diff --git a/benchmark/task/Medieval_Daytime/task_x-000024_y-000481_z000240_t1_a.json b/benchmark/task/Medieval_Daytime/task_x-000024_y-000481_z000240_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..598233a01478c6379bd347ddcc73aba83d6e3a69 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000024_y-000481_z000240_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for a cloth sack resting beside a crate in this village area, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -23.504, + -481.048, + 240.17, + 0.0, + -40.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_a.json b/benchmark/task/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6f2a16d341d5a65846e9d5ed6c11a8d87b6394d4 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden door of the ivy-covered house.", + "Type": 0, + "Start_Pose": [ + -37.45, + -26.75, + 229.788, + 0, + -12.96, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_b.json b/benchmark/task/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..3b5583bb915c6bc7a84c4cec902d1fdb610d84fc --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000037_y-000027_z000230_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden barrel beside the fence.", + "Type": 0, + "Start_Pose": [ + -37.45, + -26.75, + 229.788, + 0, + -12.96, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000038_y-000459_z000239_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000038_y-000459_z000239_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..137955593614b22471f8f61bca9e9f5989ddef8c --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000038_y-000459_z000239_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The wooden door on the stone building to the right is nestled among the ivy. Make your way there and pull it open.", + "Type": 4, + "Start_Pose": [ + -37.559, + -458.633, + 238.992, + 0, + -140.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000174_y000403_z000231_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000174_y000403_z000231_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..11ecbcb031618c850dff6c47a29eb3b7b93400da --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000174_y000403_z000231_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the wooden door on the stone building and pull it open.", + "Type": 4, + "Start_Pose": [ + -174.159, + 403.245, + 231.226, + 0, + 119.007, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000218_y000047_z000244_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000218_y000047_z000244_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..50cf78531d6e8c28320d779bcc34f742c474c5bb --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000218_y000047_z000244_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The dark wooden door set into the stone wall ahead is your target. Make your way to it and pull it open.", + "Type": 4, + "Start_Pose": [ + -217.924, + 47.191, + 243.888, + 0.0, + -80.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000267_y000693_z000224_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000267_y000693_z000224_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c09403ea182250696392b55a9f67591145338282 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000267_y000693_z000224_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the weathered wooden door set into the stone wall and pull it open.", + "Type": 4, + "Start_Pose": [ + -267.248, + 693.278, + 223.579, + 0.0, + 99.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000268_y-001079_z000225_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000268_y-001079_z000225_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9a992338b8c66f2e115fbe3e4ebb06532379b308 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000268_y-001079_z000225_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door set into the stone wall covered in ivy and open it.", + "Type": 4, + "Start_Pose": [ + -268.121, + -1079.268, + 224.887, + 0.0, + -100.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000345_y001442_z000247_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000345_y001442_z000247_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e93f52ff7bddaee8b08261efd052d75aa5710457 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000345_y001442_z000247_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the wooden door set into the stone wall beneath the small window, and pull it open after reaching it.", + "Type": 4, + "Start_Pose": [ + -345.492, + 1442.205, + 246.717, + 0.0, + -60.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000376_y000213_z000425_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000376_y000213_z000425_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8df6893e2757b0750095bcdfac585dca75a18452 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000376_y000213_z000425_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk toward the door beneath the staircase and open it when you arrive.", + "Type": 4, + "Start_Pose": [ + -375.815, + 213.415, + 425.031, + 0.0, + -60.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000458_y-000546_z000225_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000458_y-000546_z000225_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a90d35efaaac333ed28cc92fd12a038cf18e39f8 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000458_y-000546_z000225_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the small wooden door on the ivy-covered building to the left and pull it open.", + "Type": 4, + "Start_Pose": [ + -458.252, + -545.673, + 224.888, + 0, + -40.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_b.json b/benchmark/task/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..99cc2442d2e9a9a8c7dfdbc3d878760a812fa695 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the small wooden chair tucked beneath the stairway against the stone wall, then make your way over to it.", + "Type": 1, + "Start_Pose": [ + -521.064, + -1052.51, + 215.203, + 0, + -120.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_c.json b/benchmark/task/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..508bb7091c95b1ec41ed7e817a147d1cafcad143 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000521_y-001053_z000215_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the wooden barrel sitting under the stairs near the stone backdrop; after spotting it, head toward it.", + "Type": 1, + "Start_Pose": [ + -521.064, + -1052.51, + 215.203, + 0, + -120.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000576_y000258_z000212_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000576_y000258_z000212_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e7cad86bd7b3a7392284e80fd6c4de3a8fa113 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000576_y000258_z000212_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the wooden door on the stone building ahead; once there, open it.", + "Type": 4, + "Start_Pose": [ + -575.924, + 258.165, + 212.276, + 0.0, + 59.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000608_y-000172_z000244_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000608_y-000172_z000244_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b9643cd0b16ee654b2ffee469e963db706066ccd --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000608_y-000172_z000244_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The dark wooden door set into the stone wall beneath the chandelier is your target. Head over and pull it open.", + "Type": 4, + "Start_Pose": [ + -608.107, + -171.531, + 243.828, + 0.0, + 19.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-000738_y-001536_z000215_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-000738_y-001536_z000215_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3ee1ef4f3f08b5e978fb1aa9b16f4ca95bf87163 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-000738_y-001536_z000215_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the wooden door set into the stone wall between the two windows and pull it open.", + "Type": 4, + "Start_Pose": [ + -737.704, + -1536.465, + 215.158, + 0.0, + 39.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-001141_y-000392_z000280_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-001141_y-000392_z000280_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..73eed48f9eecea9d6fa448c4ae2ff74181c9d6a9 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-001141_y-000392_z000280_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The wooden door with the glass pane set against the stone wall is your target. Head toward it and pull it open.", + "Type": 4, + "Start_Pose": [ + -1141.121, + -392.206, + 279.725, + 0.0, + 139.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-001164_y-001036_z000469_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-001164_y-001036_z000469_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..67d543c13bce54eea25110e1d4838f653b8c8e1d --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-001164_y-001036_z000469_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The small wooden door tucked beneath the staircase awaits. Head down to it and pull it open.", + "Type": 4, + "Start_Pose": [ + -1164.476, + -1035.525, + 469.186, + 0.0, + -160.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-001217_y-001460_z000273_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-001217_y-001460_z000273_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4e2b48f253a98115675bfcc859b4a0afd37b192a --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-001217_y-001460_z000273_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The wooden door set into the stone wall ahead is your target. Make your way to it and pull it open.", + "Type": 4, + "Start_Pose": [ + -1216.717, + -1459.728, + 272.597, + 0.0, + 119.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-001280_y-001239_z000272_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-001280_y-001239_z000272_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d25779e0c5b03b0b560a95056a1c5f5cebde73e1 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-001280_y-001239_z000272_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The wooden door set into the stone wall ahead is your target. Make your way to it and pull it open.", + "Type": 4, + "Start_Pose": [ + -1280.44, + -1239.31, + 271.779, + 0.0, + 159.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-002166_y-000078_z000275_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-002166_y-000078_z000275_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce48ea28c1ce99e0784809b8cc8d1e360d8231b --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-002166_y-000078_z000275_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door set into the stone wall of the building and pull it open.", + "Type": 4, + "Start_Pose": [ + -2166.019, + -78.032, + 274.758, + 0.0, + -20.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-002203_y-001946_z000276_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-002203_y-001946_z000276_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b0ad6b44f31ba7de3e5bced2c272b80c851269d1 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-002203_y-001946_z000276_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way to the dark doorway on the timber-framed building near the hanging banner and pull it open.", + "Type": 4, + "Start_Pose": [ + -2203.004, + -1946.113, + 276.23, + 0, + 19.007, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-002615_y-001086_z000275_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-002615_y-001086_z000275_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4ae2d1141a4ff78a41d738b273cfd1765ced6eb6 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-002615_y-001086_z000275_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Make your way through the tall grass to the dark wooden door on the ground floor of the timber-framed building and pull it open.", + "Type": 4, + "Start_Pose": [ + -2615.417, + -1085.634, + 274.953, + 0, + -20.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_a.json b/benchmark/task/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..159a4f3c4da7912ecaf6c541add059a949f993a7 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the dark wooden door on the left side of the stone building; once there, pull it open.", + "Type": 4, + "Start_Pose": [ + -2616.959, + -764.497, + 261.167, + 0.0, + -0.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_b.json b/benchmark/task/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_b.json new file mode 100644 index 0000000000000000000000000000000000000000..582a412b7334afd31cb296140096758c4ba2c57a --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x-002617_y-000764_z000261_t4_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Reach the wooden door on the right beneath the timber-framed facade, then open it.", + "Type": 4, + "Start_Pose": [ + -2616.959, + -764.497, + 261.167, + 0.0, + -0.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000014_y-000597_z000229_t0_a.json b/benchmark/task/Medieval_Daytime/task_x000014_y-000597_z000229_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..05e0e9211355d0a0e5b481efc21aeafefed671bc --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000014_y-000597_z000229_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden barrel near the bench.", + "Type": 0, + "Start_Pose": [ + 14.449, + -597.057, + 228.979, + 0, + 74.047, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000014_y-000597_z000229_t0_b.json b/benchmark/task/Medieval_Daytime/task_x000014_y-000597_z000229_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ee2192fcf92a9b8b0814080d1a35e64f14ce98f5 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000014_y-000597_z000229_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door of the pointed-roof building.", + "Type": 0, + "Start_Pose": [ + 14.449, + -597.057, + 228.979, + 0, + 74.047, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000014_y-000597_z000229_t0_c.json b/benchmark/task/Medieval_Daytime/task_x000014_y-000597_z000229_t0_c.json new file mode 100644 index 0000000000000000000000000000000000000000..c086061e188cf5663cf92736eb40a0251eee720c --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000014_y-000597_z000229_t0_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the wooden crates near the timber pavilion.", + "Type": 0, + "Start_Pose": [ + 14.449, + -597.057, + 228.979, + 0, + 74.047, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000065_y000051_z000225_t1_a.json b/benchmark/task/Medieval_Daytime/task_x000065_y000051_z000225_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e475a158cc278ca29bf3aa3fdaab03d307d1e542 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000065_y000051_z000225_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the single wooden wheel resting on the cobblestone ground near the barrels; after locating it, head over to it.", + "Type": 1, + "Start_Pose": [ + 65.208, + 50.956, + 224.888, + 0, + -100.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000065_y000051_z000225_t1_b.json b/benchmark/task/Medieval_Daytime/task_x000065_y000051_z000225_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..bba54562469f57991949a47ec935881d3262e898 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000065_y000051_z000225_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Identify the round well covered by a small wooden roof, then proceed to it.", + "Type": 1, + "Start_Pose": [ + 65.208, + 50.956, + 224.888, + 0, + -100.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000066_y-000125_z000225_t4_a.json b/benchmark/task/Medieval_Daytime/task_x000066_y-000125_z000225_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..1c103aa65783d8e37ee21a35b7caa248f0c34093 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000066_y-000125_z000225_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the wooden plank door with the mail slot set in the stone wall; once there, pull it open.", + "Type": 4, + "Start_Pose": [ + 66.379, + -124.961, + 224.888, + 0.0, + 179.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000077_y000001_z000225_t3_a.json b/benchmark/task/Medieval_Daytime/task_x000077_y000001_z000225_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ddecd6f9b70b8711a7ecb8d6dc392650669a62f0 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000077_y000001_z000225_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the wooden barrel cluster, then head toward the burlap sack.", + "Type": 3, + "Start_Pose": [ + 76.703, + 0.616, + 224.888, + 0, + -20.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000077_y000001_z000225_t3_b.json b/benchmark/task/Medieval_Daytime/task_x000077_y000001_z000225_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..b1ad1d30684648f811eddbb19a50c7cdc9319434 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000077_y000001_z000225_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the cart wheel, then move to the ground-floor doorway with steps.", + "Type": 3, + "Start_Pose": [ + 76.703, + 0.616, + 224.888, + 0, + -20.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000077_y000001_z000225_t3_c.json b/benchmark/task/Medieval_Daytime/task_x000077_y000001_z000225_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..a73aa3140b4a43930583bfd2143d496bd5a2993f --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000077_y000001_z000225_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the burlap sack, then navigate to the wooden barrel.", + "Type": 3, + "Start_Pose": [ + 76.703, + 0.616, + 224.888, + 0, + -20.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000120_y-000022_z000225_t2_a.json b/benchmark/task/Medieval_Daytime/task_x000120_y-000022_z000225_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ea62f8003b21ff7227b1d3b82cd492b91981de7a --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000120_y-000022_z000225_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the leftmost ground-floor door on the far building.", + "Type": 2, + "Start_Pose": [ + 119.612, + -21.617, + 224.735, + 0, + 26.047, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000120_y-000022_z000225_t2_b.json b/benchmark/task/Medieval_Daytime/task_x000120_y-000022_z000225_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ed2dc3ab5efdcbeab84e535ff7a6710a1429c417 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000120_y-000022_z000225_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the door on the far-right wall.", + "Type": 2, + "Start_Pose": [ + 119.612, + -21.617, + 224.735, + 0, + 26.047, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000141_y000260_z000225_t4_a.json b/benchmark/task/Medieval_Daytime/task_x000141_y000260_z000225_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1bbffc88ab6ccb8adaf18c6ae8e889f8a35111 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000141_y000260_z000225_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door set into the stone building beneath the timber awning, and pull it open when you arrive.", + "Type": 4, + "Start_Pose": [ + 141.274, + 259.927, + 224.888, + 0, + 59.007, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000190_y-000236_z000225_t0_a.json b/benchmark/task/Medieval_Daytime/task_x000190_y-000236_z000225_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6c7b857940e68250655a2889fe644a671a06564d --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000190_y-000236_z000225_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the stone well under the wooden canopy.", + "Type": 0, + "Start_Pose": [ + 189.848, + -235.992, + 224.888, + 0, + 27.04, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000190_y-000236_z000225_t0_b.json b/benchmark/task/Medieval_Daytime/task_x000190_y-000236_z000225_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..1e1878a0e98d6c92c609543e768f0267c559cfc3 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000190_y-000236_z000225_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the burlap sack near the house entrance.", + "Type": 0, + "Start_Pose": [ + 189.848, + -235.992, + 224.888, + 0, + 27.04, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000293_y-001555_z000213_t4_a.json b/benchmark/task/Medieval_Daytime/task_x000293_y-001555_z000213_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..986a008850e1e5cd21e431db4a5d9cfd15ba18c8 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000293_y-001555_z000213_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head down the wooden corridor to the door at the far end and pull it open.", + "Type": 4, + "Start_Pose": [ + 292.837, + -1554.711, + 213.352, + 0.0, + 139.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000347_y-000174_z000225_t4_a.json b/benchmark/task/Medieval_Daytime/task_x000347_y-000174_z000225_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f3cc7653b206a87d568f975900f97cc9d4683f8d --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000347_y-000174_z000225_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door on the left side, set into the ivy-covered stone wall, and pull it open.", + "Type": 4, + "Start_Pose": [ + 346.966, + -173.518, + 224.888, + 0, + -160.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000347_y-000174_z000225_t4_b.json b/benchmark/task/Medieval_Daytime/task_x000347_y-000174_z000225_t4_b.json new file mode 100644 index 0000000000000000000000000000000000000000..29bb0a22bbcf450cb6cc88ab521848c68e17be03 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000347_y-000174_z000225_t4_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Reach the small wooden door on the right near the timber-framed structure and open it.", + "Type": 4, + "Start_Pose": [ + 346.966, + -173.518, + 224.888, + 0, + -160.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000441_y-001507_z000402_t4_a.json b/benchmark/task/Medieval_Daytime/task_x000441_y-001507_z000402_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b3d5df769a59e17b9f30a9685a503d7e9bbc4b54 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000441_y-001507_z000402_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head downstairs to the wooden door and open it after reaching the lower level.", + "Type": 4, + "Start_Pose": [ + 440.547, + -1506.896, + 401.887, + 0.0, + 139.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000454_y000217_z000225_t1_a.json b/benchmark/task/Medieval_Daytime/task_x000454_y000217_z000225_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..d72252290d51ec3da573986ecb1720d5d33f32d0 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000454_y000217_z000225_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the four-wheeled wooden cart in this area, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 453.654, + 217.424, + 224.888, + 0, + 39.007, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000454_y000217_z000225_t1_b.json b/benchmark/task/Medieval_Daytime/task_x000454_y000217_z000225_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..f6311f5b45b5536777e5e38a950fba8c976ed9c2 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000454_y000217_z000225_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Once you locate a wooden barrel whose lid has been removed and placed beside it, approach that barrel.", + "Type": 1, + "Start_Pose": [ + 453.654, + 217.424, + 224.888, + 0, + 39.007, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000495_y-000053_z000225_t4_a.json b/benchmark/task/Medieval_Daytime/task_x000495_y-000053_z000225_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a99e2827155174217359e6d7cb465aa09a53b9ba --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000495_y-000053_z000225_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head up the wooden steps and open the large wooden door at the top of the staircase.", + "Type": 4, + "Start_Pose": [ + 495.351, + -52.873, + 224.888, + 0, + -40.993, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x000705_y-000347_z000225_t4_a.json b/benchmark/task/Medieval_Daytime/task_x000705_y-000347_z000225_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..3e589d1f0ed725c666ea9b0922bfa9884ea1068d --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x000705_y-000347_z000225_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the wooden door set into the ivy-covered stone wall; once there, open it.", + "Type": 4, + "Start_Pose": [ + 704.726, + -346.788, + 224.888, + 0, + 179.007, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001028_y-000890_z000295_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001028_y-000890_z000295_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..6406427e72757c142f1c1795802928bb9f4b3cf0 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001028_y-000890_z000295_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door with the decorative metal grille and pull it open.", + "Type": 4, + "Start_Pose": [ + 1028.057, + -889.911, + 295.144, + 0.0, + 59.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001062_y000510_z000244_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001062_y000510_z000244_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8053bb665ab6d19bf6aca466fd49528257379bdc --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001062_y000510_z000244_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "The small wooden door tucked beneath the timber arches and ivy is your target. Make your way there and pull it open.", + "Type": 4, + "Start_Pose": [ + 1062.145, + 510.309, + 243.504, + 0, + 119.007, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001191_y-001012_z000681_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001191_y-001012_z000681_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..e9e76f141d273681f75b41ef5e1d40035f1a7e02 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001191_y-001012_z000681_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the partially visible door on the right edge of the scene, then open it.", + "Type": 4, + "Start_Pose": [ + 1190.77, + -1011.885, + 680.531, + 0.0, + 39.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001339_y-000191_z000680_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001339_y-000191_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8262657a156d132cee5d3855d6780d3a775a3888 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001339_y-000191_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the wooden door with the small window straight ahead beside the row of barrels and pull it open.", + "Type": 4, + "Start_Pose": [ + 1339.412, + -191.18, + 679.808, + 0.0, + 99.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001361_y000116_z000680_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001361_y000116_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4ad75f4f846beb9a252f1726191f11518402cec7 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001361_y000116_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the wooden door with the barred window and pull it open.", + "Type": 4, + "Start_Pose": [ + 1360.878, + 116.07, + 679.808, + 0.0, + -100.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001397_y-001209_z000680_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001397_y-001209_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..5618ff52d60d8a289256a49dacccd91988e5ec66 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001397_y-001209_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the door with the windowed panel at the end of the hallway and pull it open.", + "Type": 4, + "Start_Pose": [ + 1397.264, + -1209.225, + 679.808, + 0.0, + 79.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001405_y000705_z000680_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001405_y000705_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0ba6fee8ee2ef8cb8188812e249b97f204e8f2a4 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001405_y000705_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the rustic wooden door with the small window pane above it and pull it open.", + "Type": 4, + "Start_Pose": [ + 1405.255, + 704.892, + 679.808, + 0.0, + -120.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001423_y-000517_z000295_t1_a.json b/benchmark/task/Medieval_Daytime/task_x001423_y-000517_z000295_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..74fc194e15ccc2b30f83c886f9f818b7a9d12c57 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001423_y-000517_z000295_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the bottom landing of the wooden staircase where the steps meet the stone floor; navigate to that spot.", + "Type": 1, + "Start_Pose": [ + 1422.848, + -517.312, + 295.144, + 0.0, + 139.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001423_y-000517_z000295_t1_b.json b/benchmark/task/Medieval_Daytime/task_x001423_y-000517_z000295_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ded8269fe22c542334fe2b446f4c8da90cf1a4f9 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001423_y-000517_z000295_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the burlap sacks resting on the ground beside the staircase, then move toward them.", + "Type": 1, + "Start_Pose": [ + 1422.848, + -517.312, + 295.144, + 0.0, + 139.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001423_y-000517_z000295_t1_c.json b/benchmark/task/Medieval_Daytime/task_x001423_y-000517_z000295_t1_c.json new file mode 100644 index 0000000000000000000000000000000000000000..278e266502d0bbc9d0607f7ae133780bce05f6fb --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001423_y-000517_z000295_t1_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Find the large arched stone fireplace built into the wall beside the dining table, then go to it.", + "Type": 1, + "Start_Pose": [ + 1422.848, + -517.312, + 295.144, + 0.0, + 139.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001876_y000046_z000295_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001876_y000046_z000295_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..eba3536b497a3ee8c7a91dc79b486602b9287e74 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001876_y000046_z000295_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head to the wooden door with the cross-brace pattern to the left of the dining tables and pull it open.", + "Type": 4, + "Start_Pose": [ + 1876.188, + 46.377, + 295.144, + 0.0, + -120.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001913_y-000003_z000680_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001913_y-000003_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..c0f8da520f2dfe784a0cc9646119ccfc2c74e367 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001913_y-000003_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door with the barred window, and pull it open when you arrive.", + "Type": 4, + "Start_Pose": [ + 1913.012, + -3.397, + 679.505, + 0.0, + 59.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x001993_y000705_z000680_t4_a.json b/benchmark/task/Medieval_Daytime/task_x001993_y000705_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..b0566aefb822f6b44e4dab25abb95cbfd98215c6 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x001993_y000705_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door near the hanging banner and open it to exit the room.", + "Type": 4, + "Start_Pose": [ + 1993.235, + 704.733, + 679.808, + 0.0, + -80.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x002001_y000705_z000680_t4_a.json b/benchmark/task/Medieval_Daytime/task_x002001_y000705_z000680_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0c97357c01093f396bf7d529523def0a6f943fd7 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x002001_y000705_z000680_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Find the exit to the room, head over to the door, and open it.", + "Type": 4, + "Start_Pose": [ + 2000.839, + 704.892, + 679.808, + 0.0, + -160.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x002175_y-000554_z000295_t4_a.json b/benchmark/task/Medieval_Daytime/task_x002175_y-000554_z000295_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ad302edf1795e26e5c4998784034908d71a50f8a --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x002175_y-000554_z000295_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk toward the wooden door straight ahead across the dining hall, and after reaching it, pull it open.", + "Type": 4, + "Start_Pose": [ + 2175.353, + -554.487, + 294.981, + 0.0, + 179.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x002220_y-000238_z000502_t4_a.json b/benchmark/task/Medieval_Daytime/task_x002220_y-000238_z000502_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..bd5f8cbbcac819e7baf727126473b8dae9661094 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x002220_y-000238_z000502_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the wooden door straight ahead beyond the dining table and pull it open.", + "Type": 4, + "Start_Pose": [ + 2220.468, + -237.534, + 501.897, + 0, + 179.007, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x002302_y-000521_z000295_t4_a.json b/benchmark/task/Medieval_Daytime/task_x002302_y-000521_z000295_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..624428bc5fc5d7394823899a5636cc54d42a9462 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x002302_y-000521_z000295_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door set into the stone wall near the shelves and pottery, then pull it open.", + "Type": 4, + "Start_Pose": [ + 2302.246, + -521.073, + 295.144, + 0.0, + -40.993, + 0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x002451_y-001048_z000228_t4_a.json b/benchmark/task/Medieval_Daytime/task_x002451_y-001048_z000228_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ce52c9685ae66125c2a2ec82a35cede95dcab325 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x002451_y-001048_z000228_t4_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Walk over to the wooden door set against the stone wall on the left and pull it open.", + "Type": 4, + "Start_Pose": [ + 2450.754, + -1048.377, + 228.275, + 0, + 39.007, + 0 + ], + "Exposure": 0.0 +} diff --git a/benchmark/task/Medieval_Daytime/task_x003108_y-001013_z000228_t4_a.json b/benchmark/task/Medieval_Daytime/task_x003108_y-001013_z000228_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff412480f617794c8e2c4b8994e4ffe428ba38d --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x003108_y-001013_z000228_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk over to the wooden plank door beside the barrel and pull it open.", + "Type": 4, + "Start_Pose": [ + 3108.328, + -1013.482, + 228.275, + 0.0, + 19.007, + -0.0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x003128_y-000663_z000228_t1_a.json b/benchmark/task/Medieval_Daytime/task_x003128_y-000663_z000228_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..a0eb02d03a88f5101d48c2ce69d2a157ee5bcfea --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x003128_y-000663_z000228_t1_a.json @@ -0,0 +1,13 @@ +{ + "Instruction": "Discover the round backless stool among the wooden furniture and reach it.", + "Type": 1, + "Start_Pose": [ + 3128.058, + -662.991, + 228.275, + 0, + 139.007, + 0 + ], + "Exposure": 0.0 +} diff --git a/benchmark/task/Medieval_Daytime/task_x003925_y-001551_z000232_t4_a.json b/benchmark/task/Medieval_Daytime/task_x003925_y-001551_z000232_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..0a82dce50b56bff9b443286ed435c4a02c3a90f7 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x003925_y-001551_z000232_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the wooden door on the stone cottage and open it.", + "Type": 4, + "Start_Pose": [ + 3924.722, + -1551.348, + 232.307, + 0, + 119.007, + 0 + ] +} diff --git a/benchmark/task/Medieval_Daytime/task_x004059_y-000440_z000238_t4_a.json b/benchmark/task/Medieval_Daytime/task_x004059_y-000440_z000238_t4_a.json new file mode 100644 index 0000000000000000000000000000000000000000..f4ea5e13a5c402f1904243db62429b659ef55ea0 --- /dev/null +++ b/benchmark/task/Medieval_Daytime/task_x004059_y-000440_z000238_t4_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the wooden door on the stone building; once there, open it.", + "Type": 4, + "Start_Pose": [ + 4059.031, + -440.122, + 238.072, + 0, + -120.993, + 0 + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_a/infos.json b/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fa06d5b93c9418eccaf63b9c247da084bcb57a50 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_a/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Walk to the vending cart under the leftmost yellow-blue umbrella.", + "Type": 2, + "Start_Pose": [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + 0 + ], + [ + -500.836, + -621.094, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -580.928, + -524.007, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -661.02, + -426.921, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -741.111, + -329.834, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -821.203, + -232.748, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -901.295, + -135.661, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -981.387, + -38.575, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -1061.478, + 58.512, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -1126.572, + 138.109, + 100.798, + -0.006, + 129.521, + 0.0 + ], + [ + -1126.572, + 138.109, + 100.798, + -0.006, + 129.521, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_b/infos.json b/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..721c8187b728b6cc1d92d423eca20b674bb2330c --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_b/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Head toward the nearest blue table near the left storefront.", + "Type": 2, + "Start_Pose": [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + 0 + ], + [ + -500.836, + -621.094, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -580.928, + -524.007, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -661.02, + -426.921, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -741.111, + -329.834, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -821.203, + -232.748, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -821.203, + -232.748, + 100.836, + -0.006, + 104.521, + -0.0 + ], + [ + -852.76, + -110.909, + 100.836, + -0.006, + 104.521, + -0.0 + ], + [ + -884.317, + 10.929, + 100.836, + -0.006, + 104.521, + -0.0 + ], + [ + -915.875, + 132.768, + 100.836, + -0.006, + 104.521, + -0.0 + ], + [ + -915.875, + 132.768, + 100.836, + -0.006, + 129.521, + -0.0 + ], + [ + -995.966, + 229.854, + 100.836, + -0.006, + 129.521, + -0.0 + ], + [ + -1076.058, + 326.941, + 100.836, + -0.006, + 129.521, + -0.0 + ], + [ + -1076.058, + 326.941, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1177.072, + 373.599, + 100.798, + -0.006, + 154.521, + -0.0 + ], + [ + -1177.072, + 373.599, + 100.798, + -0.006, + 154.521, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_c/infos.json b/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d702d88b0741ce18903b3527bc7673a142d3751a --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_c/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Approach the second vending cart with the blue-and-yellow striped umbrella from the left.", + "Type": 2, + "Start_Pose": [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + 0 + ], + [ + -614.454, + -566.952, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -728.073, + -512.81, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -841.691, + -458.668, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -955.309, + -404.526, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1068.928, + -350.384, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1182.546, + -296.242, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1296.164, + -242.1, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1409.783, + -187.957, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1409.783, + -187.957, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -1489.874, + -90.871, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -1569.966, + 6.216, + 100.836, + -0.006, + 129.521, + 0.0 + ], + [ + -1642.483, + 97.506, + 100.798, + -0.006, + 129.521, + 0.0 + ], + [ + -1657.777, + 170.941, + 100.798, + -0.006, + 129.521, + 0.0 + ], + [ + -1657.777, + 170.941, + 100.798, + -0.006, + 154.521, + -0.0 + ], + [ + -1657.777, + 170.941, + 100.798, + -0.006, + 179.521, + 0.0 + ], + [ + -1688.314, + 211.454, + 100.798, + -0.006, + 179.521, + 0.0 + ], + [ + -1688.314, + 211.454, + 100.798, + -0.006, + 179.521, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_d/infos.json b/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c1dfbdc598383534fd397c954a8f8dbf9a3d8a99 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-000501_y-000621_z000101_t2_d/infos.json @@ -0,0 +1,213 @@ +{ + "Instruction": "Move to the base of the leftmost large tree.", + "Type": 2, + "Start_Pose": [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -500.836, + -621.094, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -614.454, + -566.952, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -728.073, + -512.81, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -841.691, + -458.668, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -955.309, + -404.526, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1068.928, + -350.384, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1182.546, + -296.242, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1296.164, + -242.1, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1409.783, + -187.957, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1523.401, + -133.815, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1637.019, + -79.673, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1750.638, + -25.531, + 100.836, + -0.006, + 154.521, + -0.0 + ], + [ + -1864.256, + 28.611, + 101.456, + -0.006, + 154.521, + -0.0 + ], + [ + -1977.874, + 82.753, + 101.456, + -0.006, + 154.521, + -0.0 + ], + [ + -2091.493, + 136.895, + 101.456, + -0.006, + 154.521, + -0.0 + ], + [ + -2205.111, + 191.037, + 101.798, + -0.006, + 154.521, + -0.0 + ], + [ + -2318.729, + 245.179, + 101.798, + -0.006, + 154.521, + -0.0 + ], + [ + -2318.729, + 245.179, + 101.798, + -0.006, + 129.521, + 0.0 + ], + [ + -2363.551, + 338.879, + 114.0, + -0.006, + 129.521, + 0.0 + ], + [ + -2363.551, + 429.193, + 114.0, + -0.006, + 129.521, + 0.0 + ], + [ + -2363.551, + 429.193, + 114.0, + -0.006, + 154.521, + -0.0 + ], + [ + -2363.551, + 429.193, + 114.0, + -0.006, + 154.521, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-001345_y-000417_z000101_t1_a/infos.json b/benchmark/trajectory/Downtownwest/task_x-001345_y-000417_z000101_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf8a4989172dbc96e5cd1ffda9eec6c3f4d10c0a --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-001345_y-000417_z000101_t1_a/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Locate the pure yellow umbrella situated in the plaza area, then approach it.", + "Type": 1, + "Start_Pose": [ + -1344.856, + -417.188, + 100.978, + -0.006, + 36.921, + 0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1344.856, + -417.188, + 100.978, + -0.006, + 36.921, + 0 + ], + [ + -1344.856, + -417.188, + 100.978, + -0.006, + 61.921, + 0.0 + ], + [ + -1344.856, + -417.188, + 100.978, + -0.006, + 86.921, + 0.0 + ], + [ + -1338.096, + -291.511, + 100.978, + -0.006, + 86.921, + 0.0 + ], + [ + -1331.335, + -165.833, + 100.978, + -0.006, + 86.921, + 0.0 + ], + [ + -1324.575, + -40.156, + 100.978, + -0.006, + 86.921, + 0.0 + ], + [ + -1324.575, + -40.156, + 100.978, + -0.006, + 111.921, + 0.0 + ], + [ + -1371.562, + 76.603, + 100.978, + -0.006, + 111.921, + 0.0 + ], + [ + -1418.549, + 193.363, + 100.978, + -0.006, + 111.921, + 0.0 + ], + [ + -1465.535, + 310.122, + 100.978, + -0.006, + 111.921, + 0.0 + ], + [ + -1465.535, + 310.122, + 100.978, + -0.006, + 86.921, + 0.0 + ], + [ + -1458.775, + 435.799, + 100.978, + -0.006, + 86.921, + 0.0 + ], + [ + -1449.426, + 530.876, + 100.791, + -0.006, + 86.921, + 0.0 + ], + [ + -1449.426, + 530.876, + 100.791, + -0.006, + 86.921, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-001416_y000403_z000101_t1_a/infos.json b/benchmark/trajectory/Downtownwest/task_x-001416_y000403_z000101_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0f59f2995ec89abded521577252d8f7937066213 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-001416_y000403_z000101_t1_a/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Locate the low, horizontal white rectangular signboard inside the small fenced planter beneath a large tree, then approach it.", + "Type": 1, + "Start_Pose": [ + -1416.075, + 403.43, + 100.798, + -0.006, + -23.079, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1416.075, + 403.43, + 100.798, + -0.006, + -23.079, + 0.0 + ], + [ + -1416.075, + 403.43, + 100.798, + -0.006, + -48.079, + 0.0 + ], + [ + -1416.075, + 403.43, + 100.798, + -0.006, + -73.079, + -0.0 + ], + [ + -1416.075, + 403.43, + 100.798, + -0.006, + -98.079, + -0.0 + ], + [ + -1433.763, + 278.82, + 100.798, + -0.006, + -98.079, + -0.0 + ], + [ + -1451.451, + 154.21, + 100.798, + -0.006, + -98.079, + -0.0 + ], + [ + -1451.451, + 154.21, + 100.798, + -0.006, + -73.079, + -0.0 + ], + [ + -1414.819, + 33.8, + 100.798, + -0.006, + -73.079, + -0.0 + ], + [ + -1378.188, + -86.61, + 100.798, + -0.006, + -73.079, + -0.0 + ], + [ + -1378.188, + -86.61, + 100.798, + -0.006, + -98.079, + -0.0 + ], + [ + -1395.876, + -211.22, + 100.798, + -0.006, + -98.079, + -0.0 + ], + [ + -1413.564, + -335.83, + 100.798, + -0.006, + -98.079, + -0.0 + ], + [ + -1431.252, + -460.44, + 100.798, + -0.006, + -98.079, + -0.0 + ], + [ + -1431.252, + -460.44, + 100.798, + -0.006, + -98.079, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-003678_y000454_z000102_t2_a/infos.json b/benchmark/trajectory/Downtownwest/task_x-003678_y000454_z000102_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..499db5c65d2cdbdd0cd99d0d4fbd81042fb9e88c --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-003678_y000454_z000102_t2_a/infos.json @@ -0,0 +1,231 @@ +{ + "Instruction": "Walk to the blue umbrella on the right side.", + "Type": 2, + "Start_Pose": [ + -3678.217, + 453.981, + 101.86, + -0.006, + -80.679, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3678.217, + 453.981, + 101.86, + -0.006, + -80.679, + 0.0 + ], + [ + -3657.832, + 329.784, + 101.86, + -0.006, + -80.679, + -0.0 + ], + [ + -3637.447, + 205.587, + 101.86, + -0.006, + -80.679, + -0.0 + ], + [ + -3617.063, + 81.389, + 101.86, + -0.006, + -80.679, + -0.0 + ], + [ + -3617.063, + 81.389, + 101.86, + -0.006, + -55.679, + -0.0 + ], + [ + -3546.1, + -22.557, + 101.112, + -0.006, + -55.679, + -0.0 + ], + [ + -3475.137, + -126.502, + 101.112, + -0.006, + -55.679, + -0.0 + ], + [ + -3475.137, + -126.502, + 101.112, + -0.006, + -30.679, + -0.0 + ], + [ + -3366.893, + -190.719, + 101.112, + -0.006, + -30.679, + -0.0 + ], + [ + -3258.649, + -254.936, + 101.112, + -0.006, + -30.679, + -0.0 + ], + [ + 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-55.679, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-003678_y000454_z000102_t2_b/infos.json b/benchmark/trajectory/Downtownwest/task_x-003678_y000454_z000102_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2db4d3375745c1cc99c30aa02f7d79af8cdc11f8 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-003678_y000454_z000102_t2_b/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Head toward the wooden bench near the second tree from the left.", + "Type": 2, + "Start_Pose": [ + -3678.217, + 453.981, + 101.86, + -0.006, + -80.679, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3678.217, + 453.981, + 101.86, + -0.006, + -80.679, + 0.0 + ], + [ + -3657.832, + 329.784, + 101.86, + -0.006, + -80.679, + -0.0 + ], + [ + -3637.447, + 205.587, + 101.86, + -0.006, + -80.679, + -0.0 + ], + [ + -3617.063, + 81.389, + 101.86, + -0.006, + -80.679, + -0.0 + ], + [ + -3617.063, + 81.389, + 101.86, + -0.006, + -55.679, + -0.0 + ], + [ + -3546.1, + -22.557, + 101.112, + -0.006, + -55.679, + -0.0 + ], + [ + -3475.137, + -126.502, + 101.112, + -0.006, + -55.679, + -0.0 + ], + [ + -3404.174, + -230.448, + 101.112, + -0.006, + -55.679, + -0.0 + ], + [ + -3404.174, + -230.448, + 101.112, + -0.006, + -80.679, + -0.0 + ], + [ + -3383.789, + -354.646, + 101.112, + -0.006, + -80.679, + -0.0 + ], + [ + -3363.404, + -478.843, + 101.112, + -0.006, + -80.679, + -0.0 + ], + [ + -3363.404, + -478.843, + 101.112, + -0.006, + -55.679, + -0.0 + ], + [ + -3306.16, + -579.793, + 140.53, + -0.006, + -55.679, + -0.0 + ], + [ + -3306.16, + -579.793, + 140.53, + -0.006, + -55.679, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-005469_y-001114_z000101_t0_a/infos.json b/benchmark/trajectory/Downtownwest/task_x-005469_y-001114_z000101_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..394af4f5223b7dd1216194468ec6c72edd49c425 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-005469_y-001114_z000101_t0_a/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Walk to the small cart with an umbrella on the walkway.", + "Type": 0, + "Start_Pose": [ + -5468.979, + -1114.5, + 100.67, + 0.0, + -166.08, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5468.979, + -1114.5, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -5591.142, + -1144.778, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -5713.305, + -1175.055, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -5835.468, + -1205.333, + 100.67, + 0.0, + 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0000000000000000000000000000000000000000..20ad816f0663ba77f1677078610c0cf3e3506d51 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-005469_y-001114_z000101_t0_b/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Head toward the outdoor chairs under the blue umbrella.", + "Type": 0, + "Start_Pose": [ + -5468.979, + -1114.5, + 100.67, + 0.0, + -166.08, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5468.979, + -1114.5, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -5591.142, + -1144.778, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -5713.305, + -1175.055, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -5835.468, + -1205.333, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -5957.63, + -1235.61, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -6079.793, + -1265.888, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -6201.956, + -1296.165, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -6324.119, + -1326.443, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -6446.282, + -1356.72, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -6568.445, + -1386.998, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -6690.608, + -1417.275, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -6812.77, + -1447.553, + 100.67, + 0.0, + -166.08, + 0.0 + ], + [ + -6812.77, + -1447.553, + 100.67, + 0.0, + -141.08, + 0.0 + ], + [ + -6900.321, + -1502.442, + 100.67, + 0.0, + -141.08, + 0.0 + ], + [ + -6933.554, + -1500.227, + 100.67, + 0.0, + -141.08, + 0.0 + ], + [ + -6933.554, + -1500.227, + 100.67, + 0.0, + -141.08, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-008500_y000994_z000101_t0_a/infos.json b/benchmark/trajectory/Downtownwest/task_x-008500_y000994_z000101_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..83794015a6c4db8b9be023f80cfdfb2bd6dd41ad --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-008500_y000994_z000101_t0_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Head toward the ornate street lamp post.", + "Type": 0, + "Start_Pose": [ + -8499.857, + 994.202, + 100.798, + 0.0, + -97.92, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8499.857, + 994.202, + 100.798, + 0.0, + -97.92, + 0.0 + ], + [ + -8499.857, + 994.202, + 100.798, + 0.0, + -72.92, + 0.0 + ], + [ + -8462.892, + 873.894, + 100.798, + 0.0, + -72.92, + 0.0 + ], + [ + -8425.926, + 753.586, + 100.798, + 0.0, + -72.92, + 0.0 + ], + [ + -8388.961, + 633.278, + 100.798, + 0.0, + -72.92, + 0.0 + ], + [ + -8351.995, + 512.97, + 100.798, + 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b/benchmark/trajectory/Downtownwest/task_x-008501_y000197_z000103_t1_a/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Search for the storefront entrance that has three blue advertisement posters displayed on its glass panels, then navigate to that door.", + "Type": 1, + "Start_Pose": [ + -8500.584, + 197.29, + 102.72, + -0.006, + 56.921, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8500.584, + 197.29, + 102.72, + -0.006, + 56.921, + 0.0 + ], + [ + -8500.584, + 197.29, + 102.72, + -0.006, + 81.921, + -0.0 + ], + [ + -8500.584, + 197.29, + 102.72, + -0.006, + 106.921, + -0.0 + ], + [ + -8537.216, + 317.7, + 102.72, + -0.006, + 106.921, + -0.0 + ], + [ + -8537.216, + 317.7, + 102.72, + -0.006, + 131.921, + -0.0 + ], + [ + -8621.303, + 411.348, + 102.72, + -0.006, + 131.921, + -0.0 + ], + [ + -8705.39, + 504.995, + 102.423, + -0.006, + 131.921, + -0.0 + ], + [ + -8789.477, + 598.643, + 100.798, + -0.006, + 131.921, + -0.0 + ], + [ + -8873.564, + 692.29, + 100.798, + -0.006, + 131.921, + -0.0 + ], + [ + -8957.651, + 785.938, + 100.798, + -0.006, + 131.921, + -0.0 + ], + [ + -9041.738, + 879.585, + 100.798, + -0.006, + 131.921, + -0.0 + ], + [ + -9125.825, + 973.233, + 100.798, + -0.006, + 131.921, + -0.0 + ], + [ + -9209.912, + 1066.88, + 100.798, + -0.006, + 131.921, + -0.0 + ], + [ + -9209.912, + 1066.88, + 100.798, + -0.006, + 106.921, + -0.0 + ], + [ + -9246.544, + 1187.29, + 100.798, + -0.006, + 106.921, + -0.0 + ], + [ + -9283.175, + 1307.701, + 100.798, + -0.006, + 106.921, + -0.0 + ], + [ + -9319.303, + 1400.293, + 100.798, + -0.006, + 106.921, + -0.0 + ], + [ + -9319.303, + 1400.293, + 100.798, + -0.006, + 106.921, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-008501_y000197_z000103_t1_b/infos.json b/benchmark/trajectory/Downtownwest/task_x-008501_y000197_z000103_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9b92e5c9e1d68da1a79fdde79ae37fb2f3710a78 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-008501_y000197_z000103_t1_b/infos.json @@ -0,0 +1,195 @@ +{ + "Instruction": "Locate the A-frame advertising sign standing on the sidewalk; once you have spotted it, go over to it.", + "Type": 1, + "Start_Pose": [ + -8500.584, + 197.29, + 102.72, + -0.006, + 56.921, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8500.584, + 197.29, + 102.72, + -0.006, + 56.921, + 0.0 + ], + [ + -8500.584, + 197.29, + 102.72, + -0.006, + 81.921, + -0.0 + ], + [ + -8500.584, + 197.29, + 102.72, + -0.006, + 106.921, + -0.0 + ], + [ + -8500.584, + 197.29, + 102.72, + -0.006, + 131.921, + -0.0 + ], + [ + -8584.671, + 290.937, + 102.72, + -0.006, + 131.921, + -0.0 + ], + [ + -8668.758, + 384.585, + 102.72, + -0.006, + 131.921, + -0.0 + ], + [ + -8752.845, + 478.232, + 102.72, + -0.006, + 131.921, + -0.0 + ], + [ + -8836.932, + 571.88, + 100.854, + -0.006, + 131.921, + -0.0 + ], + [ + -8921.019, + 665.527, + 100.854, + -0.006, + 131.921, + -0.0 + ], + [ + -8921.019, + 665.527, + 100.854, + -0.006, + 156.921, + -0.0 + ], + [ + -9036.805, + 714.864, + 100.854, + -0.006, + 156.921, + -0.0 + ], + [ + -9152.591, + 764.201, + 100.854, + -0.006, + 156.921, + -0.0 + ], + [ + -9268.377, + 813.538, + 100.854, + -0.006, + 156.921, + -0.0 + ], + [ + -9384.163, + 862.874, + 100.854, + -0.006, + 156.921, + -0.0 + ], + [ + -9499.949, + 912.211, + 100.854, + 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-382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -8.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -33.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -58.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -83.079, + 0.0 + ], + [ + -9129.716, + -507.296, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9114.55, + -632.238, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9114.55, + -632.238, + 101.011, + -0.006, 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+ "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -8.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -33.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -58.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -83.079, + 0.0 + ], + [ + -9129.716, + -507.296, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9114.55, + -632.238, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9099.384, + -757.18, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9084.217, + -882.122, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9069.051, + -1007.064, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9053.885, + -1132.005, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9053.885, + -1132.005, + 101.011, + -0.006, + 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it, head to the front of that shop.", + "Type": 1, + "Start_Pose": [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -8.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -33.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -58.079, + -0.0 + ], + [ + -9078.334, + -489.18, + 101.011, + -0.006, + -58.079, + -0.0 + ], + [ + -9011.786, + -596.007, + 101.011, + -0.006, + -58.079, + -0.0 + ], + [ + -8945.238, + -702.833, + 101.011, + 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-7992.211, + -1627.755, + 100.798, + -0.006, + -83.079, + 0.0 + ], + [ + -7980.617, + -1627.796, + 100.798, + -0.006, + -83.079, + 0.0 + ], + [ + -7980.617, + -1627.796, + 100.798, + -0.006, + -83.079, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-009145_y-000382_z000103_t1_d/infos.json b/benchmark/trajectory/Downtownwest/task_x-009145_y-000382_z000103_t1_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d2d266ef3b51d72f98cac042a38a1883e4264bc --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-009145_y-000382_z000103_t1_d/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Identify the red advertisement panel situated near the Upsway store, and after spotting it, walk over to that sign.", + "Type": 1, + "Start_Pose": [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -8.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -33.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -58.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -83.079, + 0.0 + ], + [ + -9129.716, + -507.296, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9114.55, + -632.238, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9099.384, + -757.18, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9084.217, + -882.122, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9084.217, + -882.122, + 101.011, + -0.006, + -58.079, + -0.0 + ], + [ + -9017.67, + -988.948, + 101.011, + -0.006, + -58.079, + -0.0 + ], + [ + -8951.122, + 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"Seek out the red promotional banner close to the Europa shop entrance; once located, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -8.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -33.079, + -0.0 + ], + [ + -9144.882, + -382.354, + 102.71, + -0.006, + -58.079, + -0.0 + ], + [ + -9078.334, + -489.18, + 101.011, + -0.006, + -58.079, + -0.0 + ], + [ + -9078.334, + -489.18, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9063.168, + -614.122, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9048.002, + -739.064, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9032.836, + -864.006, + 101.011, + -0.006, + -83.079, + 0.0 + ], + [ + -9032.836, + -864.006, + 101.011, + -0.006, + -58.079, + -0.0 + ], + [ + -8966.288, + -970.832, + 101.011, + -0.006, + -58.079, + -0.0 + ], + [ + -8966.288, + -970.832, + 101.011, + -0.006, + -33.079, + -0.0 + ], + [ + -8860.828, + -1039.526, + 101.011, + -0.006, + -33.079, + -0.0 + ], + [ + -8755.369, + -1108.219, + 101.011, + -0.006, + -33.079, + -0.0 + ], + [ + -8649.909, + -1176.912, + 101.011, + -0.006, + -33.079, + -0.0 + ], + [ + -8544.449, + -1245.605, + 101.011, + -0.006, + -33.079, + -0.0 + ], + [ + -8438.99, + -1314.298, + 101.011, + -0.006, + -33.079, + -0.0 + ], + [ + -8438.99, + -1314.298, + 101.011, + -0.006, + -58.079, + -0.0 + ], + [ + -8372.442, + -1421.125, + 101.59, + -0.006, + -58.079, + -0.0 + ], + [ + -8305.894, + -1527.951, + 101.59, + -0.006, + -58.079, + -0.0 + ], + [ + -8240.26, + -1627.163, + 100.798, + -0.006, + -58.079, + -0.0 + ], + [ + -8240.26, + -1627.163, + 100.798, + -0.006, + -58.079, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x-011070_y-001852_z000082_t2_a/infos.json b/benchmark/trajectory/Downtownwest/task_x-011070_y-001852_z000082_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cdca1520a5dd6daee29732da30a4843716d2c76d --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-011070_y-001852_z000082_t2_a/infos.json @@ -0,0 +1,213 @@ +{ + "Instruction": "Walk to the storefront window under the second green awning from the right.", + "Type": 2, + "Start_Pose": [ + -11069.945, + -1851.515, + 82.097, + -0.006, + -168.999, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11069.945, + -1851.515, + 82.097, + -0.006, + -168.999, + 0.0 + ], + [ + -11193.492, + -1875.532, + 82.097, + -0.006, + -168.999, + 0.0 + ], + [ + -11317.038, + -1899.549, + 82.097, + -0.006, + -168.999, + 0.0 + ], + [ + -11440.584, + -1923.567, + 82.097, + -0.006, + -168.999, + 0.0 + ], + [ + -11564.13, + -1947.584, + 82.097, + -0.006, + -168.999, + 0.0 + ], + [ + -11687.676, + -1971.601, + 82.097, + -0.006, + -168.999, + 0.0 + ], + [ + -11811.223, + -1995.618, + 82.097, + -0.006, + -168.999, + 0.0 + ], + [ + -11811.223, + -1995.618, + 82.097, + -0.006, + -143.999, + -0.0 + ], + [ + -11913.043, + -2069.598, + 82.097, + -0.006, + -143.999, + -0.0 + ], + [ + -12014.864, + -2143.578, + 82.097, + -0.006, + -143.999, + -0.0 + ], + [ + -12116.685, + -2217.558, + 82.097, + -0.006, + -143.999, + -0.0 + 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b/benchmark/trajectory/Downtownwest/task_x-011070_y-001852_z000082_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..addb8f07c98fc37141d5d3d84c9f8e7b754665de --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-011070_y-001852_z000082_t2_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Head toward the storefront window under the second green awning from the left.", + "Type": 2, + "Start_Pose": [ + -11069.945, + -1851.515, + 82.097, + -0.006, + -168.999, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11069.945, + -1851.515, + 82.097, + -0.006, + -168.999, + 0.0 + ], + [ + -11193.492, + -1875.532, + 82.097, + -0.006, + -168.999, + 0.0 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b/benchmark/trajectory/Downtownwest/task_x-013093_y000029_z000101_t1_b/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Discover the cylindrical advertising column topped with a green dome and covered in colorful posters; once found, reach it.", + "Type": 1, + "Start_Pose": [ + -13092.925, + 29.334, + 100.877, + -0.006, + 176.921, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13092.925, + 29.334, + 100.877, + -0.006, + 176.921, + 0.0 + ], + [ + -13092.925, + 29.334, + 100.877, + -0.006, + -158.079, + -0.0 + ], + [ + -13092.925, + 29.334, + 100.877, + -0.006, + -133.079, + 0.0 + ], + [ + -13092.925, + 29.334, + 100.877, + -0.006, + -108.079, + 0.0 + ], + [ + -13092.925, + 29.334, + 100.877, + -0.006, + -83.079, + 0.0 + ], + [ + -13077.759, + -95.608, + 100.877, + -0.006, 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b/benchmark/trajectory/Downtownwest/task_x-013162_y000182_z000101_t3_a/infos.json @@ -0,0 +1,195 @@ +{ + "Instruction": "Walk to the large terracotta pot with flowers beside the street lamp, then head toward the wooden bench near the large terracotta pot.", + "Type": 3, + "Start_Pose": [ + -13161.751, + 182.208, + 100.978, + -0.006, + -120.039, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -13161.751, + 182.208, + 100.978, + -0.006, + -120.039, + 0.0 + ], + [ + -13224.755, + 73.254, + 100.978, + -0.006, + -120.039, + -0.0 + ], + [ + -13287.758, + -35.7, + 100.978, + -0.006, + -120.039, + -0.0 + ], + [ + -13350.762, + -144.655, + 100.978, + -0.006, + -120.039, + -0.0 + ], + [ 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a/benchmark/trajectory/Downtownwest/task_x-016004_y-000251_z000106_t2_a/infos.json b/benchmark/trajectory/Downtownwest/task_x-016004_y-000251_z000106_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..338efc975fe42d6c326b98ac00050af4455bcf88 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-016004_y-000251_z000106_t2_a/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Head toward the black trash bin on the right.", + "Type": 2, + "Start_Pose": [ + -16004.216, + -251.356, + 105.905, + -0.006, + -168.999, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -16004.216, + -251.356, + 105.905, + -0.006, + -168.999, + -0.0 + ], + [ + -16004.216, + -251.356, + 105.905, + -0.006, + -143.999, + -0.0 + ], + [ + -16106.037, + -325.336, + 105.905, + -0.006, + -143.999, + -0.0 + ], + [ + -16207.857, + 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a/benchmark/trajectory/Downtownwest/task_x-016212_y-000985_z000101_t1_b/infos.json b/benchmark/trajectory/Downtownwest/task_x-016212_y-000985_z000101_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b3673473f3f89ea595d3df8ac524d0da15004072 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x-016212_y-000985_z000101_t1_b/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Determine where the advertisement board sits in front of the deer sculpture on the square; once found, make your way to that sign.", + "Type": 1, + "Start_Pose": [ + -16211.559, + -984.574, + 101.011, + -0.006, + -163.079, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -16211.559, + -984.574, + 101.011, + -0.006, + -163.079, + 0.0 + ], 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], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 693.938, + -2433.859, + 82.097, + -0.006, + -175.719, + 0.0 + ], + [ + 568.43, + -2443.254, + 82.097, + -0.006, + -175.719, + -0.0 + ], + [ + 442.922, + -2452.649, + 82.097, + -0.006, + -175.719, + -0.0 + ], + [ + 317.414, + -2462.044, + 82.097, + -0.006, + -175.719, + -0.0 + ], + [ + 191.907, + -2471.439, + 82.097, + -0.006, + -175.719, + -0.0 + ], + [ + 66.399, + -2480.835, + 82.097, + -0.006, + -175.719, + -0.0 + ], + [ + -59.109, + -2490.23, + 82.097, + -0.006, + -175.719, + -0.0 + ], + [ + -184.617, + -2499.625, + 82.097, + -0.006, + -175.719, + -0.0 + ], + [ + -310.125, + -2509.02, + 98.09, + -0.006, + -175.719, + -0.0 + ], + [ + -310.125, + -2509.02, + 98.09, + -0.006, + 159.281, + 0.0 + ], 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-175.719, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 693.938, + -2433.859, + 82.097, + -0.006, + -175.719, + 0.0 + ], + [ + 568.43, + -2443.254, + 82.097, + -0.006, + -175.719, + -0.0 + ], + [ + 568.43, + -2443.254, + 82.097, + -0.006, + 159.281, + 0.0 + ], + [ + 450.711, + -2398.727, + 82.097, + -0.006, + 159.281, + 0.0 + ], + [ + 332.992, + -2354.2, + 82.097, + -0.006, + 159.281, + 0.0 + ], + [ + 215.272, + -2309.673, + 82.097, + -0.006, + 159.281, + 0.0 + ], + [ + 97.553, + -2265.146, + 82.097, + -0.006, + 159.281, + 0.0 + ], + [ + -20.166, + -2220.619, + 82.097, + -0.006, + 159.281, + 0.0 + ], + [ + -20.166, + -2220.619, + 82.097, + -0.006, + -175.719, + 0.0 + ], + [ + -145.674, + -2230.014, + 82.097, + -0.006, + -175.719, + 0.0 + ], + [ + -145.674, + -2230.014, + 82.097, + 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b/benchmark/trajectory/Downtownwest/task_x001130_y-002255_z000101_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b85be821f5eef81bb24a57f7d16a0c00b5e8e1fa --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x001130_y-002255_z000101_t1_a/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Search for the freestanding advertising kiosk with a green dome top situated in the open plaza area, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 1129.984, + -2254.999, + 101.033, + -0.006, + -3.079, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1129.984, + -2254.999, + 101.033, + -0.006, + -3.079, + -0.0 + ], + [ + 1129.984, + -2254.999, + 101.033, + -0.006, + 21.921, + 0.0 + ], + [ + 1129.984, + 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a/benchmark/trajectory/Downtownwest/task_x003168_y-001123_z000101_t0_a/infos.json b/benchmark/trajectory/Downtownwest/task_x003168_y-001123_z000101_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c1e382c2c8812549b364be1c27cc5e47126306b --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x003168_y-001123_z000101_t0_a/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Head toward the colorful newsstand kiosk with the green roof.", + "Type": 0, + "Start_Pose": [ + 3168.389, + -1122.97, + 100.978, + 0.0, + 135.36, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3168.389, + -1122.97, + 100.978, + 0.0, + 135.36, + -0.0 + ], + [ + 3168.389, + -1122.97, + 100.978, + 0.0, + 160.36, 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+ 0.0, + -174.64, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x003918_y000549_z000101_t1_a/infos.json b/benchmark/trajectory/Downtownwest/task_x003918_y000549_z000101_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..200290d9a3b80c32a3462e74075b79b874b9a2cb --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x003918_y000549_z000101_t1_a/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Locate the A-frame sandwich board sign standing in front of the shop with red awnings, then navigate to it.", + "Type": 1, + "Start_Pose": [ + 3918.193, + 548.791, + 100.798, + -0.006, + 36.921, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3918.193, + 548.791, + 100.798, + -0.006, + 36.921, + 0.0 + ], + [ + 3918.193, + 548.791, + 100.798, + -0.006, + 61.921, + 0.0 + ], 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b/benchmark/trajectory/Downtownwest/task_x003918_y000549_z000101_t1_b/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Determine where the white notice is posted on the entrance door of the red-awning shop; once found, make your way over to it.", + "Type": 1, + "Start_Pose": [ + 3918.193, + 548.791, + 100.798, + -0.006, + 36.921, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3918.193, + 548.791, + 100.798, + -0.006, + 36.921, + 0.0 + ], + [ + 3918.193, + 548.791, + 100.798, + -0.006, + 61.921, + 0.0 + ], + [ + 3918.193, + 548.791, + 100.798, + -0.006, + 86.921, + 0.0 + ], + [ + 3918.193, + 548.791, + 100.798, + -0.006, + 111.921, + 0.0 + ], + [ + 3871.206, + 665.55, + 100.798, + -0.006, + 111.921, + 0.0 + ], + [ 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a/benchmark/trajectory/Downtownwest/task_x004282_y-000697_z000101_t0_a/infos.json b/benchmark/trajectory/Downtownwest/task_x004282_y-000697_z000101_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3cd2f81f3c64aa2af3fac9fba73a25d755c97df2 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x004282_y-000697_z000101_t0_a/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Approach the hot dog cart with the colorful umbrella.", + "Type": 0, + "Start_Pose": [ + 4282.112, + -696.562, + 100.798, + 0.0, + 81.6, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4282.112, + -696.562, + 100.798, + 0.0, + 81.6, + -0.0 + ], + [ + 4282.112, + -696.562, + 100.798, + 0.0, + 56.6, + -0.0 + ], + [ + 4351.395, + -591.489, + 100.798, + 0.0, + 56.6, + -0.0 + ], + [ + 4420.678, + -486.416, + 100.798, + 0.0, + 56.6, 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b/benchmark/trajectory/Downtownwest/task_x006269_y-003150_z000090_t2_a/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Walk to the large potted plant on the left.", + "Type": 2, + "Start_Pose": [ + 6268.554, + -3149.608, + 89.847, + -0.006, + 93.081, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6268.554, + -3149.608, + 89.847, + -0.006, + 93.081, + 0.0 + ], + [ + 6261.79, + -3023.931, + 81.148, + -0.006, + 93.081, + 0.0 + ], + [ + 6255.025, + -2898.254, + 75.221, + -0.006, + 93.081, + 0.0 + ], + [ + 6248.26, + -2772.577, + 71.632, + -0.006, + 93.081, + 0.0 + ], + [ + 6248.26, + -2772.577, + 71.632, + -0.006, + 68.081, + 0.0 + ], + [ + 6295.243, + -2655.816, + 70.446, + -0.006, + 68.081, + 0.0 + ], + [ + 6342.225, + -2539.055, + 71.828, + -0.006, + 68.081, + 0.0 + ], + [ + 6389.208, 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+ "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6268.554, + -3149.608, + 89.847, + -0.006, + 93.081, + 0.0 + ], + [ + 6268.554, + -3149.608, + 89.847, + -0.006, + 118.081, + -0.0 + ], + [ + 6209.31, + -3038.565, + 82.393, + -0.006, + 118.081, + -0.0 + ], + [ + 6150.066, + -2927.521, + 78.557, + -0.006, + 118.081, + -0.0 + ], + [ + 6090.821, + -2816.478, + 73.128, + -0.006, + 118.081, + -0.0 + ], + [ + 6031.577, + -2705.435, + 71.013, + -0.006, + 118.081, + -0.0 + ], + [ + 5972.333, + -2594.392, + 71.691, + -0.006, + 118.081, + -0.0 + ], + [ + 5913.089, + -2483.348, + 75.461, + -0.006, + 118.081, + -0.0 + ], + [ + 5853.844, + -2372.305, + 81.013, + -0.006, + 118.081, + -0.0 + ], + [ + 5853.844, + -2372.305, + 81.013, + -0.006, + 143.081, + -0.0 + ], + [ + 5753.222, + -2296.703, + 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three-compartment recycling bin.", + "Type": 0, + "Start_Pose": [ + 6570.891, + -2798.424, + 70.856, + -0.006, + -142.119, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6570.891, + -2798.424, + 70.856, + -0.006, + -142.119, + 0.0 + ], + [ + 6471.552, + -2875.704, + 71.661, + -0.006, + -142.119, + -0.0 + ], + [ + 6372.213, + -2952.985, + 75.663, + -0.006, + -142.119, + -0.0 + ], + [ + 6272.874, + -3030.265, + 81.284, + -0.006, + -142.119, + -0.0 + ], + [ + 6272.874, + -3030.265, + 81.284, + -0.006, + -167.119, + -0.0 + ], + [ + 6150.182, + -3058.323, + 83.512, + -0.006, + -167.119, + -0.0 + ], + [ + 6027.491, + -3086.38, + 84.188, + -0.006, + -167.119, + -0.0 + ], + [ + 5904.799, + -3114.437, + 85.172, + -0.006, + -167.119, + -0.0 + ], + [ + 5904.799, + -3114.437, + 85.172, + -0.006, + 167.881, + -0.0 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"MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6570.891, + -2798.424, + 70.856, + -0.006, + -142.119, + 0.0 + ], + [ + 6570.891, + -2798.424, + 70.856, + -0.006, + -117.119, + 0.0 + ], + [ + 6513.52, + -2910.446, + 71.936, + -0.006, + -117.119, + 0.0 + ], + [ + 6456.148, + -3022.469, + 78.123, + -0.006, + -117.119, + 0.0 + ], + [ + 6398.776, + -3134.491, + 87.9, + -0.006, + -117.119, + 0.0 + ], + [ + 6398.776, + -3134.491, + 87.9, + -0.006, + -92.119, + -0.0 + ], + [ + 6394.123, + -3260.264, + 91.928, + -0.006, + -92.119, + -0.0 + ], + [ + 6389.469, + -3386.037, + 95.78, + -0.006, + -92.119, + -0.0 + ], + [ + 6384.815, + -3511.81, + 96.962, + -0.006, + -92.119, + -0.0 + ], + [ + 6380.162, + -3637.583, + 97.944, + -0.006, + -92.119, + -0.0 + ], + [ + 6380.162, + -3637.583, + 97.944, + -0.006, + -117.119, + 0.0 + ], + [ + 6322.79, + -3749.605, + 99.864, + -0.006, + -117.119, + 0.0 + ], + [ + 6265.419, + -3861.627, + 100.12, + -0.006, + -117.119, + 0.0 + ], + [ + 6216.855, + -3896.691, + 100.371, + -0.006, + -117.119, + 0.0 + ], + [ + 6216.855, + -3896.691, + 100.371, + -0.006, + -117.119, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x006571_y-002798_z000071_t0_c/infos.json b/benchmark/trajectory/Downtownwest/task_x006571_y-002798_z000071_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5e64d203f44352ef208f5dad5d8f78730d15f80f --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x006571_y-002798_z000071_t0_c/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Head toward the black lamp post near the trash bin.", + "Type": 0, + "Start_Pose": [ + 6570.891, + -2798.424, + 70.856, + -0.006, + -142.119, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + 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+ -0.006, + 167.881, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Downtownwest/task_x006769_y-003714_z000095_t1_a/infos.json b/benchmark/trajectory/Downtownwest/task_x006769_y-003714_z000095_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0104c6ffb69296fed071e0901b6d6535fcb35705 --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x006769_y-003714_z000095_t1_a/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Discover the three-compartment waste sorting bin in the plaza area, then navigate toward it.", + "Type": 1, + "Start_Pose": [ + 6769.363, + -3713.906, + 94.976, + -0.006, + -123.079, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6769.363, + -3713.906, + 94.976, + -0.006, 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b/benchmark/trajectory/Downtownwest/task_x008269_y-000580_z000101_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..97e95300aac0b69d8bed1325d32504c425aeab7e --- /dev/null +++ b/benchmark/trajectory/Downtownwest/task_x008269_y-000580_z000101_t0_b/infos.json @@ -0,0 +1,321 @@ +{ + "Instruction": "Approach the entrance under the red awning.", + "Type": 0, + "Start_Pose": [ + 8269.159, + -580.38, + 100.978, + 0.0, + 57.6, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + 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b/benchmark/trajectory/Downtownwest/task_x010025_y-004271_z000073_t0_a/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Walk to the turtle sculpture on the grass.", + "Type": 0, + "Start_Pose": [ + 10024.722, + -4270.531, + 73.239, + -0.006, + 93.081, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 10024.722, + -4270.531, + 73.239, + -0.006, + 93.081, + 0.0 + ], + [ + 10017.957, + -4144.854, + 73.412, + -0.006, + 93.081, + 0.0 + ], + [ + 10011.192, + -4019.177, + 77.172, + -0.006, + 93.081, + 0.0 + ], + [ + 10011.192, + -4019.177, + 77.172, + -0.006, + 118.081, + -0.0 + ], + [ + 9951.948, + -3908.133, + 85.14, + -0.006, + 118.081, + -0.0 + ], + [ + 9892.704, + -3797.09, + 90.954, + -0.006, + 118.081, + -0.0 + ], + [ + 9833.46, + -3686.047, + 99.041, + -0.006, + 118.081, + -0.0 + ], + 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"MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 10024.722, + -4270.531, + 73.239, + -0.006, + 93.081, + 0.0 + ], + [ + 10017.957, + -4144.854, + 73.412, + -0.006, + 93.081, + 0.0 + ], + [ + 10017.957, + -4144.854, + 73.412, + -0.006, + 118.081, + -0.0 + ], + [ + 9958.713, + -4033.81, + 80.436, + -0.006, + 118.081, + -0.0 + ], + [ + 9899.469, + -3922.767, + 80.605, + -0.006, + 118.081, + -0.0 + ], + [ + 9840.224, + -3811.724, + 87.841, + -0.006, + 118.081, + -0.0 + ], + [ + 9780.98, + -3700.681, + 96.696, + -0.006, + 118.081, + -0.0 + ], + [ + 9721.736, + -3589.637, + 102.896, + -0.006, + 118.081, + -0.0 + ], + [ + 9662.491, + -3478.594, + 107.083, + -0.006, + 118.081, + -0.0 + ], + [ + 9603.247, + -3367.551, + 106.527, + -0.006, + 118.081, + -0.0 + ], + [ + 9544.003, + -3256.508, + 114.349, + -0.006, + 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b/benchmark/trajectory/Greek_Island/task_x-000788_y007132_z001301_t1_a/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Determine where the wooden-wheeled cart with its open plank bed rests along the water's edge, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -788.427, + 7131.595, + 1300.868, + -0.05, + -32.131, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -788.427, + 7131.595, + 1300.868, + -0.05, + -32.131, + 0.0 + ], + [ + -788.427, + 7131.595, + 1300.938, + -0.05, + -7.131, + -0.0 + ], + [ + -788.427, + 7131.595, + 1300.938, + -0.05, + 17.869, + -0.0 + ], + [ + -788.427, + 7131.595, + 1300.938, + -0.05, + 42.869, + 0.0 + ], + [ + -696.184, + 7217.22, + 1294.579, + -0.05, + 42.869, + 0.0 + ], + [ + -603.94, + 7302.845, + 1288.904, + -0.05, + 42.869, + 0.0 + ], + [ + -511.697, + 7388.47, 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"MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1755.604, + -825.948, + 880.512, + -0.049, + -70.581, + -0.0 + ], + [ + -1713.759, + -944.647, + 876.55, + -0.049, + -70.581, + -0.0 + ], + [ + -1671.914, + -1063.346, + 870.996, + -0.049, + -70.581, + -0.0 + ], + [ + -1630.07, + -1182.045, + 863.411, + -0.049, + -70.581, + -0.0 + ], + [ + -1588.225, + -1300.745, + 852.391, + -0.049, + -70.581, + -0.0 + ], + [ + -1546.38, + -1419.444, + 840.588, + -0.049, + -70.581, + -0.0 + ], + [ + -1546.38, + -1419.444, + 840.588, + -0.049, + -45.581, + 0.0 + ], + [ + -1458.291, + -1509.337, + 828.296, + -0.049, + -45.581, + 0.0 + ], + [ + -1370.202, + -1599.231, + 815.698, + -0.049, + -45.581, + 0.0 + ], + [ + -1282.114, + -1689.125, + 801.199, + -0.049, + -45.581, + 0.0 + ], + [ + -1194.025, 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-2206.772, + -5576.573, + 423.659, + 0.0, + 150.584, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2206.772, + -5576.573, + 423.659, + 0.0, + 150.584, + -0.0 + ], + [ + -2206.772, + -5576.573, + 423.659, + 0.0, + 175.584, + -0.0 + ], + [ + -2332.257, + -5566.882, + 429.684, + 0.0, + 175.584, + -0.0 + ], + [ + -2457.743, + -5557.192, + 432.543, + 0.0, + 175.584, + -0.0 + ], + [ + -2457.743, + -5557.192, + 432.543, + 0.0, + -159.416, + 0.0 + ], + [ + -2575.567, + -5601.441, + 444.711, + 0.0, + -159.416, + 0.0 + ], + [ + -2693.39, + -5645.691, + 446.014, + 0.0, + -159.416, + 0.0 + ], + [ + -2693.39, + -5645.691, + 446.014, + 0.0, + 175.584, + -0.0 + ], + [ + -2818.876, + -5636.0, + 446.118, + 0.0, + 175.584, + -0.0 + ], + [ + -2944.361, + -5626.309, + 446.959, + 0.0, + 175.584, + -0.0 + ], + [ + -3069.847, + -5616.618, + 450.174, + 0.0, + 175.584, + -0.0 + ], + [ + -3195.332, + -5606.927, + 459.427, + 0.0, + 175.584, + -0.0 + ], + [ + -3320.817, + -5597.237, + 465.451, + 0.0, + 175.584, + -0.0 + ], + [ + -3324.037, + -5605.798, + 465.736, + 0.0, + 175.584, + -0.0 + ], + [ + -3324.037, + -5605.798, + 465.736, + 0.0, + 175.584, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-002311_y-007077_z000444_t1_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-002311_y-007077_z000444_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..fe5db9bcdc76637fda1f1feceb1d6a296347d1f2 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-002311_y-007077_z000444_t1_a/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Search for a tripod rack made of three wooden poles lashed together at the top, with a bowl or pot hanging from its center; once you locate it, walk over to it.", + "Type": 1, + "Start_Pose": [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 128.899, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 128.899, + 0.0 + ], + [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 153.899, + -0.0 + ], + [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 178.899, + -0.0 + ], + [ + -2310.597, + -7076.848, + 443.825, + -0.05, + -156.101, + -0.0 + ], + [ + -2425.665, + -7127.837, + 445.558, + -0.05, + -156.101, + -0.0 + ], + [ + -2540.733, + -7178.826, + 447.291, + -0.05, + -156.101, + -0.0 + ], + [ + -2655.801, + -7229.814, + 449.024, + -0.05, + -156.101, + -0.0 + ], + [ + -2770.869, + -7280.803, + 446.065, + -0.05, + -156.101, + -0.0 + ], + [ + -2770.869, + -7280.803, + 446.065, + -0.05, + 178.899, + -0.0 + ], + [ + -2770.869, + -7280.803, + 446.065, + -0.05, + 178.899, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-002311_y-007077_z000444_t1_b/infos.json b/benchmark/trajectory/Greek_Island/task_x-002311_y-007077_z000444_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ec4eadd10936d1aad6775a23f1bd9c345d30fdf7 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-002311_y-007077_z000444_t1_b/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Look for a four-wheeled wooden cart loaded with sandbags sitting near a red-canopied shed, then navigate to that cart.", + "Type": 1, + "Start_Pose": [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 128.899, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 128.899, + 0.0 + ], + [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 153.899, + -0.0 + ], + [ + -2310.597, + -7076.848, + 443.825, + -0.05, + 178.899, + -0.0 + ], + [ + -2310.597, + -7076.848, + 443.825, + -0.05, + -156.101, + -0.0 + ], + [ + -2310.597, + -7076.848, + 443.825, + -0.05, + -131.101, + -0.0 + ], + [ + -2393.335, + -7171.689, + 443.886, + -0.05, + -131.101, + -0.0 + ], + [ + -2479.378, + -7254.644, + 444.181, + -0.05, + -131.101, + -0.0 + ], + [ + -2479.378, + -7254.644, + 444.181, + -0.05, + -106.101, + -0.0 + ], + [ + -2514.282, + -7375.566, + 445.197, + -0.05, + -106.101, + -0.0 + ], + [ + -2549.187, + -7496.488, + 440.054, + -0.05, + -106.101, + -0.0 + ], + [ + -2584.092, + -7617.41, + 434.911, + -0.05, + -106.101, + -0.0 + ], + [ + -2618.996, + -7738.332, + 429.768, + -0.05, + -106.101, + -0.0 + ], + [ + -2618.996, + -7738.332, + 429.768, + -0.05, + -131.101, + 0.0 + ], + [ + -2701.735, + -7833.174, + 446.234, + -0.05, + -131.101, + 0.0 + ], + [ + -2784.473, + -7928.015, + 420.673, + -0.05, + -131.101, + 0.0 + ], + [ + -2839.213, + -8020.066, + 418.243, + -0.05, + -131.101, + 0.0 + ], + [ + -2839.213, + -8020.066, + 418.243, + -0.05, + -131.101, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-002514_y-005403_z000428_t2_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-002514_y-005403_z000428_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7b3dd9ac6d279b7a790765ce21aa6b56322cfe25 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-002514_y-005403_z000428_t2_a/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Go to the door on the left side.", + "Type": 2, + "Start_Pose": [ + -2514.147, + -5403.263, + 427.699, + 0.0, + -179.656, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2514.147, + -5403.263, + 427.699, + 0.0, + -179.656, + 0.0 + ], + [ + -2513.922, + -5403.026, + 438.166, + 0.0, + 155.344, + -0.0 + ], + [ + -2628.306, + -5350.522, + 438.136, + 0.0, + 155.344, + -0.0 + ], + [ + -2628.306, + -5350.522, + 438.136, + 0.0, + 130.344, + -0.0 + ], + [ + -2709.784, + -5254.596, + 435.992, + 0.0, + 130.344, + -0.0 + ], + [ + -2791.262, + -5158.669, + 432.054, + 0.0, + 130.344, + -0.0 + ], + [ + -2872.74, + -5062.743, + 437.489, + 0.0, + 130.344, + -0.0 + ], + [ + -2872.74, + -5062.743, + 437.489, + 0.0, + 155.344, + -0.0 + ], + [ + -2987.124, + -5010.239, + 442.256, + 0.0, + 155.344, + -0.0 + ], + [ + -3101.509, + -4957.734, + 441.871, + 0.0, + 155.344, + -0.0 + ], + [ + -3215.893, + -4905.23, + 456.381, + 0.0, + 155.344, + -0.0 + ], + [ + -3330.277, + -4852.725, + 454.864, + 0.0, + 155.344, + -0.0 + ], + [ + -3444.661, + -4800.221, + 453.347, + 0.0, + 155.344, + -0.0 + ], + [ + -3444.661, + 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"TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2548.362, + -5205.723, + 432.668, + -0.05, + 108.899, + -0.0 + ], + [ + -2548.362, + -5205.723, + 432.463, + -0.05, + 133.899, + 0.0 + ], + [ + -2548.362, + -5205.723, + 432.463, + -0.05, + 158.899, + -0.0 + ], + [ + -2548.362, + -5205.723, + 432.463, + -0.05, + -176.101, + -0.0 + ], + [ + -2548.362, + -5205.723, + 432.463, + -0.05, + -151.101, + 0.0 + ], + [ + -2658.548, + -5266.547, + 435.842, + -0.05, + -151.101, + 0.0 + ], + [ + -2768.734, + -5327.37, + 438.367, + -0.05, + -151.101, + 0.0 + ], + [ + -2878.92, + -5388.194, + 440.18, + -0.05, + -151.101, + 0.0 + ], + [ + -2878.92, + -5388.194, + 440.18, + -0.05, + -126.101, + 0.0 + ], + [ + -2953.078, + -5489.885, + 444.48, + -0.05, + -126.101, + 0.0 + ], + [ + -3027.235, + -5591.577, + 448.578, + -0.05, + -126.101, + 0.0 + ], + [ + -3027.235, + -5591.577, + 448.578, + -0.05, + -151.101, + 0.0 + ], + [ + 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"TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + 68.899, + 0.0 + ], + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + 93.899, + 0.0 + ], + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + 118.899, + 0.0 + ], + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + 143.899, + -0.0 + ], + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + 168.899, + 0.0 + ], + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + -166.101, + 0.0 + ], + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + -141.101, + -0.0 + ], + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + -116.101, + -0.0 + ], + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + -91.101, + -0.0 + ], + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + -66.101, + -0.0 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a/benchmark/trajectory/Greek_Island/task_x-002563_y-006549_z000458_t1_b/infos.json b/benchmark/trajectory/Greek_Island/task_x-002563_y-006549_z000458_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1774ad93b94fe2ccf0ba15d534f382d839ff4564 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-002563_y-006549_z000458_t1_b/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Determine where the grill sits beneath the open-sided shelter with a flat roof, then make your way to that spot.", + "Type": 1, + "Start_Pose": [ + -2563.437, + -6549.316, + 458.257, + -0.05, + 68.899, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2563.437, + -6549.316, + 458.257, + -0.05, + 68.899, + 0.0 + 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-41.101, + -0.0 + ], + [ + -2315.63, + -6977.258, + 445.753, + -0.05, + -16.101, + -0.0 + ], + [ + -2227.551, + -7024.983, + 430.127, + -0.05, + -16.101, + -0.0 + ], + [ + -2227.551, + -7024.983, + 430.127, + -0.05, + -16.101, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-002579_y-005232_z000433_t0_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-002579_y-005232_z000433_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1d971e2e5ee5925d97d30d3896e6f9acd9665067 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-002579_y-005232_z000433_t0_a/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Go to the jar.", + "Type": 0, + "Start_Pose": [ + -2579.204, + -5232.237, + 433.317, + 0.0, + 61.304, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2579.204, + -5232.237, + 433.317, + 0.0, + 61.304, + -0.0 + ], + [ + -2518.771, + -5121.836, + 429.377, + 0.0, + 61.304, + -0.0 + ], + [ + -2458.339, + -5011.435, + 424.673, + 0.0, + 61.304, + -0.0 + ], + [ + -2397.906, + -4901.034, + 420.198, + 0.0, + 61.304, + -0.0 + ], + [ + -2337.473, + -4790.633, + 415.724, + 0.0, + 61.304, + -0.0 + ], + [ + -2277.04, + -4680.232, + 411.239, + 0.0, + 61.304, + -0.0 + ], + [ + -2277.04, + -4680.232, + 411.239, + 0.0, + 36.304, + -0.0 + ], + [ + -2277.04, + -4680.232, + 411.239, + 0.0, + 11.304, + -0.0 + ], + [ + -2153.623, + -4655.562, + 408.542, + 0.0, + 11.304, + -0.0 + ], + [ + -2030.205, + -4630.892, + 394.328, + 0.0, + 11.304, + -0.0 + ], + [ + -1906.788, + -4606.221, + 389.163, + 0.0, + 11.304, + -0.0 + ], + [ + -1783.371, + -4581.551, + 383.995, + 0.0, + 11.304, + -0.0 + ], + [ + -1659.953, + -4556.881, + 378.305, + 0.0, + 11.304, + -0.0 + ], + [ + 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"MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2603.445, + -6705.424, + 457.209, + -0.05, + -166.621, + 0.0 + ], + [ + -2725.888, + -6734.546, + 459.783, + -0.05, + -166.621, + -0.0 + ], + [ + -2848.332, + -6763.669, + 454.606, + -0.05, + -166.621, + -0.0 + ], + [ + -2970.775, + -6792.792, + 458.196, + -0.05, + -166.621, + -0.0 + ], + [ + -3093.218, + -6821.915, + 461.094, + -0.05, + -166.621, + -0.0 + ], + [ + -3215.661, + -6851.037, + 463.717, + -0.05, + -166.621, + -0.0 + ], + [ + -3338.105, + -6880.16, + 465.923, + -0.05, + -166.621, + -0.0 + ], + [ + -3460.548, + -6909.283, + 467.728, + -0.05, + -166.621, + -0.0 + ], + [ + -3582.991, + -6938.405, + 469.07, + -0.05, + -166.621, + -0.0 + ], + [ + -3582.991, + -6938.405, + 469.07, + -0.05, + 168.379, + -0.0 + ], + [ + -3706.27, + -6913.053, + 469.856, + -0.05, + 168.379, + -0.0 + ], + [ + -3829.549, + -6887.7, + 469.856, + -0.05, + 168.379, + -0.0 + ], + [ + -3829.549, + -6887.7, + 469.856, + -0.05, + 168.379, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-002603_y-006705_z000457_t2_b/infos.json b/benchmark/trajectory/Greek_Island/task_x-002603_y-006705_z000457_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2608635f3d9ef0c8f822849ab4398f027abed9bd --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-002603_y-006705_z000457_t2_b/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Go to the red-and-white pillar on the right.", + "Type": 2, + "Start_Pose": [ + -2603.445, + -6705.424, + 457.209, + -0.05, + -166.621, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2603.445, + -6705.424, + 457.209, + -0.05, + -166.621, + 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index 0000000000000000000000000000000000000000..53d22d82ad2f7187ff1aa5dd0aef90a1e71cff36 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-002731_y-008557_z000375_t1_a/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Search the area and go to the wooden cart.", + "Type": 1, + "Start_Pose": [ + -2731.485, + -8556.51, + 374.852, + -0.05, + -131.101, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2731.485, + -8556.51, + 374.852, + -0.05, + -131.101, + 0.0 + ], + [ + -2731.485, + -8556.51, + 374.944, + -0.05, + -106.101, + -0.0 + ], + [ + -2731.485, + -8556.51, + 374.944, + -0.05, + -81.101, + -0.0 + ], + [ + -2731.485, + -8556.51, + 374.944, + -0.05, + -56.101, + 0.0 + ], + [ + -2731.485, + -8556.51, + 374.944, + -0.05, + -31.101, + 0.0 + 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"TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + -162.314, + -0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + -137.314, + 0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + -112.314, + -0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + -87.314, + 0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + -62.314, + 0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + -37.314, + 0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + -12.314, + 0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + 12.686, + 0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + 37.686, + -0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + 62.686, + -0.0 + ], + [ + -3970.313, + -2401.826, + 1079.929, + -0.05, + 87.686, + -0.0 + ], + [ + -3965.231, + -2276.07, + 1079.929, + -0.05, + 87.686, + -0.0 + ], + [ + -3965.231, + 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index 0000000000000000000000000000000000000000..28b650cbceba9144b9c23644bc6048b14f6b0c0d --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-004495_y-011130_z000198_t1_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Search for the wooden door of the white building that has ceramic pots and dried fish hanging at its entrance; after locating it, head over to that door.", + "Type": 1, + "Start_Pose": [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 128.899, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 128.899, + -0.0 + ], + [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 103.899, + -0.0 + ], + [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 78.899, + -0.0 + ], + [ + -4495.22, + -11130.055, + 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b/benchmark/trajectory/Greek_Island/task_x-004495_y-011130_z000198_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ad04435994ef280b42fbdc79cd1dfb4884a7fe87 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-004495_y-011130_z000198_t1_b/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Identify the large ceramic vat standing on the ground at the entrance of the building with hanging pots and dried fish, then proceed to it.", + "Type": 1, + "Start_Pose": [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 128.899, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 128.899, + -0.0 + ], + [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 103.899, + -0.0 + ], + [ + -4495.22, + -11130.055, + 198.106, + -0.05, + 78.899, + -0.0 + 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b/benchmark/trajectory/Greek_Island/task_x-004944_y-007258_z000435_t5_a_p/infos.json @@ -0,0 +1,210 @@ +{ + "Instruction": "Pick up the ceramic vase near the palm tree trunk.", + "Type": 5, + "Start_Pose": [ + -4944.496, + -7257.504, + 434.782, + -0.05, + 148.899, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -5613.127, + -7065.878, + 357.004, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4944.496, + -7257.504, + 434.782, + -0.05, + 148.899, + 0 + ], + [ + -5052.264, + -7192.492, + 432.711, + -0.05, + 148.899, + -0.0 + ], + [ + -5052.264, + -7192.492, + 432.711, + -0.05, + 173.899, + -0.0 + ], + [ + -5177.41, + -7179.115, + 427.979, + -0.05, + 173.899, + -0.0 + ], + [ + -5302.556, + -7165.739, + 423.635, + -0.05, + 173.899, + -0.0 + ], + [ + -5427.702, + -7152.362, + 419.462, + -0.05, + 173.899, 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--git a/benchmark/trajectory/Greek_Island/task_x-005900_y-011208_z000198_t1_b/infos.json b/benchmark/trajectory/Greek_Island/task_x-005900_y-011208_z000198_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4f297ab3c1e56f11fdb1b9d3cb81fefbcf8f8c44 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-005900_y-011208_z000198_t1_b/infos.json @@ -0,0 +1,222 @@ +{ + "Instruction": "Locate the small four-wheeled cart in this market area; once you spot it, move toward it.", + "Type": 1, + "Start_Pose": [ + -5900.173, + -11207.928, + 198.106, + -0.05, + 148.899, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ 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b/benchmark/trajectory/Greek_Island/task_x-005995_y-007462_z000367_t1_a/infos.json @@ -0,0 +1,195 @@ +{ + "Instruction": "Locate the tall wooden rack standing between two wooden fences and approach it.", + "Type": 1, + "Start_Pose": [ + -5994.999, + -7462.265, + 367.111, + -0.05, + 48.899, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5994.999, + -7462.265, + 367.111, + -0.05, + 48.899, + 0.0 + ], + [ + -5994.999, + -7462.265, + 367.23, + -0.05, + 23.899, + 0.0 + ], + [ + -5994.999, + -7462.265, + 367.23, + -0.05, + -1.101, + 0.0 + ], + [ + -5994.999, + -7462.265, + 367.23, + -0.05, + -26.101, + 0.0 + ], + [ + -5994.999, + -7462.265, + 367.23, + -0.05, + -51.101, + 0.0 + ], + [ + -5994.999, + 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-6226.678, + -6977.155, + 404.424, + -0.05, + 83.899, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-005995_y-007462_z000367_t1_b/infos.json b/benchmark/trajectory/Greek_Island/task_x-005995_y-007462_z000367_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23078a0ab090084e498a6a2f9f57adbcf2920b4e --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-005995_y-007462_z000367_t1_b/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Discover the wooden door belonging to the building that has ceramic pots hanging beside its entrance and a low blue-and-white painted wall flanking the doorway; once found, navigate to that door.", + "Type": 1, + "Start_Pose": [ + -5994.999, + -7462.265, + 367.111, + -0.05, + 48.899, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -5994.999, + -7462.265, + 367.111, + -0.05, + 48.899, + 0.0 + ], + [ + -5994.999, + -7462.265, + 367.23, + -0.05, + 73.899, + 0.0 + ], + [ + -5994.999, + -7462.265, + 367.23, + -0.05, + 98.899, + -0.0 + ], + [ + -5994.999, + -7462.265, + 367.23, + -0.05, + 123.899, + -0.0 + ], + [ + -5994.999, + -7462.265, + 367.23, + -0.05, + 148.899, + -0.0 + ], + [ + -6102.767, + -7397.253, + 380.013, + -0.05, + 148.899, + -0.0 + ], + [ + -6210.535, + -7332.241, + 380.489, + -0.05, + 148.899, + -0.0 + ], + [ + -6318.302, + -7267.228, + 383.001, + -0.05, + 148.899, + -0.0 + ], + [ + -6318.302, + -7267.228, + 383.001, + -0.05, + 173.899, + -0.0 + ], + [ + -6443.448, + -7253.852, + 380.81, + -0.05, + 173.899, + -0.0 + ], + [ + -6568.594, + -7240.475, + 379.038, + -0.05, + 173.899, + -0.0 + ], + [ + -6568.594, + -7240.475, + 379.038, + -0.05, + 148.899, + -0.0 + ], + [ + -6676.362, + -7175.463, + 382.417, + -0.05, + 148.899, + -0.0 + ], + [ + -6784.13, + -7110.451, + 392.177, + -0.05, + 148.899, + -0.0 + ], + [ + -6784.13, + -7110.451, + 392.177, + -0.05, + 123.899, + -0.0 + ], + [ + -6854.325, + -7005.985, + 398.323, + -0.05, + 123.899, + -0.0 + ], + [ + -6921.385, + -6913.876, + 400.581, + -0.05, + 123.899, + -0.0 + ], + [ + -6921.385, + -6913.876, + 400.581, + -0.05, + 123.899, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-006007_y-010649_z000198_t1_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-006007_y-010649_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..31575a3ded7eb4d4aedce2d789e2f7b382d4e083 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-006007_y-010649_z000198_t1_a/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Search for a two-tiered wooden shelf situated beneath a canopy structure where sandbags are also present, with items stored on both levels of the shelf; once you locate it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + -6007.232, + -10648.888, + 198.106, + -0.05, + -131.101, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -6007.232, + -10648.888, + 198.106, + -0.05, + -131.101, + 0.0 + ], + [ + -6007.232, + -10648.888, + 198.106, + -0.05, + -156.101, + -0.0 + ], + [ + -6007.232, + -10648.888, + 198.106, + -0.05, + 178.899, + 0.0 + ], + [ + -6007.232, + -10648.888, + 198.106, + -0.05, + 153.899, + -0.0 + ], + [ + -6120.256, + -10593.515, + 198.106, + -0.05, + 153.899, + -0.0 + ], + [ + -6233.28, + -10538.143, + 198.106, + -0.05, + 153.899, + -0.0 + ], + [ + -6346.303, + -10482.771, + 198.106, + -0.05, + 153.899, + -0.0 + ], + [ + -6459.327, + -10427.399, + 206.062, + -0.05, + 153.899, + -0.0 + ], + [ + -6459.327, + -10427.399, + 206.062, + -0.05, + 128.899, + -0.0 + ], + [ + -6538.36, + -10329.448, + 206.062, + -0.05, + 128.899, + -0.0 + ], + [ + -6538.36, + -10329.448, + 206.062, + -0.05, + 103.899, + -0.0 + ], + [ + -6564.039, + -10263.825, + 206.26, + -0.05, + 103.899, + -0.0 + ], + [ + -6564.039, + -10263.825, + 206.26, + -0.05, + 103.899, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-007309_y-005931_z000996_t0_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-007309_y-005931_z000996_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f44cd350e8ec8ceb4a6b764af7f9717b864c8a83 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-007309_y-005931_z000996_t0_a/infos.json @@ -0,0 +1,222 @@ +{ + "Instruction": "Navigate to the door of the white house in the distance.", + "Type": 0, + "Start_Pose": [ + -7309.414, + -5931.019, + 996.16, + 0.0, + -166.988, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7309.414, + -5931.019, + 996.16, + 0.0, + -166.988, + 0.0 + ], + [ + -7432.041, + -5959.357, + 997.069, + 0.0, + -166.988, + 0.0 + ], + [ + -7554.669, + -5987.695, + 997.596, + 0.0, + -166.988, + 0.0 + ], + [ + -7677.296, + -6016.032, + 993.719, + 0.0, + -166.988, + 0.0 + ], + [ + -7799.923, + -6044.37, + 990.545, + 0.0, + -166.988, + 0.0 + ], + [ + -7922.551, + -6072.708, + 984.589, + 0.0, + -166.988, + 0.0 + ], + [ + -8045.178, + -6101.046, + 990.784, + 0.0, + -166.988, + 0.0 + ], + [ + -8167.805, + -6129.384, + 989.093, + 0.0, + -166.988, + 0.0 + ], + [ + -8290.433, + -6157.721, + 992.337, + 0.0, + -166.988, + 0.0 + ], + [ + -8413.06, + -6186.059, + 980.951, 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a/benchmark/trajectory/Greek_Island/task_x-007518_y001015_z000700_t0_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-007518_y001015_z000700_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..23afc2016487b512df4a7131fd67a0b8ec74e812 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-007518_y001015_z000700_t0_a/infos.json @@ -0,0 +1,204 @@ +{ + "Instruction": "Go to the door of the white building.", + "Type": 0, + "Start_Pose": [ + -7518.398, + 1015.413, + 699.514, + 0.0, + 121.13, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7518.398, + 1015.413, + 699.514, + 0.0, + 121.13, + 0.0 + ], + [ + -7518.398, + 1015.413, + 699.454, + 0.0, + 96.13, + -0.0 + ], + [ + -7531.838, + 1140.552, + 704.279, + 0.0, + 96.13, + -0.0 + ], + [ + -7545.278, + 1265.692, + 717.612, + 0.0, + 96.13, + -0.0 + ], + [ + -7545.278, + 1265.692, + 717.612, + 0.0, + 71.13, + -0.0 + ], + [ + -7504.572, + 1384.786, + 751.438, + 0.0, + 71.13, + -0.0 + ], + [ + -7463.866, + 1503.881, + 791.084, + 0.0, + 71.13, + -0.0 + ], + [ + -7423.161, + 1622.976, + 832.365, + 0.0, + 71.13, + -0.0 + ], + [ + -7382.455, + 1742.071, + 878.188, + 0.0, + 71.13, + -0.0 + ], + [ + -7382.455, + 1742.071, + 878.188, + 0.0, + 46.13, + -0.0 + ], + [ + -7295.232, + 1832.804, + 907.992, + 0.0, + 46.13, + -0.0 + ], + [ + -7208.009, + 1923.538, + 927.811, + 0.0, + 46.13, + -0.0 + ], + [ + -7208.009, + 1923.538, + 927.811, + 0.0, + 71.13, + -0.0 + ], + [ + -7167.303, + 2042.632, + 927.811, + 0.0, + 71.13, + -0.0 + ], + [ + -7167.303, + 2042.632, + 927.811, + 0.0, + 96.13, + -0.0 + ], + [ + -7180.743, + 2167.772, + 927.811, + 0.0, + 96.13, + -0.0 + ], + [ + -7180.743, + 2167.772, + 927.811, + 0.0, + 121.13, + -0.0 + ], + [ + -7180.743, + 2167.772, + 927.811, + 0.0, + 146.13, + -0.0 + ], + [ + -7257.287, + 2217.061, + 927.223, + 0.0, + 146.13, + -0.0 + ], + [ + -7260.769, + 2212.561, + 927.223, + 0.0, + 146.13, + -0.0 + ], + [ + -7260.769, + 2212.561, + 927.223, + 0.0, + 146.13, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-007622_y-005600_z000992_t0_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-007622_y-005600_z000992_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a8179874187e64c0e364f4bc22a5e1328173248b --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-007622_y-005600_z000992_t0_a/infos.json @@ -0,0 +1,78 @@ +{ + "Instruction": "Go to the large jar.", + "Type": 0, + "Start_Pose": [ + -7621.876, + -5599.833, + 992.477, + 0.0, + -70.879, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7621.876, + -5599.833, + 992.477, + 0.0, + -70.879, + 0.0 + ], + [ + -7580.649, + -5718.748, + 981.039, + 0.0, + -70.879, + 0.0 + ], + [ + -7580.649, + -5718.748, + 981.039, + 0.0, + -95.879, + 0.0 + ], + [ + -7593.541, + -5843.945, + 979.927, + 0.0, + -95.879, + 0.0 + ], + [ + -7606.432, + -5969.142, + 979.355, + 0.0, + -95.879, + 0.0 + ], + [ + -7619.323, + -6094.339, + 1002.355, + 0.0, + -95.879, + 0.0 + ], + [ + -7619.323, + -6094.339, + 1002.355, + 0.0, + -95.879, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-007685_y-009678_z000198_t1_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-007685_y-009678_z000198_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..eea20a40722a51db2ba9ff082c06d4e4074bdf1e --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-007685_y-009678_z000198_t1_a/infos.json @@ -0,0 +1,195 @@ +{ + "Instruction": "Locate the single wooden post near the rocks along the shore where a shark is hung up, then approach that spot.", + "Type": 1, + "Start_Pose": [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 88.899, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 88.899, + 0.0 + ], + [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 113.899, + -0.0 + ], + [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 138.899, + -0.0 + ], + [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 163.899, + -0.0 + ], + [ + -7684.525, + -9677.961, + 198.106, + -0.05, + -171.101, + 0.0 + ], + [ + -7684.525, + -9677.961, + 198.106, + -0.05, + -146.101, + -0.0 + ], + [ + -7684.525, + -9677.961, + 198.106, + -0.05, 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a/benchmark/trajectory/Greek_Island/task_x-007685_y-009678_z000198_t1_b/infos.json b/benchmark/trajectory/Greek_Island/task_x-007685_y-009678_z000198_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..afcce0b2cf4ecea5b81cb51c538ea5c9ebb046e8 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-007685_y-009678_z000198_t1_b/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Search for the pair of wooden poles displaying a suspended shark and, once found, navigate over to them.", + "Type": 1, + "Start_Pose": [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 88.899, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 88.899, + 0.0 + ], + [ + -7684.525, + -9677.961, + 198.106, + -0.05, + 113.899, + -0.0 + ], + [ + -7684.525, + -9677.961, + 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b/benchmark/trajectory/Greek_Island/task_x-007768_y012694_z003813_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Go to the large tree on the right.", + "Type": 2, + "Start_Pose": [ + -7767.875, + 12694.363, + 3813.074, + -0.097, + 55.026, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7767.875, + 12694.363, + 3813.074, + -0.097, + 55.026, + -0.0 + ], + [ + -7695.732, + 12797.494, + 3821.402, + -0.097, + 55.026, + -0.0 + ], + [ + -7623.589, + 12900.624, + 3830.214, + -0.097, + 55.026, + -0.0 + ], + [ + -7623.589, + 12900.624, + 3830.214, + -0.097, + 80.026, + -0.0 + ], + [ + -7601.79, + 13024.58, + 3844.482, + -0.097, + 80.026, + -0.0 + ], + [ + -7579.991, + 13148.537, + 3853.703, + -0.097, + 80.026, + -0.0 + ], + [ + -7558.193, + 13272.494, + 3858.765, + -0.097, + 80.026, + -0.0 + ], + [ + -7536.394, + 13396.45, + 3858.535, + -0.097, + 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b/benchmark/trajectory/Greek_Island/task_x-007804_y-009393_z000198_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11c5b666b2b7d7d86994e3e4397fd3d3485d6047 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-007804_y-009393_z000198_t3_c/infos.json @@ -0,0 +1,240 @@ +{ + "Instruction": "Head toward the trunk of the green tree, then proceed to the open-weave crate on the platform.", + "Type": 3, + "Start_Pose": [ + -7804.154, + -9393.267, + 198.106, + 0.0, + -69.462, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7804.154, + -9393.267, + 198.106, + 0.0, + 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--- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-007808_y012637_z003807_t2_a/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Walk to the base of the tree directly in front of you on the left.", + "Type": 2, + "Start_Pose": [ + -7808.328, + 12636.535, + 3807.18, + -0.097, + 55.026, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7808.328, + 12636.535, + 3807.18, + -0.097, + 55.026, + -0.0 + ], + [ + -7808.328, + 12636.535, + 3807.101, + -0.097, + 30.026, + -0.0 + ], + [ + -7699.36, + 12699.514, + 3807.903, + -0.097, + 30.026, + -0.0 + ], + [ + -7590.391, + 12762.493, + 3806.308, + -0.097, + 30.026, + -0.0 + ], + [ + -7481.423, + 12825.472, + 3804.927, + -0.097, + 30.026, + -0.0 + ], + [ + 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a/benchmark/trajectory/Greek_Island/task_x-007832_y-009757_z000198_t0_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-007832_y-009757_z000198_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2e82dea8817e3056abb8dc3aadf240571b7a6efb --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-007832_y-009757_z000198_t0_a/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Go to the large palm tree.", + "Type": 0, + "Start_Pose": [ + -7832.232, + -9756.941, + 198.106, + 0, + 123.498, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7832.232, + -9756.941, + 198.106, + 0, + 123.498, + 0 + ], + [ + -7901.695, + -9651.987, + 198.106, + 0.0, + 123.498, + -0.0 + ], + [ + -7971.157, + -9547.032, + 198.106, + 0.0, + 123.498, + -0.0 + ], + [ + -7971.157, + -9547.032, + 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b/benchmark/trajectory/Greek_Island/task_x-007934_y-009597_z000198_t1_b/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Look for the openwork wooden cube structure near the single post where a shark hangs; after spotting it, navigate to that hollow wooden cube.", + "Type": 1, + "Start_Pose": [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -171.101, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -171.101, + -0.0 + ], + [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -146.101, + -0.0 + ], + [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -121.101, + -0.0 + ], + [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -96.101, + 0.0 + ], + [ + -7946.997, + -9722.635, + 198.106, + -0.05, + -96.101, + 0.0 + ], + [ + -7946.997, + -9722.635, + 198.106, + -0.05, + -71.101, + 0.0 + ], + [ + -7906.231, + 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"MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -171.101, + -0.0 + ], + [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -146.101, + -0.0 + ], + [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -121.101, + -0.0 + ], + [ + -7933.62, + -9597.489, + 198.106, + -0.05, + -96.101, + 0.0 + ], + [ + -7946.997, + -9722.635, + 198.106, + -0.05, + -96.101, + 0.0 + ], + [ + -7960.373, + -9847.781, + 199.076, + -0.05, + -96.101, + 0.0 + ], + [ + -7960.373, + -9847.781, + 199.076, + -0.05, + -71.101, + 0.0 + ], + [ + -7919.607, + -9966.855, + 215.949, + -0.05, + -71.101, + 0.0 + ], + [ + -7902.939, + -10042.09, + 215.949, + -0.05, + -71.101, + 0.0 + ], + [ + -7902.939, + -10042.09, + 215.949, + -0.05, + -71.101, + 0.0 + ], + [ + -7902.939, + -10042.09, + 215.949, + -0.05, + -71.101, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x-008454_y-009799_z000216_t1_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-008454_y-009799_z000216_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..214ccd3d7e224e8803204cac791009e54ad663ff --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-008454_y-009799_z000216_t1_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Search for the dried fish hanging at the end of the dock; once found, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -8454.057, + -9798.841, + 215.95, + -0.05, + 128.899, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8454.057, + -9798.841, + 215.95, + -0.05, + 128.899, + 0.0 + ], + [ + -8454.057, + -9798.841, + 215.94, + -0.05, + 153.899, + -0.0 + ], + [ + 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"TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8454.057, + -9798.841, + 215.95, + -0.05, + 128.899, + 0.0 + ], + [ + -8454.057, + -9798.841, + 215.94, + -0.05, + 153.899, + -0.0 + ], + [ + -8454.057, + -9798.841, + 215.94, + -0.05, + 178.899, + -0.0 + ], + [ + -8454.057, + -9798.841, + 215.94, + -0.05, + -156.101, + -0.0 + ], + [ + -8569.125, + -9849.83, + 234.289, + -0.05, + -156.101, + -0.0 + ], + [ + -8684.193, + -9900.818, + 234.289, + -0.05, + -156.101, + -0.0 + ], + [ + -8799.26, + -9951.807, + 234.289, + -0.05, + -156.101, + -0.0 + ], + [ + -8799.26, + -9951.807, + 234.289, + -0.05, + -131.101, + -0.0 + ], + [ + -8881.999, + -10046.648, + 234.289, + -0.05, + -131.101, + -0.0 + ], + [ + -8960.259, + -10133.524, + 234.289, + -0.05, + -131.101, + -0.0 + ], + [ + -9034.83, + -10158.51, + 234.289, + -0.05, + -131.101, + -0.0 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"Type": 0, + "Start_Pose": [ + -8490.01, + -5500.473, + 980.951, + 0.0, + -160.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8490.01, + -5500.473, + 980.951, + 0.0, + -160.24, + 0.0 + ], + [ + -8608.458, + -5543.024, + 998.901, + 0.0, + -160.24, + 0.0 + ], + [ + -8726.906, + -5585.574, + 1042.794, + 0.0, + -160.24, + 0.0 + ], + [ + -8845.354, + -5628.125, + 1083.784, + 0.0, + -160.24, + 0.0 + ], + [ + -8845.354, + -5628.125, + 1083.784, + 0.0, + -135.24, + 0.0 + ], + [ + -8934.722, + -5716.747, + 1098.424, + 0.0, + -135.24, + 0.0 + ], + [ + -9024.089, + -5805.369, + 1100.402, + 0.0, + -135.24, + 0.0 + ], + [ + -9113.457, + -5893.991, + 1100.402, + 0.0, + -135.24, + 0.0 + ], + [ + -9202.825, + -5982.613, + 1100.402, + 0.0, + 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mode 100644 index 0000000000000000000000000000000000000000..86281439fcd22bdd28a04c06d79a8f69911132e6 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-008940_y-005355_z001082_t3_a/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Walk to the wooden crate on the porch, then head toward the small metal bowl hanging from the wooden tripod.", + "Type": 3, + "Start_Pose": [ + -8940.172, + -5355.198, + 1081.962, + 0.0, + -166.271, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -8940.172, + -5355.198, + 1081.962, + 0.0, + -166.271, + 0.0 + ], + [ + -8940.172, + -5355.198, + 1081.963, + 0.0, + -141.271, + 0.0 + ], + [ + -9038.356, + -5433.94, + 1098.914, + 0.0, + -141.271, + 0.0 + ], + [ + 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b/benchmark/trajectory/Greek_Island/task_x-011453_y015314_z004045_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c22286947af634d9e6efc4b9e983b2c5aea76ce3 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-011453_y015314_z004045_t3_a/infos.json @@ -0,0 +1,330 @@ +{ + "Instruction": "Walk to the wooden shelf with the pink cloth, then head toward the orange pot enclosed by the slatted wooden crate.", + "Type": 3, + "Start_Pose": [ + -11453.427, + 15313.824, + 4044.629, + -0.05, + 175.345, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + 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0000000000000000000000000000000000000000..2743c14b7802b1b742554b294be96ef82ec86ab2 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-011456_y-002310_z000247_t3_a/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Walk to the dark open-frame crate on the ground, then head toward the large round boulder.", + "Type": 3, + "Start_Pose": [ + -11456.072, + -2310.177, + 246.556, + 0.0, + 138.721, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11456.072, + -2310.177, + 246.556, + 0.0, + 138.721, + -0.0 + ], + [ + -11550.656, + -2227.144, + 246.558, + 0.0, + 138.721, + -0.0 + ], + [ + -11550.656, + -2227.144, + 246.558, + 0.0, + 113.721, + -0.0 + ], + [ + -11601.287, + -2111.919, + 246.558, + 0.0, + 113.721, + -0.0 + ], + 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a/benchmark/trajectory/Greek_Island/task_x-011525_y007616_z003638_t2_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-011525_y007616_z003638_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1e400062399038a2afeb4319c4c440298ed24e65 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-011525_y007616_z003638_t2_a/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Go to the base of the large pillar on the left.", + "Type": 2, + "Start_Pose": [ + -11524.539, + 7615.883, + 3638.441, + -0.05, + 110.604, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -11524.539, + 7615.883, + 3638.441, + -0.05, + 110.604, + -0.0 + ], + [ + -11524.539, + 7615.883, + 3638.441, + 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b/benchmark/trajectory/Greek_Island/task_x-012707_y013800_z004047_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..45100cb784ebe7df7d9c9b7f45c9760dca538f8e --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-012707_y013800_z004047_t1_a/infos.json @@ -0,0 +1,249 @@ +{ + "Instruction": "Search for the large statue holding a spear and a round shield in this hall; after locating it, proceed to the base of the sculpture.", + "Type": 1, + "Start_Pose": [ + -12706.816, + 13799.968, + 4047.454, + -0.05, + -89.929, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + 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a/benchmark/trajectory/Greek_Island/task_x-012728_y009831_z003792_t0_a/infos.json b/benchmark/trajectory/Greek_Island/task_x-012728_y009831_z003792_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..234a79397fd3a5b8280ae1db2106aa61bc44527f --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x-012728_y009831_z003792_t0_a/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Go to the base of the statue with its back facing you.", + "Type": 0, + "Start_Pose": [ + -12728.177, + 9830.685, + 3792.278, + -0.05, + 15.2, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -12728.177, + 9830.685, + 3792.278, + -0.05, + 15.2, + 0.0 + ], + [ + -12606.721, + 9863.683, + 3788.467, + -0.05, + 15.2, + -0.0 + ], + [ + -12485.265, + 9896.682, + 3784.52, + -0.05, + 15.2, + -0.0 + ], + [ + -12363.809, 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a/benchmark/trajectory/Greek_Island/task_x003901_y-004471_z001661_t1_a/infos.json b/benchmark/trajectory/Greek_Island/task_x003901_y-004471_z001661_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f52fab8b6e032a7db05a2aa8531d39a36ee8ce98 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x003901_y-004471_z001661_t1_a/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Explore the area and go to the tied shark.", + "Type": 1, + "Start_Pose": [ + 3901.398, + -4470.75, + 1660.823, + -0.05, + -64.773, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 3901.398, + -4470.75, + 1660.823, + -0.05, + -64.773, + 0.0 + ], + [ + 3901.398, + -4470.75, + 1660.919, + -0.05, + -39.773, + 0.0 + ], + [ + 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b/benchmark/trajectory/Greek_Island/task_x004014_y-004441_z001671_t1_b/infos.json @@ -0,0 +1,204 @@ +{ + "Instruction": "Discover the boat resting beside the wooden ladder near the wall; once found, approach it.", + "Type": 1, + "Start_Pose": [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -124.773, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -124.773, + 0.0 + ], + [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -99.773, + -0.0 + ], + [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -74.773, + 0.0 + ], + [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -49.773, + 0.0 + ], + [ + 4013.774, + -4440.784, + 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@@ +{ + "Instruction": "Identify the small wooden window on the facade of the building where the ladder leans; after locating it, move toward that window.", + "Type": 1, + "Start_Pose": [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -124.773, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -124.773, + 0.0 + ], + [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -99.773, + -0.0 + ], + [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -74.773, + 0.0 + ], + [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -49.773, + 0.0 + ], + [ + 4013.774, + -4440.784, + 1670.575, + -0.05, + -24.773, + 0.0 + ], + [ + 4128.051, + -4493.522, + 1674.831, + -0.05, + -24.773, + 0.0 + ], + [ + 4242.328, + -4546.26, + 1683.72, + -0.05, + -24.773, + 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"Start_Pose": [ + 4894.784, + -1286.868, + 1690.31, + -0.049, + -63.355, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4894.784, + -1286.868, + 1690.31, + -0.049, + -63.355, + 0.0 + ], + [ + 4894.784, + -1286.868, + 1690.31, + -0.049, + -88.355, + 0.0 + ], + [ + 4898.397, + -1412.675, + 1690.31, + -0.049, + -88.355, + 0.0 + ], + [ + 4902.01, + -1538.482, + 1690.31, + -0.049, + -88.355, + 0.0 + ], + [ + 4905.623, + -1664.289, + 1690.31, + -0.049, + -88.355, + 0.0 + ], + [ + 4909.236, + -1790.096, + 1690.31, + -0.049, + -88.355, + 0.0 + ], + [ + 4912.849, + -1915.903, + 1690.31, + -0.049, + -88.355, + 0.0 + ], + [ + 4916.462, + -2041.711, + 1689.538, + -0.049, + -88.355, + 0.0 + ], + [ + 4916.462, + -2041.711, + 1689.538, + -0.049, + -113.355, + 0.0 + ], + [ + 4866.568, + -2157.257, + 1689.538, + -0.049, + -113.355, + 0.0 + ], + [ + 4816.674, + -2272.804, + 1689.538, + -0.049, + -113.355, + 0.0 + ], + [ + 4766.781, + -2388.351, + 1694.69, + -0.049, + -113.355, + 0.0 + ], + [ + 4766.781, + -2388.351, + 1694.69, + -0.049, + -113.355, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x005329_y002418_z001963_t1_a/infos.json b/benchmark/trajectory/Greek_Island/task_x005329_y002418_z001963_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d350e53ecb02e8c1e7bd3b6d0d660df972113b66 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x005329_y002418_z001963_t1_a/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Explore the area and go to the main entrance door of the house.", + "Type": 1, + "Start_Pose": [ + 5328.531, + 2418.284, + 1962.851, + -0.049, + -152.538, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5328.531, + 2418.284, + 1962.851, + -0.049, + -152.538, + 0.0 + ], + [ + 5328.531, + 2418.284, + 1962.994, + -0.049, + -177.538, + -0.0 + ], + [ + 5202.788, + 2412.877, + 1962.994, + -0.049, + -177.538, + -0.0 + ], + [ + 5202.788, + 2412.877, + 1962.994, + -0.049, + 157.462, + -0.0 + ], + [ + 5086.541, + 2461.119, + 1962.994, + -0.049, + 157.462, + -0.0 + ], + [ + 4970.295, + 2509.36, + 1962.994, + -0.049, + 157.462, + -0.0 + ], + [ + 4854.048, + 2557.601, + 1962.994, + -0.049, + 157.462, + -0.0 + ], + [ + 4854.048, + 2557.601, + 1962.994, + -0.049, + -177.538, + -0.0 + ], + [ + 4728.306, + 2552.195, + 1962.994, + -0.049, + -177.538, + -0.0 + ], + [ + 4602.563, + 2546.788, + 1962.994, + -0.049, + -177.538, + -0.0 + ], + [ + 4602.563, + 2546.788, + 1962.994, + -0.049, + -152.538, + -0.0 + ], + [ + 4493.56, + 2529.297, + 1962.594, + -0.049, + -152.538, + -0.0 + ], + [ + 4493.56, + 2529.297, + 1962.594, + -0.049, + -127.538, + -0.0 + ], + [ + 4493.56, + 2529.297, + 1962.594, + -0.049, + -127.538, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x005436_y001594_z001980_t0_a/infos.json b/benchmark/trajectory/Greek_Island/task_x005436_y001594_z001980_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ba89126a0391dcc19f8b509bf7277e42107044 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x005436_y001594_z001980_t0_a/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Go to the window on the house wall.", + "Type": 0, + "Start_Pose": [ + 5435.528, + 1594.464, + 1979.882, + -0.049, + 147.942, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5435.528, + 1594.464, + 1979.882, + -0.049, + 147.942, + 0.0 + ], + [ + 5328.861, + 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0000000000000000000000000000000000000000..858af7045d8605044100c4e122d178fc1d7a3c5e --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x005643_y-001973_z001690_t1_a/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Search for the large ceramic jar encased in a wooden frame near the statue; once you have located it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -43.355, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -43.355, + 0.0 + ], + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -68.355, + -0.0 + ], + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -93.355, + -0.0 + ], + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -118.355, + -0.0 + ], + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -143.355, + 0.0 + ], + [ + 5542.34, + -2048.427, + 1690.31, + -0.049, + -143.355, + 0.0 + ], + [ + 5441.358, + -2123.546, + 1690.31, + -0.049, + -143.355, + 0.0 + ], + [ + 5340.375, + -2198.666, + 1690.31, + -0.049, + -143.355, + 0.0 + ], + [ + 5239.392, + -2273.785, + 1689.796, + -0.049, + -143.355, + 0.0 + ], + [ + 5138.409, + -2348.905, + 1689.538, + -0.049, + -143.355, + 0.0 + ], + [ + 5037.426, + -2424.024, + 1689.538, + -0.049, + -143.355, + 0.0 + ], + [ + 4936.444, + -2499.144, + 1689.538, + -0.049, + -143.355, + 0.0 + ], + [ + 4851.894, + -2571.309, + 1689.375, + -0.049, + -143.355, + 0.0 + ], + [ + 4851.894, + -2571.309, + 1689.375, + -0.049, + -143.355, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x005643_y-001973_z001690_t1_b/infos.json b/benchmark/trajectory/Greek_Island/task_x005643_y-001973_z001690_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16ab16cade20a9a9db4a8965710cd365659f4eb0 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x005643_y-001973_z001690_t1_b/infos.json @@ -0,0 +1,186 @@ +{ + "Instruction": "Locate the stack of rectangular hay bales beside the cloth-covered table under the wooden shelter, then make your way toward it.", + "Type": 1, + "Start_Pose": [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -43.355, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -43.355, + 0.0 + ], + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -68.355, + -0.0 + ], + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -93.355, + -0.0 + ], + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -118.355, + -0.0 + ], + [ + 5643.323, + -1973.307, + 1690.31, + -0.049, + -143.355, + 0.0 + ], + [ + 5542.34, + -2048.427, + 1690.31, + -0.049, + -143.355, + 0.0 + ], + [ + 5441.358, + -2123.546, + 1690.31, + -0.049, + -143.355, + 0.0 + ], + [ + 5441.358, + -2123.546, + 1690.31, + -0.049, + -168.355, + 0.0 + ], + [ + 5318.089, + -2148.95, + 1690.31, + -0.049, + -168.355, + 0.0 + ], + [ + 5194.821, + -2174.355, + 1689.771, + -0.049, + -168.355, + 0.0 + ], + [ + 5071.552, + -2199.759, + 1689.771, + -0.049, + -168.355, + 0.0 + ], + [ + 4948.284, + -2225.163, + 1689.771, + -0.049, + -168.355, + 0.0 + ], + [ + 4948.284, + -2225.163, + 1689.771, + -0.049, + -143.355, + 0.0 + ], + [ + 4847.301, + -2300.283, + 1689.771, + -0.049, + -143.355, + 0.0 + ], + [ + 4746.318, + -2375.402, + 1694.652, + -0.049, + -143.355, + 0.0 + ], + [ + 4645.336, + -2450.522, + 1689.457, + -0.049, + -143.355, + 0.0 + ], + [ + 4544.353, + -2525.642, + 1689.457, + -0.049, + -143.355, + 0.0 + ], + [ + 4493.252, + -2574.73, + 1707.674, + -0.049, + -143.355, + 0.0 + ], + [ + 4493.252, + -2574.73, + 1707.674, + -0.049, + -143.355, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/Greek_Island/task_x006107_y-001737_z001677_t2_a/infos.json b/benchmark/trajectory/Greek_Island/task_x006107_y-001737_z001677_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00c35db8bc845dd161eb4279faf1b9f23a7a0222 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x006107_y-001737_z001677_t2_a/infos.json @@ -0,0 +1,195 @@ +{ + "Instruction": "Go to the first tall palm tree on the left.", + "Type": 2, + "Start_Pose": [ + 6107.44, + -1736.558, + 1677.312, + -0.05, + 119.052, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6107.44, + -1736.558, + 1677.312, + -0.05, + 119.052, + 0 + ], + [ + 6046.322, + -1626.535, + 1687.119, + -0.05, + 119.052, + 0.0 + ], + [ + 5985.205, + -1516.511, + 1690.148, + -0.05, + 119.052, + 0.0 + ], + [ + 5985.205, + -1516.511, + 1690.148, + -0.05, + 94.052, + 0.0 + ], + [ + 5976.311, + -1390.967, + 1690.148, + -0.05, + 94.052, + 0.0 + ], + [ + 5967.418, + -1265.423, + 1690.148, + -0.05, + 94.052, + 0.0 + ], + [ + 5958.525, + -1139.878, + 1690.148, + -0.05, + 94.052, + 0.0 + ], + [ + 5949.631, + -1014.334, + 1690.148, + -0.05, + 94.052, + 0.0 + ], + [ + 5940.738, + -888.79, + 1690.148, + -0.05, + 94.052, + 0.0 + ], + [ + 5931.844, + -763.245, + 1690.438, + -0.05, + 94.052, + 0.0 + ], + [ + 5922.951, + -637.701, + 1691.987, + -0.05, + 94.052, + 0.0 + ], + [ + 5914.058, + -512.157, + 1693.943, + -0.05, + 94.052, + 0.0 + ], + [ + 5905.164, + -386.612, + 1695.366, + -0.05, + 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+ 6933.055, + 16342.131, + 1304.193, + -0.097, + 97.785, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 6933.055, + 16342.131, + 1304.193, + -0.097, + 97.785, + -0.0 + ], + [ + 6933.055, + 16342.131, + 1304.193, + -0.097, + 72.785, + -0.0 + ], + [ + 6970.304, + 16462.351, + 1307.077, + -0.097, + 72.785, + -0.0 + ], + [ + 7007.553, + 16582.572, + 1309.972, + -0.097, + 72.785, + -0.0 + ], + [ + 7044.802, + 16702.792, + 1312.044, + -0.097, + 72.785, + -0.0 + ], + [ + 7082.051, + 16823.013, + 1313.989, + -0.097, + 72.785, + -0.0 + ], + [ + 7119.3, + 16943.233, + 1315.337, + -0.097, + 72.785, + -0.0 + ], + [ + 7156.549, + 17063.454, + 1316.675, + -0.097, + 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a/benchmark/trajectory/Greek_Island/task_x008399_y021711_z001322_t0_a/infos.json b/benchmark/trajectory/Greek_Island/task_x008399_y021711_z001322_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d87ed84b9bfc530342b6131064d8d1638577f520 --- /dev/null +++ b/benchmark/trajectory/Greek_Island/task_x008399_y021711_z001322_t0_a/infos.json @@ -0,0 +1,312 @@ +{ + "Instruction": "Go to the red-and-white stone pillar.", + "Type": 0, + "Start_Pose": [ + 8399.279, + 21710.842, + 1321.588, + -0.097, + 99.544, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", 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"MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -105.322, + -207.425, + 98.15, + 0, + 15.36, + 0 + ], + [ + 16.041, + -174.087, + 98.15, + 0.0, + 15.36, + -0.0 + ], + [ + 137.405, + -140.749, + 98.15, + 0.0, + 15.36, + -0.0 + ], + [ + 258.768, + -107.411, + 98.15, + 0.0, + 15.36, + -0.0 + ], + [ + 258.768, + -107.411, + 98.15, + 0.0, + -9.64, + 0.0 + ], + [ + 382.85, + -128.487, + 98.15, + 0.0, + -9.64, + 0.0 + ], + [ + 506.932, + -149.563, + 98.15, + 0.0, + -9.64, + 0.0 + ], + [ + 631.014, + -170.639, + 98.15, + 0.0, + -9.64, + 0.0 + ], + [ + 755.095, + -191.715, + 98.15, + 0.0, + -9.64, + 0.0 + ], + [ + 879.177, + -212.791, + 98.15, + 0.0, + -9.64, + 0.0 + ], + [ + 1003.259, + -233.867, + 98.15, + 0.0, + 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extinguisher mounted on the wall inside this room; after locating it, proceed toward it.", + "Type": 1, + "Start_Pose": [ + -164.56, + -1893.62, + 911.15, + 0.0, + -34.88, + 0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -164.56, + -1893.62, + 911.15, + 0.0, + -34.88, + 0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + -9.88, + 0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + 15.12, + -0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + 40.12, + -0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + 65.12, + -0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + 90.12, + -0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + 115.12, + -0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + 140.12, + 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b/benchmark/trajectory/IndustrialArea/task_x-000165_y-001894_z000911_t1_b/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Identify the box sitting on the tiled floor in the center of the room, then head over to it.", + "Type": 1, + "Start_Pose": [ + -164.56, + -1893.62, + 911.15, + 0.0, + -34.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + -164.56, + -1893.62, + 911.15, + 0.0, + -34.88, + 0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + -59.88, + 0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + -84.88, + 0.0 + ], + [ + -164.56, + -1893.62, + 911.15, + 0.0, + -109.88, + 0.0 + ], + [ + -207.359, + -2011.979, + 911.15, + 0.0, + -109.88, + 0.0 + ], + [ + -250.157, + -2130.337, + 911.15, + 0.0, + -109.88, + 0.0 + ], + [ + -292.956, + -2248.696, + 911.15, + 0.0, + -109.88, + 0.0 + ], 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-2072.455, + 561.15, + 0.0, + 105.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -166.993, + -2072.455, + 561.15, + 0.0, + 105.12, + -0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + 130.12, + -0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + 155.12, + -0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + -179.88, + 0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + -154.88, + 0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + -129.88, + 0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + -104.88, + 0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + -79.88, + 0.0 + ], + [ + -144.849, + -2196.129, + 561.15, 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b/benchmark/trajectory/IndustrialArea/task_x-000167_y-002072_z000561_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7ed51d7a41cab5d488cbd77f9674999953c1ff56 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-000167_y-002072_z000561_t1_b/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Locate the red fire extinguisher hanging on the wall inside this room and approach it.", + "Type": 1, + "Start_Pose": [ + -166.993, + -2072.455, + 561.15, + 0.0, + 105.12, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + -166.993, + -2072.455, + 561.15, + 0.0, + 105.12, + -0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + 130.12, + -0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + 155.12, + -0.0 + ], + [ + -166.993, + -2072.455, + 561.15, + 0.0, + 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b/benchmark/trajectory/IndustrialArea/task_x-000216_y-002721_z000211_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "The pale door at the far end of the hallway is your target. Navigate to it and open it.", + "Type": 4, + "Start_Pose": [ + -215.606, + -2721.263, + 211.15, + 0.0, + 96.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -215.606, + -2721.263, + 211.15, + 0.0, + 96.32, + -0.0 + ], + [ + -241.414, + -2609.856, + 211.15, + 0.0, + 96.32, + -0.0 + ], + [ + -260.262, + -2487.131, + 211.15, + 0.0, + 96.32, + -0.0 + ], + [ + -274.117, + -2362.037, + 211.15, + 0.0, + 96.32, + -0.0 + ], + [ + -280.014, + -2240.355, + 211.15, + 0.0, + 96.32, + -0.0 + ], + [ + -282.692, + -2115.487, + 211.15, + 0.0, + 96.32, + -0.0 + ], + [ + -296.547, + -1990.393, + 211.15, + 0.0, + 96.32, + -0.0 + ], + [ + -310.402, + -1865.299, + 211.15, + 0.0, + 96.32, + -0.0 + ], + [ + -310.402, + -1865.299, + 211.15, + 0.0, + 71.32, + -0.0 + ], + [ + -265.945, + -1807.316, + 211.15, + 0.0, + 71.32, + -0.0 + ], + [ + -265.945, + -1807.316, + 211.15, + 0.0, + 71.32, + -0.0 + ], + [ + -265.945, + -1807.316, + 211.15, + 0.0, + 71.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x-000283_y-001613_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x-000283_y-001613_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..09b375ab31c63bdf1fe5464530e31c09e0f2222e --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-000283_y-001613_z000211_t4_a/infos.json @@ -0,0 +1,67 @@ +{ + "Instruction": "Head to the metal door with the glass window near the fire extinguisher, then pull it open when you arrive.", + "Type": 4, + "Start_Pose": [ + -283.36, + -1613.029, + 211.15, + 0.0, + -63.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -283.36, + -1613.029, + 211.15, + 0.0, + -63.68, + 0.0 + ], + [ + -283.36, + -1613.029, + 211.15, + 0.0, + -88.68, + 0.0 + ], + [ + -278.125, + -1712.845, + 211.15, + 0.0, + -88.68, + 0.0 + ], + [ + -278.125, + -1712.845, + 211.15, + 0.0, + -88.68, + 0.0 + ], + [ + -278.125, + -1712.845, + 211.15, + 0.0, + -88.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x-000286_y-002398_z000561_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x-000286_y-002398_z000561_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2313bb9deea218fd70da79cd0cd0a48e9680df4d --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-000286_y-002398_z000561_t4_a/infos.json @@ -0,0 +1,207 @@ +{ + "Instruction": "Go straight to the gray metal door with a narrow window between the two banks of electrical control panels, and pull it open.", + "Type": 4, + "Start_Pose": [ + -285.934, + -2398.121, + 561.15, + 0.0, + 76.32, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "LookDown", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -285.934, + -2398.121, + 561.15, + 0.0, + 76.32, + -0.0 + ], + [ + -285.934, + -2398.121, + 561.15, + 0.0, + 101.32, + -0.0 + ], + [ + -306.139, + -2391.677, + 562.607, + 0.0, + 101.32, + -0.0 + ], + [ + -306.139, + -2391.677, + 562.607, + 0.0, + 126.32, + -0.0 + ], + [ + -376.772, + -2376.503, + 561.15, + 0.0, + 126.32, + -0.0 + ], + [ + -376.772, + -2376.503, + 561.15, + 0.0, + 126.32, + -0.0 + ], + [ + -451.318, + -2275.096, + 561.15, + 0.0, + 126.32, + -0.0 + ], + [ + -451.318, + -2275.096, + 561.15, + 0.0, + 101.32, + -0.0 + ], + [ + -451.318, + -2275.096, + 561.15, + 0.0, + 76.32, + -0.0 + ], + [ + -412.071, + -2168.279, + 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0000000000000000000000000000000000000000..86ccf6ba575bf5bcaca26226b4aa2046c75be74f --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-000407_y-001339_z000561_t4_a/infos.json @@ -0,0 +1,107 @@ +{ + "Instruction": "Open the gray metal door immediately to your left, the one with a narrow window beside a red fire extinguisher.", + "Type": 4, + "Start_Pose": [ + -407.169, + -1339.492, + 561.15, + 0.0, + -43.68, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -407.169, + -1339.492, + 561.15, + 0.0, + -43.68, + 0.0 + ], + [ + -316.147, + -1426.414, + 561.15, + 0.0, + -43.68, + 0.0 + ], + [ + -316.147, + -1426.414, + 561.15, + 0.0, + -68.68, + 0.0 + ], + [ + -270.387, + -1543.66, + 561.15, + 0.0, + -68.68, + 0.0 + ], + [ + -270.387, + -1543.66, + 561.15, + 0.0, + -93.68, + 0.0 + ], + [ + -278.465, + -1669.259, + 561.15, + 0.0, + -93.68, + 0.0 + ], + [ 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Walk over and open it.", + "Type": 4, + "Start_Pose": [ + -407.169, + -1339.492, + 561.15, + 0.0, + -43.68, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -407.169, + -1339.492, + 561.15, + 0.0, + -43.68, + 0.0 + ], + [ + -407.169, + -1339.492, + 561.15, + 0.0, + -18.68, + 0.0 + ], + [ + -287.94, + -1379.802, + 561.15, + 0.0, + -18.68, + 0.0 + ], + [ + -168.711, + -1420.113, + 561.15, + 0.0, + -18.68, + 0.0 + ], + [ + -49.482, + -1460.423, + 561.15, + 0.0, + -18.68, + 0.0 + ], + [ + -49.482, + -1460.423, + 561.15, + 0.0, + 6.32, + -0.0 + ], + [ + 75.612, + -1446.568, + 561.15, + 0.0, + 6.32, + -0.0 + ], + [ + 200.706, + -1432.714, + 561.15, + 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0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x-000631_y-002106_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x-000631_y-002106_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7d6a446379e8e4697df778e03268477cacb46e9d --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-000631_y-002106_z000211_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Proceed to the metal door on the right wall between the electrical control panels, then pull it open.", + "Type": 4, + "Start_Pose": [ + -631.142, + -2105.543, + 211.15, + 0.0, + 16.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -631.142, + -2105.543, + 211.15, + 0.0, + 16.32, + 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b/benchmark/trajectory/IndustrialArea/task_x-000652_y-002504_z000561_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e3224abf737fd0be0b1647d382a54cd574392ead --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-000652_y-002504_z000561_t4_a/infos.json @@ -0,0 +1,147 @@ +{ + "Instruction": "Go to the gray metal door with a narrow window beside the wall-mounted intercom panel, between the electrical control panels and the stacked wooden crates, and pull it open.", + "Type": 4, + "Start_Pose": [ + -652.389, + -2504.433, + 561.15, + 0.0, + 36.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -652.389, + -2504.433, + 561.15, + 0.0, + 36.32, + -0.0 + ], + [ + -573.972, + -2422.221, + 561.15, + 0.0, + 36.32, + -0.0 + ], + [ + -472.564, + -2347.676, 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file mode 100644 index 0000000000000000000000000000000000000000..5cda4e9b5251203e198429902f173910b012e486 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-000652_y-002688_z000561_t3_a/infos.json @@ -0,0 +1,285 @@ +{ + "Instruction": "Walk to the valve wheel on the far wall, then head toward the doorway.", + "Type": 3, + "Start_Pose": [ + -652.139, + -2687.915, + 561.15, + 0.0, + 45.12, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MidwayTarget", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -652.139, + -2687.915, + 561.15, + 0.0, + 45.12, + -0.0 + ], + [ + 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a/benchmark/trajectory/IndustrialArea/task_x-000652_y-002688_z000561_t3_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x-000652_y-002688_z000561_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ce793328a8f9ad1c7196c5b92dfdaf0ef56e2e46 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-000652_y-002688_z000561_t3_b/infos.json @@ -0,0 +1,357 @@ +{ + "Instruction": "Approach the metal door, then move to the valve wheel.", + "Type": 3, + "Start_Pose": [ + -652.139, + -2687.915, + 561.15, + 0.0, + 45.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + 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0000000000000000000000000000000000000000..17954be738f97419a9669995314b9a0cbb91b673 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-000652_y-002688_z000561_t3_c/infos.json @@ -0,0 +1,339 @@ +{ + "Instruction": "Head toward the doorway, then proceed to the vertical pipe with valve wheel.", + "Type": 3, + "Start_Pose": [ + -652.139, + -2687.915, + 561.15, + 0.0, + 45.12, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 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"MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -874.468, + 220.524, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -891.81, + 345.182, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -909.152, + 469.841, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -926.494, + 594.499, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -943.837, + 719.158, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -961.179, + 843.816, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -978.521, + 968.475, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -992.289, + 1093.039, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -1009.631, + 1217.697, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -1026.973, + 1342.356, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -1041.878, + 1466.969, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -1059.221, + 1591.628, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -1059.221, + 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"MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -874.468, + 220.524, + 98.15, + 0, + 97.92, + 0 + ], + [ + -891.81, + 345.182, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + -891.81, + 345.182, + 98.15, + 0.0, + 122.92, + -0.0 + ], + [ + -960.21, + 450.832, + 98.15, + 0.0, + 122.92, + -0.0 + ], + [ + -1028.611, + 556.482, + 98.15, + 0.0, + 122.92, + -0.0 + ], + [ + -1097.011, + 662.132, + 98.15, + 0.0, + 122.92, + -0.0 + ], + [ + -1165.421, + 765.069, + 99.696, + 0.0, + 122.92, + -0.0 + ], + [ + -1228.888, + 793.537, + 133.29, + 0.0, + 122.92, + -0.0 + ], + [ + -1228.888, + 793.537, + 133.29, + 0.0, + 122.92, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x-001209_y001604_z000098_t0_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x-001209_y001604_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b483ad4ce92a1ad30810d124a0f0fd708cc40fc4 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-001209_y001604_z000098_t0_a/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Walk to the small door on the warehouse gate.", + "Type": 0, + "Start_Pose": [ + -1209.124, + 1604.392, + 98.15, + 0.0, + 37.92, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1209.124, + 1604.392, + 98.15, + 0.0, + 37.92, + -0.0 + ], + [ + -1109.838, + 1681.74, + 98.15, + 0.0, + 37.92, + -0.0 + ], + [ + -1109.838, + 1681.74, + 98.15, + 0.0, + 12.92, + -0.0 + ], + [ + -987.165, + 1709.881, + 98.15, + 0.0, + 12.92, + -0.0 + ], + [ + -864.492, + 1738.022, + 98.15, + 0.0, + 12.92, + -0.0 + ], + [ + -741.82, + 1766.163, + 108.552, + 0.0, + 12.92, + -0.0 + ], + [ + -741.82, + 1766.163, + 108.552, + 0.0, + 37.92, + -0.0 + ], + [ + -642.533, + 1843.511, + 114.741, + 0.0, + 37.92, + -0.0 + ], + [ + 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a/benchmark/trajectory/IndustrialArea/task_x-001389_y001702_z000098_t1_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x-001389_y001702_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2cedaf46c62cf14a2b188ae967d186fc58b276ae --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-001389_y001702_z000098_t1_a/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Locate the small blue vehicle in the area and navigate your way over to it.", + "Type": 1, + "Start_Pose": [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 136.32, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 111.32, + -0.0 + ], + [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 86.32, + -0.0 + 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+1,159 @@ +{ + "Instruction": "Determine where the small iron door built into the warehouse's main gate is situated; once found, make your way to that entry point.", + "Type": 1, + "Start_Pose": [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 136.32, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 136.32, + -0.0 + ], + [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 111.32, + -0.0 + ], + [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 86.32, + -0.0 + ], + [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 61.32, + -0.0 + ], + [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 36.32, + -0.0 + ], + [ + -1388.641, + 1701.719, + 98.15, + 0.0, + 11.32, + -0.0 + ], + [ + -1265.23, + 1726.424, + 98.15, + 0.0, + 11.32, + -0.0 + ], + [ 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+1,186 @@ +{ + "Instruction": "Locate the green shipping container's door on the side adjacent to the blue container, then navigate to it.", + "Type": 1, + "Start_Pose": [ + -1400.347, + -1220.521, + 98.15, + 0.0, + 176.32, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1400.347, + -1220.521, + 98.15, + 0.0, + 176.32, + -0.0 + ], + [ + -1400.347, + -1220.521, + 98.15, + 0.0, + 151.32, + -0.0 + ], + [ + -1400.347, + -1220.521, + 98.15, + 0.0, + 126.32, + -0.0 + ], + [ + -1400.347, + -1220.521, + 98.15, + 0.0, + 101.32, + -0.0 + ], + [ + -1400.347, + -1220.521, + 98.15, + 0.0, + 76.32, + -0.0 + ], + [ + -1400.347, + -1220.521, + 98.15, + 0.0, + 51.32, + -0.0 + ], + [ + -1400.347, + -1220.521, + 98.15, + 0.0, + 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b/benchmark/trajectory/IndustrialArea/task_x-001404_y-000695_z000098_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..358fe9b0c711995c5bd945acdca888e8b766dbc4 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-001404_y-000695_z000098_t0_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Walk to the stack of wooden pallets.", + "Type": 0, + "Start_Pose": [ + -1404.25, + -695.378, + 98.15, + 0.0, + -138.24, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1404.25, + -695.378, + 98.15, + 0.0, + -138.24, + 0.0 + ], + [ + -1498.133, + -779.202, + 98.15, + 0.0, + -138.24, + 0.0 + ], + [ + -1592.017, + -863.025, + 98.15, + 0.0, + -138.24, + 0.0 + ], + [ + -1685.9, + -946.849, + 98.15, + 0.0, + -138.24, + 0.0 + ], + [ + -1779.784, + -1030.672, + 98.15, + 0.0, + -138.24, + 0.0 + ], + [ + -1873.667, + -1114.496, + 98.15, + 0.0, + -138.24, + 0.0 + ], + [ + -1956.635, + -1197.143, + 98.15, + 0.0, + -138.24, + 0.0 + ], + [ + -1956.635, + -1197.143, + 98.15, + 0.0, + -138.24, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x-001459_y-000640_z000098_t1_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x-001459_y-000640_z000098_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e17eeccc5f04045ec5ad3fec32320936170f8e5b --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-001459_y-000640_z000098_t1_a/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Determine where the single standalone dumpster is located and make your way over to it.", + "Type": 1, + "Start_Pose": [ + -1458.589, + -640.342, + 98.15, + 0.0, + -123.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ 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100644 index 0000000000000000000000000000000000000000..d582c209c6fc320afa3d4472c3dbc282e5d62aba --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-001614_y000185_z000098_t1_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Search for a stack of crates positioned in front of a yellow forklift; after locating them, proceed to that pile.", + "Type": 1, + "Start_Pose": [ + -1613.895, + 184.938, + 98.15, + 0.0, + 176.32, + -0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1613.895, + 184.938, + 98.15, + 0.0, + 176.32, + -0.0 + ], + [ + -1613.895, + 184.938, + 98.15, + 0.0, + 151.32, + -0.0 + ], + [ + -1613.895, + 184.938, + 98.15, + 0.0, + 126.32, + -0.0 + ], + [ + -1613.895, + 184.938, + 98.15, + 0.0, + 101.32, + -0.0 + ], + [ + -1613.895, + 184.938, + 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b/benchmark/trajectory/IndustrialArea/task_x-001616_y000320_z000098_t0_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Walk to the forks of the yellow forklift.", + "Type": 0, + "Start_Pose": [ + -1616.007, + 319.522, + 98.15, + 0.0, + 77.92, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1616.007, + 319.522, + 98.15, + 0.0, + 77.92, + -0.0 + ], + [ + -1589.668, + 442.594, + 98.15, + 0.0, + 77.92, + -0.0 + ], + [ + -1563.328, + 565.666, + 98.15, + 0.0, + 77.92, + -0.0 + ], + [ + -1563.328, + 565.666, + 98.15, + 0.0, + 52.92, + -0.0 + ], + [ + -1487.444, + 666.076, + 98.15, + 0.0, + 52.92, + -0.0 + ], + [ + -1411.56, + 766.485, + 98.15, + 0.0, + 52.92, + -0.0 + ], + [ + -1335.676, + 866.895, + 98.15, + 0.0, + 52.92, + -0.0 + ], + [ + -1335.676, + 866.895, + 98.15, + 0.0, + 52.92, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x-001616_y000320_z000098_t0_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x-001616_y000320_z000098_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9ef0fd57347c9178c059829a67dd5d73ca441b9a --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x-001616_y000320_z000098_t0_b/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Approach the wooden pallet loaded with crates in front of the yellow forklift.", + "Type": 0, + "Start_Pose": [ + -1616.007, + 319.522, + 98.15, + 0.0, + 77.92, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1616.007, + 319.522, + 98.15, + 0.0, + 77.92, + -0.0 + ], + [ + -1616.007, + 319.522, + 98.15, + 0.0, + 52.92, + -0.0 + ], + [ + -1540.123, + 419.932, + 98.15, + 0.0, + 52.92, + -0.0 + ], + [ + -1464.239, + 520.341, + 98.15, + 0.0, + 52.92, + -0.0 + ], + [ + -1388.355, + 620.751, + 98.15, + 0.0, + 52.92, + -0.0 + ], + [ + -1312.47, + 721.16, + 98.15, + 0.0, + 52.92, + -0.0 + ], + [ + -1245.53, + 793.008, + 132.151, + 0.0, + 52.92, + -0.0 + ], + [ + -1245.53, + 793.008, + 132.151, + 0.0, + 52.92, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000177_y-002189_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000177_y-002189_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b327bbe80b4fdeb3dff18b01db736a6509fabb57 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000177_y-002189_z000211_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Locate the metal door near the electrical panels on the far wall; once there, open it.", + "Type": 4, + "Start_Pose": [ + 176.883, + -2189.024, + 211.15, + 0.0, + 176.32, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 176.883, + -2189.024, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + 176.883, + -2189.024, + 211.15, + 0.0, + 151.32, + -0.0 + ], + [ + 157.72, + -2135.075, + 211.15, + 0.0, + 151.32, + -0.0 + ], + [ + 63.98, + -2068.007, + 211.15, + 0.0, + 151.32, + -0.0 + ], + [ + -46.438, + -2007.605, + 211.15, + 0.0, + 151.32, + -0.0 + ], + [ + -156.855, + -1947.203, + 211.15, + 0.0, + 151.32, + -0.0 + ], + [ + -156.855, + -1947.203, + 211.15, + 0.0, + 126.32, + -0.0 + ], + [ + -231.401, + -1845.796, + 211.15, + 0.0, + 126.32, + -0.0 + ], + [ + -231.401, + -1845.796, + 211.15, + 0.0, + 126.32, + -0.0 + ], + [ + -277.348, + -1810.889, + 211.15, + 0.0, + 126.32, + -0.0 + ], + [ + -277.348, + -1810.889, + 211.15, + 0.0, + 126.32, + -0.0 + ], + [ + -277.348, + -1810.889, + 211.15, + 0.0, + 126.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000184_y-002450_z000911_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000184_y-002450_z000911_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..61425ba39ba08e3a62c82b9cbd89adf1753d6e60 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000184_y-002450_z000911_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Reach the metal door set between the electrical control panels; once there, open it.", + "Type": 4, + "Start_Pose": [ + 183.675, + -2449.879, + 911.15, + 0.0, + 136.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 183.675, + -2449.879, + 911.15, + 0.0, + 136.32, + -0.0 + ], + [ + 92.653, + -2362.957, + 911.15, + 0.0, + 136.32, + -0.0 + ], + [ + 1.63, + -2276.035, + 911.15, + 0.0, + 136.32, + -0.0 + ], + [ + -89.392, + -2189.113, + 911.15, + 0.0, + 136.32, + -0.0 + ], + [ + -180.414, + -2102.191, + 911.15, + 0.0, + 136.32, + -0.0 + ], + [ + -180.414, + -2102.191, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + -226.174, + -1984.945, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + -271.933, + -1867.699, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + -271.933, + -1867.699, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + -292.704, + -1815.39, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + -292.704, + -1815.39, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + -292.704, + -1815.39, + 911.15, + 0.0, + 111.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000198_y-002511_z000211_t1_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000198_y-002511_z000211_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e6bf667a9a76a10d2f9d060108c965b12872aaac --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000198_y-002511_z000211_t1_a/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Search for the red fire extinguisher mounted on the green wall section between the machinery; once you've spotted it, navigate over to it.", + "Type": 1, + "Start_Pose": [ + 198.102, + -2510.655, + 211.15, + 0.0, + -83.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 198.102, + -2510.655, + 211.15, + 0.0, + -83.68, + 0.0 + ], + [ + 198.102, + -2510.655, + 211.15, + 0.0, + -108.68, + 0.0 + ], + [ + 198.102, + -2510.655, + 211.15, + 0.0, + -133.68, + 0.0 + ], + [ + 198.102, + -2510.655, + 211.15, + 0.0, + -158.68, + 0.0 + ], + [ + 198.102, + -2510.655, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + 198.102, + -2510.655, + 211.15, + 0.0, + 151.32, + -0.0 + ], + [ + 156.634, + -2453.91, + 211.15, + 0.0, + 151.32, + -0.0 + ], + [ + 156.634, + -2453.91, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + 69.573, + -2423.698, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + -56.027, + -2415.62, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + -181.626, + -2407.542, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + -307.226, + -2399.464, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + -432.825, + -2391.386, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + -558.425, + -2383.308, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + -684.024, + -2375.23, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + -684.024, + -2375.23, + 211.15, + 0.0, + 151.32, + -0.0 + ], + [ + -712.966, + -2340.188, + 211.15, + 0.0, + 151.32, + -0.0 + ], + [ + -712.966, + -2340.188, + 211.15, + 0.0, + 151.32, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000245_y-001569_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000245_y-001569_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8c45823cf8ecf2052524432a98f18c5f7591a99e --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000245_y-001569_z000211_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Walk over to the grey metal door near the fire extinguisher and pull it open.", + "Type": 4, + "Start_Pose": [ + 244.893, + -1568.99, + 211.068, + 0.0, + 176.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 244.893, + -1568.99, + 211.068, + 0.0, + 176.32, + -0.0 + ], + [ + 119.294, + -1560.912, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + -6.306, + -1552.834, + 211.15, + 0.0, + 176.32, + -0.0 + ], + [ + -6.306, + -1552.834, + 211.15, + 0.0, + -158.68, + 0.0 + ], + [ + -123.552, + -1598.593, + 211.15, + 0.0, + -158.68, + 0.0 + ], + [ + -123.552, + -1598.593, + 211.15, + 0.0, + -133.68, + 0.0 + ], + [ + -210.474, + -1689.615, + 211.15, + 0.0, + -133.68, + 0.0 + ], + [ + -281.376, + -1712.658, + 211.15, + 0.0, + -133.68, + 0.0 + ], + [ + -281.376, + -1712.658, + 211.15, + 0.0, + -108.68, + 0.0 + ], + [ + -281.376, + -1712.658, + 211.15, + 0.0, + -108.68, + 0.0 + ], + [ + -281.376, + -1712.658, + 211.15, + 0.0, + -108.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000387_y-002538_z000844_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000387_y-002538_z000844_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..801c7fac0cbd3e1df2327bd3456048701ee1142b --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000387_y-002538_z000844_t4_a/infos.json @@ -0,0 +1,97 @@ +{ + "Instruction": "Head up the stairs to the door at the top, and pull it open after reaching it.", + "Type": 4, + "Start_Pose": [ + 387.045, + -2538.343, + 844.454, + 0.0, + 16.32, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 387.045, + -2538.343, + 844.454, + 0.0, + 16.32, + -0.0 + ], + [ + 387.045, + -2538.343, + 844.454, + 0.0, + 41.32, + -0.0 + ], + [ + 444.989, + -2458.215, + 891.19, + 0.0, + 41.32, + -0.0 + ], + [ + 465.524, + -2378.683, + 911.15, + 0.0, + 41.32, + -0.0 + ], + [ + 558.687, + -2337.339, + 911.15, + 0.0, + 41.32, + -0.0 + ], + [ + 558.687, + -2337.339, + 911.15, + 0.0, + 66.32, + -0.0 + ], + [ + 558.687, + -2337.339, + 911.15, + 0.0, + 66.32, + -0.0 + ], + [ + 558.687, + -2337.339, + 911.15, + 0.0, + 66.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000387_y-002555_z000482_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000387_y-002555_z000482_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..87cfeedf4df5dac81a823cdd5c40ba037dfe1051 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000387_y-002555_z000482_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Proceed to the metal door; once there, pull it open.", + "Type": 4, + "Start_Pose": [ + 387.192, + -2555.185, + 481.845, + 0.0, + 36.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 387.192, + -2555.185, + 481.845, + 0.0, + 36.32, + -0.0 + ], + [ + 444.993, + -2485.506, + 524.566, + 0.0, + 36.32, + -0.0 + ], + [ + 445.004, + -2420.572, + 561.15, + 0.0, + 36.32, + -0.0 + ], + [ + 514.781, + -2344.147, + 561.15, + 0.0, + 36.32, + -0.0 + ], + [ + 514.781, + -2344.147, + 561.15, + 0.0, + 61.32, + -0.0 + ], + [ + 514.68, + -2342.019, + 561.15, + 0.0, + 61.32, + -0.0 + ], + [ + 582.748, + -2326.105, + 561.15, + 0.0, + 61.32, + -0.0 + ], + [ + 582.748, + -2326.105, + 561.15, + 0.0, + 86.32, + -0.0 + ], + [ + 582.748, + -2326.105, + 561.15, + 0.0, + 86.32, + -0.0 + ], + [ + 582.748, + -2326.105, + 561.15, + 0.0, + 86.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000387_y-002616_z000210_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000387_y-002616_z000210_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..688afecfc4b6d5b43a962a3741a3a3802830373f --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000387_y-002616_z000210_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Proceed to the weathered metal door beneath the fluorescent light at the base of the stairwell; once there, pull it open.", + "Type": 4, + "Start_Pose": [ + 387.165, + -2616.242, + 209.648, + 0.0, + 56.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 387.165, + -2616.242, + 209.648, + 0.0, + 56.32, + -0.0 + ], + [ + 451.857, + -2511.766, + 211.15, + 0.0, + 56.32, + -0.0 + ], + [ + 454.367, + -2411.422, + 220.822, + 0.0, + 56.32, + -0.0 + ], + [ + 514.202, + -2342.03, + 211.15, + 0.0, + 56.32, + -0.0 + ], + [ + 581.315, + -2321.905, + 211.15, + 0.0, + 56.32, + -0.0 + ], + [ + 581.315, + -2321.905, + 211.15, + 0.0, + 56.32, + -0.0 + ], + [ + 581.315, + -2321.905, + 211.15, + 0.0, + 56.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000425_y-001292_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000425_y-001292_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d0531909cdecb43165ec211b5f8225172d677ca8 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000425_y-001292_z000211_t4_a/infos.json @@ -0,0 +1,147 @@ +{ + "Instruction": "Walk over to the small gray door on the far left wall and pull it open.", + "Type": 4, + "Start_Pose": [ + 424.907, + -1292.004, + 211.15, + 0.0, + -43.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 424.907, + -1292.004, + 211.15, + 0.0, + -43.68, + 0.0 + ], + [ + 424.907, + -1292.004, + 211.15, + 0.0, + -68.68, + 0.0 + ], + [ + 470.666, + -1409.25, + 211.15, + 0.0, + -68.68, + 0.0 + ], + [ + 516.426, + -1526.496, + 211.15, + 0.0, + -68.68, + 0.0 + ], + [ + 562.185, + -1643.741, + 211.15, + 0.0, + -68.68, + 0.0 + ], + [ + 607.944, + -1760.987, + 211.15, + 0.0, + -68.68, + 0.0 + ], + [ + 607.944, + -1760.987, + 211.15, + 0.0, + -93.68, + 0.0 + ], + [ + 599.866, + -1886.587, + 211.15, + 0.0, + -93.68, + 0.0 + ], + [ + 591.788, + -2012.186, + 211.15, + 0.0, + -93.68, + 0.0 + ], + [ + 583.71, + -2137.786, + 211.15, + 0.0, + -93.68, + 0.0 + ], + [ + 575.743, + -2233.827, + 211.15, + 0.0, + -93.68, + 0.0 + ], + [ + 575.743, + -2233.827, + 211.15, + 0.0, + -93.68, + 0.0 + ], + [ + 575.743, + -2233.827, + 211.15, + 0.0, + -93.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000425_y-001292_z000211_t4_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x000425_y-001292_z000211_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e9be261c073757933446a155b5f06e50e4ba9f8c --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000425_y-001292_z000211_t4_b/infos.json @@ -0,0 +1,157 @@ +{ + "Instruction": "Make your way to the door near the window with the fire extinguisher beside it and swing it open.", + "Type": 4, + "Start_Pose": [ + 424.907, + -1292.004, + 211.15, + 0.0, + -43.68, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 424.907, + -1292.004, + 211.15, + 0.0, + -43.68, + 0.0 + ], + [ + 515.929, + -1378.926, + 211.15, + 0.0, + -43.68, + 0.0 + ], + [ + 515.929, + -1378.926, + 211.15, + 0.0, + -18.68, + 0.0 + ], + [ + 635.158, + -1419.236, + 211.15, + 0.0, + -18.68, + 0.0 + ], + [ + 754.387, + -1459.547, + 211.15, + 0.0, + -18.68, + 0.0 + ], + [ + 873.616, + -1499.857, + 211.15, + 0.0, + -18.68, + 0.0 + ], + [ + 992.845, + -1540.168, + 211.15, + 0.0, + -18.68, + 0.0 + ], + [ + 1112.074, + -1580.478, + 211.15, + 0.0, + -18.68, + 0.0 + ], + [ + 1112.074, + -1580.478, + 211.15, + 0.0, + -43.68, + 0.0 + ], + [ + 1203.097, + -1667.4, + 211.15, + 0.0, + -43.68, + 0.0 + ], + [ + 1284.444, + -1719.594, + 211.15, + 0.0, + -43.68, + 0.0 + ], + [ + 1284.444, + -1719.594, + 211.15, + 0.0, + -68.68, + 0.0 + ], + [ + 1284.444, + -1719.594, + 211.15, + 0.0, + -68.68, + 0.0 + ], + [ + 1284.444, + -1719.594, + 211.15, + 0.0, + -68.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000431_y-002738_z000386_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000431_y-002738_z000386_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..11e8a921df40dca575a0908135c7c2a20e424f8f --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000431_y-002738_z000386_t4_a/infos.json @@ -0,0 +1,157 @@ +{ + "Instruction": "Descend the stairs and, after reaching the lit door at the bottom landing, pull it open.", + "Type": 4, + "Start_Pose": [ + 430.982, + -2737.906, + 386.15, + 0.0, + 76.32, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 430.982, + -2737.906, + 386.15, + 0.0, + 76.32, + -0.0 + ], + [ + 430.982, + -2737.906, + 386.15, + 0.0, + 51.32, + -0.0 + ], + [ + 505.933, + -2676.079, + 403.126, + 0.0, + 51.32, + -0.0 + ], + [ + 587.624, + -2600.813, + 371.979, + 0.0, + 51.32, + -0.0 + ], + [ + 587.624, + -2600.813, + 371.979, + 0.0, + 76.32, + -0.0 + ], + [ + 587.624, + -2600.813, + 371.979, + 0.0, + 101.32, + -0.0 + ], + [ + 562.919, + -2477.402, + 293.82, + 0.0, + 101.32, + -0.0 + ], + [ + 538.215, + -2353.991, + 215.65, + 0.0, + 101.32, + -0.0 + ], + [ + 538.215, + -2353.991, + 215.65, + 0.0, + 76.32, + -0.0 + ], + [ + 547.795, + -2343.999, + 211.15, + 0.0, + 76.32, + -0.0 + ], + [ + 572.547, + -2321.168, + 211.15, + 0.0, + 76.32, + -0.0 + ], + [ + 572.547, + -2321.168, + 211.15, + 0.0, + 51.32, + -0.0 + ], + [ + 572.547, + -2321.168, + 211.15, + 0.0, + 51.32, + -0.0 + ], + [ + 572.547, + -2321.168, + 211.15, + 0.0, + 51.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000487_y-001274_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000487_y-001274_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2969036f5e7b7f068fbfb253df850012ec1842d6 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000487_y-001274_z000211_t4_a/infos.json @@ -0,0 +1,157 @@ +{ + "Instruction": "Go to the gray metal door beside the red fire extinguisher and pull it open.", + "Type": 4, + "Start_Pose": [ + 486.969, + -1274.355, + 210.901, + 0.0, + -123.68, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 486.969, + -1274.355, + 210.901, + 0.0, + -123.68, + 0.0 + ], + [ + 417.173, + -1379.088, + 211.055, + 0.0, + -123.68, + 0.0 + ], + [ + 417.173, + -1379.088, + 211.055, + 0.0, + -148.68, + 0.0 + ], + [ + 309.655, + -1444.512, + 211.055, + 0.0, + -148.68, + 0.0 + ], + [ + 202.136, + -1509.936, + 211.055, + 0.0, + -148.68, + 0.0 + ], + [ + 94.618, + -1575.359, + 211.055, + 0.0, + -148.68, + 0.0 + ], + [ + -12.901, + -1640.783, + 211.055, + 0.0, + -148.68, + 0.0 + ], + [ + -120.419, + -1706.207, + 211.055, + 0.0, + -148.68, + 0.0 + ], + [ + -197.87, + -1711.761, + 211.15, + 0.0, + -148.68, + 0.0 + ], + [ + -197.87, + -1711.761, + 211.15, + 0.0, + -123.68, + 0.0 + ], + [ + -197.87, + -1711.761, + 211.15, + 0.0, + -123.68, + 0.0 + ], + [ + -264.685, + -1717.331, + 211.15, + 0.0, + -123.68, + 0.0 + ], + [ + -264.685, + -1717.331, + 211.15, + 0.0, + -123.68, + 0.0 + ], + [ + -264.685, + -1717.331, + 211.15, + 0.0, + -123.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000487_y-001274_z000211_t4_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x000487_y-001274_z000211_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..16dc5fd7e47c3c24ad582547673de44279e7f0fd --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000487_y-001274_z000211_t4_b/infos.json @@ -0,0 +1,157 @@ +{ + "Instruction": "Cross the room to the gray metal door on the right-hand green brick wall and open it.", + "Type": 4, + "Start_Pose": [ + 486.969, + -1274.355, + 210.901, + 0.0, + -123.68, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 486.969, + -1274.355, + 210.901, + 0.0, + -123.68, + 0.0 + ], + [ + 486.969, + -1274.355, + 210.769, + 0.0, + -98.68, + 0.0 + ], + [ + 467.975, + -1398.772, + 211.088, + 0.0, + -98.68, + 0.0 + ], + [ + 448.981, + -1523.19, + 211.088, + 0.0, + -98.68, + 0.0 + ], + [ + 448.981, + -1523.19, + 211.088, + 0.0, + -73.68, + 0.0 + ], + [ + 484.347, + -1643.978, + 211.088, + 0.0, + -73.68, + 0.0 + ], + [ + 519.714, + -1764.766, + 211.088, + 0.0, + -73.68, + 0.0 + ], + [ + 555.081, + -1885.553, + 211.088, + 0.0, + -73.68, + 0.0 + ], + [ + 590.447, + -2006.341, + 211.088, + 0.0, + -73.68, + 0.0 + ], + [ + 625.814, + -2127.129, + 211.088, + 0.0, + -73.68, + 0.0 + ], + [ + 625.814, + -2127.129, + 211.088, + 0.0, + -98.68, + 0.0 + ], + [ + 607.09, + -2228.066, + 211.15, + 0.0, + -98.68, + 0.0 + ], + [ + 607.09, + -2228.066, + 211.15, + 0.0, + -98.68, + 0.0 + ], + [ + 607.09, + -2228.066, + 211.15, + 0.0, + -98.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000516_y-002738_z000736_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000516_y-002738_z000736_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c0b12cadf55850c024bd01c58680e41b37f8b3e5 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000516_y-002738_z000736_t4_a/infos.json @@ -0,0 +1,167 @@ +{ + "Instruction": "Head toward the door at the top of the staircase with the small window and open it.", + "Type": 4, + "Start_Pose": [ + 516.133, + -2737.893, + 736.15, + 0.0, + 76.32, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 516.133, + -2737.893, + 736.15, + 0.0, + 76.32, + -0.0 + ], + [ + 516.133, + -2737.893, + 736.15, + 0.0, + 101.32, + -0.0 + ], + [ + 516.133, + -2737.893, + 736.15, + 0.0, + 126.32, + -0.0 + ], + [ + 437.581, + -2642.349, + 774.398, + 0.0, + 126.32, + -0.0 + ], + [ + 387.082, + -2542.654, + 840.751, + 0.0, + 126.32, + -0.0 + ], + [ + 387.082, + -2542.654, + 840.751, + 0.0, + 101.32, + -0.0 + ], + [ + 387.082, + -2542.654, + 840.751, + 0.0, + 76.32, + -0.0 + ], + [ + 416.847, + -2420.365, + 910.992, + 0.0, + 76.32, + -0.0 + ], + [ + 416.847, + -2420.365, + 910.992, + 0.0, + 51.32, + -0.0 + ], + [ + 494.93, + -2342.191, + 911.15, + 0.0, + 51.32, + -0.0 + ], + [ + 567.043, + -2335.504, + 911.15, + 0.0, + 51.32, + -0.0 + ], + [ + 567.043, + -2335.504, + 911.15, + 0.0, + 76.32, + -0.0 + ], + [ + 590.546, + -2335.493, + 911.15, + 0.0, + 76.32, + -0.0 + ], + [ + 590.546, + -2335.493, + 911.15, + 0.0, + 76.32, + -0.0 + ], + [ + 590.546, + -2335.493, + 911.15, + 0.0, + 76.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000516_y-002738_z000736_t4_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x000516_y-002738_z000736_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a4fa2040982342452a5160cb4eeed463411caee2 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000516_y-002738_z000736_t4_b/infos.json @@ -0,0 +1,97 @@ +{ + "Instruction": "Reach the worn door tucked beneath the stairs with the fluorescent light above it and pull it open.", + "Type": 4, + "Start_Pose": [ + 516.133, + -2737.893, + 736.15, + 0.0, + 76.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 516.133, + -2737.893, + 736.15, + 0.0, + 76.32, + -0.0 + ], + [ + 553.235, + -2620.729, + 734.533, + 0.0, + 76.32, + -0.0 + ], + [ + 583.001, + -2498.44, + 656.972, + 0.0, + 76.32, + -0.0 + ], + [ + 602.964, + -2376.444, + 579.466, + 0.0, + 76.32, + -0.0 + ], + [ + 602.964, + -2376.444, + 579.466, + 0.0, + 101.32, + -0.0 + ], + [ + 581.306, + -2326.094, + 561.15, + 0.0, + 101.32, + -0.0 + ], + [ + 581.306, + -2326.094, + 561.15, + 0.0, + 101.32, + -0.0 + ], + [ + 581.306, + -2326.094, + 561.15, + 0.0, + 101.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t0_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..6bde4e97a1f9c9c857e9051ce6bc08320645b4bd --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t0_a/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Walk to the metal door with a window.", + "Type": 0, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -127.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -127.68, + 0.0 + ], + [ + 470.68, + -1270.561, + 210.15, + 0.0, + -127.68, + 0.0 + ], + [ + 393.748, + -1370.171, + 210.954, + 0.0, + -127.68, + 0.0 + ], + [ + 393.748, + -1370.171, + 210.954, + 0.0, + -152.68, + 0.0 + ], + [ + 281.928, + -1427.935, + 210.954, + 0.0, + -152.68, + 0.0 + ], + [ + 170.108, + -1485.699, + 210.954, + 0.0, + -152.68, + 0.0 + ], + [ + 58.287, + -1543.464, + 210.954, + 0.0, + -152.68, + 0.0 + ], + [ + -53.533, + -1601.228, + 210.954, + 0.0, + -152.68, + 0.0 + ], + [ + -53.533, + -1601.228, + 210.954, + 0.0, + -127.68, + 0.0 + ], + [ + -130.465, + -1700.837, + 210.954, + 0.0, + -127.68, + 0.0 + ], + [ + -158.137, + -1701.003, + 211.15, + 0.0, + -127.68, + 0.0 + ], + [ + -238.161, + -1717.944, + 211.15, + 0.0, + -127.68, + 0.0 + ], + [ + -238.161, + -1717.944, + 211.15, + 0.0, + -127.68, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t0_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t0_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ee9b16017e14c0ca0d5459d6f8c8034706f7738b --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t0_b/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Head toward the gray door without a window.", + "Type": 0, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -127.68, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -127.68, + 0.0 + ], + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -102.68, + 0.0 + ], + [ + 519.984, + -1293.741, + 211.052, + 0.0, + -102.68, + 0.0 + ], + [ + 492.357, + -1416.531, + 211.052, + 0.0, + -102.68, + 0.0 + ], + [ + 464.731, + -1539.32, + 211.052, + 0.0, + -102.68, + 0.0 + ], + [ + 437.104, + -1662.11, + 211.052, + 0.0, + -102.68, + 0.0 + ], + [ + 437.104, + -1662.11, + 211.052, + 0.0, + -77.68, + 0.0 + ], + [ + 463.959, + -1785.07, + 211.052, + 0.0, + -77.68, + 0.0 + ], + [ + 490.813, + -1908.031, + 211.052, + 0.0, + -77.68, + 0.0 + ], + [ + 517.668, + -2030.992, + 211.052, + 0.0, + -77.68, + 0.0 + ], + [ + 544.523, + -2153.952, + 211.052, + 0.0, + -77.68, + 0.0 + ], + [ + 569.639, + -2233.991, + 211.15, + 0.0, + -77.68, + 0.0 + ], + [ + 569.639, + -2233.991, + 211.15, + 0.0, + -77.68, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t0_c/infos.json b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t0_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9468bde4cc65822dc207aeb7b073b668e7166306 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t0_c/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Approach the red fire extinguisher on the wall.", + "Type": 0, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -127.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "Finish" + ], + "Pose_Trajectory": [ + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -127.68, + 0.0 + ], + [ + 470.68, + -1270.561, + 210.15, + 0.0, + -127.68, + 0.0 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0000000000000000000000000000000000000000..b18c15d8f33e080c202d720a422707a19f70b1be --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_a/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Walk to the metal door on the left wall.", + "Type": 2, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ], + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -128.68, + 0.0 + ], + [ + 468.953, + -1269.204, + 210.15, + 0.0, + -128.68, + 0.0 + ], + [ + 390.295, + -1367.455, + 210.943, + 0.0, + -128.68, + 0.0 + ], + [ + 311.637, + -1465.707, + 210.943, + 0.0, + -128.68, + 0.0 + ], + [ + 311.637, + -1465.707, + 210.943, + 0.0, + -153.68, + 0.0 + ], + [ + 198.825, + -1521.511, + 210.943, + 0.0, + -153.68, + 0.0 + ], + [ + 86.014, + -1577.315, + 210.943, + 0.0, + -153.68, + 0.0 + ], + [ + -26.798, + -1633.119, + 210.943, + 0.0, + -153.68, + 0.0 + ], + [ + -139.609, + -1688.923, + 210.943, + 0.0, + -153.68, + 0.0 + ], + [ + -251.389, + -1717.941, + 211.15, + 0.0, + -153.68, + 0.0 + ], + [ + -251.389, + -1717.941, + 211.15, + 0.0, + -153.68, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a505dc6dccbfd6edc0f17cc5a5a336a843e0c621 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_b/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Approach the door on the right.", + "Type": 2, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ], + [ + 517.845, + -1293.241, + 211.02, + 0.0, + -103.68, + 0.0 + ], + [ + 488.08, + -1415.529, + 211.02, + 0.0, + -103.68, + 0.0 + ], + [ + 458.314, + -1537.818, + 211.02, + 0.0, + -103.68, + 0.0 + ], + [ + 458.314, + -1537.818, + 211.02, + 0.0, + -78.68, + 0.0 + ], + [ + 483.019, + -1661.228, + 211.02, + 0.0, + -78.68, + 0.0 + ], + [ + 507.724, + -1784.639, + 211.02, + 0.0, + -78.68, + 0.0 + ], + [ + 532.428, + -1908.05, + 211.02, + 0.0, + -78.68, + 0.0 + ], + [ + 557.133, + -2031.46, + 211.02, + 0.0, + -78.68, + 0.0 + ], + [ + 581.838, + -2154.871, + 211.02, + 0.0, + -78.68, + 0.0 + ], + [ + 601.572, + -2228.161, + 211.15, + 0.0, + -78.68, + 0.0 + ], + [ + 601.572, + -2228.161, + 211.15, + 0.0, + -78.68, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_c/infos.json b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..13d67e24b203affead7bc4ef309b016eb7edceb6 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_c/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Move to the rightmost pipe junction on the right wall.", + "Type": 2, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ], + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -78.68, + 0.0 + ], + [ + 564.359, + -1294.099, + 211.15, + 0.0, + -78.68, + 0.0 + ], + [ + 564.359, + -1294.099, + 211.15, + 0.0, + -53.68, + 0.0 + ], + [ + 638.295, + -1395.869, + 211.15, + 0.0, + -53.68, + 0.0 + ], + [ + 712.841, + -1497.276, + 211.15, + 0.0, + -53.68, + 0.0 + ], + [ + 787.386, + -1598.684, + 211.15, + 0.0, + -53.68, + 0.0 + ], + [ + 787.386, + -1598.684, + 211.15, + 0.0, + -78.68, + 0.0 + ], + [ + 813.182, + -1716.106, + 211.15, + 0.0, + -78.68, + 0.0 + ], + [ + 813.182, + -1716.106, + 211.15, + 0.0, + -103.68, + 0.0 + ], + [ + 813.182, + -1716.106, + 211.15, + 0.0, + -103.68, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_d/infos.json b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..53d44c53f64dcdd96fdbca2ebaf192310e0d26bf --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000548_y-001171_z000210_t2_d/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Proceed to the leftmost corner where the two walls meet.", + "Type": 2, + "Start_Pose": [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 547.611, + -1170.952, + 210.15, + 0.0, + -103.68, + 0.0 + ], + [ + 517.845, + -1293.241, + 211.02, + 0.0, + -103.68, + 0.0 + ], + [ + 488.08, + -1415.529, + 211.02, + 0.0, + -103.68, + 0.0 + ], + [ + 458.314, + -1537.818, + 211.02, + 0.0, + -103.68, + 0.0 + ], + [ + 458.314, + -1537.818, + 211.02, + 0.0, + -128.68, + 0.0 + ], + [ + 379.656, + -1636.069, + 211.02, + 0.0, + -128.68, + 0.0 + ], + [ + 300.998, + -1734.321, + 211.02, + 0.0, + -128.68, + 0.0 + ], + [ + 300.998, + -1734.321, + 211.02, + 0.0, + -128.68, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000562_y-002143_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000562_y-002143_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4c5ea60092f9b01e9323a9b358d8d696705a40be --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000562_y-002143_z000211_t4_a/infos.json @@ -0,0 +1,67 @@ +{ + "Instruction": "Proceed to the metal door with the keypad entry on the green brick wall; pull the handle to open it.", + "Type": 4, + "Start_Pose": [ + 561.787, + -2142.602, + 211.15, + 0.0, + -83.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 561.787, + -2142.602, + 211.15, + 0.0, + -83.68, + 0.0 + ], + [ + 574.655, + -2233.985, + 211.15, + 0.0, + -83.68, + 0.0 + ], + [ + 580.084, + -2234.032, + 211.15, + 0.0, + -83.68, + 0.0 + ], + [ + 580.084, + -2234.032, + 211.15, + 0.0, + -83.68, + 0.0 + ], + [ + 580.084, + -2234.032, + 211.15, + 0.0, + -83.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..96af182f7141ef7d6734e26cb7f2939916c6d158 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_a/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Walk to the rightmost window on the far wall.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 469.824, + -1754.618, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 469.824, + -1754.618, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + 347.151, + -1726.477, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + 224.478, + -1698.336, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + 101.806, + -1670.195, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -20.867, + -1642.055, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -143.54, + -1613.914, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -266.212, + -1585.773, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -266.212, + -1585.773, + 561.15, + 0.0, + -167.92, + 0.0 + ], + [ + -389.284, + -1612.112, + 561.15, + 0.0, + -167.92, + 0.0 + ], + [ + -512.356, + -1638.452, + 561.15, + 0.0, + -167.92, + 0.0 + ], + [ + -512.356, + -1638.452, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -635.029, + -1610.311, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -694.466, + -1585.226, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -694.466, + -1585.226, + 561.15, + 0.0, + 167.08, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..91e9e51599ae5b3b4c12641b79c901f4014f15d9 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_b/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Head toward the radiator beneath the second window from left.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Finish" + ], + "Pose_Trajectory": [ + [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 469.824, + -1754.618, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 370.537, + -1677.27, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 271.251, + -1599.922, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 171.965, + -1522.574, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 171.965, + -1522.574, + 561.15, + 0.0, + 117.08, + -0.0 + ], + [ + 114.669, + -1410.513, + 561.15, + 0.0, + 117.08, + -0.0 + ], + [ + 60.185, + -1338.543, + 561.15, + 0.0, + 117.08, + -0.0 + ], + [ + 60.185, + -1338.543, + 561.15, + 0.0, + 117.08, + -0.0 + ], + [ + 60.185, + -1338.543, + 561.15, + 0.0, + 117.08, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_c/infos.json b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5898797255fdb92f3b5c151ff86508d72cfd5c0a --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_c/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the circular valve wheel on the left wall.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 469.824, + -1754.618, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 370.537, + -1677.27, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 370.537, + -1677.27, + 561.15, + 0.0, + 117.08, + -0.0 + ], + [ + 313.242, + -1565.209, + 561.15, + 0.0, + 117.08, + -0.0 + ], + [ + 255.947, + -1453.147, + 561.15, + 0.0, + 117.08, + -0.0 + ], + [ + 255.947, + -1453.147, + 561.15, + 0.0, + 92.08, + -0.0 + ], + [ + 251.727, + -1370.82, + 561.15, + 0.0, + 92.08, + -0.0 + ], + [ + 251.727, + -1370.82, + 561.15, + 0.0, + 92.08, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_d/infos.json b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..dd3494bcbfad4b544203fd7791dbbeec673be74b --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_d/infos.json @@ -0,0 +1,141 @@ +{ + "Instruction": "Move to the second window from right.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 469.824, + -1754.618, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 370.537, + -1677.27, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 271.251, + -1599.922, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 171.965, + -1522.574, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 171.965, + -1522.574, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + 49.292, + -1494.433, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -73.381, + -1466.292, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -196.053, + -1438.151, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -318.726, + -1410.011, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -318.726, + -1410.011, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + -417.688, + -1339.597, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + -510.276, + -1340.175, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + -510.276, + -1340.175, + 561.15, + 0.0, + 142.08, + -0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_e/infos.json b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_e/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3936062ddc70605a0ec7ce9584086580c5fcd4c4 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000569_y-001832_z000561_t2_e/infos.json @@ -0,0 +1,132 @@ +{ + "Instruction": "Proceed to the third window from the left.", + "Type": 2, + "Start_Pose": [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 569.11, + -1831.966, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 469.824, + -1754.618, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + 469.824, + -1754.618, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + 347.151, + -1726.477, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + 224.478, + -1698.336, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + 101.806, + -1670.195, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -20.867, + -1642.055, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -143.54, + -1613.914, + 561.15, + 0.0, + 167.08, + -0.0 + ], + [ + -143.54, + -1613.914, + 561.15, + 0.0, + 142.08, + -0.0 + ], + [ + -242.826, + -1536.566, + 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0000000000000000000000000000000000000000..bb7a1bcec8a004588c246a0a94185b4dbcae6971 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000603_y-002738_z000386_t4_a/infos.json @@ -0,0 +1,97 @@ +{ + "Instruction": "Walk over to the metal door beneath the staircase and pull it open.", + "Type": 4, + "Start_Pose": [ + 602.989, + -2737.829, + 386.15, + 0.0, + 76.32, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 602.989, + -2737.829, + 386.15, + 0.0, + 76.32, + -0.0 + ], + [ + 602.989, + -2616.596, + 383.116, + 0.0, + 76.32, + -0.0 + ], + [ + 602.989, + -2495.364, + 306.03, + 0.0, + 76.32, + -0.0 + ], + [ + 602.989, + -2374.131, + 228.848, + 0.0, + 76.32, + -0.0 + ], + [ + 599.894, + -2326.941, + 211.15, + 0.0, + 76.32, + -0.0 + ], + [ + 599.894, + -2326.941, + 211.15, + 0.0, + 76.32, + -0.0 + ], + [ + 599.894, + -2326.941, + 211.15, + 0.0, + 76.32, + -0.0 + 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b/benchmark/trajectory/IndustrialArea/task_x000691_y001267_z000098_t0_c/infos.json @@ -0,0 +1,114 @@ +{ + "Instruction": "Move to the stack of wooden pallets.", + "Type": 0, + "Start_Pose": [ + 690.854, + 1266.548, + 98.15, + 0.0, + 97.92, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 690.854, + 1266.548, + 98.15, + 0.0, + 97.92, + -0.0 + ], + [ + 690.854, + 1266.548, + 98.15, + 0.0, + 122.92, + -0.0 + ], + [ + 622.454, + 1372.198, + 98.15, + 0.0, + 122.92, + -0.0 + ], + [ + 554.053, + 1477.848, + 98.15, + 0.0, + 122.92, + -0.0 + ], + [ + 485.653, + 1583.498, + 98.15, + 0.0, + 122.92, + -0.0 + ], + [ + 485.653, + 1583.498, + 98.15, + 0.0, + 147.92, + -0.0 + ], + [ + 379.012, + 1650.342, + 98.15, + 0.0, + 147.92, + -0.0 + ], + [ + 272.371, + 1717.186, + 98.15, + 0.0, + 147.92, + -0.0 + ], + [ + 165.729, + 1784.03, + 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a/benchmark/trajectory/IndustrialArea/task_x000787_y-002377_z000561_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000787_y-002377_z000561_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d636ef86db03b14f74df58d1575c7240ef15a695 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000787_y-002377_z000561_t4_a/infos.json @@ -0,0 +1,157 @@ +{ + "Instruction": "Make your way to the metal door between the electrical panels and pull it open.", + "Type": 4, + "Start_Pose": [ + 787.14, + -2376.727, + 561.15, + 0.0, + 36.32, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 787.14, + -2376.727, + 561.15, + 0.0, + 36.32, + -0.0 + ], + [ + 787.14, + -2376.727, + 561.15, + 0.0, + 11.32, + -0.0 + ], + [ + 910.551, + -2352.022, + 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b/benchmark/trajectory/IndustrialArea/task_x000796_y-001385_z000211_t0_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e8105c2afb2a1fa581e34cea69b3464c63883466 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000796_y-001385_z000211_t0_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Walk to the metal door with the small window.", + "Type": 0, + "Start_Pose": [ + 795.508, + -1385.063, + 211.15, + 0.0, + -53.76, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 795.508, + -1385.063, + 211.15, + 0.0, + -53.76, + 0.0 + ], + [ + 869.912, + -1486.574, + 211.15, + 0.0, + -53.76, + 0.0 + ], + [ + 869.912, + -1486.574, + 211.15, + 0.0, + -28.76, + 0.0 + ], + [ + 980.245, + -1547.13, + 211.15, + 0.0, + -28.76, + 0.0 + ], + [ + 1090.579, + -1607.686, + 211.15, + 0.0, + -28.76, + 0.0 + ], + [ + 1200.912, + -1668.242, + 211.15, + 0.0, 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+++ b/benchmark/trajectory/IndustrialArea/task_x000796_y-001385_z000211_t0_c/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Approach the barred window on the green wall.", + "Type": 0, + "Start_Pose": [ + 795.508, + -1385.063, + 211.15, + 0.0, + -53.76, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 795.508, + -1385.063, + 211.15, + 0.0, + -53.76, + 0.0 + ], + [ + 795.508, + -1385.063, + 211.15, + 0.0, + -28.76, + 0.0 + ], + [ + 905.841, + -1445.619, + 211.15, + 0.0, + -28.76, + 0.0 + ], + [ + 1016.175, + -1506.175, + 211.15, + 0.0, + -28.76, + 0.0 + ], + [ + 1126.508, + -1566.731, + 211.15, + 0.0, + -28.76, + 0.0 + ], + [ + 1126.508, + -1566.731, + 211.15, + 0.0, + -3.76, + 0.0 + ], + [ + 1252.096, + -1574.985, + 211.15, + 0.0, + -3.76, + 0.0 + ], + [ + 1377.684, + -1583.238, + 211.15, + 0.0, + 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"TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 824.95, + -1372.732, + 561.15, + 0.0, + -143.68, + 0.0 + ], + [ + 723.543, + -1447.278, + 561.15, + 0.0, + -143.68, + 0.0 + ], + [ + 723.543, + -1447.278, + 561.15, + 0.0, + -118.68, + 0.0 + ], + [ + 663.141, + -1557.696, + 561.15, + 0.0, + -118.68, + 0.0 + ], + [ + 602.739, + -1668.113, + 561.15, + 0.0, + -118.68, + 0.0 + ], + [ + 602.739, + -1668.113, + 561.15, + 0.0, + -93.68, + 0.0 + ], + [ + 594.661, + -1793.713, + 561.15, + 0.0, + -93.68, + 0.0 + ], + [ + 586.583, + -1919.312, + 561.15, + 0.0, + -93.68, + 0.0 + ], + [ + 578.505, + -2044.912, + 561.15, + 0.0, + -93.68, + 0.0 + ], + [ + 570.426, + -2170.511, + 561.15, + 0.0, + -93.68, + 0.0 + ], + [ + 563.348, + -2237.9, + 561.15, + 0.0, + -93.68, + 0.0 + ], + [ + 563.348, + -2237.9, + 561.15, + 0.0, + -93.68, + 0.0 + ], + [ + 563.348, + -2237.9, + 561.15, + 0.0, + -93.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000825_y-001373_z000561_t4_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x000825_y-001373_z000561_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..13dc2000c42380379609feeb6276cdf4f39fd461 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000825_y-001373_z000561_t4_b/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "After reaching the light-colored door beside the red fire extinguisher on the wall straight ahead, open it.", + "Type": 4, + "Start_Pose": [ + 824.95, + -1372.732, + 561.15, + 0.0, + -143.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 824.95, + -1372.732, + 561.15, + 0.0, + -143.68, + 0.0 + ], + [ + 723.543, + -1447.278, + 561.15, + 0.0, + -143.68, + 0.0 + ], + [ + 622.135, + -1521.823, + 561.15, + 0.0, + -143.68, + 0.0 + ], + [ + 622.135, + -1521.823, + 561.15, + 0.0, + -168.68, + 0.0 + ], + [ + 498.725, + -1546.528, + 561.15, + 0.0, + -168.68, + 0.0 + ], + [ + 375.314, + -1571.233, + 561.15, + 0.0, + -168.68, + 0.0 + ], + [ + 251.904, + -1595.937, + 561.15, + 0.0, + -168.68, + 0.0 + ], + [ + 128.493, + -1620.642, + 561.15, + 0.0, + -168.68, + 0.0 + ], + [ + 5.083, + -1645.347, + 561.15, + 0.0, + -168.68, + 0.0 + ], + [ + -118.328, + -1670.051, + 561.15, + 0.0, + -168.68, + 0.0 + ], + [ + -241.739, + -1694.756, + 561.15, + 0.0, + -168.68, + 0.0 + ], + [ + -241.739, + -1694.756, + 561.15, + 0.0, + -143.68, + 0.0 + ], + [ + -241.739, + -1694.756, + 561.15, + 0.0, + -118.68, + 0.0 + ], + [ + -265.549, + -1722.382, + 561.15, + 0.0, + -118.68, + 0.0 + ], + [ + -265.549, + -1722.382, + 561.15, + 0.0, + -118.68, + 0.0 + ], + [ + -265.549, + -1722.382, + 561.15, + 0.0, + -118.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x000955_y-002466_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x000955_y-002466_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c3af0be54183e7c5a6232299f488dc67ad0f5640 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x000955_y-002466_z000211_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Head to the metal door on the far wall near the electrical panels and pull it open.", + "Type": 4, + "Start_Pose": [ + 954.582, + -2465.821, + 211.15, + 0.0, + 36.32, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 954.582, + -2465.821, + 211.15, + 0.0, + 36.32, + -0.0 + ], + [ + 954.582, + -2465.821, + 211.15, + 0.0, + 61.32, + -0.0 + ], + [ + 1014.984, + -2355.403, + 211.15, + 0.0, + 61.32, + -0.0 + ], + [ + 1075.386, + -2244.985, + 211.15, + 0.0, + 61.32, + -0.0 + ], + [ + 1118.09, + -2134.983, + 215.349, + 0.0, + 61.32, + -0.0 + ], + [ + 1178.492, + -2024.566, + 211.202, + 0.0, + 61.32, + -0.0 + ], + [ + 1238.894, + -1914.148, + 211.202, + 0.0, + 61.32, + -0.0 + ], + [ + 1238.894, + -1914.148, + 211.202, + 0.0, + 86.32, + -0.0 + ], + [ + 1246.861, + -1813.254, + 211.15, + 0.0, + 86.32, + -0.0 + ], + [ + 1246.861, + -1813.254, + 211.15, + 0.0, + 86.32, + -0.0 + ], + [ + 1246.861, + -1813.254, + 211.15, + 0.0, + 86.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x001143_y-001644_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x001143_y-001644_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bd373f658376e4c994859afb586827f0dfbccb84 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001143_y-001644_z000211_t4_a/infos.json @@ -0,0 +1,67 @@ +{ + "Instruction": "Head over to the metal door with the frosted glass panel near the keypad and fire extinguisher, then pull it open.", + "Type": 4, + "Start_Pose": [ + 1142.605, + -1644.069, + 211.15, + 0.0, + -63.68, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1142.605, + -1644.069, + 211.15, + 0.0, + -63.68, + 0.0 + ], + [ + 1200.362, + -1721.185, + 211.15, + 0.0, + -63.68, + 0.0 + ], + [ + 1254.362, + -1724.816, + 211.15, + 0.0, + -63.68, + 0.0 + ], + [ + 1254.362, + -1724.816, + 211.15, + 0.0, + -63.68, + 0.0 + ], + [ + 1254.362, + -1724.816, + 211.15, + 0.0, + -63.68, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x001160_y-001886_z000911_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x001160_y-001886_z000911_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..cb66b2309071043b668cd85f3282ea7945d918a1 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001160_y-001886_z000911_t4_a/infos.json @@ -0,0 +1,67 @@ +{ + "Instruction": "Head toward the metal door with the frosted glass window, then pull it open.", + "Type": 4, + "Start_Pose": [ + 1160.456, + -1886.19, + 911.15, + 0.0, + 56.32, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1160.456, + -1886.19, + 911.15, + 0.0, + 56.32, + -0.0 + ], + [ + 1227.613, + -1821.054, + 911.15, + 0.0, + 56.32, + -0.0 + ], + [ + 1227.613, + -1821.054, + 911.15, + 0.0, + 81.32, + -0.0 + ], + [ + 1227.613, + -1821.054, + 911.15, + 0.0, + 81.32, + -0.0 + ], + [ + 1227.613, + -1821.054, + 911.15, + 0.0, + 81.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x001274_y-001929_z000211_t1_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x001274_y-001929_z000211_t1_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..817597f2005ef470beb7345d170ce370a55db559 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001274_y-001929_z000211_t1_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Search this room for a blue metal barrel; after locating it, head over to where it stands.", + "Type": 1, + "Start_Pose": [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -23.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -23.68, + 0.0 + ], + [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -48.68, + 0.0 + ], + [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -73.68, + 0.0 + ], + [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -98.68, + 0.0 + ], + [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -123.68, + 0.0 + ], + [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -148.68, + 0.0 + ], + [ + 1166.289, + -1994.609, + 211.15, + 0.0, + -148.68, + 0.0 + ], + [ + 1058.771, + -2060.032, + 211.15, + 0.0, + -148.68, + 0.0 + ], + [ + 1058.771, + -2060.032, + 211.15, + 0.0, + -123.68, + 0.0 + ], + [ + 988.975, + -2164.766, + 211.15, + 0.0, + -123.68, + 0.0 + ], + [ + 919.18, + -2269.499, + 211.15, + 0.0, + -123.68, + 0.0 + ], + [ + 919.18, + -2269.499, + 211.15, + 0.0, + -98.68, + 0.0 + ], + [ + 900.186, + -2393.917, + 211.15, + 0.0, + -98.68, + 0.0 + ], + [ + 904.691, + -2489.81, + 211.15, + 0.0, + -98.68, + 0.0 + ], + [ + 904.691, + -2489.81, + 211.15, + 0.0, + -98.68, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x001274_y-001929_z000211_t1_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x001274_y-001929_z000211_t1_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ed06af56422806da76e653ecfa7b3ec66841cd18 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001274_y-001929_z000211_t1_b/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Identify the black valve wheel mounted on a blue pipe somewhere in this room, then proceed to its location.", + "Type": 1, + "Start_Pose": [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -23.68, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1273.808, + -1929.185, + 211.15, + 0.0, + -23.68, + 0.0 + ], + [ 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a/benchmark/trajectory/IndustrialArea/task_x001275_y-001819_z000211_t3_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x001275_y-001819_z000211_t3_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..efa5436bd938f87c92a43e8edd62082053be6119 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001275_y-001819_z000211_t3_a/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Walk to the wooden crates, then head toward the blue barrel.", + "Type": 3, + "Start_Pose": [ + 1274.742, + -1819.438, + 211.15, + 0.0, + -139.2, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1274.742, + -1819.438, + 211.15, + 0.0, + -139.2, + 0.0 + ], + [ + 1179.467, + -1901.677, + 211.15, + 0.0, + -139.2, + 0.0 + ], + [ + 1179.467, + 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b/benchmark/trajectory/IndustrialArea/task_x001275_y-001819_z000211_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4a36e97e7a60c7a89ee5d21a3bd87653754de55e --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001275_y-001819_z000211_t3_b/infos.json @@ -0,0 +1,330 @@ +{ + "Instruction": "Approach the blue barrel, then move to the valve wheel on the wall.", + "Type": 3, + "Start_Pose": [ + 1274.742, + -1819.438, + 211.15, + 0.0, + -139.2, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveBackward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1274.742, + -1819.438, + 211.15, + 0.0, + -139.2, + 0.0 + ], + [ + 1179.467, + -1901.677, + 211.15, + 0.0, + -139.2, + 0.0 + ], + [ + 1179.467, + -1901.677, + 211.15, + 0.0, + -114.2, + 0.0 + ], + [ + 1127.875, + -2016.475, + 211.15, + 0.0, + -114.2, + 0.0 + ], + [ + 1076.282, + -2131.274, + 211.15, + 0.0, + -114.2, + 0.0 + ], + [ + 1024.69, + -2246.072, + 211.15, + 0.0, + -114.2, + 0.0 + ], + [ + 973.097, + -2360.871, + 211.15, + 0.0, + -114.2, + 0.0 + ], + [ + 921.505, + -2475.67, + 211.15, + 0.0, + -114.2, + 0.0 + ], + [ + 921.505, + -2475.67, + 211.15, + 0.0, + -139.2, + 0.0 + ], + [ + 913.633, + -2511.328, + 211.15, + 0.0, + -139.2, + 0.0 + ], + [ + 913.633, + -2511.328, + 211.15, + 0.0, + -139.2, + 0.0 + ], + [ + 913.633, + -2511.328, + 211.15, + 0.0, + -164.2, + 0.0 + ], + [ + 913.633, + -2511.328, + 211.15, + 0.0, + 170.8, + -0.0 + ], + [ + 913.633, + -2511.328, + 211.15, + 0.0, + 145.8, + 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a/benchmark/trajectory/IndustrialArea/task_x001294_y-002738_z000561_t3_b/infos.json b/benchmark/trajectory/IndustrialArea/task_x001294_y-002738_z000561_t3_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e27a9cbdd632c4d3d7c336a1758234d067c4c343 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001294_y-002738_z000561_t3_b/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Approach the metal door, then move to the fire extinguisher on the wall.", + "Type": 3, + "Start_Pose": [ + 1293.585, + -2737.904, + 561.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MidwayTarget", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", 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-41.48, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x001294_y-002738_z000561_t3_c/infos.json b/benchmark/trajectory/IndustrialArea/task_x001294_y-002738_z000561_t3_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..982f53b91e16d0192ca73687d19e9cf74ba56c46 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001294_y-002738_z000561_t3_c/infos.json @@ -0,0 +1,276 @@ +{ + "Instruction": "Go to the wall-mounted intercom panel beside the gray metal door, then proceed to the red fire extinguisher near the windows.", + "Type": 3, + "Start_Pose": [ + 1293.585, + -2737.904, + 561.15, + 0.0, + 83.52, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MidwayTarget", + "MoveBackward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1293.585, + -2737.904, + 561.15, + 0.0, + 83.52, + -0.0 + ], + [ + 1268.036, + -2686.822, + 561.15, + 0.0, + 83.52, + -0.0 + ], + [ + 1242.21, + -2579.741, + 561.15, + 0.0, + 83.52, + -0.0 + ], + [ + 1256.414, + -2454.686, + 561.15, + 0.0, + 83.52, + -0.0 + ], + [ + 1256.414, + -2454.686, + 561.15, + 0.0, + 58.52, + -0.0 + ], + [ + 1324.993, + -2351.041, + 561.255, + 0.0, + 58.52, + -0.0 + ], + [ + 1324.993, + -2351.041, + 561.255, + 0.0, + 83.52, + -0.0 + ], + [ + 1328.774, + -2231.073, + 561.15, + 0.0, + 83.52, + -0.0 + ], + [ + 1328.774, + -2231.073, + 561.15, + 0.0, + 108.52, + -0.0 + ], + [ + 1288.797, + -2111.732, + 561.15, + 0.0, + 108.52, + -0.0 + ], + [ + 1248.819, + -1992.391, + 561.15, + 0.0, + 108.52, + -0.0 + ], + [ + 1248.819, + -1992.391, + 561.15, + 0.0, + 83.52, + -0.0 + ], + [ + 1263.023, + 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"MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -74.88, + 0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -99.88, + 0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -124.88, + 0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -149.88, + 0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -174.88, + 0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + 160.12, + -0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + 135.12, + -0.0 + ], + [ + 1299.172, + -2291.58, + 561.15, + 0.0, + 135.12, + -0.0 + ], + [ + 1231.368, + -2200.839, + 561.15, + 0.0, + 135.12, + -0.0 + ], + [ + 1231.368, + -2200.839, + 561.15, + 0.0, + 160.12, + -0.0 + ], + [ + 1209.477, + -2141.522, + 561.15, + 0.0, + 160.12, + -0.0 + ], + [ + 1100.497, + -2090.701, + 561.15, + 0.0, + 160.12, + -0.0 + ], + [ + 1012.125, + 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0000000000000000000000000000000000000000..3c3302caf75419bee33c46303ace420ce0d361f1 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001307_y-002364_z000561_t1_b/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Within this room, locate the red fire extinguisher hanging on the green-tiled wall, then make your way toward it.", + "Type": 1, + "Start_Pose": [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -74.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -74.88, + 0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -99.88, + 0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -124.88, + 0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -149.88, + 0.0 + ], + [ + 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a/benchmark/trajectory/IndustrialArea/task_x001307_y-002364_z000561_t1_c/infos.json b/benchmark/trajectory/IndustrialArea/task_x001307_y-002364_z000561_t1_c/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00e64d15b39cca6855a55ef70b014433d1ec2d36 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001307_y-002364_z000561_t1_c/infos.json @@ -0,0 +1,150 @@ +{ + "Instruction": "Look around this room to identify the main door that serves as the entrance; after finding it, go there.", + "Type": 1, + "Start_Pose": [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -74.88, + 0.0 + ], + "Action": [ + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -74.88, + 0.0 + ], + [ + 1307.431, + -2364.154, + 561.15, + 0.0, + -99.88, + 0.0 + 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b/benchmark/trajectory/IndustrialArea/task_x001308_y-001914_z000211_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..188a656b0237044480b8a25e00a0b88cef677f62 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001308_y-001914_z000211_t5_a_p/infos.json @@ -0,0 +1,210 @@ +{ + "Instruction": "Pick up the tomato near the blue barrel.", + "Type": 5, + "Start_Pose": [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + "PD_ID": 0, + "PD_Size": 8.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 860.777, + -2527.609, + 261.15, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + [ + 1206.21, + -1988.799, + 211.15, + 0.0, + -143.68, + 0.0 + ], + [ + 1104.802, + -2063.344, + 211.15, + 0.0, + -143.68, + 0.0 + ], + [ + 1104.802, + 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"Instruction": "Pick up the trash bag near the low wooden crate beneath the row of wall-mounted electrical boxes.", + "Type": 5, + "Start_Pose": [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 833.941, + -2102.409, + 164.099, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + [ + 1206.21, + -1988.799, + 211.15, + 0.0, + -143.68, + 0.0 + ], + [ + 1104.802, + -2063.344, + 211.15, + 0.0, + -143.68, + 0.0 + ], + [ + 1104.802, + -2063.344, + 211.15, + 0.0, + -168.68, + 0.0 + ], + [ + 981.392, + -2088.049, + 211.15, + 0.0, + -168.68, + 0.0 + ], + [ + 894.879, + -2118.689, + 211.15, + 0.0, + -168.68, + 0.0 + ], + [ + 894.879, + -2118.689, + 211.15, + 0.0, + -168.68, + 0.0 + ], + [ + 894.879, + -2118.689, + 211.15, + 0.0, + 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b/benchmark/trajectory/IndustrialArea/task_x001308_y-001914_z000211_t5_b_pd/infos.json @@ -0,0 +1,354 @@ +{ + "Instruction": "Pick up the ceramic vase from the blue barrel, then place it near the low wooden crate beneath the row of wall-mounted electrical boxes.", + "Type": 5, + "Start_Pose": [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 806.834, + -2444.551, + 131.225, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "LookDown", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1307.617, + -1914.253, + 211.15, + 0, + -143.68, + 0 + ], + [ + 1206.21, + -1988.799, + 211.15, + 0.0, + -143.68, + 0.0 + ], + [ + 1104.802, + -2063.344, + 211.15, + 0.0, + -143.68, + 0.0 + ], + [ + 1104.802, + 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[ + 1395.521, + -2147.354, + 911.15, + 0.0, + 136.32, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1395.521, + -2147.354, + 911.15, + 0.0, + 136.32, + -0.0 + ], + [ + 1395.521, + -2147.354, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + 1349.762, + -2030.108, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + 1304.002, + -1912.862, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + 1254.799, + -1817.224, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + 1254.799, + -1817.224, + 911.15, + 0.0, + 111.32, + -0.0 + ], + [ + 1254.799, + -1817.224, + 911.15, + 0.0, + 111.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x001397_y-002549_z000561_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x001397_y-002549_z000561_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a4e697287d265cf0c3d0aa1d23ef661925d2ccfb --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001397_y-002549_z000561_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Locate the metal door on the far wall near the control panels; once there, open it.", + "Type": 4, + "Start_Pose": [ + 1397.125, + -2548.557, + 561.15, + 0.0, + 136.32, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1397.125, + -2548.557, + 561.15, + 0.0, + 136.32, + -0.0 + ], + [ + 1397.125, + -2548.557, + 561.15, + 0.0, + 111.32, + -0.0 + ], + [ + 1351.366, + -2431.311, + 561.15, + 0.0, + 111.32, + -0.0 + ], + [ + 1305.606, + -2314.065, + 561.15, + 0.0, + 111.32, + -0.0 + ], + [ + 1267.505, + -2196.645, + 561.391, + 0.0, + 111.32, + -0.0 + ], + [ + 1221.746, + -2079.399, + 561.391, + 0.0, + 111.32, + -0.0 + ], + [ + 1221.746, + -2079.399, + 561.391, + 0.0, + 86.32, + -0.0 + ], + [ + 1229.824, + -1953.8, + 561.391, + 0.0, + 86.32, + -0.0 + ], + [ + 1237.902, + -1828.2, + 561.391, + 0.0, + 86.32, + -0.0 + ], + [ + 1237.902, + -1828.2, + 561.391, + 0.0, + 86.32, + -0.0 + ], + [ + 1237.902, + -1828.2, + 561.391, + 0.0, + 86.32, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/IndustrialArea/task_x001421_y-002424_z000211_t4_a/infos.json b/benchmark/trajectory/IndustrialArea/task_x001421_y-002424_z000211_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..28fafc6b49b5aac6c5a27ef094ff1471edb1d2fd --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001421_y-002424_z000211_t4_a/infos.json @@ -0,0 +1,197 @@ +{ + "Instruction": "Navigate to the metal door beside the electrical panels and pull it open when you arrive.", + "Type": 4, + "Start_Pose": [ + 1420.652, + -2423.92, + 211.15, + 0.0, + 116.32, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1420.652, + -2423.92, + 211.15, + 0.0, + 116.32, + -0.0 + ], + [ + 1420.652, + -2423.92, + 211.15, + 0.0, + 141.32, + -0.0 + ], + [ + 1322.4, + -2345.262, + 211.15, + 0.0, + 141.32, + -0.0 + ], + [ + 1250.564, + -2306.593, + 224.41, + 0.0, + 141.32, + -0.0 + ], + [ + 1250.363, + -2306.824, + 223.886, + 0.0, + 141.32, + -0.0 + ], + [ + 1250.363, + -2306.824, + 223.886, + 0.0, + 166.32, + -0.0 + ], + [ + 1159.368, + -2313.968, + 220.283, + 0.0, + 166.32, + -0.0 + ], + [ + 1159.368, + -2313.968, + 220.283, + 0.0, + 141.32, + -0.0 + ], + [ + 1061.521, + -2258.426, + 211.15, + 0.0, + 141.32, + -0.0 + ], + [ + 1061.521, + 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0000000000000000000000000000000000000000..25ded6094d46b36b9d7d11763b5be7adde445a26 --- /dev/null +++ b/benchmark/trajectory/IndustrialArea/task_x001502_y-002500_z000561_t2_a/infos.json @@ -0,0 +1,96 @@ +{ + "Instruction": "Approach the leftmost electrical box mounted on the wall straight ahead.", + "Type": 2, + "Start_Pose": [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1381.209, + -2478.623, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1255.884, + -2467.041, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1130.559, + -2455.459, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1009.801, + -2436.595, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 884.476, + -2425.013, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 884.476, + -2425.013, + 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b/benchmark/trajectory/IndustrialArea/task_x001502_y-002500_z000561_t2_c/infos.json @@ -0,0 +1,159 @@ +{ + "Instruction": "Head toward the rightmost electrical box mounted on the wall straight ahead.", + "Type": 2, + "Start_Pose": [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "LookUp", + "TurnLeft", + "TurnLeft", + "LookUp", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1381.209, + -2478.623, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1255.884, + -2467.041, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1130.559, + -2455.459, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1009.801, + -2436.595, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1009.801, + -2436.595, + 561.15, + 0.0, + -160.28, + 0.0 + ], + [ + 1009.801, + 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b/benchmark/trajectory/IndustrialArea/task_x001502_y-002500_z000561_t2_d/infos.json @@ -0,0 +1,105 @@ +{ + "Instruction": "Proceed to the second electrical box from the left.", + "Type": 2, + "Start_Pose": [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnLeft", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1501.837, + -2500.167, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1381.209, + -2478.623, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1255.884, + -2467.041, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1130.559, + -2455.459, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1009.801, + -2436.595, + 561.15, + 0.0, + 174.72, + -0.0 + ], + [ + 1009.801, + -2436.595, + 561.15, + 0.0, + -160.28, + 0.0 + ], + [ + 891.323, + -2479.063, + 561.15, + 0.0, + -160.28, + 0.0 + ], + [ + 891.323, + -2479.063, + 561.15, + 0.0, + 174.72, + -0.0 + ], + 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0000000000000000000000000000000000000000..3620e57a9ae21b0b5c4dad49c8f5a83813645966 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-000004_y000141_z000106_t0_b/infos.json @@ -0,0 +1,168 @@ +{ + "Instruction": "Approach the base of the tall ornate stone pillar with circular emblem.", + "Type": 0, + "Start_Pose": [ + -4.022, + 140.864, + 106.277, + 0, + 56.64, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -4.022, + 140.864, + 106.277, + 0, + 56.64, + 0 + ], + [ + -4.022, + 140.864, + 106.277, + 0.0, + 81.64, + -0.0 + ], + [ + 14.277, + 265.386, + 106.277, + 0.0, + 81.64, + -0.0 + ], + [ + 14.277, + 265.386, + 106.277, + 0.0, + 106.64, + -0.0 + ], + [ + -21.764, + 385.974, + 111.94, + 0.0, + 106.64, + -0.0 + 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index 0000000000000000000000000000000000000000..60062d3368417bf3177e507995bc02a357a77f82 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-000104_y001167_z000104_t2_c/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Approach the rightmost battlement tower along the wall.", + "Type": 2, + "Start_Pose": [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -103.909, + 1167.093, + 104.024, + 0.0, + -62.4, + 0.0 + ], + [ + -103.909, + 1167.093, + 104.024, + 0.0, + -37.4, + 0.0 + ], + [ + -3.925, + 1090.649, + 104.024, + 0.0, + -37.4, + 0.0 + ], + [ + 96.059, + 1014.206, + 104.024, + 0.0, + -37.4, + 0.0 + ], + [ + 196.044, + 937.762, + 104.024, + 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b/benchmark/trajectory/TemplePlaza/task_x-000139_y-001662_z000236_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5d4aff26c063b5d3c30efd3f71ab88b62cf808e0 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-000139_y-001662_z000236_t5_a_p/infos.json @@ -0,0 +1,228 @@ +{ + "Instruction": "Pick up the trash bag near the covered porch area of the front door.", + "Type": 5, + "Start_Pose": [ + -139.487, + -1662.284, + 236.15, + 0.0, + 29.76, + -0.0 + ], + "PD_ID": 20, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 655.771, + -1336.77, + 154.716, + 0.0, + 0.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "TurnLeft", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + -139.487, + -1662.284, + 236.15, + 0.0, + 29.76, + -0.0 + ], + [ + -30.227, + -1599.812, + 235.819, + 0.0, + 29.76, + -0.0 + ], + [ + 79.032, + -1537.339, + 246.931, + 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a/benchmark/trajectory/TemplePlaza/task_x-000157_y-000778_z000247_t0_d/infos.json b/benchmark/trajectory/TemplePlaza/task_x-000157_y-000778_z000247_t0_d/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..5498fffe6364968ecd1ec0753fb8d2e25713dd91 --- /dev/null +++ b/benchmark/trajectory/TemplePlaza/task_x-000157_y-000778_z000247_t0_d/infos.json @@ -0,0 +1,123 @@ +{ + "Instruction": "Navigate to the steps leading into the red-roofed door.", + "Type": 0, + "Start_Pose": [ + -156.572, + -778.14, + 247.042, + 0.0, + -59.52, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Finish" + ], + "Pose_Trajectory": [ + [ + -156.572, + -778.14, + 247.042, + 0.0, + -59.52, + 0.0 + ], + [ + -156.572, + -778.14, + 247.042, + 0.0, + -34.52, + 0.0 + ], + [ + -52.873, + -849.464, + 247.042, + 0.0, + -34.52, + 0.0 + ], + [ + 50.826, + 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0.0 + ], + [ + 636.038, + -570.803, + 236.218, + 0.0, + -176.68, + 0.0 + ], + [ + 510.39, + -578.092, + 236.218, + 0.0, + -176.68, + 0.0 + ], + [ + 384.742, + -585.381, + 246.985, + 0.0, + -176.68, + 0.0 + ], + [ + 259.095, + -592.669, + 246.985, + 0.0, + -176.68, + 0.0 + ], + [ + 133.447, + -599.958, + 246.985, + 0.0, + -176.68, + 0.0 + ], + [ + 7.799, + -607.247, + 246.985, + 0.0, + -176.68, + 0.0 + ], + [ + -112.678, + -613.497, + 249.799, + 0.0, + -176.68, + 0.0 + ], + [ + -112.678, + -613.497, + 249.799, + 0.0, + -176.68, + 0.0 + ], + [ + -112.678, + -613.497, + 249.799, + 0.0, + -176.68, + 0.0 + ] + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-000045_y-000444_z000239_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-000045_y-000444_z000239_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..249d57e2477ab273d0079cb78225505fcd5ab5da --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-000045_y-000444_z000239_t4_a/infos.json @@ -0,0 +1,147 @@ +{ + "Instruction": "Head toward the wooden door on the ivy-covered stone building to the right and open it.", + "Type": 4, + "Start_Pose": [ + -44.669, + -444.038, + 238.523, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -44.669, + -444.038, + 238.523, + 0.0, + -140.0, + 0.0 + ], + [ + -44.669, + -444.038, + 238.32, + 0.0, + -115.0, + 0.0 + ], + [ + -94.16, + -558.835, + 224.888, + 0.0, + -115.0, + 0.0 + ], + [ + -147.35, + -672.902, + 224.888, + 0.0, + -115.0, + 0.0 + ], + [ + -200.54, + -786.969, + 224.888, + 0.0, + -115.0, + 0.0 + ], + [ + -253.731, + -901.036, + 224.888, + 0.0, + -115.0, + 0.0 + ], + [ + -253.731, + -901.036, + 224.888, + 0.0, + -90.0, + 0.0 + ], + [ + -253.731, + -1026.895, + 224.888, + 0.0, + -90.0, + 0.0 + ], + [ + -253.731, + -1152.754, + 224.888, + 0.0, + -90.0, + 0.0 + ], + [ + -253.731, + -1238.124, + 226.689, + 0.0, + -90.0, + 0.0 + ], + [ + -253.731, + -1238.124, + 226.689, + 0.0, + -115.0, + 0.0 + ], + [ + -253.731, + -1238.124, + 226.505, + 0.0, + -115.0, + 0.0 + ], + [ + -253.731, + -1238.124, + 226.505, + 0.0, + -115.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-000186_y-001074_z000225_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-000186_y-001074_z000225_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e944394864e90ceca2aab1b3df18c1d73d75e93b --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-000186_y-001074_z000225_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Beside the ivy-framed window is a narrow wooden door. Step up to it and open it.", + "Type": 4, + "Start_Pose": [ + -185.906, + -1073.568, + 224.888, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -185.906, + -1073.568, + 224.888, + 0.0, + -140.0, + 0.0 + ], + [ + -282.32, + -1154.469, + 224.888, + 0.0, + -140.0, + 0.0 + ], + [ + -282.32, + -1154.469, + 224.888, + 0.0, + -115.0, + 0.0 + ], + [ + -282.32, + -1154.469, + 224.888, + 0.0, + -90.0, + 0.0 + ], + [ + -286.697, + -1243.978, + 226.562, + 0.0, + -90.0, + 0.0 + ], + [ + -286.697, + -1243.978, + 226.715, + 0.0, + -90.0, + 0.0 + ], + [ + -286.697, + -1243.978, + 226.715, + 0.0, + -90.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-000263_y000671_z000224_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-000263_y000671_z000224_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d5ecabbf5993583cf8f29258c05f0ef4fd468984 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-000263_y000671_z000224_t4_a/infos.json @@ -0,0 +1,67 @@ +{ + "Instruction": "Approach the wooden door with four glass panes across its upper section and open it.", + "Type": 4, + "Start_Pose": [ + -262.698, + 671.048, + 223.561, + 0.0, + 100.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -262.698, + 671.048, + 223.561, + 0.0, + 100.0, + -0.0 + ], + [ + -284.553, + 794.995, + 239.082, + 0.0, + 100.0, + -0.0 + ], + [ + -290.972, + 820.604, + 247.65, + 0.0, + 100.0, + -0.0 + ], + [ + -290.972, + 820.604, + 247.717, + 0.0, + 100.0, + -0.0 + ], + [ + -290.972, + 820.604, + 247.717, + 0.0, + 100.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-000276_y001042_z000247_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-000276_y001042_z000247_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..3744298b32afcbede01d720365c5db5d46747e23 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-000276_y001042_z000247_t4_a/infos.json @@ -0,0 +1,57 @@ +{ + "Instruction": "Go to the weathered door with a row of glass panes along the top and open it.", + "Type": 4, + "Start_Pose": [ + -276.393, + 1042.018, + 246.782, + 0.0, + -80.0, + 0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -276.393, + 1042.018, + 246.782, + 0.0, + -80.0, + 0.0 + ], + [ + -254.538, + 918.071, + 246.807, + 0.0, + -80.0, + 0.0 + ], + [ + -254.538, + 918.071, + 246.807, + 0.0, + -80.0, + 0.0 + ], + [ + -254.538, + 918.071, + 246.807, + 0.0, + -80.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-000325_y000458_z000200_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-000325_y000458_z000200_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bf5854bf367c8ecb3ccc197a80e60de7adbe7b08 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-000325_y000458_z000200_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Cross the porch to the wooden door with upper window panes, next to the barrel enclosure, and open it.", + "Type": 4, + "Start_Pose": [ + -324.663, + 458.02, + 199.56, + 0.0, + 60.0, + -0.0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -324.663, + 458.02, + 199.56, + 0.0, + 60.0, + -0.0 + ], + [ + -261.733, + 567.017, + 222.175, + 0.0, + 60.0, + -0.0 + ], + [ + -261.733, + 567.017, + 222.175, + 0.0, + 85.0, + -0.0 + ], + [ + -250.764, + 692.397, + 224.039, + 0.0, + 85.0, + -0.0 + ], + [ + -239.795, + 817.777, + 246.232, + 0.0, + 85.0, + -0.0 + ], + [ + -239.795, + 817.777, + 246.232, + 0.0, + 85.0, + -0.0 + ], + [ + -239.795, + 817.777, + 246.232, + 0.0, + 85.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-000643_y-001540_z000215_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-000643_y-001540_z000215_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ddd2b1cc0e9eb8d332df38a6eb26a4431c893fda --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-000643_y-001540_z000215_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "On the covered porch, approach the narrow wooden door beside the small window and open it.", + "Type": 4, + "Start_Pose": [ + -642.587, + -1539.79, + 215.241, + 0.0, + 60.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -642.587, + -1539.79, + 215.241, + 0.0, + 60.0, + -0.0 + ], + [ + -642.587, + -1539.79, + 215.241, + 0.0, + 35.0, + -0.0 + ], + [ + -539.489, + -1467.6, + 215.241, + 0.0, + 35.0, + -0.0 + ], + [ + -436.392, + -1395.411, + 215.241, + 0.0, + 35.0, + -0.0 + ], + [ + -333.678, + -1339.754, + 214.869, + 0.0, + 35.0, + -0.0 + ], + [ + -333.678, + -1339.754, + 214.869, + 0.0, + 35.0, + -0.0 + ], + [ + -333.678, + -1339.754, + 214.869, + 0.0, + 35.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-001280_y-001225_z000272_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-001280_y-001225_z000272_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..a855b49dfc0d99319992a56df4d2256a80806115 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-001280_y-001225_z000272_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Approach the wooden door beside the staircase, to the right of the small square window, and open it.", + "Type": 4, + "Start_Pose": [ + -1280.45, + -1224.613, + 271.754, + 0.0, + 140.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1280.45, + -1224.613, + 271.754, + 0.0, + 140.0, + -0.0 + ], + [ + -1280.45, + -1224.613, + 271.731, + 0.0, + 165.0, + -0.0 + ], + [ + -1402.02, + -1192.038, + 272.66, + 0.0, + 165.0, + -0.0 + ], + [ + -1522.924, + -1174.212, + 275.869, + 0.0, + 165.0, + -0.0 + ], + [ + -1644.495, + -1141.637, + 273.603, + 0.0, + 165.0, + -0.0 + ], + [ + -1644.495, + -1141.637, + 273.603, + 0.0, + 165.0, + -0.0 + ], + [ + -1644.495, + -1141.637, + 273.603, + 0.0, + 165.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-001365_y-001583_z000277_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-001365_y-001583_z000277_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9454900b029f0460faf40d6e4ce6cbbd566d201a --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-001365_y-001583_z000277_t4_a/infos.json @@ -0,0 +1,97 @@ +{ + "Instruction": "The door beneath the staircase on the right is your target. Go to it and open it.", + "Type": 4, + "Start_Pose": [ + -1364.693, + -1583.305, + 277.427, + 0, + 100, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1364.693, + -1583.305, + 277.427, + 0, + 100, + 0 + ], + [ + -1364.693, + -1583.305, + 277.347, + 0, + 125, + 0 + ], + [ + -1436.883, + -1480.207, + 272.66, + 0, + 125, + 0 + ], + [ + -1509.073, + -1377.11, + 272.66, + 0, + 125, + 0 + ], + [ + -1581.262, + -1274.012, + 273.499, + 0, + 125, + 0 + ], + [ + -1653.452, + -1170.914, + 273.499, + 0, + 125, + 0 + ], + [ + -1653.452, + -1170.914, + 273.499, + 0, + 125, + 0 + ], + [ + -1653.452, + -1170.914, + 273.499, + 0, + 125, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-001500_y-001225_z000274_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-001500_y-001225_z000274_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..67aade93fdca14eef0389d4dd2cdc969dd0d4102 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-001500_y-001225_z000274_t4_a/infos.json @@ -0,0 +1,67 @@ +{ + "Instruction": "Approach the plain wooden door framed by rough stone blocks and open it.", + "Type": 4, + "Start_Pose": [ + -1499.838, + -1224.613, + 273.501, + 0.0, + 180.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1499.838, + -1224.613, + 273.501, + 0.0, + 180.0, + -0.0 + ], + [ + -1499.838, + -1224.613, + 273.603, + 0.0, + 155.0, + -0.0 + ], + [ + -1613.905, + -1171.423, + 273.603, + 0.0, + 155.0, + -0.0 + ], + [ + -1613.905, + -1171.423, + 273.603, + 0.0, + 155.0, + -0.0 + ], + [ + -1613.905, + -1171.423, + 273.603, + 0.0, + 155.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-001539_y-000395_z000280_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-001539_y-000395_z000280_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..93bbf275051011ef98d6332cc98a34b385bcdca4 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-001539_y-000395_z000280_t4_a/infos.json @@ -0,0 +1,57 @@ +{ + "Instruction": "Move to the wooden door with glass panes along the top, under the covered walkway, and open it.", + "Type": 4, + "Start_Pose": [ + -1539.404, + -395.212, + 279.566, + 0.0, + 140.0, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1539.404, + -395.212, + 279.566, + 0.0, + 140.0, + -0.0 + ], + [ + -1635.818, + -314.311, + 279.807, + 0.0, + 140.0, + -0.0 + ], + [ + -1635.818, + -314.311, + 279.807, + 0.0, + 140.0, + -0.0 + ], + [ + -1635.818, + -314.311, + 279.807, + 0.0, + 140.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-001914_y-000316_z000255_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-001914_y-000316_z000255_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7de1750a9c24f35532967e2f80caee0bad899f31 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-001914_y-000316_z000255_t4_a/infos.json @@ -0,0 +1,57 @@ +{ + "Instruction": "Go to the tall weathered door with four upper window panes and open it.", + "Type": 4, + "Start_Pose": [ + -1914.275, + -316.477, + 255.142, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -1914.275, + -316.477, + 255.142, + 0.0, + -0.0, + 0.0 + ], + [ + -1788.416, + -316.477, + 271.953, + 0.0, + 0.0, + 0.0 + ], + [ + -1788.416, + -316.477, + 271.953, + 0.0, + 0.0, + 0.0 + ], + [ + -1788.416, + -316.477, + 271.953, + 0.0, + 0.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-002029_y-001276_z000272_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-002029_y-001276_z000272_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..7036348009b9a28d224f32bdde121f67980c0ffc --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-002029_y-001276_z000272_t4_a/infos.json @@ -0,0 +1,87 @@ +{ + "Instruction": "Approach the narrow wooden door with the pale horizontal brace set into the stone wall and open it.", + "Type": 4, + "Start_Pose": [ + -2028.57, + -1276.298, + 272.199, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2028.57, + -1276.298, + 272.199, + 0, + 0, + 0 + ], + [ + -2028.57, + -1276.298, + 272.199, + 0, + 25, + 0 + ], + [ + -1914.503, + -1223.108, + 256.931, + 0, + 25, + 0 + ], + [ + -1800.436, + -1169.917, + 265.861, + 0, + 25, + 0 + ], + [ + -1764.827, + -1130.564, + 279.53, + 0, + 25, + 0 + ], + [ + -1764.827, + -1130.564, + 279.448, + 0, + 25, + 0 + ], + [ + -1764.827, + -1130.564, + 279.448, + 0, + 25, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..869d8d957c0c9decd890d9a2831c724cb8a14e1a --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Choose the dark wooden door to the left of the illuminated archway; walk over and open it.", + "Type": 4, + "Start_Pose": [ + -2526.482, + -1034.03, + 274.103, + 0.0, + 20.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2526.482, + -1034.03, + 274.103, + 0.0, + 20.0, + -0.0 + ], + [ + -2526.482, + -1034.03, + 274.304, + 0.0, + -5.0, + 0.0 + ], + [ + -2401.102, + -1044.999, + 270.343, + 0.0, + -5.0, + 0.0 + ], + [ + -2275.722, + -1055.969, + 246.915, + 0.0, + -5.0, + 0.0 + ], + [ + -2150.342, + -1066.938, + 255.673, + 0.0, + -5.0, + 0.0 + ], + [ + -2024.962, + -1077.907, + 256.049, + 0.0, + -5.0, + 0.0 + ], + [ + -1899.582, + -1088.877, + 252.675, + 0.0, + -5.0, + 0.0 + ], + [ + -1899.582, + -1088.877, + 252.675, + 0.0, + -30.0, + 0.0 + ], + [ + -1790.584, + -1151.806, + 271.194, + 0.0, + -30.0, + 0.0 + ], + [ + -1790.584, + -1151.806, + 271.194, + 0.0, + -30.0, + 0.0 + ], + [ + -1790.584, + -1151.806, + 271.194, + 0.0, + -30.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_b/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_b/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..00f637ddccbf7f3c84acb434d33286514e8840b8 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x-002526_y-001034_z000274_t4_b/infos.json @@ -0,0 +1,177 @@ +{ + "Instruction": "Circle to the wooden door with upper glass panes on the right side of the illuminated archway and open it.", + "Type": 4, + "Start_Pose": [ + -2526.482, + -1034.03, + 274.103, + 0.0, + 20.0, + -0.0 + ], + "Action": [ + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + -2526.482, + -1034.03, + 274.103, + 0.0, + 20.0, + -0.0 + ], + [ + -2526.482, + -1034.03, + 274.304, + 0.0, + 45.0, + -0.0 + ], + [ + -2526.482, + -1034.03, + 274.304, + 0.0, + 70.0, + -0.0 + ], + [ + -2483.436, + -915.761, + 272.205, + 0.0, + 70.0, + -0.0 + ], + [ + -2440.389, + -797.492, + 265.562, + 0.0, + 70.0, + -0.0 + ], + [ + -2397.343, + -679.224, + 268.707, + 0.0, + 70.0, + -0.0 + ], + [ + -2354.297, + -560.955, + 266.335, + 0.0, + 70.0, + -0.0 + ], + [ + -2354.297, + -560.955, + 266.335, + 0.0, + 45.0, + -0.0 + ], + [ + -2354.297, + -560.955, + 266.335, + 0.0, + 20.0, + -0.0 + ], + [ + -2236.028, + -517.909, + 254.306, + 0.0, + 20.0, + -0.0 + ], + [ + -2117.759, + -474.862, + 243.303, + 0.0, + 20.0, + -0.0 + ], + [ + -1999.49, + -431.816, + 262.76, + 0.0, + 20.0, + -0.0 + ], + [ + -1881.222, + -388.77, + 248.417, + 0.0, + 20.0, + -0.0 + ], + [ + -1767.39, + -346.307, + 277.895, + 0.0, + 20.0, + -0.0 + ], + [ + -1767.39, + -346.307, + 277.895, + 0.0, + 20.0, + -0.0 + ], + [ + -1767.39, + -346.307, + 277.895, + 0.0, + 20.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x000045_y-001555_z000215_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x000045_y-001555_z000215_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..b5fe0361e916d68be69dcc5b122dc5e0046528e2 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000045_y-001555_z000215_t4_a/infos.json @@ -0,0 +1,97 @@ +{ + "Instruction": "On the covered stone porch, go to the plain wooden door to the right of the window and open it.", + "Type": 4, + "Start_Pose": [ + 45.015, + -1554.532, + 215.16, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 45.015, + -1554.532, + 215.16, + 0.0, + 120.0, + -0.0 + ], + [ + 45.015, + -1554.505, + 215.241, + 0.0, + 145.0, + -0.0 + ], + [ + -58.083, + -1482.315, + 215.241, + 0.0, + 145.0, + -0.0 + ], + [ + -161.18, + -1410.125, + 215.233, + 0.0, + 145.0, + -0.0 + ], + [ + -264.0, + -1348.987, + 215.241, + 0.0, + 145.0, + -0.0 + ], + [ + -264.0, + -1348.987, + 215.241, + 0.0, + 120.0, + -0.0 + ], + [ + -264.0, + -1348.987, + 215.241, + 0.0, + 120.0, + -0.0 + ], + [ + -264.0, + -1348.987, + 215.241, + 0.0, + 120.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x000224_y000065_z000225_t5_a_p/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x000224_y000065_z000225_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..556fc86e5386b43e98a774cce134d644b194417f --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000224_y000065_z000225_t5_a_p/infos.json @@ -0,0 +1,192 @@ +{ + "Instruction": "Pick up the green bell pepper near the wagon wheel area.", + "Type": 5, + "Start_Pose": [ + 223.805, + 65.151, + 224.888, + 0, + -20, + 0 + ], + "PD_ID": 2, + "PD_Size": 5, + "PD_Type": "p", + "PD_Start_Pose": [ + 641.282, + -331.866, + 149.839, + 41.698, + -129.961, + 90.071 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 223.805, + 65.151, + 224.888, + 0, + -20, + 0 + ], + [ + 223.805, + 65.151, + 224.888, + 0, + -45, + 0 + ], + [ + 312.801, + -23.845, + 224.888, + 0, + -45, + 0 + ], + [ + 401.797, + -112.841, + 224.888, + 0, + -45, + 0 + ], + [ + 490.792, + -201.836, + 224.888, + 0, + -45, + 0 + ], + [ + 569.373, + -282.844, + 224.888, + 0, + -45, + 0 + ], + [ + 569.373, + -282.844, + 224.888, + 0, + -45, + 0 + ], + [ + 569.373, + -282.844, + 224.888, + 0, + -45, + 0 + ], + [ + 569.373, + -282.844, + 224.888, + 0, + -45, + 0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 641.282, + -331.866, 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b/benchmark/trajectory/medieval_Nighttime/task_x000376_y000348_z000225_t5_b_p/infos.json @@ -0,0 +1,192 @@ +{ + "Instruction": "Pick up the ceramic vase near the wooden barrel near the right wall.", + "Type": 5, + "Start_Pose": [ + 375.908, + 347.864, + 224.888, + 0, + 100, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + 16.237, + 770.894, + 154.888, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 375.908, + 347.864, + 224.888, + 0, + 100, + 0 + ], + [ + 354.053, + 471.811, + 224.888, + 0.0, + 100.0, + -0.0 + ], + [ + 354.053, + 471.811, + 224.888, + 0.0, + 125.0, + -0.0 + ], + [ + 281.863, + 574.909, + 224.888, + 0.0, + 125.0, + -0.0 + ], + [ + 281.863, + 574.909, + 224.888, + 0.0, + 150.0, + -0.0 + ], + [ + 172.866, + 637.838, + 224.888, + 0.0, + 150.0, + -0.0 + ], + [ + 63.869, + 700.768, + 224.888, + 0.0, + 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b/benchmark/trajectory/medieval_Nighttime/task_x000376_y000348_z000225_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..38a20fc6a43bbd85e9b9d952a626c54192adaadd --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000376_y000348_z000225_t5_b_pd/infos.json @@ -0,0 +1,300 @@ +{ + "Instruction": "Pick up the metal bucket from the ground near the wooden door on the left stone wall, then place it near the wooden barrel on the right side of the courtyard.", + "Type": 5, + "Start_Pose": [ + 375.908, + 347.864, + 224.888, + 0, + 100, + 0 + ], + "PD_ID": 18, + "PD_Size": 2.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 483.511, + 827.977, + 177.36, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 375.908, + 347.864, + 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Head down and open it.", + "Type": 4, + "Start_Pose": [ + 392.142, + -1421.935, + 401.644, + 0, + 160, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "TurnLeft", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 392.142, + -1421.935, + 401.644, + 0, + 160, + 0 + ], + [ + 273.873, + -1378.889, + 360.172, + 0, + 160, + 0 + ], + [ + 210.126, + -1376.017, + 318.862, + 0, + 160, + 0 + ], + [ + 210.126, + -1376.017, + 318.862, + 0, + -175, + 0 + ], + [ + 85.495, + -1389.097, + 239.026, + 0, + -175, + 0 + ], + [ + -39.885, + -1400.067, + 215.467, + 0, + -175, + 0 + ], + [ + -165.265, + -1411.036, + 215.05, + 0, + -175, + 0 + ], + [ + -165.265, + -1411.036, + 215.05, + 0, + 160, + 0 + ], + [ + -165.265, + -1411.036, + 215.05, + 0, + 135, + 0 + ], + [ + -250.61, + -1348.92, + 215.241, + 0, + 135, + 0 + ], + [ + -250.61, + -1348.92, + 215.241, + 0, + 135, + 0 + ], + [ + -250.61, + -1348.92, + 215.241, + 0, + 135, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x000421_y-000126_z000225_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x000421_y-000126_z000225_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f899642db9262d8b61440d6e2971a7e57b0aa8cf --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000421_y-000126_z000225_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Proceed to the wooden door at the top of the short staircase, framed by ivy-covered walls; once there, open it.", + "Type": 4, + "Start_Pose": [ + 420.992, + -125.586, + 224.888, + 0.0, + 0.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + 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b/benchmark/trajectory/medieval_Nighttime/task_x000506_y000031_z000225_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c32a9424e650196c8cf8620ddae05c440c6718 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000506_y000031_z000225_t5_a_p/infos.json @@ -0,0 +1,228 @@ +{ + "Instruction": "Pick up the wicker basket near the wooden barrel on the left side of the scene.", + "Type": 5, + "Start_Pose": [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -58.534, + 400.767, + 274.888, + 90, + 160, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + [ + 505.623, + 31.15, + 224.888, + 0.0, + 155.0, + -0.0 + ], + [ + 391.556, + 84.34, + 224.888, + 0.0, + 155.0, + 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b/benchmark/trajectory/medieval_Nighttime/task_x000506_y000031_z000225_t5_b_p/infos.json @@ -0,0 +1,192 @@ +{ + "Instruction": "Pick up the plate near the wooden bench against the stone wall.", + "Type": 5, + "Start_Pose": [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + "PD_ID": 16, + "PD_Size": 3.0, + "PD_Type": "p", + "PD_Start_Pose": [ + -53.491, + 247.206, + 234.888, + 90, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + [ + 505.623, + 31.15, + 224.888, + 0.0, + 155.0, + -0.0 + ], + [ + 391.556, + 84.34, + 224.888, + 0.0, + 155.0, + -0.0 + ], + [ + 277.489, + 137.531, + 224.888, + 0.0, + 155.0, + -0.0 + ], + [ + 163.422, + 190.721, + 224.888, + 0.0, + 155.0, + -0.0 + ], + [ + 49.355, + 243.911, + 224.888, + 0.0, + 155.0, + -0.0 + ], + [ + 49.355, + 243.911, + 224.888, + 0.0, + 180.0, + -0.0 + 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b/benchmark/trajectory/medieval_Nighttime/task_x000506_y000031_z000225_t5_b_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0f0dbe37cdd693909a23134375b9a8f36a0e8f3 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000506_y000031_z000225_t5_b_pd/infos.json @@ -0,0 +1,390 @@ +{ + "Instruction": "Pick up the ceramic vase from the ground near the wooden barrel on the left, then place it near the wooden door of the building.", + "Type": 5, + "Start_Pose": [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + 4.635, + 329.217, + 154.888, + 0, + 0, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "Pick", + "TurnRight", + "TurnRight", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "Drop", + "Finish" + ], + 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b/benchmark/trajectory/medieval_Nighttime/task_x000506_y000031_z000225_t5_c_pd/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..c0d6271340b9bd027ac0da4c7bdce1c7315192cb --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000506_y000031_z000225_t5_c_pd/infos.json @@ -0,0 +1,426 @@ +{ + "Instruction": "Pick up the green bell pepper from the ground in front of the wooden door, then place it near the wooden bench against the stone wall.", + "Type": 5, + "Start_Pose": [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + "PD_ID": 2, + "PD_Size": 5.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -21.453, + -158.991, + 179.888, + 0, + 0, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "LookDown", + "Pick", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "MoveForward", + "TurnRight", + "Drop", + "Finish" + ], + "Pose_Trajectory": [ + [ + 505.623, + 31.15, + 224.888, + 0, + 180, + 0 + ], + [ + 505.623, + 31.15, + 224.888, + 0.0, + -155.0, + 0.0 + ], + [ + 391.556, + -22.04, + 224.888, + 0.0, + -155.0, + 0.0 + ], + [ + 277.489, + -75.231, + 224.888, + 0.0, + -155.0, + 0.0 + ], + [ + 163.422, + -128.421, + 224.888, + 0.0, + -155.0, + 0.0 + ], + [ + 50.232, + -181.932, + 224.888, + 0.0, + -155.0, + 0.0 + ], + [ + 50.232, + -181.932, + 224.888, + 0.0, + -155.0, + 0.0 + ], + [ + 50.232, + -181.932, + 224.888, + 0.0, + -155.0, + 0.0 + ], + [ + 50.232, + -181.932, + 224.888, + 0.0, + 180.0, + -0.0 + ], + [ + 50.232, + -181.932, + 224.888, + 0.0, + 155.0, + -0.0 + ], + [ + 50.232, + -181.932, + 224.888, + 0.0, + 130.0, + -0.0 + ], + [ + 50.232, + -181.932, + 224.888, + 0.0, + 105.0, + -0.0 + ], + [ + 50.232, + -181.932, + 224.888, + 0.0, + 80.0, + -0.0 + ], + [ + 72.088, + -57.986, + 224.888, + 0.0, + 80.0, + -0.0 + ], + [ + 93.944, + 65.961, + 224.888, + 0.0, + 80.0, + -0.0 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+ 560.3, + 435.1, + 310.5, + 187.4, + 75.3, + 75.3, + 21.4, + 20.4, + 20.2, + 27.5, + 21.0, + 19.9, + 21.4, + 21.4, + 22.5, + 22.4, + 21.4, + 21.4, + 22.1, + 70.0, + 70.0 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x000627_y000702_z000227_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x000627_y000702_z000227_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1a5eadf96ca1f1b2a180347abe13321863979f98 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000627_y000702_z000227_t4_a/infos.json @@ -0,0 +1,57 @@ +{ + "Instruction": "Approach the narrow wooden plank door set into the stone wall, marked by a pale horizontal brace, and open it.", + "Type": 4, + "Start_Pose": [ + 627.421, + 701.809, + 226.969, + 0.0, + 100.0, + -0.0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 627.421, + 701.809, + 226.969, + 0.0, + 100.0, + -0.0 + ], + [ + 605.864, + 814.824, + 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397.446, + 224.416, + 0.0, + 80.0, + -0.0 + ], + [ + 674.004, + 493.348, + 233.001, + 0.0, + 80.0, + -0.0 + ], + [ + 695.86, + 617.295, + 229.496, + 0.0, + 80.0, + -0.0 + ], + [ + 695.86, + 617.295, + 229.496, + 0.0, + 105.0, + -0.0 + ], + [ + 663.285, + 738.865, + 226.957, + 0.0, + 105.0, + -0.0 + ], + [ + 624.985, + 814.752, + 244.306, + 0.0, + 105.0, + -0.0 + ], + [ + 624.985, + 814.752, + 244.306, + 0.0, + 105.0, + -0.0 + ], + [ + 624.985, + 814.752, + 244.306, + 0.0, + 105.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x000728_y000991_z000241_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x000728_y000991_z000241_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..8d8eca47dfc3cffd9d1b96128629a5a2e81322ec --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000728_y000991_z000241_t4_a/infos.json @@ -0,0 +1,67 @@ +{ + "Instruction": "Cross the small porch to the broad wooden door beside the square window and open it.", + "Type": 4, + "Start_Pose": [ + 727.96, + 991.455, + 240.603, + 0, + -160, + 0 + ], + "Action": [ + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 727.96, + 991.455, + 240.603, + 0, + -160, + 0 + ], + [ + 727.96, + 991.455, + 240.603, + 0, + -135, + 0 + ], + [ + 638.547, + 918.914, + 244.939, + 0, + -135, + 0 + ], + [ + 638.547, + 918.914, + 244.988, + 0, + -135, + 0 + ], + [ + 638.547, + 918.914, + 244.988, + 0, + -135, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x000838_y-000482_z000295_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x000838_y-000482_z000295_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..f8fd3853480069a2806e1600f9e1147d2658d47a --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x000838_y-000482_z000295_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "The ivy-framed wooden door with two horizontal braces is your target. Approach it and open it.", + "Type": 4, + "Start_Pose": [ + 838.292, + -482.198, + 295.144, + 0.0, + -0.0, + 0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 838.292, + -482.198, + 295.144, + 0.0, + -0.0, + 0.0 + ], + [ + 931.268, + -507.357, + 295.144, + 0.0, + 0.0, + 0.0 + ], + [ + 1056.307, + -511.111, + 295.144, + 0.0, + 0.0, + 0.0 + ], + [ + 1056.307, + -511.111, + 295.144, + 0.0, + 25.0, + -0.0 + ], + [ + 1165.082, + -488.743, + 295.144, + 0.0, + 25.0, + -0.0 + ], + [ + 1165.082, + -488.743, + 295.144, + 0.0, + 50.0, + -0.0 + ], + [ + 1238.319, + -397.368, + 295.144, + 0.0, + 50.0, + -0.0 + ], + [ + 1239.742, + -306.315, + 295.144, + 0.0, + 50.0, + -0.0 + ], + [ + 1239.742, + -306.315, + 295.144, + 0.0, + 50.0, + -0.0 + ], + [ + 1239.742, + -306.315, + 295.144, + 0.0, + 50.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001112_y-000165_z000295_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001112_y-000165_z000295_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..59279a75666a299c56bff4e43afeba2468d02754 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001112_y-000165_z000295_t4_a/infos.json @@ -0,0 +1,57 @@ +{ + "Instruction": "Walk up to the sunlit wooden door bordered by thick ivy and reinforced with two metal braces, then open it.", + "Type": 4, + "Start_Pose": [ + 1112.291, + -165.333, + 295.144, + 0, + -20, + 0 + ], + "Action": [ + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1112.291, + -165.333, + 295.144, + 0, + -20, + 0 + ], + [ + 1230.56, + -208.379, + 295.144, + 0, + -20, + 0 + ], + [ + 1230.56, + -208.379, + 295.144, + 0, + -20, + 0 + ], + [ + 1230.56, + -208.379, + 295.144, + 0, + -20, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_a_p/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_a_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..d05d02ebf8c10131696ff8a5de953ef5425459f8 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_a_p/infos.json @@ -0,0 +1,174 @@ +{ + "Instruction": "Pick up the green bell pepper near the barrel next to the wooden shelf.", + "Type": 5, + "Start_Pose": [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + "PD_ID": 2, + "PD_Size": 5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1400.765, + -1315.446, + 724.808, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + 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425.6, + 300.3, + 176, + 111.8, + 21.4, + 21.4 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_b_p/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_b_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..0df4853d3d3b11b0ed8d116f97fb77b940a64546 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_b_p/infos.json @@ -0,0 +1,192 @@ +{ + "Instruction": "Pick up the jerry can near the wooden dining table near the windows.", + "Type": 5, + "Start_Pose": [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + "PD_ID": 13, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1254.621, + -1306.343, + 663.611, + 0, + 0, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + [ + 1266.962, + -781.591, + 680.389, + 0, + -80, + 0 + ], + [ + 1292.58, + -903.829, + 680.389, + 0, + -80, + 0 + ], + [ + 1314.435, + -1027.776, + 680.389, + 0, + -80, + 0 + ], + [ + 1314.435, + -1027.776, + 680.389, + 0, + -105, + 0 + ], + [ + 1281.861, + -1149.346, + 679.982, + 0, + -105, + 0 + ], + [ + 1258.814, + -1160.404, + 679.808, + 0, + -105, + 0 + ], + [ + 1258.814, + -1160.404, + 679.808, + 0, + -105, + 0 + ], + [ + 1258.814, + -1160.404, + 679.808, + 0, + -105, + 0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1254.621, + -1306.343, + 663.611, + 0, + 0, + 0 + ], + [ + 1254.621, + -1306.343, + 663.611, + 0, + 0, + 0 + ], + [ + 1254.621, + -1306.343, + 663.611, + 0, + 0, + 0 + ], + [ + 1254.621, + -1306.343, + 663.611, + 0, + 0, + 0 + ], + [ + 1254.621, + -1306.343, + 663.611, + 0, + 0, + 0 + ], + [ + 1254.621, + -1306.343, + 663.611, + 0, + 0, + 0 + ], + [ + 1254.621, + -1306.343, + 663.611, + 0, + 0, + 0 + ], + [ + 1279.598, + -1165.341, + 649.914, + -28.202, + -54.855, + 1.862 + ], + [ + 1279.598, + -1165.341, + 649.914, + -28.202, + -54.855, + 1.862 + ] + ], + "PD_Dist_2D": [ + 635.9, + 524.9, + 404.3, + 284.9, + 284.9, + 159.3, + 146, + 21.4, + 21.4 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_c_p/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_c_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..ba526ad304c71b151f3b7384413b3221e645a06e --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_c_p/infos.json @@ -0,0 +1,210 @@ +{ + "Instruction": "Pick up the candelabra near the wooden shelf unit against the wall.", + "Type": 5, + "Start_Pose": [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + "PD_ID": 17, + "PD_Size": 1.7, + "PD_Type": "p", + "PD_Start_Pose": [ + 1455.565, + -1144.793, + 664.808, + 0, + 90, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "TurnRight", + "MoveForward", + "Pick", + "MoveBackward", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + [ + 1266.962, + -781.591, + 680.389, + 0, + -80, + 0 + ], + [ + 1292.58, + -903.829, + 680.389, + 0, + -80, + 0 + ], + [ + 1314.435, + -1027.776, + 680.389, + 0, + -80, + 0 + ], + [ + 1314.435, + -1027.776, + 680.389, + 0, + -55, + 0 + ], + [ + 1314.435, + -1027.776, + 680.389, + 0, + -30, + 0 + ], + [ + 1389.778, + -1087.801, + 679.808, + 0, + -30, + 0 + ], + [ + 1389.778, + -1087.801, + 679.808, + 0, + -30, + 0 + ], + [ + 1309.758, + -1041.6, + 680.452, + 0, + -30, + 0 + ], + [ + 1309.758, + -1041.6, + 680.452, + 0, + -30, + 0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1455.565, + -1144.793, + 664.808, + 0, + 90, + 0 + ], + [ + 1455.565, + -1144.793, + 664.808, + 0, + 90, + 0 + ], + [ + 1455.565, + -1144.793, + 664.808, + 0, + 90, + 0 + ], + [ + 1455.565, + -1144.793, + 664.808, + 0, + 90, + 0 + ], + [ + 1455.565, + -1144.793, + 664.808, + 0, + 90, + 0 + ], + [ + 1455.565, + -1144.793, + 664.808, + 0, + 90, + 0 + ], + [ + 1455.565, + -1144.793, + 664.808, + 0, + 90, + 0 + ], + [ + 1399.927, + -1069.003, + 649.914, + -28.202, + 20.144, + 1.862 + ], + [ + 1319.584, + -1022.614, + 651.237, + -28.191, + 20.147, + 1.872 + ], + [ + 1319.584, + -1022.614, + 651.237, + -28.191, + 20.147, + 1.872 + ] + ], + "PD_Dist_2D": [ + 523.2, + 409.3, + 290.9, + 183.3, + 183.3, + 183.3, + 87, + 21.4, + 21.4, + 21.4 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_d_p/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_d_p/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb7f196b5ef4ea2826c24e80422d8e2011d64d4 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001234_y-000671_z000681_t5_d_p/infos.json @@ -0,0 +1,156 @@ +{ + "Instruction": "Pick up the wicker basket near the bed with the embroidered cover.", + "Type": 5, + "Start_Pose": [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + "PD_ID": 7, + "PD_Size": 2.5, + "PD_Type": "p", + "PD_Start_Pose": [ + 1185.071, + -940.937, + 636.294, + -0.704, + 122.037, + 179.568 + ], + "Action": [ + "MoveForward", + "TurnLeft", + "MoveForward", + "TurnLeft", + "Pick", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1234.102, + -670.775, + 681.315, + 0, + -80, + 0 + ], + [ + 1266.962, + -781.591, + 680.389, + 0, + -80, + 0 + ], + [ + 1266.962, + -781.591, + 680.389, + 0, + -105, + 0 + ], + [ + 1272.934, + -893.726, + 680.389, + 0, + -105, + 0 + ], + [ + 1272.934, + -893.726, + 680.389, + 0, + -130, + 0 + ], + [ + 1272.934, + -893.726, + 680.389, + 0, + -130, + 0 + ], + [ + 1272.934, + -893.726, + 680.389, + 0, + -130, + 0 + ] + ], + "PD_Pose_Trajectory": [ + [ + 1185.071, + -940.937, + 636.294, + -0.704, + 122.037, + 179.568 + ], + [ + 1185.071, + -940.937, + 636.294, + -0.704, + 122.037, + 179.568 + ], + [ + 1185.071, + -940.937, + 636.294, + -0.704, + 122.037, + 179.568 + ], + [ + 1185.071, + -940.937, + 636.294, + -0.704, + 122.037, + 179.568 + ], + [ + 1185.071, + -940.937, + 636.294, + -0.704, + 122.037, + 179.568 + ], + [ + 1288.93, + -906.587, + 650.638, + -28.202, + -79.856, + 1.862 + ], + [ + 1288.93, + -906.587, + 650.638, + -28.202, + -79.856, + 1.862 + ] + ], + "PD_Dist_2D": [ + 274.6, + 179.2, + 179.2, + 99.7, + 99.7, + 20.5, + 20.5 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001365_y-001199_z000680_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001365_y-001199_z000680_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..440b98097fdaa01bdbaf93786ef44b5e20b6aa53 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001365_y-001199_z000680_t4_a/infos.json @@ -0,0 +1,107 @@ +{ + "Instruction": "At the end of the carpeted corridor, approach the wooden door with glass panes along the top and open it.", + "Type": 4, + "Start_Pose": [ + 1364.594, + -1198.952, + 679.808, + 0, + 120, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1364.594, + -1198.952, + 679.808, + 0, + 120, + 0 + ], + [ + 1364.594, + -1198.952, + 679.808, + 0, + 95, + 0 + ], + [ + 1353.625, + -1073.572, + 679.808, + 0, + 95, + 0 + ], + [ + 1342.655, + -948.192, + 680.398, + 0, + 95, + 0 + ], + [ + 1331.686, + -822.812, + 680.398, + 0, + 95, + 0 + ], + [ + 1320.717, + -697.432, + 679.808, + 0, + 95, + 0 + ], + [ + 1320.717, + -697.432, + 679.808, + 0, + 120, + 0 + ], + [ + 1320.717, + -697.432, + 679.808, + 0, + 120, + 0 + ], + [ + 1320.717, + -697.432, + 679.808, + 0, + 120, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001413_y-000156_z000680_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001413_y-000156_z000680_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc96f143a3aec91ca238bf536961db0064b517e --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001413_y-000156_z000680_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "The wooden door with the small upper window near the barrels is your target. Head over and pull it open.", + "Type": 4, + "Start_Pose": [ + 1412.855, + -156.053, + 679.808, + 0.0, + 140.0, + -0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1412.855, + -156.053, + 679.808, + 0.0, + 140.0, + -0.0 + ], + [ + 1412.855, + -156.053, + 679.808, + 0.0, + 115.0, + -0.0 + ], + [ + 1359.665, + -41.986, + 679.808, + 0.0, + 115.0, + -0.0 + ], + [ + 1306.474, + 72.081, + 679.796, + 0.0, + 115.0, + -0.0 + ], + [ + 1306.474, + 72.081, + 679.796, + 0.0, + 90.0, + -0.0 + ], + [ + 1306.474, + 197.94, + 679.796, + 0.0, + 90.0, + -0.0 + ], + [ + 1306.474, + 323.799, + 679.521, + 0.0, + 90.0, + -0.0 + ], + [ + 1303.727, + 415.934, + 679.808, + 0.0, + 90.0, + -0.0 + ], + [ + 1303.727, + 415.934, + 679.808, + 0.0, + 115.0, + -0.0 + ], + [ + 1303.727, + 415.934, + 679.808, + 0.0, + 115.0, + -0.0 + ], + [ + 1303.727, + 415.934, + 679.808, + 0.0, + 115.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001783_y-000577_z000295_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001783_y-000577_z000295_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..1698f56d2a2f6e567a89b1c67b891911acf8f013 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001783_y-000577_z000295_t4_a/infos.json @@ -0,0 +1,97 @@ +{ + "Instruction": "Cross the dining area to the tall wooden door beneath the overhead walkway and open it.", + "Type": 4, + "Start_Pose": [ + 1783.169, + -576.819, + 295.144, + 0, + 140, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1783.169, + -576.819, + 295.144, + 0, + 140, + 0 + ], + [ + 1686.755, + -495.918, + 295.144, + 0, + 140, + 0 + ], + [ + 1590.342, + -415.018, + 295.144, + 0, + 140, + 0 + ], + [ + 1493.928, + -334.117, + 295.144, + 0, + 140, + 0 + ], + [ + 1493.928, + -334.117, + 295.144, + 0, + 165, + 0 + ], + [ + 1372.358, + -301.542, + 295.144, + 0, + 165, + 0 + ], + [ + 1372.358, + -301.542, + 295.144, + 0, + 165, + 0 + ], + [ + 1372.358, + -301.542, + 295.144, + 0, + 165, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001940_y-000305_z000333_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001940_y-000305_z000333_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..9e7eac2c1c6c371b92a2a4254a6feb77faa06ecd --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001940_y-000305_z000333_t4_a/infos.json @@ -0,0 +1,117 @@ +{ + "Instruction": "Approach the large wooden door beneath the balcony, just left of the central support post, and pull it open.", + "Type": 4, + "Start_Pose": [ + 1940.155, + -304.911, + 332.977, + 0, + -160, + 0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "OpenDoor", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1940.155, + -304.911, + 332.977, + 0, + -160, + 0 + ], + [ + 1940.155, + -304.911, + 332.976, + 0, + 175, + 0 + ], + [ + 1814.775, + -293.942, + 295.144, + 0, + 175, + 0 + ], + [ + 1689.395, + -282.972, + 295.144, + 0, + 175, + 0 + ], + [ + 1564.015, + -272.003, + 295.144, + 0, + 175, + 0 + ], + [ + 1438.635, + -261.034, + 295.144, + 0, + 175, + 0 + ], + [ + 1438.635, + -261.034, + 295.144, + 0, + 175, + 0 + ], + [ + 1343.114, + -250.215, + 295.144, + 0, + 175, + 0 + ], + [ + 1343.114, + -250.215, + 295.144, + 0, + 175, + 0 + ], + [ + 1343.114, + -250.215, + 295.144, + 0, + 175, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x001993_y000705_z000680_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x001993_y000705_z000680_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..27ba82167d16f0bc711854b6f1505c5232a21591 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x001993_y000705_z000680_t4_a/infos.json @@ -0,0 +1,77 @@ +{ + "Instruction": "The wooden door with upper glass panes on the left side of the room is the target. Go to it and open it.", + "Type": 4, + "Start_Pose": [ + 1993.267, + 704.877, + 679.808, + 0.0, + -20.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 1993.267, + 704.877, + 679.808, + 0.0, + -20.0, + 0.0 + ], + [ + 1993.267, + 704.877, + 679.808, + 0.0, + -45.0, + 0.0 + ], + [ + 2055.477, + 635.412, + 679.224, + 0.0, + -45.0, + 0.0 + ], + [ + 2144.473, + 546.417, + 679.733, + 0.0, + -45.0, + 0.0 + ], + [ + 2144.473, + 546.417, + 679.733, + 0.0, + -45.0, + 0.0 + ], + [ + 2144.473, + 546.417, + 679.733, + 0.0, + -45.0, + 0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x002451_y-000816_z000228_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x002451_y-000816_z000228_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..e0517376819fa2d891bfd89bef83b3df3078d9d7 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x002451_y-000816_z000228_t4_a/infos.json @@ -0,0 +1,137 @@ +{ + "Instruction": "Head to the wooden door set into the stone wall at the far end of the room and pull it open.", + "Type": 4, + "Start_Pose": [ + 2450.783, + -815.961, + 228.275, + 0, + -40, + 0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 2450.783, + -815.961, + 228.275, + 0, + -40, + 0 + ], + [ + 2547.197, + -896.862, + 228.275, + 0, + -40, + 0 + ], + [ + 2643.61, + -977.762, + 228.275, + 0, + -40, + 0 + ], + [ + 2643.61, + -977.762, + 228.275, + 0, + -15, + 0 + ], + [ + 2765.181, + -1010.337, + 228.275, + 0, + -15, + 0 + ], + [ + 2886.114, + -1029.345, + 228.275, + 0, + -15, + 0 + ], + [ + 2991.616, + -1025.805, + 228.275, + 0, + -15, + 0 + ], + [ + 2991.616, + -1025.805, + 228.275, + 0, + 10, + 0 + ], + [ + 3115.563, + -1003.95, + 228.275, + 0, + 10, + 0 + ], + [ + 3239.525, + -986.922, + 228.275, + 0, + 10, + 0 + ], + [ + 3239.525, + -986.922, + 228.275, + 0, + 10, + 0 + ], + [ + 3239.525, + -986.922, + 228.275, + 0, + 10, + 0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x004142_y-000878_z000235_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x004142_y-000878_z000235_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..bac7429375bd94db3bab2be4822456d49bff2b74 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x004142_y-000878_z000235_t4_a/infos.json @@ -0,0 +1,127 @@ +{ + "Instruction": "Approach the wooden door set into the side wall of the small stone cottage and open it.", + "Type": 4, + "Start_Pose": [ + 4142.405, + -877.747, + 235.176, + 0.0, + -140.0, + 0.0 + ], + "Action": [ + "TurnLeft", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnLeft", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4142.405, + -877.747, + 235.176, + 0.0, + -140.0, + 0.0 + ], + [ + 4142.405, + -877.747, + 235.267, + 0.0, + -165.0, + 0.0 + ], + [ + 4020.834, + -910.322, + 232.767, + 0.0, + -165.0, + 0.0 + ], + [ + 3899.264, + -942.896, + 229.43, + 0.0, + -165.0, + 0.0 + ], + [ + 3777.693, + -975.471, + 226.451, + 0.0, + -165.0, + 0.0 + ], + [ + 3656.123, + -1008.046, + 222.608, + 0.0, + -165.0, + 0.0 + ], + [ + 3656.123, + -1008.046, + 222.608, + 0.0, + 170.0, + -0.0 + ], + [ + 3532.176, + -986.191, + 218.426, + 0.0, + 170.0, + -0.0 + ], + [ + 3408.229, + -964.335, + 213.755, + 0.0, + 170.0, + -0.0 + ], + [ + 3408.229, + -964.335, + 213.755, + 0.0, + 170.0, + -0.0 + ], + [ + 3408.229, + -964.335, + 213.755, + 0.0, + 170.0, + -0.0 + ] + ], + "Door_State_Trajectory": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 1, + 1 + ] +} diff --git a/benchmark/trajectory/medieval_Nighttime/task_x004255_y-001782_z000245_t4_a/infos.json b/benchmark/trajectory/medieval_Nighttime/task_x004255_y-001782_z000245_t4_a/infos.json new file mode 100644 index 0000000000000000000000000000000000000000..4675570dc6058e54c51afb67ab0f2d23ec702378 --- /dev/null +++ b/benchmark/trajectory/medieval_Nighttime/task_x004255_y-001782_z000245_t4_a/infos.json @@ -0,0 +1,167 @@ +{ + "Instruction": "Cross the grass to the wooden door of the isolated stone-and-timber cottage and open it.", + "Type": 4, + "Start_Pose": [ + 4254.527, + -1781.607, + 244.514, + 0.0, + 120.0, + -0.0 + ], + "Action": [ + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "MoveForward", + "TurnRight", + "MoveForward", + "MoveForward", + "OpenDoor", + "Finish" + ], + "Pose_Trajectory": [ + [ + 4254.527, + -1781.607, + 244.514, + 0.0, + 120.0, + -0.0 + ], + [ + 4191.597, + -1672.61, + 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