, and the can is still in my hands. I will release it here so it should come to rest by the doorway.", + "The jerry can now rests on the floor beside the open doorway and my hands are empty. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t5_b_pd/infos.json b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1fa95cfabf611179804d7b2ab4dfabf83527bf65 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-001526_y-000076_z000108_t5_b_pd/infos.json @@ -0,0 +1,392 @@ +{ + "Instruction": "Grab the ceramic vase beside the pool ladder, then set it down near the life ring on the wall.", + "Type": 5, + "Start_Pose": [ + -1525.892, + -75.806, + 108.128, + 0, + 84.48, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -1364.069, + 522.209, + 28.332, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1525.892, + -75.806, + 108.128, + 0, + 84.48, + 0 + ], + [ + -1515.769, + 49.469, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1503.662, + 174.745, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1503.662, + 174.745, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1439.746, + 283.166, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1439.746, + 283.166, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 59.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 84.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 109.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 134.48, + -0.0 + ], + [ + -1375.83, + 391.588, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1493.703, + 435.706, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1493.703, + 435.706, + 108.332, + 0.0, + -175.52, + 0.0 + ], + [ + -1619.178, + 425.875, + 108.332, + 0.0, + -175.52, + 0.0 + ], + [ + -1619.178, + 425.875, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1737.051, + 469.992, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1669.619, + 444.754, + 108.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1669.619, + 444.754, + 108.332, + 0.0, + 159.48, + -0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -1364.069, + 522.209, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1364.069, + 522.209, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1364.069, + 522.209, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1364.069, + 522.209, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1364.069, + 522.209, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1364.069, + 522.209, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1364.069, + 522.209, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -1394.535, + 401.906, + 78.439, + -28.202, + 109.625, + 1.862 + ], + [ + -1398.098, + 393.12, + 78.711, + -28.189, + 134.637, + 1.872 + ], + [ + -1397.115, + 384.221, + 78.044, + -28.215, + 159.607, + 1.849 + ], + [ + -1398.599, + 376.891, + 78.098, + -14.092, + 176.824, + 6.87 + ], + [ + -1382.946, + 371.33, + 78.114, + -28.208, + -150.378, + 1.851 + ], + [ + -1500.537, + 415.456, + 78.535, + -28.189, + -150.362, + 1.869 + ], + [ + -1491.631, + 413.698, + 78.252, + -28.198, + -125.374, + 1.862 + ], + [ + -1617.201, + 404.61, + 77.865, + -28.202, + -125.378, + 1.86 + ], + [ + -1625.504, + 406.657, + 79.066, + -28.197, + -150.377, + 1.87 + ], + [ + -1743.669, + 449.673, + 78.931, + -28.211, + -150.382, + 1.853 + ], + [ + -1735.177, + 469.291, + 48.332, + 0.0, + 159.48, + -0.0 + ], + [ + -1735.177, + 469.291, + 48.332, + 0.0, + 159.48, + -0.0 + ] + ], + "PD_Dist_2D": [ + 620.0, + 496.5, + 374.5, + 374.5, + 250.7, + 250.7, + 131.1, + 21.4, + 22.3, + 22.5, + 27.1, + 21.5, + 21.4, + 22.1, + 21.4, + 20.2, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The tall ceramic vase stands on the pool deck beside the ladder rails, well ahead of me across the open tile. Nothing blocks the straight line between us, so I will walk forward to close that gap before worrying about alignment.", + "The vase and the ladder rails have grown larger, confirming I am closing on the right side of the pool deck. I am still several strides short of grabbing range, so I keep walking straight ahead.", + "From here the vase sits left of my heading, offset toward the poolside ladder rather than straight ahead down the deck. I will turn left so my path leads directly at it instead of drifting past toward the far doorway.", + "The vase now sits ahead of me along the poolside with the ladder handrails to its left, so my heading is usable. It is still too distant to reach, so I step forward to bring it within arm's range.", + "The ceramic vase is directly in front of me on the deck beside the pool ladder, and my hands are empty. I will attempt to grasp it now, though it may still be a little beyond reach from this standing spot.", + "My hands are still empty, so the grasp I just attempted did not take hold of the ceramic vase beside the pool ladder. I was likely still too far from it to reach. I will step forward once more to close that gap before trying again.", + "The earlier grasp attempt left my hands empty, but now the tall ceramic vase stands directly ahead of me at the poolside, close enough that its rim fills the near part of my view. This distance should be within reach. I will attempt to pick it up again.", + "The vase is now in my hands, so the grasp worked this time. The life ring hangs on the wall across the deck, behind my current heading toward the pool wall. I will turn right to begin swinging my facing toward that side of the room.", + "With the vase secure in my hands, I am still facing the plain tiled wall with the no running sign, and the life ring is not yet in view. The doorway edge appearing at my right suggests the far deck wall lies further around. I will turn right again.", + "Carrying the vase, I now face the doorway and the deck railing, but the wall-mounted life ring is still outside my view. The open deck continues to my right, so the ring wall should come into sight with more rotation. I will turn right once more.", + "The ceramic vase is in my hands, and the red and white life ring is hanging on the tiled wall well off to my right, past the doorway and handrail. I will turn right again to bring that wall section toward the middle of my view so I can walk straight at it.", + "The life ring now sits near the center of my view on the tiled wall, with clear floor between me and it. Still carrying the vase, I will step forward to close that gap toward the wall where the vase should be set down.", + "I am closer to the wall, but the handrail and corner on my left are crowding my heading and the wall meets my view at a slant. I will turn right to square up with the flat wall section carrying the life ring before advancing again.", + "Facing the flat tiled wall straight on now, the life ring and the bench below it are clearly ahead of me with open floor in between. I will walk forward to get within placing distance of the wall while holding the vase.", + "The wall fills most of my view, but the life ring has drifted to the left side while the bench takes the right. I will turn left to bring the ring back in front of me so the vase can be set down close beside it.", + "The life ring on the tiled wall now sits squarely ahead of me after my last small heading adjustment, and the vase is still in my hands. I am still a few steps out from the wall, too far for a placement that would count as beside the ring. I will walk forward to close that gap.", + "The life ring now fills my view at close range, so I am standing right at the wall section it hangs on and the vase is still carried. This is the intended placement spot named in the task, and no bench or railing blocks the floor here. I will release the vase so it should come to rest near the ring.", + "The vase now stands upright on the floor directly below the wall-mounted life ring, out of my hands. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002255_y001206_z000109_t1_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-002255_y001206_z000109_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a70ca5f2e5abfdc17b388c24ebd13dff795919 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002255_y001206_z000109_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search for the vanity counter with a large dark mirror mounted above it in the changing room; after locating it, proceed to that spot.", + "Type": 1, + "Start_Pose": [ + -2254.951, + 1205.69, + 108.614, + 0.0, + 54.4, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2254.951, + 1205.69, + 108.614, + 0.0, + 54.4, + -0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + 79.4, + -0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + 104.4, + -0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + 129.4, + -0.0 + ], + [ + -2336.821, + 1302.945, + 108.332, + 0.0, + 129.4, + -0.0 + ], + [ + -2416.708, + 1400.201, + 108.332, + 0.0, + 129.4, + -0.0 + ], + [ + -2496.594, + 1497.456, + 108.332, + 0.0, + 129.4, + -0.0 + ], + [ + -2519.876, + 1591.506, + 108.332, + 0.0, + 129.4, + -0.0 + ], + [ + -2519.876, + 1591.506, + 108.332, + 0.0, + 154.4, + -0.0 + ], + [ + -2547.295, + 1648.597, + 108.332, + 0.0, + 154.4, + -0.0 + ], + [ + -2547.295, + 1648.597, + 108.332, + 0.0, + 154.4, + -0.0 + ] + ], + "Rationale": [ + "I am facing a wall of yellow lockers that fills most of my view, so the vanity counter with its large dark mirror is not visible from here. I will turn right to scan past the locker bank toward the more open part of the changing room.", + "Turning has opened up a recessed alcove on the right with a long ledge and a towel hanging on the wall, which looks like a washing area. I will continue turning right in the same direction to bring that alcove fully into view and check for the mirrored vanity.", + "The alcove now shows a long counter under a wide dark panel lit by a wall lamp, which matches the vanity and mirror I am looking for. I will keep turning right to square my heading with the passage leading into that alcove before advancing.", + "From this heading the alcove with the sink counter and the dark mirror lies ahead on my left, with clear tiled floor between me and it. I will walk forward to close the distance toward that vanity area.", + "The counter and its dark mirror are noticeably larger now, and the path between the lockers and the alcove wall is still clear. I will keep walking forward to reach the vanity area.", + "I am now at the mouth of the washing alcove with the twin sinks and the dark mirror clearly on my left, though still a few steps away. I will continue forward to bring myself alongside the vanity counter.", + "The vanity counter with the twin basins and the large dark mirror is close on my left, but I am not yet standing in front of it. I will step forward once more to draw level with the counter.", + "I am now right beside the vanity counter, but the basins and the large dark mirror sit off to my left edge rather than centered ahead. Turning right should swing my view onto the counter and mirror straight in front of me before I take a final step to the spot.", + "The tiled vanity counter with its twin basins and the large dark mirror above now fills my view directly ahead, so this is clearly the target spot. I am still a short step back from the counter edge, so I will walk forward to close that last bit of distance and stand right at it.", + "I am standing right at the tiled vanity counter with its basins, and the large dark mirror hangs directly above it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002255_y001206_z000109_t1_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-002255_y001206_z000109_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..13daadafd75c5d1ea1dfaf5886bafba44bc560ca --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002255_y001206_z000109_t1_b/infos.json @@ -0,0 +1,226 @@ +{ + "Instruction": "Identify the white towel hanging on the wall beside the wash basin, then head over to it.", + "Type": 1, + "Start_Pose": [ + -2254.951, + 1205.69, + 108.614, + 0.0, + 54.4, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2254.951, + 1205.69, + 108.614, + 0.0, + 54.4, + -0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + 29.4, + -0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + 4.4, + -0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + -20.6, + 0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + -45.6, + 0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + -70.6, + 0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + -95.6, + 0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + -120.6, + 0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + -145.6, + 0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + -170.6, + 0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + 164.4, + -0.0 + ], + [ + -2256.935, + 1205.69, + 108.63, + 0.0, + 139.4, + -0.0 + ], + [ + -2352.496, + 1287.596, + 108.34, + 0.0, + 139.4, + -0.0 + ], + [ + -2448.057, + 1369.502, + 108.34, + 0.0, + 139.4, + -0.0 + ], + [ + -2448.057, + 1369.502, + 108.34, + 0.0, + 114.4, + -0.0 + ], + [ + -2500.05, + 1484.119, + 108.34, + 0.0, + 114.4, + -0.0 + ], + [ + -2521.367, + 1597.155, + 108.332, + 0.0, + 114.4, + -0.0 + ], + [ + -2547.357, + 1710.212, + 108.332, + 0.0, + 114.4, + -0.0 + ], + [ + -2547.347, + 1815.895, + 108.332, + 0.0, + 114.4, + -0.0 + ], + [ + -2547.347, + 1815.895, + 108.332, + 0.0, + 139.4, + -0.0 + ], + [ + -2547.347, + 1815.895, + 108.332, + 0.0, + 139.4, + -0.0 + ] + ], + "Rationale": [ + "From here the view is dominated by a bank of yellow lockers, and I see no wash basin or towel anywhere in front of me. There is a lighter doorway opening at the far left edge, so I will turn left to begin a consistent scan toward that opening and look for a washing area.", + "The doorway into a tiled room is now clearly on my left, but from this angle I can only see bare tiled walls and a dark bench inside, with no basin or hanging towel. I will keep rotating left in the same direction to bring that opening and the wall beyond it fully into view.", + "The tiled doorway is now centered ahead of me, yet the visible interior shows only plain wall tiles and no sink or white towel. Continuing the same leftward rotation should uncover the locker wall and corner still hidden on my left side.", + "The tiled doorway has swung over to my right and lockers now fill the left side, so that opening has given me no sign of the basin or the towel. I will continue turning left to sweep past this locker run toward parts of the room I have not yet seen.", + "I am now facing the locker fronts almost directly, with only a narrow strip of open floor and wall remaining at the right edge. Nothing resembling a wash basin or hanging towel is in sight, so I will keep the rotation going in the same direction.", + "The yellow locker panels completely fill my view and block any sight line beyond them. Since this heading gives me no useful information about the towel or basin, I will continue the steady left turn to clear the locker face.", + "I am still looking straight at flat locker doors with no depth or landmarks to work with. Keeping the same rotation direction should soon swing my view past the end of this cabinet row and open up the room again.", + "The locker face is finally clearing and a pale cloth on wall hooks has appeared at the left edge, but it hangs on a changing-area hook rail with no sink or mirror near it, so it is not the towel beside the wash basin. I will continue turning left to open up that side of the room and look for the basin area.", + "The room opens up to my left with benches, blue lockers and small towels hung on wall hooks, but none of this is a wash basin area, so the target towel beside a sink is still not confirmed. I will keep rotating left in the same consistent direction to sweep the far end of this locker room where a washing alcove could be.", + "From here I see the full changing area with benches, yellow and blue lockers and hanging towels, yet no sink or mirror that would mark the wash basin the task describes. Continuing the same leftward scan should bring the still unseen corner of the room into view.", + "At the left edge of my view a tiled recess with a long counter and a dark mirror is now appearing, which is a strong cue for the wash basin area. I will turn left once more to bring that alcove fully in front of me instead of continuing a wider scan.", + "The wash area is now clearly ahead on my left, with a lit mirror over a long basin counter and a pale towel hanging on the wall beside it. Walking forward should close the distance across the open floor toward that basin recess.", + "The basin counter, tap and the white towel hanging beside the mirror are larger and clearer now, confirming this is the wash area named in the task. I will step forward again along the open aisle beside the yellow lockers to get closer to the towel.", + "The row of yellow lockers now fills the right of my view and the wash basin with its hanging white towel sits off to my left, so my heading is no longer pointed at the target. Turning left should line me up with the opening of the basin alcove for a straight approach.", + "I am now facing into the tiled wash room, with the basin counter, mirror and the white towel hanging on the wall beside it directly ahead. Walking forward should carry me into the alcove and closer to that towel.", + "The wash basin and the white towel hanging on the wall to its left are close now, though still several steps away across the tiled floor. I will keep moving forward to bring myself right up beside the towel.", + "The white towel hanging on the wall beside the wash basin is now clearly in view ahead on the left, next to the mirror and the twin sinks. It is still several steps away, so I will keep walking forward along the open tiled floor to close that gap.", + "The towel now fills a large part of my view on the wall just left of the mirror, with the basin and tap right beside it, so the target is confirmed. I am still a short distance from the wall, so I will step forward once more to finish closing in on it.", + "I am now right up against the plain wall and my view is filled by blank plaster, so the towel has slipped just outside my heading to the right. I will turn right to bring the hanging towel and the adjacent basin back into the center of my view.", + "The white towel hangs directly in front of me on the wall, with the tiled basin counter right beside it. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002304_y-001417_z000109_t1_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-002304_y-001417_z000109_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce4df969042b79713877d6c6478d6ddd52789cbf --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002304_y-001417_z000109_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Locate the blue locker that has one of its doors standing open, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -2303.701, + -1416.576, + 108.63, + 0.0, + -45.6, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2303.701, + -1416.576, + 108.63, + 0.0, + -45.6, + 0.0 + ], + [ + -2305.685, + -1416.576, + 108.63, + 0.0, + -70.6, + 0.0 + ], + [ + -2305.685, + -1416.576, + 108.63, + 0.0, + -95.6, + 0.0 + ], + [ + -2305.685, + -1416.576, + 108.63, + 0.0, + -120.6, + 0.0 + ], + [ + -2305.685, + -1416.576, + 108.63, + 0.0, + -145.6, + 0.0 + ], + [ + -2305.685, + -1416.576, + 108.63, + 0.0, + -170.6, + 0.0 + ], + [ + -2429.854, + -1437.132, + 108.63, + 0.0, + -170.6, + 0.0 + ], + [ + -2478.988, + -1433.949, + 108.63, + 0.0, + -170.6, + 0.0 + ], + [ + -2560.511, + -1413.108, + 108.648, + 0.0, + -170.6, + 0.0 + ], + [ + -2684.173, + -1413.108, + 108.648, + 0.0, + -170.6, + 0.0 + ], + [ + -2807.165, + -1411.169, + 108.648, + 0.0, + -170.6, + 0.0 + ], + [ + -2930.885, + -1413.104, + 108.648, + 0.0, + -170.6, + 0.0 + ], + [ + -3049.544, + -1413.096, + 108.648, + 0.0, + -170.6, + 0.0 + ], + [ + -3173.535, + -1429.955, + 108.648, + 0.0, + -170.6, + 0.0 + ], + [ + -3173.535, + -1429.955, + 108.648, + 0.0, + -145.6, + 0.0 + ], + [ + -3230.244, + -1465.568, + 108.63, + 0.0, + -145.6, + 0.0 + ], + [ + -3230.244, + -1465.568, + 108.63, + 0.0, + -145.6, + 0.0 + ] + ], + "Rationale": [ + "In front of me stands a bank of yellow lockers with all doors closed, and to the right there is only a tiled shower alcove, so nothing here matches the blue locker with an open door. I will turn left to sweep the unseen part of this changing room and look for blue lockers.", + "Rotating has opened up a view of a urinal area and the far side of the yellow locker bank, but still no blue locker anywhere in sight. I will keep turning left in the same direction to continue the scan into the part of the room that remains hidden.", + "The washroom recess with urinals sits straight ahead and tall yellow lockers flank both sides, none of them blue or open. I will continue the same leftward sweep, since the room clearly extends further to that side.", + "Blue lockers have finally appeared to the left of the yellow bank, which is a strong cue that the target belongs to that blue cluster, though from here every visible blue door looks shut. I will keep turning left to bring that blue locker area more fully into view.", + "The blue lockers and benches now sit toward the left of my view while the yellow bank occupies the center. I will turn left once more so the open changing area with the blue lockers lies straight ahead before I start walking.", + "I am now facing down the long changing aisle with benches and coat hooks, and blue lockers stand at the far end as well as along the right side. I will walk forward along this aisle to close distance and check the blue units for a door standing open.", + "The blue lockers at the end of the aisle have grown noticeably larger, but I still cannot tell whether any of their doors is open. I will keep walking forward down the clear aisle to get close enough to judge.", + "The yellow lockers have dropped out of view and only blue units remain ahead and to my right, so this is the cluster worth inspecting. I will continue forward toward the pair of blue lockers on the far wall to see their doors clearly.", + "Ahead of me at the end of this aisle stand two blue locker banks against the far wall, and the left-hand one shows a dark upper compartment that could be an open door. They are still too far away to confirm, so I will keep walking straight down the bench aisle toward them.", + "The blue lockers are noticeably larger now and the dark opening in the upper left column is becoming clearer against the closed doors beside it. I will continue advancing along the aisle to close the remaining distance and confirm the open door.", + "From here the left blue bank clearly has an upper compartment standing open with a shelf visible inside, which matches the locker described in the task. Nothing blocks the tiled floor between me and it, so I will keep moving forward.", + "The open door on the left blue locker column is now unmistakable, with folded linens sitting on the exposed shelf inside. I will walk forward again to bring myself right up to that locker.", + "I am close to the blue locker bank and the swung-open door with its stacked towels fills much of my view slightly right of center. One more step forward should place me directly at the locker.", + "Standing this close, the open blue locker has drifted to the right edge of my view while the blank wall and bench occupy the left half. I will turn right to bring the open locker back into the center of my heading.", + "The open blue locker with its towel-filled shelf is now centered ahead of me, with the rest of the bank extending to the right. I will take a short step forward to finish closing the gap and stand at the locker.", + "The blue locker's open door and its towel-laden shelf are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002304_y-001417_z000109_t1_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-002304_y-001417_z000109_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..73431b5f867ebfa7b4401238f961fff56411ee3e --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002304_y-001417_z000109_t1_b/infos.json @@ -0,0 +1,106 @@ +{ + "Instruction": "Determine where the yellow locker with a door swung wide open is situated and make your way over to it.", + "Type": 1, + "Start_Pose": [ + -2303.701, + -1416.576, + 108.63, + 0.0, + -45.6, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2303.701, + -1416.576, + 108.63, + 0.0, + -45.6, + 0.0 + ], + [ + -2305.685, + -1416.576, + 108.63, + 0.0, + -70.6, + 0.0 + ], + [ + -2305.685, + -1416.576, + 108.63, + 0.0, + -95.6, + 0.0 + ], + [ + -2305.685, + -1416.576, + 108.63, + 0.0, + -120.6, + 0.0 + ], + [ + -2369.752, + -1524.908, + 108.332, + 0.0, + -120.6, + 0.0 + ], + [ + -2369.752, + -1524.908, + 108.332, + 0.0, + -145.6, + 0.0 + ], + [ + -2473.6, + -1596.014, + 108.332, + 0.0, + -145.6, + 0.0 + ], + [ + -2541.735, + -1636.074, + 108.332, + 0.0, + -145.6, + 0.0 + ], + [ + -2541.735, + -1636.074, + 108.332, + 0.0, + -145.6, + 0.0 + ] + ], + "Rationale": [ + "The tall bank of yellow lockers in front of me has every door shut, so none of these matches the wide open door I am looking for. I will turn left to sweep my view past the end of this bank and check the rest of the room.", + "The lockers now on my right are still uniformly closed, and the area opening up on the left leads toward urinals rather than more lockers. I will keep turning the same way to bring more of the room into view and look for an open locker door.", + "Looking down the passage I see closed yellow lockers on both sides and only the urinal alcove straight ahead, so the target is still not in view. I will continue the same leftward scan to reveal the part of the room hidden beyond the partition wall.", + "On the left side of the room I can now see a yellow locker whose door stands wide open, showing its empty interior beside the blue lockers. I will walk forward to close the distance toward that side of the room.", + "The open yellow locker sits off to my left, partly behind the partition, while my heading points toward the urinal alcove instead. I will turn left to put that open locker in front of me before advancing further.", + "The yellow locker with its door swung open is now centered ahead of me, its interior shelf clearly exposed next to the blue lockers. I will step forward along the open floor to reach it.", + "The open yellow locker fills much of my view now, but I am still a short distance short of standing right at it. I will take one more step forward to finish closing that gap.", + "I am standing directly at the yellow locker whose door hangs wide open right in front of me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002315_y001372_z000108_t1_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-002315_y001372_z000108_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e540a07b50a1d2045996ae448f183754d100c3b6 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002315_y001372_z000108_t1_a/infos.json @@ -0,0 +1,246 @@ +{ + "Instruction": "Search for a blue locker that has one of its doors standing open; after locating it, proceed to that open door.", + "Type": 1, + "Start_Pose": [ + -2315.109, + 1371.874, + 108.332, + 0.0, + -85.6, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2315.109, + 1371.874, + 108.332, + 0.0, + -85.6, + 0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + -35.6, + 0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + -10.6, + 0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + 14.4, + -0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + 39.4, + -0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + 64.4, + -0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + 89.4, + -0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + 114.4, + -0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + 139.4, + -0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + 164.4, + -0.0 + ], + [ + -2317.093, + 1371.874, + 108.332, + 0.0, + -170.6, + 0.0 + ], + [ + -2441.262, + 1351.318, + 108.332, + 0.0, + -170.6, + 0.0 + ], + [ + -2565.431, + 1330.762, + 108.332, + 0.0, + -170.6, + 0.0 + ], + [ + -2689.325, + 1321.897, + 108.332, + 0.0, + -170.6, + 0.0 + ], + [ + -2812.962, + 1321.905, + 108.371, + 0.0, + -170.6, + 0.0 + ], + [ + -2936.623, + 1321.897, + 108.371, + 0.0, + -170.6, + 0.0 + ], + [ + -3060.284, + 1321.897, + 108.371, + 0.0, + -170.6, + 0.0 + ], + [ + -3184.501, + 1302.042, + 108.371, + 0.0, + -170.6, + 0.0 + ], + [ + -3184.501, + 1302.042, + 108.371, + 0.0, + -145.6, + 0.0 + ], + [ + -3220.193, + 1258.744, + 108.63, + 0.0, + -145.6, + 0.0 + ], + [ + -3220.193, + 1258.744, + 108.63, + 0.0, + -170.6, + 0.0 + ], + [ + -3220.193, + 1258.744, + 108.63, + 0.0, + -170.6, + 0.0 + ] + ], + "Rationale": [ + "In front of me is a long bank of yellow lockers with all their doors shut, so nothing here matches the blue locker with an open door that I need. I will turn right to begin a steady scan of the rest of this changing room for blue lockers.", + "The yellow locker bank continues to fill the left side of my view, and the newly revealed corner only shows a doorway into a tiled area rather than any blue locker. I will keep turning right in the same direction to sweep more of the room.", + "The yellow bank now ends at the wall and a wide doorway to a tiled space sits ahead of me, but I still see no blue locker anywhere in this arc. I will continue the rightward scan to check what lies beyond that opening and along the next wall.", + "Another row of yellow lockers has come into view on my right while the doorway to the tiled room sits to my left, and neither shows the blue locker I am looking for. I will keep rotating right to bring the unseen part of the room and the passage beyond it into view.", + "I am now looking along the flank of the yellow lockers toward the doorway, and this angle still gives me only yellow metal and plain walls. Turning right again should carry my scan past the locker row toward the corridor and the tiled area it leads to.", + "The near wall and the last yellow locker block most of my view, and a partition with a wooden door edge is appearing to the right where a tiled floor begins. I will keep the rotation going in the same direction so I can see into that adjoining tiled space instead of staying blocked by this wall.", + "I can now see into a tiled washroom with wooden stall partitions, and there are no lockers of any color in it. I will continue turning right so the scan moves past this side room toward the parts of the changing area I have not yet inspected.", + "This washroom shows only sinks, a mirror, and a hanging towel, so the blue locker is certainly not in this corner. I will keep the consistent rightward sweep to bring the next section of the changing room into view.", + "This side of the room is only washbasins, a mirror and wooden stall partitions, with no locker bank of any color in view. I will keep rotating right in the same consistent direction to sweep the remaining unseen part of the space for a blue locker with an open door.", + "Past the yellow locker bank on my right, I can now catch blue lockers standing further back near the right edge of my view. I will turn right again to bring that blue bank closer to the center of my heading before committing to it.", + "The blue lockers are clearly visible across the open changing area to my right, beyond the yellow bank and benches. One more right turn should line my heading up with that open floor so I can walk straight toward them.", + "My heading now runs down the open aisle with the blue lockers ahead against the far wall and the benches clear to my right. I will step forward along this unobstructed floor to close the distance and get near enough to check which door stands open.", + "The blue lockers ahead have grown larger and the walkway between the yellow bank and the benches remains clear. I will continue walking forward, since the door detail is still too far away to judge.", + "I am now inside the blue locker area, with one bank close on my left and another set standing against the wall ahead of me. I will keep advancing toward the far bank to bring its door faces into readable detail.", + "The blue bank against the wall ahead is centered in my path, and its rightmost column shows a darker gap that may be an open door. I will step forward again to shorten the distance and confirm that gap.", + "The rightmost door of the blue bank ahead is clearly swung open, exposing the shelf and folded linen inside, so this is the locker the task describes. I will keep walking toward it to bring myself up to that open door.", + "The blue locker bank ahead clearly shows one upper door swung open on its right side, exposing the shelf and folded linens inside, so this is the target I was searching for. I am still several paces away across the tiled floor, so I will keep walking straight toward it to close the remaining distance.", + "The blue locker with the open door now fills much more of my view, and the ajar panel on the right side of the unit is unmistakable. I am still a short distance short of standing at that door, so I will advance one more step forward.", + "I am now right up against the locker bank, and the open door sits at the right edge of what I can see while the closed doors dominate straight ahead. Turning right should bring that open compartment into the center of my heading before I take the last step toward it.", + "After turning, the open locker door and the linens on its shelf are now in the left-center of my view, with clear floor directly in front of me. I will step forward to bring myself right up to that open door.", + "Standing close now, the open locker compartment with the stacked linens has drifted to my left edge while the plain wall occupies the center. A small turn to the left should square me up directly with that open door.", + "The blue locker's open door and its exposed shelf of linens are directly in front of me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t2_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9cb5da01ed7e18888128c317e163ccc488b9e2f1 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Approach the second hook rack from the left on the wall.", + "Type": 2, + "Start_Pose": [ + -2317.967, + 1604.085, + 108.332, + 0.0, + -116.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2317.967, + 1604.085, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2375.44, + 1491.118, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2430.928, + 1378.151, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2430.928, + 1378.151, + 108.332, + 0.0, + -91.16, + 0.0 + ], + [ + -2433.476, + 1252.318, + 108.609, + 0.0, + -91.16, + 0.0 + ], + [ + -2433.476, + 1252.318, + 108.609, + 0.0, + -91.16, + 0.0 + ] + ], + "Rationale": [ + "Two hook rails are mounted along the beige wall ahead, and counting from the left the second one is the right-hand rail, the one standing nearest the yellow locker bank. That rail beside the lockers is what I am heading for, so I will walk straight forward across the open floor toward it.", + "Another rail has come into view on the recessed wall off to my far left, but my target is still the rail closest to the yellow lockers, which lies ahead and slightly right. The floor in front of me is open, so I will keep walking forward to shorten the distance.", + "The rail beside the yellow lockers now sits to the right of my heading, while the bench in front of me runs off to the left. I will turn right so that rail moves toward the center of my view before I close the remaining distance.", + "The hook rail beside the yellow lockers is now roughly centered ahead, its hooks and hanging towel clearly in front of me. The tiled floor between us is clear, so I will step forward to stand right at it.", + "The hook rail beside the yellow lockers now fills my view at close range, its hooks and towel within reach. The approach is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t2_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..648d6e6902288c5c3a872ff7462b28e849c2ae97 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t2_b/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Navigate to the first hook rack on the left wall.", + "Type": 2, + "Start_Pose": [ + -2317.967, + 1604.085, + 108.332, + 0.0, + -116.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2317.967, + 1604.085, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2375.44, + 1491.118, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2430.928, + 1378.151, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2473.247, + 1266.508, + 108.63, + 0.0, + -116.16, + 0.0 + ], + [ + -2496.786, + 1154.462, + 108.63, + 0.0, + -116.16, + 0.0 + ], + [ + -2496.786, + 1154.462, + 108.63, + 0.0, + -141.16, + 0.0 + ], + [ + -2590.341, + 1128.744, + 108.499, + 0.0, + -141.16, + 0.0 + ], + [ + -2590.341, + 1128.744, + 108.499, + 0.0, + -141.16, + 0.0 + ] + ], + "Rationale": [ + "Along the left wall I can see a run of wooden hook rails, and I settle now on the first of them; the rails look much alike, so I hold mine by the white towel hanging at its near end, just before the next rail. It is still far across the tiled floor, so I walk forward to close the distance.", + "The wall with its hook rails has grown noticeably wider in front of me and the towels are clearer, so my heading is carrying me toward the rack I chose. I am still several paces short of it, so I keep walking forward.", + "The rails and their hanging towels now dominate my view, but the floor still runs on for a stretch before the wall meets it. I continue forward to bring myself up to the rack I am heading for.", + "Only the wall, the wooden rail and the towels remain in view, so I am nearly at the hook rack. A final step forward should bring me right up beside it.", + "Pressed this close, the wall and a single towel fill nearly everything I can see, which leaves me no useful view of the rack I am aiming for. Turning left swings my heading along the wall so that rack and its rail should come back into a workable part of my view.", + "With my heading now running along the wall, the hook rail with its white towel stands ahead on my left, still a short distance off. I walk forward to draw level with it.", + "The hook rail with its white towel is directly beside me on the left, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t5_a_p/infos.json b/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c5d4b4fadc440bcfe9ab11af933327f2d946a551 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t5_a_p/infos.json @@ -0,0 +1,164 @@ +{ + "Instruction": "Lift the candelabra near the second hook rack from the left.", + "Type": 5, + "Start_Pose": [ + -2317.967, + 1604.085, + 108.332, + 0, + -116.16, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + -2454.617, + 1149.33, + 28.63, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2317.967, + 1604.085, + 108.332, + 0, + -116.16, + 0 + ], + [ + -2375.44, + 1491.118, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2430.928, + 1378.151, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2473.247, + 1266.508, + 108.63, + 0.0, + -116.16, + 0.0 + ], + [ + -2473.247, + 1266.508, + 108.63, + 0.0, + -91.16, + 0.0 + ], + [ + -2473.247, + 1266.508, + 108.63, + 0.0, + -91.16, + 0.0 + ], + [ + -2473.247, + 1266.508, + 108.63, + 0.0, + -91.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2454.617, + 1149.33, + 28.63, + 0.0, + 0.0, + 0.0 + ], + [ + -2454.617, + 1149.33, + 28.63, + 0.0, + 0.0, + 0.0 + ], + [ + -2454.617, + 1149.33, + 28.63, + 0.0, + 0.0, + 0.0 + ], + [ + -2454.617, + 1149.33, + 28.63, + 0.0, + 0.0, + 0.0 + ], + [ + -2454.617, + 1149.33, + 28.63, + 0.0, + 0.0, + 0.0 + ], + [ + -2451.055, + 1266.49, + 78.439, + -28.202, + -41.015, + 1.862 + ], + [ + -2451.055, + 1266.49, + 78.439, + -28.202, + -41.015, + 1.862 + ] + ], + "PD_Dist_2D": [ + 474.3, + 350.8, + 230.0, + 118.6, + 118.6, + 22.2, + 22.2 + ], + "Rationale": [ + "From the doorway I can see two hook racks on the far beige wall, with the candelabra standing on the floor beneath the right-hand rack. It is still far across the room, so I will walk straight ahead to close that gap.", + "The hook racks and the candelabra are noticeably larger now, but the branched candle holder is still several strides away beside the yellow lockers. The floor between the benches and the wall stays clear, so I will keep walking forward.", + "The candelabra is now close on my right side, its three candles clearly in view against the wall, yet still beyond comfortable reach. One more step forward should bring me within grasping range of it.", + "I am right up against the wall, but only the top of the candelabra's candles peeks in at the bottom right edge of my view. Turning right should swing the candle holder into the center of my view for a clean grasp.", + "The candelabra's candles now stand directly in front of me at the base of the wall under the hook rack, well within arm's reach. My hands are empty, so I will reach out and try to lift it.", + "The candelabra is now held in my hands, lifted clear of the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t5_b_p/infos.json b/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3cf7fa2d444ddc94dedf7f5552bbcb5aa0cf5f70 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002318_y001604_z000108_t5_b_p/infos.json @@ -0,0 +1,202 @@ +{ + "Instruction": "Lift the wicker basket at the first hook rack on the left wall.", + "Type": 5, + "Start_Pose": [ + -2317.967, + 1604.085, + 108.332, + 0, + -116.16, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -2694.83, + 1122.235, + 58.63, + 90, + -116.16, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2317.967, + 1604.085, + 108.332, + 0, + -116.16, + 0 + ], + [ + -2375.44, + 1491.118, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2430.928, + 1378.151, + 108.332, + 0.0, + -116.16, + 0.0 + ], + [ + -2473.247, + 1266.508, + 108.63, + 0.0, + -116.16, + 0.0 + ], + [ + -2473.247, + 1266.508, + 108.63, + 0.0, + -141.16, + 0.0 + ], + [ + -2478.604, + 1194.658, + 108.63, + 0.0, + -141.16, + 0.0 + ], + [ + -2572.471, + 1128.965, + 108.005, + 0.0, + -141.16, + 0.0 + ], + [ + -2572.471, + 1128.965, + 108.005, + 0.0, + -141.16, + 0.0 + ], + [ + -2572.471, + 1128.965, + 108.005, + 0.0, + -141.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2694.83, + 1122.235, + 58.63, + 90.0, + -116.16, + 0.0 + ], + [ + -2694.83, + 1122.235, + 58.63, + 90.0, + -116.16, + 0.0 + ], + [ + -2694.83, + 1122.235, + 58.63, + 90.0, + -116.16, + 0.0 + ], + [ + -2694.83, + 1122.235, + 58.63, + 90.0, + -116.16, + 0.0 + ], + [ + -2694.83, + 1122.235, + 58.63, + 90.0, + -116.16, + 0.0 + ], + [ + -2694.83, + 1122.235, + 58.63, + 90.0, + -116.16, + 0.0 + ], + [ + -2694.83, + 1122.235, + 58.63, + 90.0, + -116.16, + 0.0 + ], + [ + -2558.604, + 1112.716, + 78.736, + -28.202, + -91.015, + 1.862 + ], + [ + -2558.604, + 1112.716, + 78.736, + -28.202, + -91.015, + 1.862 + ] + ], + "PD_Dist_2D": [ + 610.5, + 487.9, + 367.6, + 264.4, + 264.4, + 228.0, + 122.5, + 21.4, + 21.4 + ], + "Rationale": [ + "The wicker basket is leaning against the far wall beneath the first hook rack, well across the room from me. Nothing blocks the open floor ahead, so I will walk forward to close that distance.", + "The basket and the hook racks now fill more of my view, so my heading is still carrying me toward the target. I will keep walking forward since the tiled floor ahead remains clear.", + "The wall with the two hook racks is close now and the basket sits at floor level slightly left of my heading. Another step forward should bring me into a range where the basket is reachable.", + "At this range the basket has slipped to the left edge of my view while the wall dominates the center. I will turn left to bring the basket and its hook rack into the middle of my view before advancing further.", + "The turn placed the basket clearly in view against the wall along my left, with open floor leading to it. I will step forward to shorten the remaining gap toward the basket.", + "The basket is close on my left near the base of the wall but still a little beyond comfortable reach. One more step forward should place me directly beside it for a grasp.", + "I am now right up against the wall with the woven basket immediately in front of me at floor level, well within reach. I will attempt to pick it up now, since no closer approach seems needed.", + "The wicker basket is now held in my hands, lifted off the floor. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t3_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11ab31762ff72d6f1174b058d42e692a6e145e92 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t3_a/infos.json @@ -0,0 +1,166 @@ +{ + "Instruction": "Walk to the towel on the wall near the sink counter, then head toward the rightmost urinal.", + "Type": 3, + "Start_Pose": [ + -2326.563, + -1521.783, + 108.332, + 0.0, + -105.6, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2326.563, + -1521.783, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2362.393, + -1643.006, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2396.239, + -1764.228, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2430.085, + -1885.451, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2430.085, + -1885.451, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + -2511.991, + -1981.012, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + -2547.302, + -2055.313, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + -2547.302, + -2055.313, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + -2487.171, + -1985.156, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + -2487.171, + -1985.156, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2487.171, + -1985.156, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2487.171, + -1985.156, + 108.332, + 0.0, + -55.6, + 0.0 + ], + [ + -2416.065, + -2089.004, + 108.332, + 0.0, + -55.6, + 0.0 + ], + [ + -2344.958, + -2192.852, + 108.591, + 0.0, + -55.6, + 0.0 + ], + [ + -2344.958, + -2192.852, + 108.591, + 0.0, + -55.6, + 0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the long sink counter along the left wall with a pale towel hanging on the wall above its far end, and the row of urinals on the right wall beyond. The towel is still far off across the tiled floor, so I will walk straight ahead to cut that distance.", + "The counter and the towel beside the mirror have grown noticeably larger, confirming my heading is carrying me into the room. Nothing blocks the tiled floor in front of me, so another step forward keeps closing on the towel.", + "The towel on the wall past the mirror is clearly in view now, but it still sits off to my left and further down the room. Walking forward again brings me alongside the counter and within reach of that stretch of wall.", + "My heading points at the urinal wall ahead while the towel hangs off to my left above the end of the sink counter. Turning left should swing that towel toward the middle of my view so I can walk straight at it.", + "The turn has brought the hanging towel into view ahead, with the counter and basin running alongside on my left. The path between the counter and the corner is clear, so I will step forward to reach the towel.", + "The towel now hangs large and close ahead of me on the wall past the end of the basin. One more short step should put me right up at it.", + "The towel hangs directly beside me, its folds filling the left edge of my view against the bare wall and the tiled floor at its base. I have reached the towel on the wall by the sink counter. I mark reaching it, then set off for the rightmost urinal on the far wall.", + "I am pressed right up against the wall under the towel, with nothing but plaster filling my view, so I cannot see the urinals or swing toward them from here. Backing up a step should pull me off the wall and give me room to turn toward the urinal side of the room.", + "The hanging towel and sink counter are behind me on the left, and a single urinal is just visible against the wall to my right. I will turn right to swing my heading off the sink wall and toward the urinal row.", + "Two urinals have come into the right half of my view, but the far end of that row is still cut off by the frame. Another right turn should bring the whole row, including its far end, in front of me.", + "All three urinals are now spread across the wall ahead, with the last one sitting nearest the corner on the right. I will turn right once more so that end urinal lies along my walking direction rather than off to the side.", + "My heading now points at the corner end of the urinal row, with the last urinal closest to that corner and open floor in between. I will walk forward to close the remaining distance to it.", + "The end urinal by the corner is much larger now and sits just ahead of me. A further step forward should place me right at it.", + "The corner-end urinal is directly before me at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t3_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e7619a6ef3ce20e2a1c4089ba3113641bd7bb4f --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t3_b/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Head toward the rightmost urinal, then proceed to the towel on the wall near the sink counter.", + "Type": 3, + "Start_Pose": [ + -2326.563, + -1521.783, + 108.332, + 0.0, + -105.6, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2326.563, + -1521.783, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2328.547, + -1521.783, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2307.991, + -1645.952, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2302.143, + -1768.117, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2299.52, + -1891.821, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2296.172, + -2015.53, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2302.136, + -2130.154, + 108.63, + 0.0, + -80.6, + 0.0 + ], + [ + -2302.136, + -2222.639, + 108.63, + 0.0, + -80.6, + 0.0 + ], + [ + -2302.136, + -2222.639, + 108.63, + 0.0, + -80.6, + 0.0 + ], + [ + -2317.228, + -2131.48, + 108.63, + 0.0, + -80.6, + 0.0 + ], + [ + -2317.228, + -2131.48, + 108.63, + 0.0, + -105.6, + 0.0 + ], + [ + -2317.228, + -2131.48, + 108.63, + 0.0, + -130.6, + 0.0 + ], + [ + -2317.228, + -2131.48, + 108.63, + 0.0, + -155.6, + 0.0 + ], + [ + -2317.228, + -2131.48, + 108.63, + 0.0, + 179.4, + -0.0 + ], + [ + -2317.228, + -2131.48, + 108.63, + 0.0, + 154.4, + -0.0 + ], + [ + -2430.731, + -2077.098, + 108.332, + 0.0, + 154.4, + -0.0 + ], + [ + -2430.731, + -2077.098, + 108.332, + 0.0, + 179.4, + -0.0 + ], + [ + -2531.847, + -2064.358, + 108.332, + 0.0, + 179.4, + -0.0 + ], + [ + -2531.847, + -2064.358, + 108.332, + 0.0, + 179.4, + -0.0 + ] + ], + "Rationale": [ + "From the doorway I can see the row of urinals on the far wall, with the last one at the right end of that row. My body is angled across the open floor rather than along it, so I will turn right to line my heading up with the clear lane leading down toward that end urinal.", + "The urinal wall now lies ahead of me down the open tiled lane, with lockers and a partition framing the passage on my right. Nothing blocks the floor between me and that wall, so I will walk forward to cut down the distance to the far right urinal.", + "The three urinals are noticeably larger now and the stall partition has slid past on my right, confirming I am tracking straight along the open lane. The gap is still considerable, so I will keep walking forward toward the end of that row.", + "The urinal row fills more of my view and the corner beyond the last bowl is now visible, so my line of travel is bringing me into that alcove. I will step forward again to keep closing on the urinal at the far right of the row.", + "Only the near part of the row still fits in my view, and the rightmost urinal with its divider is now the dominant feature ahead. The floor in front of me is clear, so I will continue walking to draw level with that end fixture.", + "The urinal at the right end of the row and the blank corner wall beside it now fill most of my view, so I am close but not yet standing at it. I will take another step forward to bring myself right up to that fixture.", + "The end urinal is only a short step away, sitting in the corner with its divider close on my left. I will move forward once more so that I am standing directly at it rather than hanging back from it.", + "The urinal at the right end of the row is right in front of me, its rim and flush fitting filling my view at arm's length. I have reached it. I mark reaching this urinal and now turn my attention to the towel hanging on the wall by the sink counter behind me.", + "I am pressed right up against the last urinal in the row, with its bowl and the bare corner wall filling my view and leaving no room to swing around. I will step back to open some clearance before turning toward the sink counter across the room.", + "With a little space regained, I can see the end urinal and its divider, but the sinks and their mirror lie well off to my left, out of view. I will turn left to begin swinging my heading back across the room toward the towel on the sink wall.", + "The whole row of urinals is now spread across my view, so I am still facing the wall I just visited rather than the washbasins. I will keep turning left to bring the sink counter and its mirror into sight.", + "The urinals have slid toward the right edge of my view and only plain corner wall shows on the left, so the washbasins must still be further round. I will turn left again to continue sweeping toward them.", + "The tiled counter and its mirror have just edged into the far left of my view while the urinals sit off to my right. I will turn left once more to bring that sink counter closer to the middle of my heading.", + "The long washbasin counter under the lit mirror is now visible to my left, with a cloth hanging beside the mirror, but a blank partition still blocks the centre of my path. One more left turn should line me up to walk straight at the counter.", + "The sink counter with its wide mirror is now squarely ahead of me, and a pale towel hangs on the wall at the far end of the mirror. I will walk forward to close the open floor between me and that counter.", + "I am now beside the basins, and the towel hangs on the wall just past the right end of the mirror rather than straight ahead of me. I will turn right so that the towel sits in front of me before stepping the last bit closer.", + "The grey towel hanging on the wall beside the sink counter now sits ahead of me, just past the end of the basin. It is still a few paces off, so I will walk forward along the counter to close that remaining gap.", + "The towel on the wall beside the sink counter hangs directly in front of me at arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t5_a_pd/infos.json b/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..baa9379f8ccd0e2342de7d571d1e638c0df582e3 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t5_a_pd/infos.json @@ -0,0 +1,373 @@ +{ + "Instruction": "Pick up the candelabra by the towel near the sink counter, then place it near the rightmost urinal.", + "Type": 5, + "Start_Pose": [ + -2326.563, + -1521.783, + 108.332, + 0, + -105.6, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2616.934, + -2047, + 113.332, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2326.563, + -1521.783, + 108.332, + 0, + -105.6, + 0 + ], + [ + -2362.393, + -1643.006, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2396.239, + -1764.228, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2430.085, + -1885.451, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2430.085, + -1885.451, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + -2511.991, + -1981.012, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + -2511.991, + -1981.012, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + -2511.991, + -1981.012, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2511.991, + -1981.012, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2511.991, + -1981.012, + 108.332, + 0.0, + -55.6, + 0.0 + ], + [ + -2440.885, + -2084.861, + 108.332, + 0.0, + -55.6, + 0.0 + ], + [ + -2440.885, + -2084.861, + 108.332, + 0.0, + -30.6, + 0.0 + ], + [ + -2332.553, + -2148.929, + 108.608, + 0.0, + -30.6, + 0.0 + ], + [ + -2332.553, + -2148.929, + 108.608, + 0.0, + -55.6, + 0.0 + ], + [ + -2302.182, + -2223.0, + 108.63, + 0.0, + -55.6, + 0.0 + ], + [ + -2302.182, + -2223.0, + 108.63, + 0.0, + -80.6, + 0.0 + ], + [ + -2313.941, + -2151.967, + 108.63, + 0.0, + -80.6, + 0.0 + ], + [ + -2313.941, + -2151.967, + 108.63, + 0.0, + -80.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2616.934, + -2047.0, + 113.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2616.934, + -2047.0, + 113.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2616.934, + -2047.0, + 113.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2616.934, + -2047.0, + 113.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2616.934, + -2047.0, + 113.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2616.934, + -2047.0, + 113.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2495.38, + -1994.445, + 78.439, + -28.202, + -80.456, + 1.862 + ], + [ + -2490.334, + -1986.418, + 78.711, + -28.189, + -55.444, + 1.872 + ], + [ + -2489.745, + -1977.485, + 78.044, + -28.215, + -30.473, + 1.849 + ], + [ + -2487.001, + -1970.527, + 78.098, + -14.092, + -13.257, + 6.87 + ], + [ + -2423.676, + -2072.194, + 78.665, + -28.198, + -5.455, + 1.865 + ], + [ + -2430.01, + -2065.468, + 78.535, + -28.189, + 19.558, + 1.869 + ], + [ + -2322.523, + -2130.056, + 79.215, + -28.205, + 19.535, + 1.859 + ], + [ + -2315.504, + -2137.055, + 78.162, + -28.202, + -5.459, + 1.86 + ], + [ + -2285.082, + -2210.178, + 79.152, + -28.197, + -5.453, + 1.869 + ], + [ + -2281.732, + -2219.422, + 78.206, + -28.203, + -30.459, + 1.859 + ], + [ + -2302.508, + -2221.027, + 78.63, + 0.0, + -150.6, + 0.0 + ], + [ + -2302.508, + -2221.027, + 78.63, + 0.0, + -150.6, + 0.0 + ] + ], + "PD_Dist_2D": [ + 599.2, + 477.5, + 358.7, + 247.0, + 247.0, + 124.0, + 21.4, + 22.3, + 22.5, + 27.1, + 21.4, + 22.2, + 21.4, + 20.8, + 21.4, + 20.8, + 70.0, + 70.0 + ], + "Rationale": [ + "From the doorway I can see the sink counter on the left with a candelabra standing beside the hanging towel, and the urinal row on the far wall. The candelabra is far too distant to reach from here. I will walk forward into the restroom to close that gap.", + "The counter and its candelabra are noticeably larger now, so my heading down the open floor is good. Nothing blocks the tiled path ahead of me. I will keep walking forward to shorten the remaining distance to the candelabra.", + "The candelabra with its three candles is now clearly resolved on the counter ahead to my left, but it is still beyond arm's reach. The floor between me and the counter remains clear. I will advance again to bring myself alongside the sink area.", + "The candelabra sits on the sink counter at the left edge of my view while my body still points down the room toward the urinal wall. To reach it I need it centered in front of me. I will turn left so my heading lines up with the counter and the candelabra.", + "The candelabra and the towel behind it are now centered ahead of me along the sink counter, so my heading is right. The distance is still more than a grasp away. I will step forward to close in on the counter before attempting to take it.", + "The brass candelabra now fills the near part of my view on the counter edge beside the sink, with the towel hanging just behind it. This is the object named in the task and it is within reach. I will attempt to pick it up.", + "The grasp worked: the candelabra is now in my hands and no longer resting on the counter. The urinals lie behind me on the opposite wall from this sink-facing heading. I will turn right to begin swinging around toward the urinal wall for the delivery.", + "Holding the candelabra, my view has swung around enough to show the towel wall on the left and two urinals appearing on the right side. My heading is still short of facing the urinal row squarely. I will turn right again to bring that wall, including its far end, in front of me.", + "The candelabra is in my hands, and all three urinals now sit across the wall ahead of me. The one I need is the rightmost of that row, so my heading is still too far left for a clean approach. I will turn right again to swing that end of the wall toward the center of my view.", + "The urinal row is now angled ahead with the far right fixture and the corner partition in view, and I still carry the candelabra. Nothing blocks the open tiled floor between me and that wall. I will step forward to close the gap toward the right end of the row.", + "I am close to the wall now, with two urinals and the divider filling my view and the corner just beyond them. The rightmost fixture sits toward the right edge of my heading, so I am not squared on it yet. I will turn right to bring that last urinal and its corner into front view.", + "The rightmost urinal and its divider are now on my left side with the bare corner wall directly ahead, so I still need to be nearer the drop spot. The floor in front of me is clear. I will walk forward to reach the floor space beside that last urinal.", + "My forward step brought me right up against the corner wall, which now fills the view and hides the fixture. The rightmost urinal lies to my left from this pose. I will turn left to bring it back into sight before placing the candelabra.", + "The rightmost urinal is back in view at the left of my heading, but it sits slightly off to the side rather than right in front of me. A short step forward should place me squarely at the floor space beneath it. I will advance that small distance while still holding the candelabra.", + "After the step I am facing mostly bare wall, with only the edge of the urinal grazing the left of my view. To set the candelabra directly beside the fixture I need it centered in front of me. I will turn left to square up on the rightmost urinal.", + "The rightmost urinal is now framed close in front of me, and the candelabra is still in my hands from the sink counter. This is the placement spot the task calls for. I will release the candelabra here so it should come to rest beside that urinal.", + "The candelabra now rests free of my hands right beside the rightmost urinal. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t5_b_pd/infos.json b/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..433cca68263ed7e9ff9e047edb9484a8aeccf152 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002327_y-001522_z000108_t5_b_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Pick up the metal bucket by the rightmost urinal, then place it by the towel near the sink counter.", + "Type": 5, + "Start_Pose": [ + -2326.563, + -1521.783, + 108.332, + 0, + -105.6, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -2338.03, + -2154.198, + 28.332, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2326.563, + -1521.783, + 108.332, + 0, + -105.6, + 0 + ], + [ + -2362.393, + -1643.006, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2362.393, + -1643.006, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2341.837, + -1767.175, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2321.281, + -1891.344, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2300.725, + -2015.513, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2300.725, + -2015.513, + 108.332, + 0.0, + -80.6, + 0.0 + ], + [ + -2300.725, + -2015.513, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + -2300.725, + -2015.513, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + -2300.725, + -2015.513, + 108.332, + 0.0, + -155.6, + 0.0 + ], + [ + -2300.725, + -2015.513, + 108.332, + 0.0, + 179.4, + -0.0 + ], + [ + -2426.577, + -2014.194, + 108.332, + 0.0, + 179.4, + -0.0 + ], + [ + -2547.268, + -2012.893, + 108.332, + 0.0, + 179.4, + -0.0 + ], + [ + -2547.268, + -2012.893, + 108.332, + 0.0, + -155.6, + 0.0 + ], + [ + -2481.698, + -1983.15, + 108.332, + 0.0, + -155.6, + 0.0 + ], + [ + -2481.698, + -1983.15, + 108.332, + 0.0, + -155.6, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -2338.03, + -2154.198, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2338.03, + -2154.198, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2338.03, + -2154.198, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2338.03, + -2154.198, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2338.03, + -2154.198, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2338.03, + -2154.198, + 28.332, + 0.0, + 0.0, + 0.0 + ], + [ + -2279.757, + -2011.423, + 78.439, + -28.202, + -30.456, + 1.862 + ], + [ + -2280.909, + -2020.407, + 78.711, + -28.189, + -55.444, + 1.872 + ], + [ + -2285.509, + -2028.76, + 78.044, + -28.215, + -80.473, + 1.849 + ], + [ + -2294.525, + -2042.317, + 78.225, + -14.175, + -113.408, + 6.959 + ], + [ + -2300.55, + -2036.505, + 78.114, + -28.208, + -130.458, + 1.851 + ], + [ + -2426.103, + -2035.56, + 78.535, + -28.189, + -130.442, + 1.869 + ], + [ + -2546.485, + -2034.258, + 79.056, + -28.196, + -130.455, + 1.866 + ], + [ + -2537.969, + -2032.821, + 78.041, + -28.205, + -105.458, + 1.854 + ], + [ + -2545.446, + -2012.067, + 68.332, + 0.0, + -155.6, + 0.0 + ], + [ + -2545.446, + -2012.067, + 68.332, + 0.0, + -155.6, + 0.0 + ] + ], + "PD_Dist_2D": [ + 632.5, + 511.8, + 511.8, + 387.0, + 263.4, + 143.6, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 21.4, + 21.4, + 22.0, + 70.0, + 70.0 + ], + "Rationale": [ + "From the doorway area I can see the row of urinals on the far wall, with a dark metal bucket standing on the floor beside the rightmost one. It is still well across the room, so I will walk forward to close that gap before worrying about fine alignment.", + "The bucket now sits noticeably right of my heading, near the base of the rightmost urinal, while my path points more toward the sink counter on the left. I will turn right so the bucket lines up ahead of me for a straight approach.", + "The bucket is now roughly centered in front of me beside the urinals, with clear floor in between and only the stall partition to my right. I will step forward to keep shrinking the distance to it.", + "The bucket has grown larger and sits just left of center against the urinal wall, but it is still several paces off, too far to reach. I will continue walking forward to bring it within grasping range.", + "The bucket now fills much of the lower part of my view beside the rightmost urinal, yet it is still a step short of comfortable reach. One more forward step should place me right over it for the grasp.", + "I am standing directly over the metal bucket, its rim filling the near foreground beside the rightmost urinal, so nothing blocks my hands. I will attempt to pick it up now, which should put it in my grip for the carry to the sink counter.", + "The grasp worked: the bucket is in my hands and no longer resting on the floor by the urinal. The sink counter with the hanging towel lies back across the room behind my left shoulder, so I will turn left to begin swinging my heading toward it.", + "I am still carrying the bucket, but my view remains filled by the urinal wall and its dividers, with no sign of the sink or towel yet. I will keep turning left to bring the counter side of the room into view.", + "The bucket is in my hands, so the drop-off by the towel near the sink counter is what matters now. From here the sink counter and the towel hanging beside the mirror sit far to my left, with the urinal wall still filling the right. I will turn left again to swing that counter toward the center of my view.", + "The mirror, sink basins and the towel on the wall are now visible on my left, while a urinal still occupies the right edge. I am carrying the bucket and need a straight heading toward that counter before walking. One more left turn should place the sink counter squarely ahead of me.", + "The double sink counter with its mirror and the hanging towel is now centered directly ahead, so my heading is right for the delivery. The counter is still several paces away across the open tile floor. I will walk forward to close that gap while carrying the bucket.", + "The counter and its tiled front now fill much of my view, and the towel hangs on the wall to the right of the mirror. I am still a step short of standing at the counter edge where I could set the bucket down beside the towel. Another step forward should bring me within reach.", + "I am now right at the counter, with a basin and faucet filling the frame and the towel pushed out of sight past my right edge. To place the bucket by the towel I need that towel in front of me rather than off to the side. I will turn right to bring the towel end of the counter into view.", + "The hanging towel is now clearly in front of me on the wall, with the tiled counter edge and basin just below it. I am standing close enough that releasing the bucket here should leave it beside the towel at the sink counter. I will drop it now.", + "The metal bucket now rests on the floor beside the sink counter, directly beneath the hanging towel. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002502_y-001560_z000108_t1_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-002502_y-001560_z000108_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..33d283b7cc7a3d13a041ae22f2fdb75c72d90cb6 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002502_y-001560_z000108_t1_a/infos.json @@ -0,0 +1,146 @@ +{ + "Instruction": "Discover a toilet stall whose door is standing open, then navigate into that stall.", + "Type": 1, + "Start_Pose": [ + -2502.117, + -1560.435, + 108.332, + 0.0, + -25.6, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2502.117, + -1560.435, + 108.332, + 0.0, + -25.6, + 0.0 + ], + [ + -2504.101, + -1560.435, + 108.332, + 0.0, + -50.6, + 0.0 + ], + [ + -2504.101, + -1560.435, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2472.801, + -1682.34, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2441.501, + -1804.245, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2410.201, + -1926.15, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2410.201, + -1926.15, + 108.332, + 0.0, + -50.6, + 0.0 + ], + [ + -2330.315, + -2023.405, + 108.332, + 0.0, + -50.6, + 0.0 + ], + [ + -2330.315, + -2023.405, + 108.332, + 0.0, + -25.6, + 0.0 + ], + [ + -2330.315, + -2023.405, + 108.332, + 0.0, + -0.6, + 0.0 + ], + [ + -2204.859, + -2025.483, + 108.565, + 0.0, + -0.6, + 0.0 + ], + [ + -2204.859, + -2025.483, + 108.565, + 0.0, + -0.6, + 0.0 + ], + [ + -2204.859, + -2025.483, + 108.565, + 0.0, + -0.6, + 0.0 + ] + ], + "Rationale": [ + "I am standing in a locker area with stall partitions and a wooden stall door visible off to my left, while the right side of the room only shows lockers and a doorway to another space. Since the toilet stalls are clearly the semantic cue I need, I will turn left to bring that partition run into the center of my view and look for one whose door stands open.", + "The turn has revealed a urinal wall and a gap between partitions, but the stall bay itself still sits at the edge of my view rather than ahead of me. I will turn left again to face straight down the open floor toward that partitioned area so I can scan the stall doors properly.", + "I am now looking straight down the washroom bay, with urinals on the far wall and the stall partitions with a wooden door on my right. The stalls are still too far off to judge which door is open, so I will walk forward to close the distance and get a clearer angle on them.", + "Advancing has brought the sink counter and urinal wall much closer, and the stall partitions on my right now show a gap where a doorway opening seems to be. I will keep walking forward to draw level with that opening before turning toward it.", + "The urinals are directly ahead of me and the partition edge on the right is nearly abreast of my position, so the stall entrance should be just past it. I will step forward once more so that turning right places me squarely at the opening rather than at a partition panel.", + "I have reached the end of the urinal wall, and the stall partitions with their yellow tiled floor are immediately to my right. I will turn right to face that stall bay directly and check whether one of the doors is standing open.", + "Turning has revealed a stall with no door blocking it, showing a toilet plainly visible beside the white partition. I will walk forward toward that opening to close in on the stall I need to enter.", + "My step forward has carried me up against the partition wall, so the open stall is now off to my right rather than ahead. I will turn right to bring that stall opening back into the center of my view and line up with its entrance.", + "A toilet with its wall-mounted flush valve now sits at the right edge of my view, while the stall's partition wall fills the left side, so my heading is still offset from the open stall entrance. Turning right again should swing the toilet and the open doorway into the center ahead of me. That alignment is what I need before stepping into the stall.", + "The toilet is now centered ahead of me with the open wooden stall door swung back on my right, confirming this stall is standing open. I will walk forward through that opening to place myself inside the stall. The clear tiled floor between me and the fixture suggests the path is unobstructed.", + "I am close enough that only the flush valve and the upper wall fill my view, with the toilet bowl cut off at the bottom edge. Tilting my gaze down should bring the toilet and the stall floor around my feet into view so I can confirm I am standing inside the stall.", + "The toilet and the stall's floor and partition edges surround me from within the open stall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002502_y-001560_z000108_t1_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-002502_y-001560_z000108_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2b1e6e00e32988d6b5842c2442c82ffba24751da --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002502_y-001560_z000108_t1_b/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Once you locate the bath towel hanging near the wash basin area, approach it.", + "Type": 1, + "Start_Pose": [ + -2502.117, + -1560.435, + 108.332, + 0.0, + -25.6, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2502.117, + -1560.435, + 108.332, + 0.0, + -25.6, + 0.0 + ], + [ + -2504.101, + -1560.435, + 108.332, + 0.0, + -50.6, + 0.0 + ], + [ + -2504.101, + -1560.435, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2472.801, + -1682.34, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2472.801, + -1682.34, + 108.332, + 0.0, + -100.6, + 0.0 + ], + [ + -2495.953, + -1806.051, + 108.332, + 0.0, + -100.6, + 0.0 + ], + [ + -2519.105, + -1929.763, + 108.332, + 0.0, + -100.6, + 0.0 + ], + [ + -2542.257, + -2053.474, + 108.332, + 0.0, + -100.6, + 0.0 + ], + [ + -2542.257, + -2053.474, + 108.332, + 0.0, + -125.6, + 0.0 + ], + [ + -2542.257, + -2053.474, + 108.332, + 0.0, + -125.6, + 0.0 + ] + ], + "Rationale": [ + "From where I stand I only see a locker area with yellow lockers, changing stalls and a wooden door, with no wash basin or hanging towel anywhere in front of me. I will turn left to begin a consistent scan of the room and look for the washing area that the towel should belong to.", + "Turning has brought a tiled washroom section with urinals into view on my left, which is a strong cue that sinks and a hanging towel are in that same room. I will keep turning left in the same direction to bring that washroom deeper into my view before committing to a heading.", + "The washroom is now framed straight ahead, with the urinal wall in the middle and a basin counter with a pale towel hanging above it along the left wall. That matches the wash basin area described in the task, so I will walk forward to enter the room and close distance on it.", + "I am inside the washroom now, and the sink counter with the towel hanging on the wall sits at the left edge of my view while my heading still points at the urinal wall. I will turn left to put the basin and its towel more centrally in front of me before continuing forward.", + "The long basin counter and the towel hanging on the wall beside it are now clearly held in the left half of my view along my direction of travel. I will step forward to shorten the remaining distance to that towel.", + "The towel on the wall beside the basins has grown noticeably larger and is now close to my path on the left. I will keep walking forward to bring myself right up beside it.", + "The hanging towel is now very close on my left, just past the end of the basin counter I am walking alongside. One more step forward should place me level with it at arm's reach.", + "I have advanced far enough that my forward view is now filled by the plain wall and the urinals on the right, and the towel has passed out of sight to my left. I will turn left to face the wall beside the basin so the towel comes back into view directly in front of me.", + "The white bath towel hangs directly at my left edge, close enough to fill the near field. The approach task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-002502_y-001560_z000108_t1_c/infos.json b/dataset/trajectory/SwimmingPool/task_x-002502_y-001560_z000108_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8bd18e221c95fc2caf38c33c753fbcc36aa11c12 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-002502_y-001560_z000108_t1_c/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Search for the middle urinal in the row of three inside the washroom, and reach that fixture.", + "Type": 1, + "Start_Pose": [ + -2502.117, + -1560.435, + 108.332, + 0, + -25.6, + 0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2502.117, + -1560.435, + 108.332, + 0, + -25.6, + 0 + ], + [ + -2504.101, + -1560.435, + 108.332, + 0.0, + -50.6, + 0.0 + ], + [ + -2504.101, + -1560.435, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2472.801, + -1682.34, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2441.501, + -1804.245, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2410.201, + -1926.15, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2378.901, + -2048.055, + 108.332, + 0.0, + -75.6, + 0.0 + ], + [ + -2347.601, + -2169.96, + 108.627, + 0.0, + -75.6, + 0.0 + ], + [ + -2347.601, + -2169.96, + 108.627, + 0.0, + -100.6, + 0.0 + ], + [ + -2369.239, + -2219.698, + 108.63, + 0.0, + -100.6, + 0.0 + ], + [ + -2369.239, + -2219.698, + 108.63, + 0.0, + -100.6, + 0.0 + ] + ], + "Rationale": [ + "From here I see a locker bank, toilet stalls, and a tiled doorway, but no urinals anywhere in view. The washroom fixtures are most likely along the wall to my left beyond the stall partitions, so I will turn left to open up that unseen side of the room.", + "Turning has revealed three urinals mounted on the far wall at the left edge of my view, which matches the row of three named in the task. I will continue turning left to bring that row toward the center of my heading before advancing.", + "The three urinals are now centered ahead across the tiled alcove, with the middle one directly in front of me. The open floor between us is clear, so I will walk forward to close the distance toward that middle fixture.", + "The urinal row is larger now and the middle fixture stays near the center of my path, confirming my heading is good. There is still several strides of clear tile before I reach the wall, so I will keep walking forward.", + "I am well inside the tiled alcove and all three urinals fill much of my view, with the middle one slightly left of center. The wall is still some distance away, so I will continue advancing toward it.", + "The fixtures and their dividers now dominate my view, but I am still short of arm's reach from the wall-mounted bowls. I will step forward again to bring myself close to the middle urinal.", + "Only the two rightmost bowls and a divider remain framed as I close in, so I am nearly at the wall. One more step forward should place me right at the fixtures.", + "I am now right up against the wall, but my view is filled by a divider and the rightmost bowl, so the middle urinal has drifted off to my left. I will turn left to bring the middle fixture of the row back into the center of my heading.", + "The middle urinal of the row now sits just left of center ahead of me, with its divider and the third fixture beside it, so my heading is set on the correct bowl. I am still standing back from the wall, so I will step forward to close the last bit of distance and bring that middle fixture within reach.", + "The middle urinal is directly in front of me at arm's length, filling the lower left of my view against the wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..10474646f5599ed146d12ec976c331368e66414d --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_a/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Walk to the first shower stall on the left.", + "Type": 2, + "Start_Pose": [ + -3010.907, + 1143.49, + 108.63, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3010.907, + 1143.49, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3135.08, + 923.418, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3158.903, + 815.744, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3158.903, + 815.744, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3158.903, + 815.744, + 108.63, + 0.0, + -119.04, + 0.0 + ] + ], + "Rationale": [ + "The corridor of shower stalls runs down the left side, and the nearest one, the open bay with its curtain drawn back and showerhead exposed just past the bench of folded towels, is my target. Nothing blocks the walkway ahead, so I will step forward along it to close the distance.", + "The open stall with the exposed showerhead now sits close on my left, its tiled floor and drain clearly visible past the partition. I am still short of its entrance, so I will keep walking forward down the aisle.", + "The open shower bay on my left now dominates my view, its showerhead and floor drain plainly in reach, but its threshold is still slightly ahead of me. One more step forward should bring me level with the stall entrance.", + "I am standing right at the mouth of the open shower stall, with its curtain and tiled wall immediately beside me and the corridor drain at my feet. My gaze is angled low, so I will look up to take in the stall's fixtures and rail and confirm I am truly at it.", + "I stand at the entrance of the open shower stall, its curtain, rail and showerhead directly beside me. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d04dd74fa964b554ae163a0226d9ca056f96df1d --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the farthest shower stall at the end on the left.", + "Type": 2, + "Start_Pose": [ + -3010.907, + 1143.49, + 108.63, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3010.907, + 1143.49, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3085.457, + 917.273, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3114.764, + 827.41, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3123.631, + 701.864, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3132.498, + 576.317, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3141.365, + 450.771, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3150.232, + 325.225, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3150.232, + 325.225, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3158.902, + 218.479, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3158.902, + 218.479, + 108.63, + 0.0, + -119.04, + 0.0 + ] + ], + "Rationale": [ + "A row of curtained shower stalls runs down the left side of the tiled aisle ahead, and the one I want is the deepest of them, the stall that ends against the far wall. I will walk forward to enter that aisle and begin closing the distance to it.", + "From here the walkway between the stall dividers runs slightly to the right of my heading rather than straight in front of me. I will turn right to square up with the lane so I can walk it cleanly toward the stall at the far end on the left.", + "The lane now runs cleanly ahead of me with the drain channel guiding it and the stall openings ranged along the left. I will step forward down it toward the last of those stalls, the one against the tiled end wall.", + "Curtained dividers pass on both sides and the tiled end wall is still well down the lane, so the stall I want is not yet beside me. Another step straight along the walkway keeps me on line for it.", + "The end wall fills more of my view than before, but there are still stall openings between me and the last one on the left. I will keep walking down the middle of the lane toward it.", + "Shower heads stand out close on either side now, showing I am well inside the run of stalls, yet the deepest left one still lies ahead against the end wall. I will continue forward along the lane.", + "The nearer stalls have dropped behind me and only the final dividers frame the lane before the tiled end wall. The left opening I am heading for should be at the end of this short remaining stretch, so I will step forward again.", + "The end wall is now directly in front of me and just one curtained opening remains on each side of the narrowing walkway. One more step forward should bring me level with that final opening on my left.", + "The tiled end wall is right in front of me, and the shower head with its drawn curtain sits just off my left shoulder, so I am level with the deepest opening on that side. I will turn left to face squarely into that stall.", + "Facing into the stall now, its shower head, curtain and drain floor fill my view, but I am still standing out on the walkway lip. A short step forward should bring me to its threshold.", + "I am standing at the mouth of the last left-hand stall, its curtain and shower head right in front of me. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_c/infos.json b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fb7b4a3f1c175704f554308165caffa96fe0fbf5 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_c/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Move to the second shower curtain from the left.", + "Type": 2, + "Start_Pose": [ + -3010.907, + 1143.49, + 108.63, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3010.907, + 1143.49, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3085.457, + 917.273, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3114.764, + 827.41, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3123.631, + 701.864, + 108.63, + 0.0, + -94.04, + 0.0 + ], + [ + -3123.631, + 701.864, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3123.631, + 701.864, + 108.63, + 0.0, + -144.04, + 0.0 + ], + [ + -3158.87, + 633.78, + 108.63, + 0.0, + -144.04, + 0.0 + ], + [ + -3158.87, + 633.78, + 108.63, + 0.0, + -144.04, + 0.0 + ] + ], + "Rationale": [ + "From here I can see the run of curtained shower stalls opening off to my left, and since the curtains all look alike I settle my count now: my target is the second stall along that run, just past the nearest one. I step forward to close on the walkway beside them.", + "The walkway between the stalls and the lockers does not run straight out from my heading but angles off to my right. Turning right should line me up with that corridor so I can travel it toward the stall I chose.", + "The corridor now runs straight ahead, with curtained stalls on my left and the yellow lockers close on my right. My stall lies further down this run, so I walk forward along the aisle.", + "Curtains hang on both sides of me now and the aisle still continues toward the far tiled wall. I am not yet beside the stall I picked, so I keep walking forward down the passage.", + "The nearest bays have already slipped behind me, so the row no longer reads as something I can count from this position, but the stall I fixed on is still the one I am heading for. A further step forward should bring me level with its opening.", + "I am standing level with the bay I chose, and its opening lies off to my left rather than in front of me. I turn left to begin swinging my heading toward that opening.", + "The tiled bay with its shower fitting is coming into view, but it still sits left of my center with the partition edge cutting across ahead. Another left turn should square me onto the stall opening.", + "I am now squared onto the open bay, with its showerhead and hanging curtain directly ahead of me. A step forward should carry me in to the curtain I set out for.", + "The curtain of the stall I chose hangs right in front of me, within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_d/infos.json b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..59871ea1624e7f8010303072b5bec8eda76f13f2 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t2_d/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Go to the bench with folded towels on the left wall.", + "Type": 2, + "Start_Pose": [ + -3010.907, + 1143.49, + 108.63, + 0.0, + -119.04, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3010.907, + 1143.49, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -144.04, + 0.0 + ], + [ + -3175.859, + 959.547, + 108.63, + 0.0, + -144.04, + 0.0 + ], + [ + -3175.859, + 959.547, + 108.63, + 0.0, + -169.04, + 0.0 + ], + [ + -3175.859, + 959.547, + 108.63, + 0.0, + -169.04, + 0.0 + ] + ], + "Rationale": [ + "The wooden bench stacked with folded white towels sits against the pale left wall beneath the row of coat hooks, well ahead of me down the aisle. I will walk forward along the open floor to close that distance before turning toward it.", + "Walking forward has pushed the towel bench to the far left edge of my view, with only its end and the hook rail still showing. I will turn left so the bench and its folded towels come back toward the center of my heading.", + "The turn has brought the bench with its folded and rolled white towels fully into view against the light wall, under the hook rail. It is still several paces off, so I will step forward to close on it.", + "I am now right up against the tiled shower wall, which fills most of my view, while the towel bench is cut off low on my left. A left turn should square me onto the bench and its folded towels.", + "The bench of folded and rolled white towels stands directly before me against the left wall beneath its hook rail. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t5_a_p/infos.json b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16386b6f4cb8a36c29ef17247a7b8d6f428ee139 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003011_y001143_z000109_t5_a_p/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Pick up the green bell pepper near the first shower stall on the left.", + "Type": 5, + "Start_Pose": [ + -3010.907, + 1143.49, + 108.63, + 0, + -119.04, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3164.213, + 873.972, + 53.63, + 0, + 0, + 0 + ], + "Action": [ + "Pick", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3010.907, + 1143.49, + 108.63, + 0, + -119.04, + 0 + ], + [ + -3012.891, + 1143.49, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -119.04, + 0.0 + ], + [ + -3073.985, + 1033.454, + 108.63, + 0.0, + -119.04, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3164.213, + 873.972, + 53.63, + 0.0, + 0.0, + 0.0 + ], + [ + -3164.213, + 873.972, + 53.63, + 0.0, + 0.0, + 0.0 + ], + [ + -3164.213, + 873.972, + 53.63, + 0.0, + 0.0, + 0.0 + ], + [ + -3055.02, + 1023.622, + 78.736, + -28.202, + -68.895, + 1.862 + ], + [ + -3055.02, + 1023.622, + 78.736, + -28.202, + -68.895, + 1.862 + ] + ], + "PD_Dist_2D": [ + 309.1, + 309.1, + 183.2, + 21.4, + 21.4 + ], + "Rationale": [ + "The green bell pepper sits on the floor ahead of me at the first shower stall on the left, exactly the target I was sent for. It is clearly identified and my hands are empty, so I will try to grasp it now.", + "My hands are still empty, so the grasp attempt did not take hold. I was well short of reaching range down the corridor. I will walk forward along the open aisle toward the first shower stall on the left to close that distance.", + "The green bell pepper now fills much of my view directly in front of me, near the first shower stall on the left, and nothing stands between us. This is close enough for a grasp, so I will reach for it again and attempt to lift it.", + "The green bell pepper is now held in my hands. The task is complete, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..54c3b66d360173ad4e172799de7bf36dd3b14ead --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_a/infos.json @@ -0,0 +1,66 @@ +{ + "Instruction": "Walk to the first blue locker on the right side.", + "Type": 2, + "Start_Pose": [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -3101.796, + 1320.197, + 108.332, + 0.0, + 27.88, + -0.0 + ], + [ + -2990.545, + 1379.051, + 108.332, + 0.0, + 27.88, + -0.0 + ], + [ + -2879.295, + 1437.906, + 108.332, + 0.0, + 27.88, + -0.0 + ], + [ + -2879.295, + 1437.906, + 108.332, + 0.0, + 27.88, + -0.0 + ] + ], + "Rationale": [ + "Down the right-hand row I can pick out the target immediately: past the yellow units, the nearest blue steel locker stands at the end of that row against the beige corner wall. It sits well off to my right while I face down the aisle, so I will turn right to put that blue unit ahead of me.", + "The blue locker now stands ahead and slightly left of my heading, its front panel clearly separated from the yellow units beside it. Nothing occupies the tiled floor between us, so I will walk forward to close the gap.", + "The blue locker now dominates the middle of my view, its vents and door seam readable, but I am still a couple of paces short of standing at it. I will step forward again to bring myself right up to its front.", + "The blue locker's painted panel fills my view at arm's length beside the corner wall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3844d3aac7a7669ed9bad4629b55cc68ba849373 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Head toward the farthest yellow locker section on the left.", + "Type": 2, + "Start_Pose": [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2976.096, + 1326.521, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2850.396, + 1332.844, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2724.696, + 1339.168, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2598.996, + 1345.492, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2473.296, + 1351.816, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2473.296, + 1351.816, + 108.332, + 0.0, + -22.12, + 0.0 + ], + [ + -2473.296, + 1351.816, + 108.332, + 0.0, + -47.12, + 0.0 + ], + [ + -2387.653, + 1259.588, + 108.609, + 0.0, + -47.12, + 0.0 + ], + [ + -2302.501, + 1178.908, + 108.63, + 0.0, + -47.12, + 0.0 + ], + [ + -2302.501, + 1178.908, + 108.63, + 0.0, + -47.12, + 0.0 + ] + ], + "Rationale": [ + "Looking down the room, the left side carries two yellow banks, a near one just past the bench and a deeper one further along toward the pale back doorway; that deeper bank beside the doorway is my target. Nothing blocks the open aisle between the bench and the blue lockers, so I will walk forward along it.", + "The yellow bank I want still sits deep on the left, near the grey doorway at the end of the room, and it is only slightly larger in my view. The aisle beside the bench remains clear, so I keep walking straight to close that distance.", + "More yellow cabinets now crowd both sides as I advance, but the run I am heading for is the one deep on the left beside the back doorway. I am still short of it, so I continue straight down the open tiled lane.", + "The long left wall of yellow lockers now runs alongside me, and the back doorway is clearly closer, marking where the deepest left bank stands. The floor ahead is empty, so I keep walking to reach that end of the room.", + "The doorway at the back is nearly in front of me and the yellow bank I want occupies the wall just short of it on my left. A few more paces should bring me level with that bank before I need to face it.", + "I have arrived at the end of the aisle, with the doorway right ahead and the deep yellow bank now stretching along my left side rather than in front of me. Turning left should swing my heading onto that wall of lockers.", + "The yellow bank has swung into view but still sits angled across the left half of my sight rather than squarely ahead. A second turn in the same direction should finish lining me up with its face.", + "The deep yellow locker bank now stands squarely in front of me against the far wall, with clear tile between us. I will step forward to close that last gap and stand right at it.", + "The locker doors fill nearly my whole view now, though a strip of tile still separates me from their bases. One more step should put me right up against this bank.", + "The yellow locker doors fill my view at arm's length. I have reached this bank, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_c/infos.json b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d79e023e5b5372844235bfd22be028363b2339c5 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_c/infos.json @@ -0,0 +1,76 @@ +{ + "Instruction": "Approach the second bench from the front on the left.", + "Type": 2, + "Start_Pose": [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2976.096, + 1326.521, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2850.396, + 1332.844, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2850.396, + 1332.844, + 108.332, + 0.0, + -22.12, + 0.0 + ], + [ + -2735.828, + 1321.919, + 108.332, + 0.0, + -22.12, + 0.0 + ], + [ + -2735.828, + 1321.919, + 108.332, + 0.0, + -22.12, + 0.0 + ] + ], + "Rationale": [ + "Along the left wall two bench sections run in line: the near one holds folded white towels, and the bare one behind it is my target. It sits well ahead down the aisle, so I will walk forward along the open tiled floor toward it.", + "The towel-covered bench is now close on my left, which means the bare bench I want lies just beyond it. The aisle ahead stays clear, so I will keep walking forward to draw level with that far bench.", + "The bare bench now lies low on my left, running away from me while my heading points straight down the room past it. I will turn left to swing that bench into the center of my view so I can come at its front.", + "The bare bench now sits centered ahead of me, its near end angled toward my path with open floor between us. A short step forward should bring me right up in front of it.", + "The bare bench stands directly in front of me, close and squarely framed. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_d/infos.json b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..825f94bb2c4f4de0596e8085d980351fe73aba00 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_d/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Make your way to the leftmost hook rack on the wall.", + "Type": 2, + "Start_Pose": [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -3101.796, + 1320.197, + 108.332, + 0.0, + -22.12, + 0.0 + ], + [ + -3101.796, + 1320.197, + 108.332, + 0.0, + -47.12, + 0.0 + ], + [ + -3099.883, + 1292.165, + 108.332, + 0.0, + -47.12, + 0.0 + ], + [ + -3099.883, + 1292.165, + 108.332, + 0.0, + -72.12, + 0.0 + ], + [ + -3092.497, + 1175.713, + 108.63, + 0.0, + -72.12, + 0.0 + ], + [ + -3092.497, + 1175.713, + 108.63, + 0.0, + -47.12, + 0.0 + ], + [ + -3092.497, + 1175.713, + 108.63, + 0.0, + -22.12, + 0.0 + ], + [ + -2975.902, + 1128.321, + 108.63, + 0.0, + -22.12, + 0.0 + ], + [ + -2866.456, + 1124.603, + 108.63, + 0.0, + -22.12, + 0.0 + ], + [ + -2866.456, + 1124.603, + 108.63, + 0.0, + -22.12, + 0.0 + ] + ], + "Rationale": [ + "On the left wall I count two wooden hook racks, and the nearer one toward the bottom corner of my view sits closer to the room's back end, hung with two towels beside the bench end. I will turn left to bring that wall and its racks squarely in front of me instead of viewing them at a steep angle.", + "The hook racks now sit centered on the pale wall ahead, but I am still angled across the room rather than facing the open floor that runs along them. I will turn left again to line my heading up with that wall so I can walk along it.", + "The wall with its two towel-hung racks now lies open ahead of me with clear tiled floor between the bench and the blue lockers. I will step forward to close distance along that wall before judging which rack sits at its far end.", + "From here the racks have slid to my right and the tiled passage past the blue lockers opens toward the left, leading deeper along this side of the room. I will turn left to face that passage so I can continue toward the far end of the wall where my rack hangs.", + "The corridor between the shower stalls and the blue lockers runs clear ahead of me. I will walk forward along it to reach the far end of this wall section where the towel-hung rack sits.", + "I have come far enough down this corridor, and the wall carrying the hooks lies off to my right behind the row of lockers. I will turn right to swing my heading back toward that wall.", + "Turning has brought a hook rack with a hanging towel into view on the wall to my right, but it is still well off to the side of my heading. I will turn right once more to face that wall directly.", + "The towel-hung rack now hangs on the wall ahead and slightly left, with open tiled floor between me and it. I will step forward to close on it.", + "The towel-hung rack hangs just ahead on the wall to my left, with a second rack beyond it near the yellow lockers, and the tiled floor beside it is clear. One more step forward should bring me level with it rather than leaving it ahead of my shoulder.", + "The towel-hung hook rack is now directly beside me on the wall, within arm's reach. I have arrived at it, so there is nothing further to do." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_e/infos.json b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c5f6adc4c7d1217407cb785ae46e8d58abbf803 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003100_y001320_z000108_t2_e/infos.json @@ -0,0 +1,116 @@ +{ + "Instruction": "Navigate to the yellow locker furthest to the right.", + "Type": 2, + "Start_Pose": [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3099.812, + 1320.197, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2976.096, + 1326.521, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2850.396, + 1332.844, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2724.696, + 1339.168, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2598.996, + 1345.492, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2473.296, + 1351.816, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2347.596, + 1358.139, + 108.332, + 0.0, + 2.88, + -0.0 + ], + [ + -2347.596, + 1358.139, + 108.332, + 0.0, + 27.88, + -0.0 + ], + [ + -2245.503, + 1411.339, + 108.332, + 0.0, + 27.88, + -0.0 + ], + [ + -2245.503, + 1411.339, + 108.332, + 0.0, + 27.88, + -0.0 + ] + ], + "Rationale": [ + "Yellow lockers stand in two groups, a short run on the left wall and a longer run along the right side of the room, so the rightmost yellow unit belongs to that right-hand run, at its far end past the blue column. The units in that run look alike, so I hold my target as the last one where the right wall ends. I walk forward down the open aisle to reach it.", + "The blue column now fills my near right and the yellow doors beside it are drawing past me, which means the far end of that right-hand row still lies deeper in the room. The floor ahead stays clear past the bench. I keep walking forward.", + "The blue unit has fallen behind me and only yellow doors line the right side now, so I am moving along the row toward its end. The aisle beside the bench remains open. I advance again.", + "A pale wall corner has appeared on the right where the room opens further back, and the yellow row continues past it, so my target locker is still ahead of me. Nothing blocks the tiles between here and there. I step forward once more.", + "The bench is behind me and the far doorway is closer, while the yellow run on the right still stretches back past the projecting wall. I have not yet reached the end of that row. I keep advancing along the open aisle.", + "The doorway ahead is now close and the right-hand yellow row runs on beside me toward the back corner. I need to be level with the deepest part of that row before I can stand at its end. I move forward again.", + "Straight ahead is only the doorway into the tiled washroom, while the yellow row I am following lies along my right shoulder and continues deeper toward the corner. Turning right should swing my heading along that row so its far end is in front of me instead of beside me.", + "Now the yellow row runs away from me along the right and its last unit sits ahead where the wall closes off the space. The floor between me and it is clear. I walk forward to close the remaining gap and stand at that end locker.", + "The end locker's outer side panel fills my view at arm's length, with no yellow unit beyond it. I am standing at that locker, so the task is done." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003130_y000510_z000109_t1_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-003130_y000510_z000109_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..72d7dc02d96c7e956c7c974f5b4af08e43b98820 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003130_y000510_z000109_t1_a/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Discover the single towel resting on a wooden bench, which is distinct from the nearby stack of several folded towels, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -3130.433, + 509.751, + 108.63, + 0.0, + 94.4, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3130.433, + 509.751, + 108.63, + 0.0, + 94.4, + -0.0 + ], + [ + -3142.073, + 635.239, + 108.63, + 0.0, + 94.4, + -0.0 + ], + [ + -3151.729, + 760.727, + 108.63, + 0.0, + 94.4, + -0.0 + ], + [ + -3159.421, + 886.216, + 108.63, + 0.0, + 94.4, + -0.0 + ], + [ + -3159.421, + 886.216, + 108.63, + 0.0, + 69.4, + -0.0 + ], + [ + -3115.139, + 1004.028, + 108.63, + 0.0, + 69.4, + -0.0 + ], + [ + -3070.856, + 1121.839, + 108.63, + 0.0, + 69.4, + -0.0 + ], + [ + -3070.856, + 1121.839, + 108.63, + 0.0, + 44.4, + -0.0 + ], + [ + -2983.214, + 1173.026, + 108.63, + 0.0, + 44.4, + -0.0 + ], + [ + -2983.214, + 1173.026, + 108.63, + 0.0, + 44.4, + -0.0 + ], + [ + -2983.214, + 1173.026, + 108.63, + 0.0, + 44.4, + -0.0 + ] + ], + "Rationale": [ + "I am standing in a narrow tiled corridor between shower stalls, and at the far end I can see an open changing area with a wooden bench and what look like white towels on it. Nothing here in the passage matches the single towel I need, so I will walk forward to reach that open room and get a clearer look at the benches.", + "The changing room ahead is opening up, with a wooden bench carrying pale folded linen and blue lockers along the far wall. I am still too far back to tell a single laid out towel from a stack, so I will keep walking forward into the room.", + "I have cleared the corridor and the changing room is now visible on both sides, with benches to the left holding white linen and more lockers to the right. The bench area on the left is the most promising place for a lone towel, so I will continue advancing into the open floor to inspect it.", + "From here the bench row on my left carries both a stacked pile of folded towels and what appears to be a separate flat towel lying apart from it. My current heading points too far right toward the lockers and hooks, so I will turn left to face that bench line directly.", + "Facing the bench row now, I can see a neat stack of folded towels and, further left along the same wooden bench, a single flat towel lying on its own. That lone towel is my target, so I will walk forward to close the distance to the bench.", + "The benches are much closer, and I can now distinguish the stacked piles from a lone flat towel resting by itself on the wooden surface. I will keep walking forward to bring that single towel within immediate reach.", + "I am right at the bench, but the towels are crowding the lower left of my view while my heading points across the room toward the far wall hooks. Turning left should swing the bench line and the lone towel back into the center of my view for a clean final approach.", + "The long wooden bench now runs through the center of my view, with a stack of folded towels on the near section and a single flat towel resting apart from it. I will step forward once more to stand directly beside that lone towel.", + "I am standing right at the wooden bench, and the stack of folded towels sits on it just ahead of me while the near part of the bench extends below my line of sight. I will tilt my gaze downward to bring the bench surface closest to me into view and confirm the single separate towel there, distinct from the stack.", + "The single unfolded towel lies on the wooden bench directly below me, clearly apart from the stack of folded towels further along. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t2_a/infos.json b/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..97cd656d783fd16d1a8c7179d0377ad487b7a0b8 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t2_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Walk to the first shower stall on the right.", + "Type": 2, + "Start_Pose": [ + -3197.57, + 1027.749, + 108.63, + 0.0, + -89.28, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3197.57, + 1027.749, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3199.554, + 1027.749, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3144.934, + 914.359, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3111.11, + 801.928, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3111.11, + 801.928, + 108.63, + 0.0, + -39.28, + 0.0 + ], + [ + -3111.11, + 801.928, + 108.63, + 0.0, + -39.28, + 0.0 + ], + [ + -3111.11, + 801.928, + 108.63, + 0.0, + -39.28, + 0.0 + ] + ], + "Rationale": [ + "Looking down the wet-room aisle, the right-hand row starts with the nearest bay whose curtain is pushed back, leaving its chrome pipe and showerhead exposed. My heading currently hugs the tiled partition on my left, so I turn right to put that aisle and the near right-hand bay in front of me.", + "The walkway ahead is clear of obstruction, and the open bay with its exposed showerhead lies further along on my right, past the yellow locker at the corridor mouth. I step forward down the aisle to close that gap.", + "I am now nearly abreast of the open stall on my right, its showerhead and floor drain sitting just forward of my shoulder rather than beside me. Another step along the aisle should bring me level with its entrance.", + "The tiled partition and hanging curtain of that bay now fill the right edge of my view, which means I have drawn level with its entrance. I turn right so I face squarely into the stall instead of past it.", + "Facing into the bay, my gaze sits low on the tiled floor and curtain hem, with only the bottom of the fixture's pipe in frame. I look up to bring the showerhead and curtain rail into view and confirm I am standing at this stall.", + "The showerhead and curtain rail of this stall stand directly before me from inside its entrance. I have reached the target, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t2_b/infos.json b/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..78c5c5c060127c200832593a3d3c91f4204a58cc --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t2_b/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Head toward the farthest shower curtain on the right side.", + "Type": 2, + "Start_Pose": [ + -3197.57, + 1027.749, + 108.63, + 0.0, + -89.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3197.57, + 1027.749, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3196.689, + 920.329, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3167.636, + 904.049, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3155.861, + 785.135, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3154.279, + 659.285, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3152.698, + 533.436, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3151.116, + 407.587, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3149.534, + 281.738, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3149.534, + 281.738, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3111.108, + 169.307, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3111.108, + 169.307, + 108.63, + 0.0, + -39.28, + 0.0 + ], + [ + -3111.108, + 169.307, + 108.63, + 0.0, + -39.28, + 0.0 + ] + ], + "Rationale": [ + "A row of white curtains hangs along the right side of this aisle, and they look alike, so I pin my target to position rather than appearance: the last one, deepest down the row where the aisle meets the tiled end wall. That places it straight ahead of me, so I start walking down the center channel.", + "Curtained stalls keep opening along my right, and the far end of the aisle is still a long way off. My target sits at the deep end of that run, so I continue straight along the drain channel.", + "The nearer stalls have slid past my shoulders while more curtains and showerheads keep appearing further down the right side. Nothing blocks the walkway, so I keep advancing toward the deepest right-hand stall.", + "The tiled wall closing the aisle is noticeably larger and brighter now, with only a few curtain bays left flanking the path. I am still short of the deepest right-side stall, so I walk on.", + "Only a short stretch of walkway remains before the tiled back wall, and curtains still hang close on either side of me. To stand level with the last right-hand stall I need more ground, so I step forward again.", + "The final pair of curtains now frames my path and the raised sill of the end stalls is close ahead. I keep walking so that the deepest curtain on my right ends up beside me rather than in front.", + "Glossy tile fills most of my view and the curtains are right at my shoulders, so I am nearly at the end of the run. One more step should bring me even with the last right-hand stall opening.", + "The walkway ends here at the tiled wall directly in front of me, and the last curtain is off at my right edge instead of ahead. Turning right should swing that final right-side stall and its curtain into the center of my view.", + "The deepest right-hand stall now shows its curtain and showerhead ahead of me, with open floor between us. I step forward to close that last bit of distance and stand right at its opening.", + "Standing this close, plain tile and the stall's corner post take up most of my view while the curtain hangs off at my right edge. A further turn to the right should bring that curtain squarely in front of me.", + "The deepest right-side curtain now hangs directly in front of me, filling my view at arm's length. The task is done, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t2_c/infos.json b/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2ea23b95e341bed5db061256bc991a5b937d12e7 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t2_c/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Approach the second shower curtain from the nearest on the right.", + "Type": 2, + "Start_Pose": [ + -3197.57, + 1027.749, + 108.63, + 0.0, + -89.28, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3197.57, + 1027.749, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3196.689, + 920.329, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3167.636, + 904.049, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3155.861, + 785.135, + 108.63, + 0.0, + -89.28, + 0.0 + ], + [ + -3155.861, + 785.135, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3111.09, + 671.897, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3111.09, + 671.897, + 108.63, + 0.0, + -64.28, + 0.0 + ] + ], + "Rationale": [ + "The right-hand row of shower bays carries identical white curtains, the first hanging just beside me at the aisle entrance, so my target is the bay immediately beyond that one. Since the curtains look alike, I hold its place as the second stall along that right run. I walk forward down the tiled aisle toward it.", + "The curtained bays on my right have grown larger, but I am still level with the first of them rather than the stall beyond it. The aisle stays clear straight ahead, so I keep walking forward.", + "The near right curtain has slid back past my shoulder, so the stall I want is the next one along that right side, now coming up ahead of me. Another step forward should bring me level with its opening.", + "I am now standing level with the shower bay I chose, and its curtain hangs to my right rather than in front of me. Turning right should swing my heading into that bay so I can close on the curtain directly.", + "The turn has put the curtain of my chosen bay ahead of me, with its showerhead on the tiled wall behind it. Stepping forward should close the last of the gap and bring me right up to the curtain.", + "The curtain of the chosen shower bay hangs directly in front of me, filling my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t5_a_p/infos.json b/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..303e01e3c62b278aa80b39251574e7a2d9b1f726 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x-003198_y001028_z000109_t5_a_p/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Grab the ceramic vase at the first shower stall on the right.", + "Type": 5, + "Start_Pose": [ + -3197.57, + 1027.749, + 108.63, + 0, + -89.28, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -3042.026, + 788.132, + 38.63, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3197.57, + 1027.749, + 108.63, + 0, + -89.28, + 0 + ], + [ + -3199.554, + 1027.749, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3144.934, + 914.359, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3144.934, + 914.359, + 108.63, + 0.0, + -64.28, + 0.0 + ], + [ + -3144.934, + 914.359, + 108.63, + 0.0, + -64.28, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + -3042.026, + 788.132, + 38.63, + 0.0, + 0.0, + 0.0 + ], + [ + -3042.026, + 788.132, + 38.63, + 0.0, + 0.0, + 0.0 + ], + [ + -3042.026, + 788.132, + 38.63, + 0.0, + 0.0, + 0.0 + ], + [ + -3125.961, + 924.176, + 78.736, + -28.202, + -14.135, + 1.862 + ], + [ + -3125.961, + 924.176, + 78.736, + -28.202, + -14.135, + 1.862 + ] + ], + "PD_Dist_2D": [ + 286.8, + 286.8, + 162.9, + 21.4, + 21.4 + ], + "Rationale": [ + "The tall flowered ceramic vase stands in the nearest shower stall along the right-hand row, but it sits off to the side of my current heading down the aisle. I will turn right to bring that stall and the vase into the center of my view so the approach runs straight toward it.", + "The shower stall with the patterned ceramic vase now sits ahead of me along the right side of the walkway, with clear tiled floor between us. I will walk forward to close that gap and get near enough for the vase to be within reach.", + "I am standing at the entrance of the first shower stall on the right, and the tall ceramic vase with red flowers is directly beside me at arm's length. My hands are empty, so I will attempt to pick it up now.", + "The ceramic vase is now held in my hands and no longer resting in the shower stall. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x000498_y001042_z000108_t1_a/infos.json b/dataset/trajectory/SwimmingPool/task_x000498_y001042_z000108_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00ae2a914241f4f4901bc9d4664e202b3989c97c --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x000498_y001042_z000108_t1_a/infos.json @@ -0,0 +1,86 @@ +{ + "Instruction": "Search for the pink swan-shaped inflatable swim ring on the tiled floor; after locating it, proceed to its position.", + "Type": 1, + "Start_Pose": [ + 497.781, + 1041.722, + 108.332, + 0.0, + -105.6, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 497.781, + 1041.722, + 108.332, + 0.0, + -105.6, + 0.0 + ], + [ + 495.797, + 1041.722, + 108.332, + 0.0, + -130.6, + 0.0 + ], + [ + 495.797, + 1041.722, + 108.332, + 0.0, + -155.6, + 0.0 + ], + [ + 381.179, + 989.729, + 108.332, + 0.0, + -155.6, + 0.0 + ], + [ + 266.562, + 937.736, + 108.332, + 0.0, + -155.6, + 0.0 + ], + [ + 266.562, + 937.736, + 108.332, + 0.0, + -155.6, + 0.0 + ], + [ + 266.562, + 937.736, + 108.332, + 0.0, + -155.6, + 0.0 + ] + ], + "Rationale": [ + "My view is filled by a blank tiled wall with only a sliver of blue door edge at the far left, so nothing pink is visible from this heading. The open floor clearly extends to my left past that door edge, so I will turn left to scan that unseen part of the tiled room for the swan float.", + "The turn brought the pink swan ring into view, but it sits at the very left edge of my sight and is partly cut off. I will turn left once more to bring it near the center so I have a clean heading toward it.", + "The pink swan-shaped ring is now fully visible on the tiled floor ahead and slightly left, with clear space between us. I will walk forward to close that distance toward it.", + "The swan float has grown much larger in the lower left of my view, confirming I am closing in, but it is still a step away from my feet. I will take another step forward to reach its position.", + "At this range the float has dropped out of my forward view, which is now filled by the blue door panel and the near wall. I will look down to check the floor right in front of me and confirm the swan ring is at my position.", + "The pink swan ring lies on the tiles directly at my feet in the lower view. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x001058_y000693_z000108_t1_a/infos.json b/dataset/trajectory/SwimmingPool/task_x001058_y000693_z000108_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23f075d575b70501843a58ef3a2f5ddbebc3f7ea --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x001058_y000693_z000108_t1_a/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Search for the blue lifeguard chair mounted on a metal frame beside the pool, then proceed to the base of that seat.", + "Type": 1, + "Start_Pose": [ + 1057.732, + 692.584, + 108.332, + 0.0, + 14.4, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1057.732, + 692.584, + 108.332, + 0.0, + 14.4, + -0.0 + ], + [ + 1055.748, + 692.584, + 108.332, + 0.0, + -10.6, + 0.0 + ], + [ + 1179.459, + 669.432, + 108.332, + 0.0, + -10.6, + 0.0 + ], + [ + 1303.171, + 646.28, + 108.332, + 0.0, + -10.6, + 0.0 + ], + [ + 1426.882, + 623.128, + 108.332, + 0.0, + -10.6, + 0.0 + ], + [ + 1426.882, + 623.128, + 108.332, + 0.0, + -35.6, + 0.0 + ], + [ + 1426.882, + 623.128, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1488.667, + 513.478, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1550.451, + 403.828, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1550.451, + 403.828, + 108.332, + 0.0, + -85.6, + 0.0 + ], + [ + 1543.994, + 314.475, + 108.332, + 0.0, + -85.6, + 0.0 + ], + [ + 1523.611, + 214.578, + 108.332, + 0.0, + -85.6, + 0.0 + ], + [ + 1523.611, + 214.578, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1549.14, + 100.156, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1592.617, + -11.747, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1592.617, + -11.747, + 108.332, + 0.0, + -60.6, + 0.0 + ] + ], + "Rationale": [ + "From this spot the tiled wall with the no running sign fills most of my view to the right, and only the far corner of the pool deck and a life ring are visible ahead. I cannot see any lifeguard chair yet, so I will turn left to sweep the pool side of the deck where such a seat is likely to stand.", + "With the deck now opening to my left I can make out the poolside area with float storage reels and, beyond them, a pale blue seat raised on a slim metal frame near the far wall. That matches the lifeguard chair I need, so I will walk forward along the deck to close the distance toward it.", + "The float reels along the left wall are noticeably larger now, confirming I am closing on the poolside area where I spotted the raised blue seat. The deck ahead is still clear, so I will keep walking forward to shorten the remaining distance.", + "I am nearly level with the reel rack on my left and the plain tiled wall with the life ring is filling the view straight ahead. Another step forward should bring me alongside the poolside row where the raised seat stands before I turn toward it.", + "Walking straight has brought me right up to the end wall, and the view ahead is now only blank tile with a life ring, so continuing forward gains nothing. The poolside lane with the equipment row lies off to my left, so I will turn left to face back along the deck toward the raised seat.", + "The turn has brought the reel rack and the pale blue seat on its tall metal frame into the left part of my view, but they are still off to the side of my heading. I will turn left once more to bring that lifeguard chair and the open poolside lane closer to the center of my view.", + "Now the long poolside lane opens straight ahead, with the lane ropes on the left and the equipment reels lined against the right wall. The blue lifeguard seat on its metal frame stands beyond the reels along that wall, so I will walk forward down this lane toward it.", + "The large float reel on the right has grown considerably and the blue seat on its ladder frame is now clearly visible just past it along the wall. The walkway between the pool edge and the equipment is still clear, so I will continue forward to close in on the chair.", + "The large float storage reel now fills most of my view and blocks the poolside walkway ahead of me on the right. Behind and past it I can just make out the pale metal frame and blue seat of the lifeguard chair further along the deck. I will turn left to swing my heading off the reel and onto the open lane of deck that leads toward that seat.", + "With the turn done, the tiled deck beside the lane ropes is now clear in front of me and the reel has shifted to my right side. The lifeguard chair's metal frame stands further down that same wall, so the path along the pool edge should carry me toward it. I will step forward along this open deck to close the distance.", + "The lifeguard chair is now clearly in view ahead with its blue seat resting on a tall metal ladder frame against the tiled wall. It is still several strides away and the deck between us is unobstructed. I will continue walking forward to bring myself closer to its base.", + "The blue lifeguard seat on its metal frame now sits noticeably right of my heading, with the pool lanes stretching off to my left. Walking straight would carry me past it along the water instead of up to its base. I will turn right to center the chair in my view before advancing again.", + "The turn has brought the blue seat and its metal ladder frame nearer the middle of my view, with clear deck tile leading right to its legs. Nothing stands between me and the chair on this line. I will walk forward to close in on its base.", + "The lifeguard chair now fills much of my view, its blue seat above me and its four metal legs planted on the tile just ahead. I am close but not yet standing at the foot of the frame. I will take one more step forward to reach its base.", + "The blue seat sits directly overhead and the chair's metal legs stand at my feet. I am at its base, so the task is complete and I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x001058_y000693_z000108_t1_b/infos.json b/dataset/trajectory/SwimmingPool/task_x001058_y000693_z000108_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6269c5fffc58dc5637fa2a7846454c444648c3ec --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x001058_y000693_z000108_t1_b/infos.json @@ -0,0 +1,126 @@ +{ + "Instruction": "Identify the coiled lane ropes stored on the pool deck; after locating them, head over to where they are rolled up on shore.", + "Type": 1, + "Start_Pose": [ + 1057.732, + 692.584, + 108.332, + 0.0, + 14.4, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1057.732, + 692.584, + 108.332, + 0.0, + 14.4, + -0.0 + ], + [ + 1055.748, + 692.584, + 108.332, + 0.0, + -10.6, + 0.0 + ], + [ + 1179.459, + 669.432, + 108.332, + 0.0, + -10.6, + 0.0 + ], + [ + 1303.171, + 646.28, + 108.332, + 0.0, + -10.6, + 0.0 + ], + [ + 1426.882, + 623.128, + 108.332, + 0.0, + -10.6, + 0.0 + ], + [ + 1426.882, + 623.128, + 108.332, + 0.0, + -35.6, + 0.0 + ], + [ + 1426.882, + 623.128, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1488.667, + 513.478, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1550.451, + 403.828, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1603.17, + 331.69, + 108.332, + 0.0, + -60.6, + 0.0 + ], + [ + 1603.17, + 331.69, + 108.332, + 0.0, + -60.6, + 0.0 + ] + ], + "Rationale": [ + "From this spot I only see a blank tiled wall filling the right side and a narrow stretch of deck, with no coiled lane ropes anywhere in view. The open pool area seems to lie off to my left, so I will turn left to scan that side of the deck for the rolled up ropes.", + "The turn opened up the poolside, and I can now see red, white and blue lane ropes wound on circular storage reels standing on the deck ahead to my left. That is clearly the target, so I will commit and walk forward along the deck to close the distance.", + "The reels of coiled lane rope are noticeably larger now and sit just off my left shoulder beside the pool edge. The deck ahead is still clear, so I will keep stepping forward to bring myself level with them.", + "One reel of coiled rope now looms at the left edge of my view, so I am nearly abreast of the storage area but still slightly short of it. I will take another step forward along the open deck to draw alongside the stored ropes.", + "My heading now points at the plain tiled wall, and the rope reel has slipped almost entirely off the left edge of my view. I will turn left to swing the coiled ropes back into the center of my view before continuing.", + "The turn brought the red, white and blue coiled lane ropes on their wheeled frames into view on my left, along with the lifeguard chair beside them. They are still off to the side rather than straight ahead, so another left turn should line my heading up with them for a direct walk.", + "I am now facing straight down the poolside deck with the coiled lane ropes on their reels standing ahead of me beside the wall. The lane lines in the water confirm this is the storage spot, so I will walk forward toward the rolled up ropes.", + "The blue and white coiled rope on its wheeled reel now fills a large part of my view just ahead beside the wall. I am close but not yet standing at it, so I will step forward again to reach the storage position on the deck.", + "The blue and white lane rope coiled on its wheeled storage reel now fills most of my view directly ahead on the deck, so it is clearly the target I was sent to find. I still have a short gap of tile between me and the reel frame, so I will step forward once more to close that remaining distance. This should bring me right up beside the stored ropes on shore.", + "The coiled blue and white lane ropes on their deck reel fill my view at arm's length. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_a/infos.json b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e22f492d4aa87cdd1f2c35c0f95f5de4350c78c9 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_a/infos.json @@ -0,0 +1,206 @@ +{ + "Instruction": "Walk to the pool ladder, then head toward the lifeguard chair.", + "Type": 3, + "Start_Pose": [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1151.082, + 651.371, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1241.373, + 563.69, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1241.373, + 563.69, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1175.085, + 628.062, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1175.085, + 628.062, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1293.973, + 586.754, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1394.086, + 576.637, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1394.086, + 576.637, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1480.592, + 524.256, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1480.592, + 524.256, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1525.368, + 406.631, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1525.368, + 406.631, + 108.332, + 0.0, + -94.16, + 0.0 + ], + [ + 1516.238, + 281.103, + 108.332, + 0.0, + -94.16, + 0.0 + ], + [ + 1507.108, + 155.576, + 108.332, + 0.0, + -94.16, + 0.0 + ], + [ + 1507.108, + 155.576, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1551.883, + 37.951, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1551.883, + 37.951, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1551.883, + 37.951, + 108.332, + 0.0, + -69.16, + 0.0 + ] + ], + "Rationale": [ + "From the deck I can see the chrome pool ladder with its curved handrails set into the near pool edge ahead and slightly right of me. Nothing blocks the tiled walkway between us, so I will walk straight forward to close that gap first.", + "The ladder handrails are noticeably larger and lower in my view now, but I am still a few paces short of standing beside them. I will keep walking forward along the open deck to bring myself right up to the ladder.", + "The chrome handrails of the pool ladder now rise directly in front of me at the water's edge, close enough to touch. I have reached the pool ladder. I mark arriving here and turn my attention to the tall lifeguard chair with the blue seat standing against the wall to my left.", + "Standing this close, the ladder's handrails crowd the front of my view and hem me against the pool edge. I will step back a little to open up the deck around me before reorienting toward the tall lifeguard chair by the wall.", + "Straight ahead of me is the tiled wall with the ring buoy, and the ladder rails still sit in my forward line. Turning right should swing my heading onto the open deck strip running beside the pool so I can travel clear of the rails and the water.", + "The broad tiled deck now runs open in front of me with the wall and its ring buoy on my right and the lifeguard chair off at the left edge of my view. I will walk forward along this clear lane to work my way around toward the chair.", + "The float reels and the wall are sliding past on my left and right, and the deck ahead is still clear of obstacles. Another step forward should carry me further along this lane before I swing back toward the lifeguard chair.", + "My current heading has carried the lifeguard chair out past the left edge of my view, leaving only blank tiled wall and the float reel in front of me. I will turn left to bring the chair back into sight and set a heading toward it.", + "With the pool ladder behind me, the tall lifeguard chair with its blue seat now stands ahead along the deck, past the rack of float reels. The tiled walkway between the wall and the pool edge is clear, so I will walk forward to cut down that distance.", + "The large float reel has swung into the middle of my view and the lifeguard chair sits off to my left behind it. I will turn left to bring the chair back toward the center of my heading and keep the walkway beside the pool ahead of me.", + "The blue-seated lifeguard chair is now clear of the reel and sits ahead along the poolside walkway. The deck in front of me is unobstructed, so I will step forward to close on it.", + "The near float reel has grown large on my right and is crowding my heading, while the lifeguard chair lies further left along the wall. Turning left should swing my path away from the reel and point me down the open lane of deck toward the chair.", + "From this heading the lane of deck between the pool edge and the reels runs straight ahead, with the lifeguard chair's blue seat visible on the right side of that lane. I will walk forward along the open tiles to close the remaining gap.", + "The lifeguard chair now stands plainly ahead on my right, its ladder and blue seat close enough to make out clearly. A few more steps of deck separate us, so I will keep walking forward.", + "I am nearly level with the lifeguard chair, which has drifted to the right edge of my view against the wall. I will turn right to face it squarely before covering the last stretch.", + "The lifeguard chair is now centered ahead of me, its legs and blue seat framed against the tiled wall. Only a short stretch of deck remains, so I will step forward to stand right at its base.", + "The tall lifeguard stand now fills the right of my view at arm's length, but its blue seat is cut off above my sightline. I will look up so the whole chair, seat included, comes into view and confirms I am standing at it.", + "The lifeguard chair with its blue seat stands directly before me within arm's reach. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_b/infos.json b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..75d909e60bd70b3e83f3b03f4d0088b0e5083d48 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_b/infos.json @@ -0,0 +1,176 @@ +{ + "Instruction": "Approach the red-and-white life ring on the wall, then move to the pool ladder.", + "Type": 3, + "Start_Pose": [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1060.791, + 739.053, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1179.678, + 697.745, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1298.565, + 656.437, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1417.453, + 615.129, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -94.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -119.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -144.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -169.16, + 0.0 + ], + [ + 1531.614, + 508.844, + 108.332, + 0.0, + -169.16, + 0.0 + ], + [ + 1531.614, + 508.844, + 108.332, + 0.0, + -169.16, + 0.0 + ] + ], + "Rationale": [ + "The red-and-white life ring hangs on the tiled wall ahead to my right, while my heading points along the pool lanes. I will turn right so the ring sits nearer the center of my view and the open deck opens up as a walking route toward it.", + "With the ring now framed ahead on the tiled wall, the deck between me and that wall is clear and dry. I will walk forward to cut down the distance to the ring.", + "The ring has grown larger in front of me but is still several strides off, with the no-diving sign beside it now legible. Nothing blocks the deck, so I will keep walking straight toward the ring.", + "The wall-mounted ring is close enough now that its rope stitching is distinct, yet I am not yet at the wall. I will step forward again to close the remaining gap.", + "The ring fills much of my view against the tiles and the lane float rack has slid off to my left edge. A short further advance should bring me right up to the ring on the wall.", + "Only a little tile remains between me and the ring, which now hangs high and large in front of me. One more step forward should put me directly at it.", + "The red-and-white life ring fills my view at arm's reach against the tiled wall. I have reached the life ring, and I mark reaching it before setting off for the pool ladder at the water's edge.", + "Standing at the life ring, my view is filled by wall tile and nothing of the pool is in sight. I will turn left to swing my heading back toward the water, where the ladder handrails should come into view.", + "The life ring now hangs close at my right shoulder, so I am done with the wall and need the poolside instead. Swinging further left brings the deck and the water back in front of me, where a ladder should be found.", + "Turning has opened up the lane ropes and water on my left, but the lane-line reel still blocks much of the poolside ahead. I keep rotating left to bring the pool edge squarely before me and pick out a ladder.", + "The pool now stretches away to my left with the reel sitting to the right of my heading. Another left turn should carry my heading along the deck toward the near end of the pool where a ladder stands.", + "The full length of the pool is open ahead, yet no ladder rails are in front of me and the reel still crowds my right. I continue turning left toward the near corner of the basin where a ladder is likely to sit.", + "Curved metal handrails of a pool ladder have come into sight at the lower left, close to the tiled edge. One more left turn should place that ladder ahead of me so I can walk straight at it.", + "The pool ladder's twin handrails now sit ahead of me at the water's edge with open tile between us. I walk forward to close the last of that gap and stand at the ladder.", + "The pool ladder's handrails rise directly in front of me at arm's reach beside the water. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_c/infos.json b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..494b44883c1bc2860e1ddc01e6008cc2b92130f7 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_c/infos.json @@ -0,0 +1,296 @@ +{ + "Instruction": "Head toward the blue chair on the lifeguard stand, then proceed to the pool ladder.", + "Type": 3, + "Start_Pose": [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "LookUp", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1060.791, + 739.053, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1179.678, + 697.745, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1298.565, + 656.437, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1417.453, + 615.129, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1417.453, + 615.129, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1417.453, + 615.129, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1466.457, + 501.326, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1511.233, + 383.701, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1526.241, + 290.746, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1534.552, + 183.04, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1555.901, + 61.966, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + 5.84, + -0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + 30.84, + -0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + 55.84, + -0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + 80.84, + -0.0 + ], + [ + 1584.794, + -33.854, + 108.332, + 0.0, + 105.84, + -0.0 + ], + [ + 1547.986, + 85.922, + 108.332, + 0.0, + 105.84, + -0.0 + ], + [ + 1513.633, + 207.002, + 108.332, + 0.0, + 105.84, + -0.0 + ], + [ + 1479.28, + 328.082, + 108.332, + 0.0, + 105.84, + -0.0 + ], + [ + 1450.218, + 448.062, + 108.332, + 0.0, + 105.84, + -0.0 + ], + [ + 1450.218, + 448.062, + 108.332, + 0.0, + 130.84, + -0.0 + ], + [ + 1450.218, + 448.062, + 108.332, + 0.0, + 130.84, + -0.0 + ] + ], + "Rationale": [ + "The blue chair on the lifeguard stand sits ahead by the far tiled wall, but the pool and its lane ropes lie directly between me and it. Turning right puts the wide open deck lane in front of me so I can walk around the water rather than along its edge.", + "The deck ahead is clear tiling with the lifeguard stand and its blue chair off to my left near the wall. Walking straight should carry me along this open lane and cut the distance to that side of the hall.", + "The float reels and the stand with the blue chair have grown larger and shifted further left as I close in. The lane ahead is still open tile, so another step forward should keep shortening the gap to that wall side.", + "The tiled wall with the ring buoy is now close in front and the last reel sits at my left, meaning I am nearly abreast of the row where the stand is parked. One more step forward should bring me level with that row before I swing toward the chair.", + "I am now facing the plain tiled wall, and the lifeguard stand has slipped out of view past my left shoulder. Turning left should bring that stand and its blue seat back into my forward view.", + "The lifeguard stand with its blue seat is back in view, but off to my left beyond the row of float reels. A second turn left should center it and line me up with the open deck lane running toward it.", + "The stand with the blue seat is now ahead of me along the wall, with the pool on my left and the reels on my right leaving a clear walking strip. Stepping forward should carry me down that strip toward the chair.", + "The blue seat on the stand has grown noticeably nearer and stays roughly centered in my path. The deck strip remains unobstructed, so I keep walking to close the remaining distance to it.", + "The lifeguard stand with its blue seat stands further along this deck, still well ahead of me past the float reels on my right. My path down the poolside strip is clear and straight, so I will keep walking forward to close the remaining distance.", + "The blue seat on its tall metal stand is noticeably larger and closer now, sitting against the tiled wall on my right side. Nothing blocks the walkway between me and it, so another step forward should continue narrowing the gap.", + "The stand's ladder rungs and the blue seat now fill much of the right half of my view, only a short stretch of deck away. I will step forward again to bring myself right up beside the stand.", + "I am nearly level with the stand, its blue seat now high above the frame on my right and the tiled wall just beyond. One more step forward should put me directly at its base rather than alongside it.", + "I am standing right at the foot of the stand, but its tubular frame runs off to my right while I am still facing straight down the deck. Turning right should square me up with the stand itself instead of the empty walkway ahead.", + "I am close enough that only the metal legs and cross braces of the stand fill my view, with the seat itself above my line of sight. I will look up to bring the blue chair on top of the stand into view and confirm I am at it.", + "The blue seat sits directly overhead in its metal frame, close enough to touch the legs. I have reached the blue chair on the lifeguard stand. I mark reaching it and now set off for the pool ladder at the water's edge.", + "From under the stand my view is filled by its frame and the tiled wall behind it, with no sight of the water or any ladder. I will turn right to begin swinging my heading away from the wall and back toward the open pool deck.", + "My view is still filled with blank tiled wall and the stand's frame at the edge, so nothing usable lies ahead of me. I will keep swinging right to bring the poolside and its ladders back into sight.", + "The wall still dominates my view, though a float reel has appeared at the right edge, telling me the open deck lies further around. I will turn right again to keep rotating away from the wall.", + "The float reel now sits squarely on my right with plain wall on the left, so I still face too far into the wall. Another right turn should bring the pool deck and water into my view.", + "The reels fill the middle of my view and only a sliver of far railing shows past them. I will continue turning right so the poolside beyond the reels opens up.", + "The pool edge and a set of ladder handrails are now visible to the right of the reels, so my heading is nearly on the water. One more right turn should place that stretch of deck straight ahead of me.", + "The pool and its handrails now lie ahead of me with clear tiled deck between us, and the reels have moved off to my left. I will walk forward along the deck to close the distance to the ladder.", + "The ladder's curved handrails at the pool edge have grown larger and sit just right of centre, confirming my line is good. I will keep walking forward to reach them.", + "The ladder rails and their step now stand close in front of me at the water's edge, but I am still a stride or two short of the deck beside them. Another step forward should bring me right up to the ladder.", + "The curved handrails of the pool ladder are now close on my right, set into the deck edge just ahead of me. One more stride along the deck should bring me level with the ladder rather than leaving it behind my shoulder.", + "I am now level with the ladder, but only the top of one rail shows at the lower right corner while my view is filled by the tiled wall. Turning right should swing my heading onto the pool edge and put the ladder squarely in front of me.", + "Both curved handrails of the pool ladder stand directly in front of me at the water's edge. The task is complete, so there is no reason to move further." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_d/infos.json b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d09eb66a7dcb85d7068bdd0f88f3c13c37792dd2 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_d/infos.json @@ -0,0 +1,196 @@ +{ + "Instruction": "Navigate to the small red sign on the wall, then walk to the pool ladder.", + "Type": 3, + "Start_Pose": [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1060.791, + 739.053, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1179.678, + 697.745, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1298.565, + 656.437, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1417.453, + 615.129, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + 5.84, + -0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + 30.84, + -0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + 55.84, + -0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + 80.84, + -0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + 105.84, + -0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + 130.84, + -0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + 155.84, + -0.0 + ], + [ + 1655.227, + 532.514, + 108.332, + 0.0, + -179.16, + 0.0 + ], + [ + 1529.381, + 530.669, + 108.332, + 0.0, + -179.16, + 0.0 + ], + [ + 1529.381, + 530.669, + 108.332, + 0.0, + -179.16, + 0.0 + ] + ], + "Rationale": [ + "The tiled wall carrying the red ring and its small red sign stands ahead and off to my right, while the pool lies along my left. Turning right should bring that stretch of wall square in front of me so the open deck becomes a straight walking line toward it.", + "The wall with the red ring and the small red sign is now centered in front of me, and the tiled deck between us is empty. I will walk forward to cut that distance down.", + "The red ring and the small sign beside it have grown noticeably and remain straight ahead, so my heading is good. Another step forward should keep closing on that piece of wall.", + "The wall now fills most of my view with the red ring and the small sign clearly separated, yet I am still several paces short of it. The float reels stay off to my left and do not block my line, so I keep walking forward.", + "The tiled wall dominates the view and the red ring hangs slightly right of center with the small sign to its left. A further step should bring me right up against that wall section.", + "The ring and the small red sign are now big and near, with only a short span of deck left before the wall. One more forward step should put me directly at the sign.", + "The red and white ring with its small red sign is right in front of me, filling my view at arm's reach against the tiles. I have arrived at the small red sign on the wall. I mark reaching it and now head for the pool ladder at the water's edge.", + "Standing this close, the tiled wall blocks everything and the pool with its ladder lies behind me along the deck. I will turn right to start swinging my heading off the wall and back toward the water.", + "The red life ring on the wall has slid to the left edge and only bare tile fills the rest of my view, so I am still facing the wall I just closed on. I will turn right again to swing my heading off this flat surface and open up the deck where the pool and its ladder should lie.", + "My view is now nothing but plain tile with a dark mosaic band at the lower right, meaning I am still squared up against the wall. Another right turn should carry my heading further around toward the open poolside where a ladder would be reachable.", + "A wall corner has come into view with pale floor tiling showing beyond it on the right, so the open deck lies further in that direction. I will keep rotating right to bring that floor and the pool basin into the center of my view.", + "More of the tiled floor and the far wall are now showing past the corner, but I still see no water or handrails. Turning right once more should continue the sweep toward the open side of the hall where the pool lies.", + "I can now see a long stretch of wall with a small warning sign and a wide band of deck running to the right, so the poolside must open further around in that direction. I will turn right again to bring that deck line and the water into view.", + "The hall is opening up ahead with the vaulted ceiling and the far end of the deck now visible, and the wall is sliding away to my left. A further right turn should bring the pool edge and its ladder rails in front of me.", + "The pool water and a set of curved metal handrails have appeared on the right side of my view, which is the ladder I need to reach. I will turn right once more to place that ladder squarely ahead before advancing.", + "The pool ladder's chrome handrails now sit centered just ahead of me at the water's edge, with clear deck between us. I will step forward to close the remaining gap and stand at the ladder.", + "The pool ladder's steel handrails stand directly in front of me at the water's edge. The task is complete, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_e/infos.json b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dcc4eb32c3a98bc108f68b2625e3de26f4710a90 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t3_e/infos.json @@ -0,0 +1,136 @@ +{ + "Instruction": "Move to the pool ladder, then approach the life ring.", + "Type": 3, + "Start_Pose": [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1062.775, + 739.053, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1151.082, + 651.371, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1241.373, + 563.69, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1241.373, + 563.69, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1241.373, + 563.69, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1241.373, + 563.69, + 108.332, + 0.0, + 5.84, + -0.0 + ], + [ + 1362.084, + 582.457, + 108.332, + 0.0, + 5.84, + -0.0 + ], + [ + 1487.289, + 595.263, + 108.332, + 0.0, + 5.84, + -0.0 + ], + [ + 1487.289, + 595.263, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1606.176, + 553.955, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1687.148, + 521.961, + 108.128, + 0.0, + -19.16, + 0.0 + ], + [ + 1687.148, + 521.961, + 108.128, + 0.0, + -19.16, + 0.0 + ] + ], + "Rationale": [ + "The pool ladder with its curved chrome handrails stands at the near edge of the water, slightly right of my heading and still several paces off. I will walk forward along the tiled deck to close that gap first.", + "The ladder handrails have grown larger and now sit low in the right of my view, so I am nearly beside them but not yet level with the ladder. Another step forward should bring me right up to it.", + "The chrome handrails of the pool ladder rise directly beside me at the water's edge, close enough to touch. I have reached the ladder. I mark arriving here before setting off toward the red and white life ring hanging on the tiled wall to my right.", + "The life ring hangs on the tiled wall well to the right of my current heading, while I am facing along the length of the pool. Turning right should swing that wall and the ring toward the centre of my view.", + "The life ring has come into view but still sits right of centre, with the wall angling away from me. A second turn right should put the ring closer to straight ahead so I can walk directly at it.", + "The life ring now sits near the middle of my view on the far tiled wall, with open deck between us. I will walk forward across the deck to shorten that distance.", + "The ring is noticeably larger and the no diving sign beside it is now legible, so I am gaining ground but am still short of the wall. Another step forward should bring me close to the ring.", + "Walking straight has carried the ring off to the left side of my view, leaving me aimed at blank tiling. Turning left should bring the ring back toward the centre before I close the last stretch.", + "The red and white life ring on the tiled wall now sits just right of center in my view, so my heading is good. I will walk forward along the poolside to close the remaining gap to it.", + "The life ring fills much more of my view now and the wall tiles are close, but I am still a stride or two short of standing right at it. I will step forward again to finish closing that gap.", + "The life ring fills my view at arm's reach on the wall. I am at it, so the task is complete and I stop." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t5_a_pd/infos.json b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t5_a_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9dd23b136c7f92012fcd476dd5d929ab5c635a66 --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t5_a_pd/infos.json @@ -0,0 +1,335 @@ +{ + "Instruction": "Lift the trash bag at the pool ladder, then leave it near the lifeguard chair.", + "Type": 5, + "Start_Pose": [ + 1062.775, + 739.053, + 108.332, + 0, + -44.16, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1474.75, + 580.643, + 10.332, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1062.775, + 739.053, + 108.332, + 0, + -44.16, + 0 + ], + [ + 1060.791, + 739.053, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1179.678, + 697.745, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1298.565, + 656.437, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1298.565, + 656.437, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1417.452, + 615.129, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1417.452, + 615.129, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1417.452, + 615.129, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1466.456, + 501.326, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1511.231, + 383.7, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1526.239, + 290.743, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1534.553, + 183.032, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1555.902, + 61.958, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1584.8, + -33.848, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1559.186, + 33.442, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1559.186, + 33.442, + 108.332, + 0.0, + -69.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1474.75, + 580.643, + 10.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1474.75, + 580.643, + 10.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1474.75, + 580.643, + 10.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1474.75, + 580.643, + 10.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1304.998, + 676.809, + 78.439, + -28.202, + 30.984, + 1.862 + ], + [ + 1424.13, + 635.42, + 77.951, + -28.195, + 30.987, + 1.862 + ], + [ + 1430.983, + 630.204, + 79.022, + -28.193, + 5.988, + 1.872 + ], + [ + 1436.555, + 622.123, + 77.858, + -28.202, + -19.019, + 1.858 + ], + [ + 1486.245, + 509.361, + 77.957, + -28.207, + -19.023, + 1.854 + ], + [ + 1530.918, + 392.003, + 78.589, + -28.205, + -19.018, + 1.858 + ], + [ + 1545.846, + 299.268, + 79.045, + -28.192, + -19.014, + 1.87 + ], + [ + 1554.315, + 191.153, + 78.379, + -28.187, + -19.007, + 1.876 + ], + [ + 1575.743, + 69.858, + 77.895, + -28.2, + -19.012, + 1.863 + ], + [ + 1604.559, + -25.732, + 78.306, + -28.2, + -19.018, + 1.862 + ], + [ + 1584.089, + -31.978, + 68.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1584.089, + -31.978, + 68.332, + 0.0, + -69.16, + 0.0 + ] + ], + "PD_Dist_2D": [ + 443.2, + 443.2, + 317.5, + 191.8, + 21.4, + 21.4, + 20.3, + 20.3, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 21.4, + 70.0, + 70.0 + ], + "Rationale": [ + "The black trash bag sits on the deck ahead and slightly right of my heading, beside the pool ladder rails. I will turn right so the bag falls near the center of my view and the deck ahead becomes a clear walking lane toward it.", + "The trash bag now sits roughly ahead of me on the open deck strip, with no obstruction between us. I will walk forward to close the gap, since the bag is still too far for a grasp.", + "The bag has grown noticeably larger in view but remains beyond arm's reach on the deck. I will take another step forward to bring it close enough to attempt the lift.", + "The trash bag now fills the lower part of my view directly in front of me, well within reach beside the ladder. I will attempt to pick it up so I can carry it toward the lifeguard chair.", + "The bag is now in my hands rather than resting on the deck, so the lift succeeded. I will step forward along the deck to clear the ladder area before turning toward the lifeguard chair.", + "I am carrying the bag but currently face the blank tiled wall with only the lane reel edge at my left. The lifeguard chair lies further around to my left along the poolside, so I will turn left to swing my heading back toward that side of the deck.", + "Turning has brought the lane reels and the blue lifeguard chair into the left half of my view, but my heading still points too far toward the wall. I will turn left again to line up with the deck lane that runs past the reels toward the chair.", + "My heading now runs down the open deck with the pool on my left and the reels and lifeguard chair ahead along the wall. Carrying the bag, I will walk forward along this lane to close the distance to the chair.", + "The trash bag is still in my hands as I move along the pool deck, and the lifeguard chair with its blue seat stands further ahead beside the wall, partly screened by the lane line reels on my right. The deck strip between the pool edge and the reels is clear, so I step forward again to close that distance.", + "The blue lifeguard seat has grown larger ahead of me, so my heading down the deck is still correct while carrying the bag. Nothing blocks the walkway between the pool edge on my left and the stacked float reels on my right, so I continue forward.", + "The lifeguard chair now shows its full ladder and blue seat just past the row of float reels, but I am still several paces short of its base. Carrying the bag, I keep walking straight so I can reach the ground beside the chair.", + "The lifeguard chair stands close ahead with its legs planted on the deck just left of the last reel, and the bag is still in my hands. A little more distance remains before I am level with its base, so I step forward once more.", + "The chair's metal frame now fills the right side of my view, so I am nearly alongside it with the bag still held. One more step should put me level with its legs on open deck, where releasing the bag would leave it right at the chair.", + "I am standing right against the lifeguard chair, its ladder and legs directly beside me on the deck, and the trash bag is still in my hands. This spot satisfies the requirement to leave the bag near the chair, so I release it here.", + "The trash bag now rests on the deck at the foot of the lifeguard chair and my hands are empty. The task condition is met, so I stop here." + ] +} diff --git a/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t5_b_pd/infos.json b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ddbd2dcfb2301e470242b3d2b69e036f8353cbde --- /dev/null +++ b/dataset/trajectory/SwimmingPool/task_x001063_y000739_z000108_t5_b_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Lift the ceramic pot near the red-and-white life ring on the wall, then drop it near the pool ladder.", + "Type": 5, + "Start_Pose": [ + 1062.775, + 739.053, + 108.332, + 0, + -44.16, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 1656.24, + 583.695, + 25.332, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "MoveForward", + "LookDown", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1062.775, + 739.053, + 108.332, + 0, + -44.16, + 0 + ], + [ + 1060.791, + 739.053, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1179.678, + 697.745, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1298.565, + 656.437, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1417.453, + 615.129, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1417.453, + 615.129, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -19.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -44.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -69.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -94.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -119.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -144.16, + 0.0 + ], + [ + 1536.34, + 573.822, + 108.332, + 0.0, + -169.16, + 0.0 + ], + [ + 1607.055, + 587.363, + 108.332, + 0.0, + -169.16, + 0.0 + ], + [ + 1607.055, + 587.363, + 108.332, + 0.0, + -169.16, + 0.0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1656.24, + 583.695, + 25.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1656.24, + 583.695, + 25.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1656.24, + 583.695, + 25.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1656.24, + 583.695, + 25.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1656.24, + 583.695, + 25.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1656.24, + 583.695, + 25.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1656.24, + 583.695, + 25.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1656.24, + 583.695, + 25.332, + 0.0, + 0.0, + 0.0 + ], + [ + 1542.772, + 594.193, + 78.234, + -28.202, + 30.985, + 1.862 + ], + [ + 1550.111, + 588.887, + 78.507, + -28.189, + 5.997, + 1.872 + ], + [ + 1555.249, + 580.852, + 77.84, + -28.215, + -19.032, + 1.849 + ], + [ + 1562.846, + 566.453, + 78.021, + -14.175, + -51.967, + 6.959 + ], + [ + 1554.861, + 563.939, + 77.91, + -28.208, + -69.017, + 1.851 + ], + [ + 1548.243, + 557.9, + 78.578, + -28.198, + -94.013, + 1.867 + ], + [ + 1536.082, + 546.311, + 78.021, + -14.175, + -126.967, + 6.959 + ], + [ + 1538.304, + 574.198, + 88.332, + 0.0, + -169.16, + 0.0 + ], + [ + 1538.304, + 574.198, + 88.332, + 0.0, + -169.16, + 0.0 + ] + ], + "PD_Dist_2D": [ + 615.4, + 615.4, + 490.0, + 365.0, + 240.8, + 240.8, + 120.3, + 120.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 27.5, + 70.0, + 70.0 + ], + "Rationale": [ + "From here the poolside wall with the red-and-white life ring lies off to my right, and the small dark ceramic pot sits on the deck below it, well off my current heading. I will turn right so that pot and wall move toward the center of my view before I start walking. That should give me a straight approach lane along the deck.", + "The life ring and the ceramic pot beneath it are now roughly ahead of me, with clear open tiled deck between us. The pot is still far away and much too small in view to reach. I will walk forward along the deck to close that distance.", + "The pot and the life ring have grown noticeably larger, confirming my heading is taking me toward them. There is still a long stretch of empty deck ahead and the pot remains far beyond arm's reach. I will keep walking forward.", + "The ceramic pot now sits clearly on the deck strip directly under the life ring, and the wall tiles fill more of my view. It is closer but still several paces off, too distant for a grasp. Another step forward should bring me near enough to work with it.", + "The ceramic pot stands plainly in front of me on the deck, low and to the right of center, with the life ring on the wall just above it. My hands are empty and the pot looks close enough that a grasp may register. I will attempt to pick it up now.", + "My hands are empty, so the grasp attempt did not take the pot. I was clearly too far from it for the reach to connect. I will step forward to close that gap before trying again.", + "I am now right up against the tiled wall under the red and white life ring, but my view only shows the wall and the ring, with the pot fallen below my line of sight. I need the pot framed before I can reach for it. I will look down to bring it back into view.", + "With my gaze lowered, the ceramic pot sits plainly in front of me on the poolside tiles, just under the life ring on the wall. It is well inside reaching range now, unlike my earlier attempt from farther back. I will try to grasp and lift it.", + "The grasp worked and the ceramic pot is now held in my hands. Facing the wall does me no good, since the pool ladder I must carry it to lies back along the poolside. I will turn left to begin swinging my heading away from the wall.", + "Still carrying the pot, my view has come off the floor but shows mainly the tiled wall, the life ring and the lane reel, with the water only at the far left edge. The ladder area is further round in that direction. I will keep turning left to bring the poolside into view.", + "The pot is in my hands, so I now need the drop point beside the pool ladder. From here I only see the lane ropes, the float reel and the tiled deck, with no ladder yet in view. I will keep rotating left to sweep the poolside where a ladder should appear.", + "My heading has opened onto the long swimming pool, but no ladder is yet visible along the near deck edge. Still carrying the pot, I will turn left again to bring more of the near poolside into view.", + "A metal handrail of a pool ladder is now edging into the lower left of my view, which is the drop location I want. It sits too far to the side for a clean release from this heading. I will turn left again to bring it toward the center of my view.", + "The ladder rails are now near the bottom of my view along the pool edge, still slightly left of where I want them. One more left rotation should place the ladder squarely ahead of me. I keep the pot held while adjusting my heading.", + "The pool ladder's curved rails are directly in front of me at the deck edge, well within releasing distance. I am still holding the ceramic pot, so this is the position the task asks for. I will release it here so it comes to rest near the ladder.", + "The ceramic pot now rests on the deck right beside the pool ladder rails, and my hands are empty. The task condition is met, so I stop here." + ] +}