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+ }, + "shortest_path_uu": 1258.59 +} diff --git a/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_b.json b/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..eacdc0de3920ebe6f67513b9ccb0a7d713fb9434 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-000501_y-000621_z000101_t2_b.json @@ -0,0 +1,12 @@ +{ + "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 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-005469_y-001114_z000101_t0_b.json b/benchmark/task/Downtownwest/task_x-005469_y-001114_z000101_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf607dc77e1a09382a9f86fcab9746b26ba841c --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-005469_y-001114_z000101_t0_b.json @@ -0,0 +1,12 @@ +{ + "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 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_b.json b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..e520a8db28c192f3e1856b544588ef247bf6a49e --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-009145_y-000382_z000103_t1_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Locate the shop marked \"Upsway\" beneath a small brown awning, then move toward its doorway.", + "Type": 1, + "Start_Pose": [ + -9144.882, + -382.354, + 102.71, + -0.006, + 16.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_c.json b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..f66a495bff605d19b8239a40f67a01c1ac2154c6 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-011070_y-001852_z000082_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the rightmost ground-floor window of the food store.", + "Type": 2, + "Start_Pose": [ + -11069.945, + -1851.515, + 82.097, + -0.006, + -168.999, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_a.json b/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..4618b19651e148b620cfe7a6e87defabdd2ce0e1 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-011653_y-002070_z000082_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the uFoods store entrance, then head toward the two round gray planters.", + "Type": 3, + "Start_Pose": [ + -11652.917, + -2070.48, + 82.097, + -0.006, + 172.761, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-013162_y000182_z000101_t3_b.json b/benchmark/task/Downtownwest/task_x-013162_y000182_z000101_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..ff0042b4b2ce9186cdbbb4ede7a4dd364636f372 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-013162_y000182_z000101_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the green-domed newsstand kiosk, then move to the multi-globe lamp post near the large terracotta pot.", + "Type": 3, + "Start_Pose": [ + -13161.751, + 182.208, + 100.978, + -0.006, + -120.039, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_a_pd.json b/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..d21cd55451a5bf3a25ca38e686460b06cc2f4322 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-014691_y-000312_z000101_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot from the wooden bench around the tree, then place it near the hot dog cart with the yellow and red umbrella.", + "Type": 5, + "Start_Pose": [ + -14691.46, + -311.545, + 100.85, + -0.006, + 136.921, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + -14999.663, + 237.616, + 84.722, + 5.112, + -173.248, + -126.921 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-014773_y-000094_z000101_t3_b.json b/benchmark/task/Downtownwest/task_x-014773_y-000094_z000101_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..2cffb4be14c660974f1f3b5e7c8a85850e40db59 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-014773_y-000094_z000101_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the two large round planter pots, then move to the yellow and red umbrella cart.", + "Type": 3, + "Start_Pose": [ + -14773.38, + -93.73, + 100.978, + -0.006, + -171.879, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-015933_y-000282_z000106_t3_a.json b/benchmark/task/Downtownwest/task_x-015933_y-000282_z000106_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..fed95c51b10f02eed582909f4e615ad1de4acac4 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-015933_y-000282_z000106_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the deer statue, then head toward the trash bin across from it.", + "Type": 3, + "Start_Pose": [ + -15933.176, + -281.902, + 105.905, + -0.006, + -174.759, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-015933_y-000282_z000106_t3_c.json b/benchmark/task/Downtownwest/task_x-015933_y-000282_z000106_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..c8c09841bc2e9c0b189e30076faf3c042a55f53c --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-015933_y-000282_z000106_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the trash bin across from the deer statue, then move to the cart with the umbrella.", + "Type": 3, + "Start_Pose": [ + -15933.176, + -281.902, + 105.905, + -0.006, + -174.759, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_c.json b/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..8be34625191fe086d36157c201ef20635b6aab06 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016004_y-000251_z000106_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the small food cart in the center, beneath the blue-and-yellow umbrella.", + "Type": 2, + "Start_Pose": [ + -16004.216, + -251.356, + 105.905, + -0.006, + -168.999, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-016212_y-000985_z000101_t1_b.json b/benchmark/task/Downtownwest/task_x-016212_y-000985_z000101_t1_b.json new file mode 100644 index 0000000000000000000000000000000000000000..24d38a176f67ea0ce32eb11a2df1433ff4c66743 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-016212_y-000985_z000101_t1_b.json @@ -0,0 +1,12 @@ +{ + "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 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-018397_y000124_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x-018397_y000124_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..8228513f61ed4e9562fd151e27342d09aecf2961 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-018397_y000124_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Search for the storefront with the \"sleeve\" sign on its facade; after locating it, head to its entrance.", + "Type": 1, + "Start_Pose": [ + -18397.173, + 123.672, + 100.798, + -0.006, + 56.921, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_a_pd.json b/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_a_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..6e483bc56e4882a62a4e59c574541c1b0cf3ac0f --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_a_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic vase from the table under the blue umbrella, then place it near the building entrance with the glass door.", + "Type": 5, + "Start_Pose": [ + -21190.27, + -840.057, + 101.98, + -0.006, + -83.079, + 0 + ], + "PD_ID": 14, + "PD_Size": 3.0, + "PD_Type": "pd", + "PD_Start_Pose": [ + -21389.443, + -1524.623, + 30.798, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_b_p.json b/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_b_p.json new file mode 100644 index 0000000000000000000000000000000000000000..1aa722f6790791d21fe55b62f4cd4ff6fd3ffcfa --- /dev/null +++ b/benchmark/task/Downtownwest/task_x-021190_y-000840_z000102_t5_b_p.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot from the ground near the glass door building entrance.", + "Type": 5, + "Start_Pose": [ + -21190.27, + -840.057, + 101.98, + -0.006, + -83.079, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "p", + "PD_Start_Pose": [ + -21042.057, + -1683.732, + 25.798, + 0, + 0, + 0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000185_y-000032_z000084_t3_b.json b/benchmark/task/Downtownwest/task_x000185_y-000032_z000084_t3_b.json new file mode 100644 index 0000000000000000000000000000000000000000..a296c0265e8d97f640064e59a457382aa10ee0ba --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000185_y-000032_z000084_t3_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the large clay planter, then proceed to the lit kiosk booth.", + "Type": 3, + "Start_Pose": [ + 184.599, + -32.139, + 83.872, + -0.006, + -21.159, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000185_y-000032_z000084_t3_c.json b/benchmark/task/Downtownwest/task_x000185_y-000032_z000084_t3_c.json new file mode 100644 index 0000000000000000000000000000000000000000..5018f4fb38eae865280f857ce6ab38603e647eb4 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000185_y-000032_z000084_t3_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the lit display kiosk, then walk to the large clay planter.", + "Type": 3, + "Start_Pose": [ + 184.599, + -32.139, + 83.872, + -0.006, + -21.159, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000528_y-002505_z000082_t3_a.json b/benchmark/task/Downtownwest/task_x000528_y-002505_z000082_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ce34c7723d108bdd901c58798f940b3e929531db --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000528_y-002505_z000082_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the blue patio umbrella, then head toward the black trash bin near the street lamp.", + "Type": 3, + "Start_Pose": [ + 528.136, + -2505.086, + 82.097, + -0.006, + 137.241, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_c.json b/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..ade9df00918f3ec77a247b8c4984e1dc83da375a --- /dev/null +++ b/benchmark/task/Downtownwest/task_x000694_y-002434_z000082_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Move to the red chairs under the middle umbrella.", + "Type": 2, + "Start_Pose": [ + 693.938, + -2433.859, + 82.097, + -0.006, + -175.719, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_e.json b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_e.json new file mode 100644 index 0000000000000000000000000000000000000000..72897b51b758ed9e394be4055274d184f229aa77 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004282_y-000697_z000101_t0_e.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Proceed to the red awning storefront entrance.", + "Type": 0, + "Start_Pose": [ + 4282.112, + -696.562, + 100.798, + 0.0, + 81.6, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_a.json b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ede4a0a59f22807fd4229ecc8150f80ead1e7283 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004645_y-000622_z000101_t3_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the hot dog cart, then head toward the wooden bench.", + "Type": 3, + "Start_Pose": [ + 4645.356, + -621.727, + 100.798, + -0.006, + 88.281, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_b_pd.json b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_b_pd.json new file mode 100644 index 0000000000000000000000000000000000000000..09cd6c945d71f059c6b7169d6e914bba5e23c19b --- /dev/null +++ b/benchmark/task/Downtownwest/task_x004656_y-004183_z000072_t5_b_pd.json @@ -0,0 +1,23 @@ +{ + "Instruction": "Pick up the ceramic pot from the bench, then place it near the tree trunk between the bollard and the bench.", + "Type": 5, + "Start_Pose": [ + 4656.215, + -4183.117, + 71.531, + -0.006, + -103.079, + 0 + ], + "PD_ID": 8, + "PD_Size": 1.5, + "PD_Type": "pd", + "PD_Start_Pose": [ + 3702.26, + -4989.71, + -4.624, + 26.507, + 101.65, + 61.844 + ] +} diff --git a/benchmark/task/Downtownwest/task_x005125_y001088_z000101_t1_a.json b/benchmark/task/Downtownwest/task_x005125_y001088_z000101_t1_a.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf519fc621e7f68543f102b641870ce1c753df1 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x005125_y001088_z000101_t1_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Discover the small vendor cart topped with a colorful umbrella in the plaza, then approach it.", + "Type": 1, + "Start_Pose": [ + 5124.546, + 1087.962, + 100.798, + -0.006, + -3.079, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x005898_y-000477_z000101_t0_a.json b/benchmark/task/Downtownwest/task_x005898_y-000477_z000101_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..603033f53669af66b1c45cd26c723d239ea5545c --- /dev/null +++ b/benchmark/task/Downtownwest/task_x005898_y-000477_z000101_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the bench beneath the trees.", + "Type": 0, + "Start_Pose": [ + 5897.619, + -476.634, + 100.798, + 0.0, + 57.6, + -0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_a.json b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_a.json new file mode 100644 index 0000000000000000000000000000000000000000..24da9204865c40818b854c91fb9a528fcc9325e3 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Walk to the base of the leftmost large tree.", + "Type": 2, + "Start_Pose": [ + 5959.868, + -5942.599, + 110.423, + -0.006, + -92.199, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_c.json b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_c.json new file mode 100644 index 0000000000000000000000000000000000000000..5d0983f050561200593e4e6373568e2273c22069 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x005960_y-005943_z000110_t2_c.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the second stone fence pillar from the right.", + "Type": 2, + "Start_Pose": [ + 5959.868, + -5942.599, + 110.423, + -0.006, + -92.199, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x006269_y-003150_z000090_t2_b.json b/benchmark/task/Downtownwest/task_x006269_y-003150_z000090_t2_b.json new file mode 100644 index 0000000000000000000000000000000000000000..c120d7a5176757422166ffbcb6fd18a0375fed79 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x006269_y-003150_z000090_t2_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Head toward the large potted plant on the right.", + "Type": 2, + "Start_Pose": [ + 6268.554, + -3149.608, + 89.847, + -0.006, + 93.081, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_b.json b/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..be0939ec28107ecb316b0db4bfda25bee91d50eb --- /dev/null +++ b/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the stone monument in front of the fountain.", + "Type": 0, + "Start_Pose": [ + 6570.891, + -2798.424, + 70.856, + -0.006, + -142.119, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_d.json b/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_d.json new file mode 100644 index 0000000000000000000000000000000000000000..6527091e57f34a9def8fe2539714b674291f004a --- /dev/null +++ b/benchmark/task/Downtownwest/task_x006571_y-002798_z000071_t0_d.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the wooden bench near the trash bin.", + "Type": 0, + "Start_Pose": [ + 6570.891, + -2798.424, + 70.856, + -0.006, + -142.119, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x009494_y-004900_z000064_t0_a.json b/benchmark/task/Downtownwest/task_x009494_y-004900_z000064_t0_a.json new file mode 100644 index 0000000000000000000000000000000000000000..908b55f681efa09d2e503b05eb9edfe4e02cdc95 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x009494_y-004900_z000064_t0_a.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Navigate to the wooden bench with metal frame.", + "Type": 0, + "Start_Pose": [ + 9493.86, + -4899.911, + 64.46, + -0.006, + 69.081, + 0.0 + ] +} diff --git a/benchmark/task/Downtownwest/task_x010025_y-004271_z000073_t0_b.json b/benchmark/task/Downtownwest/task_x010025_y-004271_z000073_t0_b.json new file mode 100644 index 0000000000000000000000000000000000000000..52e60fd41abf4de91713b74a2cb084cd530f8cb9 --- /dev/null +++ b/benchmark/task/Downtownwest/task_x010025_y-004271_z000073_t0_b.json @@ -0,0 +1,12 @@ +{ + "Instruction": "Approach the trunk of the large pale tree near the turtle sculpture.", + "Type": 0, + "Start_Pose": [ + 10024.722, + -4270.531, + 73.239, + -0.006, + 93.081, + 0.0 + ] +}